mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-10 17:30:12 +00:00
127 lines
4.1 KiB
C++
127 lines
4.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library Maya Plugin
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Copyright (c) 2008 Walt Disney Studios
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising
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from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must
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not claim that you wrote the original software. If you use this
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software in a product, an acknowledgment in the product documentation
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would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must
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not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Written by: Nicola Candussi <nicola@fluidinteractive.com>
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Modified by Roman Ponomarev <rponom@gmail.com>
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01/22/2010 : Constraints reworked
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01/27/2010 : Replaced COLLADA export with Bullet binary export
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*/
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//bt_solver.cpp
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#include "LinearMath/btSerializer.h"
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#include "bt_solver.h"
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//#include "../BulletColladaConverter/ColladaConverter.h"
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//#include "../Serialize/BulletFileLoader/btBulletFile.h"
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btVector3 minWorld(-10000,-10000,-10000);
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btVector3 maxWorld(10000,10000,10000);
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int maxNumObj=32768;
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void bt_solver_t::export_bullet_file(const char* fileName)
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{
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// ColladaConverter tmpConverter(m_dynamicsWorld.get());
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// tmpConverter.save(fileName);
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FILE* f2 = fopen(fileName,"wb");
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if(f2 == NULL)
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{
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fprintf(stderr,"Error: Can't open file %s for writing\n", fileName);
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return;
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}
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int maxSerializeBufferSize = 1024*1024*5;
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btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
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m_dynamicsWorld->serialize(serializer);
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
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fclose(f2);
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delete serializer;
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}
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void bt_solver_t::import_bullet_file(const char* filename)
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{
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//todo: need to create actual bodies etc
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// ColladaConverter tmpConverter(m_dynamicsWorld.get());
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// tmpConverter.load(filename);
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}
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class bt_debug_draw : public btIDebugDraw
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{
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int m_debugMode;
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public:
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virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
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{
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glBegin(GL_LINES);
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glColor3f(color.getX(), color.getY(), color.getZ());
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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glEnd();
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}
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virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
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{
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return;
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}
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virtual void reportErrorWarning(const char* warningString)
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{
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return;
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}
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virtual void draw3dText(const btVector3& location,const char* textString)
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{
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return;
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}
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virtual void setDebugMode(int debugMode) { m_debugMode = debugMode; }
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virtual int getDebugMode() const { return m_debugMode; }
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};
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bt_solver_t::bt_solver_t():
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// m_broadphase(new btAxisSweep3(minWorld,maxWorld,maxNumObj)),
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m_broadphase(new btDbvtBroadphase()),
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m_solver(new btSequentialImpulseConstraintSolver),
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m_collisionConfiguration(new btDefaultCollisionConfiguration),
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m_dispatcher(new btCollisionDispatcher(m_collisionConfiguration.get())),
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m_dynamicsWorld(new btDiscreteDynamicsWorld(m_dispatcher.get(),
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m_broadphase.get(),
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m_solver.get(),
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m_collisionConfiguration.get()))
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{
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//register algorithm for concave meshes
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btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher.get());
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m_dynamicsWorld->setGravity(btVector3(0, -9.81f, 0));
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// m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
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bt_debug_draw* dbgDraw = new bt_debug_draw();
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m_dynamicsWorld->setDebugDrawer(dbgDraw);
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}
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void bt_solver_t::debug_draw(int dbgMode)
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{
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(dbgMode);
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m_dynamicsWorld->debugDrawWorld();
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}
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