mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
26531f3fbc
use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now, until we find the issue with some failing test cases in btMultiBody fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable) disable excessive debug printf in URDF2Bullet
147 lines
3.6 KiB
C++
147 lines
3.6 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2015 Google Inc. http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
|
|
|
|
#include "BasicExample.h"
|
|
|
|
#include "btBulletDynamicsCommon.h"
|
|
#define ARRAY_SIZE_Y 5
|
|
#define ARRAY_SIZE_X 5
|
|
#define ARRAY_SIZE_Z 5
|
|
|
|
#include "LinearMath/btVector3.h"
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
|
|
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
|
|
|
|
|
struct BasicExample : public CommonRigidBodyBase
|
|
{
|
|
BasicExample(struct GUIHelperInterface* helper)
|
|
:CommonRigidBodyBase(helper)
|
|
{
|
|
}
|
|
virtual ~BasicExample(){}
|
|
virtual void initPhysics();
|
|
virtual void renderScene();
|
|
void resetCamera()
|
|
{
|
|
float dist = 41;
|
|
float pitch = 52;
|
|
float yaw = 35;
|
|
float targetPos[3]={0,0.46,0};
|
|
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
|
}
|
|
};
|
|
|
|
void BasicExample::initPhysics()
|
|
{
|
|
m_guiHelper->setUpAxis(1);
|
|
|
|
createEmptyDynamicsWorld();
|
|
|
|
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
|
|
|
if (m_dynamicsWorld->getDebugDrawer())
|
|
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
|
|
|
|
///create a few basic rigid bodies
|
|
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
|
|
|
|
|
|
//groundShape->initializePolyhedralFeatures();
|
|
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
|
|
|
m_collisionShapes.push_back(groundShape);
|
|
|
|
btTransform groundTransform;
|
|
groundTransform.setIdentity();
|
|
groundTransform.setOrigin(btVector3(0,-50,0));
|
|
|
|
{
|
|
btScalar mass(0.);
|
|
createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
|
|
}
|
|
|
|
|
|
{
|
|
//create a few dynamic rigidbodies
|
|
// Re-using the same collision is better for memory usage and performance
|
|
|
|
btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
|
|
|
|
|
|
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
|
m_collisionShapes.push_back(colShape);
|
|
|
|
/// Create Dynamic Objects
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
|
|
btScalar mass(1.f);
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
btVector3 localInertia(0,0,0);
|
|
if (isDynamic)
|
|
colShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
|
|
for (int k=0;k<ARRAY_SIZE_Y;k++)
|
|
{
|
|
for (int i=0;i<ARRAY_SIZE_X;i++)
|
|
{
|
|
for(int j = 0;j<ARRAY_SIZE_Z;j++)
|
|
{
|
|
startTransform.setOrigin(btVector3(
|
|
btScalar(2.0*i),
|
|
btScalar(20+2.0*k),
|
|
btScalar(2.0*j)));
|
|
|
|
|
|
createRigidBody(mass,startTransform,colShape);
|
|
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
|
}
|
|
|
|
|
|
void BasicExample::renderScene()
|
|
{
|
|
CommonRigidBodyBase::renderScene();
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
CommonExampleInterface* BasicExampleCreateFunc(CommonExampleOptions& options)
|
|
{
|
|
return new BasicExample(options.m_guiHelper);
|
|
}
|
|
|
|
|
|
|