mirror of
https://github.com/bulletphysics/bullet3
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293 lines
8.3 KiB
C++
293 lines
8.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 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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///
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/// CollisionInterfaceDemo shows high level usage of the Collision Detection.
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///
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#define TEST_NOT_ADDING_OBJECTS_TO_WORLD
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#include "GL_Simplex1to4.h"
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//include common Bullet Collision Detection headerfiles
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#include "btBulletCollisionCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GL_ShapeDrawer.h"
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#include "CollisionInterfaceDemo.h"
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#include "GlutStuff.h"
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#include "GLDebugDrawer.h"
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btScalar yaw=0.f,pitch=0.f,roll=0.f;
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const int maxNumObjects = 4;
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const int numObjects = 2;
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GL_Simplex1to4 simplex;
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btCollisionObject objects[maxNumObjects];
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btCollisionWorld* collisionWorld = 0;
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GLDebugDrawer debugDrawer;
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void CollisionInterfaceDemo::initPhysics()
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{
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m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
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btMatrix3x3 basisA;
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basisA.setIdentity();
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btMatrix3x3 basisB;
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basisB.setIdentity();
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objects[0].getWorldTransform().setBasis(basisA);
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objects[1].getWorldTransform().setBasis(basisB);
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btBoxShape* boxA = new btBoxShape(btVector3(1,1,1));
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boxA->setMargin(0.f);
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btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
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boxB->setMargin(0.f);
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//ConvexHullShape hullA(points0,3);
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//hullA.setLocalScaling(btVector3(3,3,3));
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//ConvexHullShape hullB(points1,4);
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//hullB.setLocalScaling(btVector3(4,4,4));
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objects[0].setCollisionShape(boxA);//&hullA;
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objects[1].setCollisionShape(boxB);//&hullB;
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btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
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btVector3 worldAabbMin(-1000,-1000,-1000);
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btVector3 worldAabbMax(1000,1000,1000);
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btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
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//SimpleBroadphase is a brute force alternative, performing N^2 aabb overlap tests
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//SimpleBroadphase* broadphase = new btSimpleBroadphase;
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collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
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collisionWorld->setDebugDrawer(&debugDrawer);
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#ifdef TEST_NOT_ADDING_OBJECTS_TO_WORLD
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// collisionWorld->addCollisionObject(&objects[0]);
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collisionWorld->addCollisionObject(&objects[1]);
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#endif //TEST_NOT_ADDING_OBJECTS_TO_WORLD
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}
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//to be implemented by the demo
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void CollisionInterfaceDemo::clientMoveAndDisplay()
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{
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displayCallback();
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}
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static btVoronoiSimplexSolver sGjkSimplexSolver;
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btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
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struct btDrawingResult : public btCollisionWorld::ContactResultCallback
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{
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virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
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{
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glBegin(GL_LINES);
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glColor3f(0, 0, 0);
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btVector3 ptA = cp.getPositionWorldOnA();
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btVector3 ptB = cp.getPositionWorldOnB();
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glVertex3d(ptA.x(),ptA.y(),ptA.z());
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glVertex3d(ptB.x(),ptB.y(),ptB.z());
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glEnd();
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return 0;
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}
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};
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void CollisionInterfaceDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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btScalar m[16];
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btVector3 worldBoundsMin,worldBoundsMax;
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collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
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int i;
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for (i=0;i<numObjects;i++)
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{
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objects[i].getWorldTransform().getOpenGLMatrix( m );
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m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
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}
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collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
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if (collisionWorld)
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collisionWorld->performDiscreteCollisionDetection();
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#ifndef TEST_NOT_ADDING_OBJECTS_TO_WORLD
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collisionWorld->debugDrawWorld();
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///one way to draw all the contact points is iterating over contact manifolds in the dispatcher:
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int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
