mirror of
https://github.com/bulletphysics/bullet3
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323 lines
9.2 KiB
C++
323 lines
9.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2010 Erwin Coumans http://continuousphysics.com/Bullet/
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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 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 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.
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2. Altered source versions must be plainly marked as such, and must 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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*/
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#define TEST_SERIALIZATION 1
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#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
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#define CREATE_NEW_BULLETFILE 1
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#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
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///create 125 (5x5x5) dynamic object
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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//maximum number of objects (and allow user to shoot additional boxes)
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#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
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///scaling of the objects (0.1 = 20 centimeter boxes )
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#define SCALING 1.
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#define START_POS_X -5
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#define START_POS_Y -5
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#define START_POS_Z -3
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#include "SerializeDemo.h"
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#include "GlutStuff.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#ifdef TEST_SERIALIZATION
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#include "LinearMath/btSerializer.h"
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#include "btBulletFile.h"
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#include "btBulletWorldImporter.h"
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#endif //TEST_SERIALIZATION
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#include <stdio.h> //printf debugging
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void SerializeDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = getDeltaTimeMicroseconds();
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///step the simulation
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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renderme();
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glFlush();
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swapBuffers();
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}
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void SerializeDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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glFlush();
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swapBuffers();
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}
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void SerializeDemo::setupEmptyDynamicsWorld()
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{
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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//m_collisionConfiguration->setConvexConvexMultipointIterations();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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}
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void SerializeDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(true);
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setCameraDistance(btScalar(SCALING*50.));
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setupEmptyDynamicsWorld();
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///create a few basic rigid bodies
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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btCollisionObject* groundObject = 0;
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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groundObject = body;
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}
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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int numSpheres = 2;
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btVector3 positions[2] = {btVector3(0.1f,0.2f,0.3f),btVector3(0.4f,0.5f,0.6f)};
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btScalar radii[2] = {0.3f,0.4f};
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btMultiSphereShape* colShape = new btMultiSphereShape(positions,radii,numSpheres);
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//btCollisionShape* colShape = new btCapsuleShapeZ(SCALING*1,SCALING*1);
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//btCollisionShape* colShape = new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,SCALING*1));
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//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass,localInertia);
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float start_x = START_POS_X - ARRAY_SIZE_X/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(SCALING*btVector3(
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btScalar(2.0*i + start_x),
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btScalar(20+2.0*k + start_y),
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btScalar(2.0*j + start_z)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setActivationState(ISLAND_SLEEPING);
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m_dynamicsWorld->addRigidBody(body);
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body->setActivationState(ISLAND_SLEEPING);
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}
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}
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}
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}
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clientResetScene();
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#ifdef TEST_SERIALIZATION
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//test serializing this
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#ifdef CREATE_NEW_BULLETFILE
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int maxSerializeBufferSize = 1024*1024*5;
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btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
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static char* groundName = "GroundName";
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serializer->registerNameForPointer(groundObject, groundName);
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for (int i=0;i<m_collisionShapes.size();i++)
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{
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char* name = new char[20];
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sprintf(name,"name%d",i);
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serializer->registerNameForPointer(m_collisionShapes[i],name);
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}
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btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*(btRigidBody*)getDynamicsWorld()->getCollisionObjectArray()[2],btVector3(0,1,0));
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m_dynamicsWorld->addConstraint(p2p);
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const char* name = "constraintje";
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serializer->registerNameForPointer(p2p,name);
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m_dynamicsWorld->serialize(serializer);
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FILE* f2 = fopen("testFile.bullet","wb");
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
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fclose(f2);
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#endif //CREATE_NEW_BULLETFILE
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exitPhysics();
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//now try again from the loaded file
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setupEmptyDynamicsWorld();
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printf("loading file\n");
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btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
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//fileLoader->setVerboseMode(true);
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if (!fileLoader->loadFile("testFile.bullet"))
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{
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//cmake generated msvc files need 4 levels deep back... so make a 3rd attempt...
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if (fileLoader->loadFile("../../../../testFileOriginal.bullet"))
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{
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printf("loaded fine\n");
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}
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}
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#endif //TEST_SERIALIZATION
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}
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void SerializeDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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