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for (i=0;i<numManifolds;i++)
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{
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btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
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btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
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btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
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int numContacts = contactManifold->getNumContacts();
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for (int j=0;j<numContacts;j++)
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{
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btManifoldPoint& pt = contactManifold->getContactPoint(j);
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glBegin(GL_LINES);
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glColor3f(0, 0, 0);
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btVector3 ptA = pt.getPositionWorldOnA();
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btVector3 ptB = pt.getPositionWorldOnB();
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glVertex3d(ptA.x(),ptA.y(),ptA.z());
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glVertex3d(ptB.x(),ptB.y(),ptB.z());
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glEnd();
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}
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//you can un-comment out this line, and then all points are removed
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//contactManifold->clearManifold();
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}
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#else
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glDisable(GL_TEXTURE_2D);
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for (i=0;i<numObjects;i++)
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{
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collisionWorld->debugDrawObject(objects[i].getWorldTransform(),objects[i].getCollisionShape(), btVector3(1,1,0));
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}
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btDrawingResult renderCallback;
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//collisionWorld->contactPairTest(&objects[0],&objects[1], renderCallback);
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collisionWorld->contactTest(&objects[0],renderCallback);
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#if 0
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//another way is to directly query the dispatcher for both objects. The objects don't need to be inserted into the world
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btCollisionAlgorithm* algo = collisionWorld->getDispatcher()->findAlgorithm(&objects[0],&objects[1]);
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btManifoldResult contactPointResult(&objects[0],&objects[1]);
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algo->processCollision(&objects[0],&objects[1],collisionWorld->getDispatchInfo(),&contactPointResult);
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btManifoldArray manifoldArray;
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algo->getAllContactManifolds(manifoldArray);
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int numManifolds = manifoldArray.size();
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for (i=0;i<numManifolds;i++)
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{
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btPersistentManifold* contactManifold = manifoldArray[i];
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btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
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// btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
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glDisable(GL_DEPTH_TEST);
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int numContacts = contactManifold->getNumContacts();
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bool swap = obA == &objects[0];
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for (int j=0;j<numContacts;j++)
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{
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btManifoldPoint& pt = contactManifold->getContactPoint(j);
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glBegin(GL_LINES);
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glColor3f(0, 0, 0);
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btVector3 ptA = swap ?pt.getPositionWorldOnA():pt.getPositionWorldOnB();
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btVector3 ptB = swap ? pt.getPositionWorldOnB():pt.getPositionWorldOnA();
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glVertex3d(ptA.x(),ptA.y(),ptA.z());
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glVertex3d(ptB.x(),ptB.y(),ptB.z());
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glEnd();
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}
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//you can un-comment out this line, and then all points are removed
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//contactManifold->clearManifold();
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}
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#endif
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#endif
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//GL_ShapeDrawer::drawCoordSystem();
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// btQuaternion qA = objects[0].getWorldTransform().getRotation();
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// btQuaternion qB = objects[1].getWorldTransform().getRotation();
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if (!m_idle)
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{
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btScalar timeInSeconds = getDeltaTimeMicroseconds()/1000.f;
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btQuaternion orn;
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objects[0].getWorldTransform().getBasis().getEulerYPR(yaw,pitch,roll);
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pitch += 0.00005f*timeInSeconds;
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yaw += 0.0001f*timeInSeconds;
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objects[0].getWorldTransform().getBasis().setEulerYPR(yaw,pitch,roll);
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orn.setEuler(yaw,pitch,roll);
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objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(0,-0.00001*timeInSeconds,0));
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//objects[0].getWorldTransform().setRotation(orn);
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}
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glFlush();
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swapBuffers();
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}
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void CollisionInterfaceDemo::clientResetScene()
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{
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objects[0].getWorldTransform().setOrigin(btVector3(0.0f,3.f,0.f));
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btQuaternion rotA(0.739f,-0.204f,0.587f,0.257f);
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rotA.normalize();
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objects[0].getWorldTransform().setRotation(rotA);
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objects[1].getWorldTransform().setOrigin(btVector3(0.0f,4.248f,0.f));
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}
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