mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
454 lines
12 KiB
C++
454 lines
12 KiB
C++
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#ifndef COMMON_MULTI_BODY_SETUP_H
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#define COMMON_MULTI_BODY_SETUP_H
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
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#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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#include "btBulletDynamicsCommon.h"
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#include "CommonExampleInterface.h"
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#include "CommonGUIHelperInterface.h"
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#include "CommonRenderInterface.h"
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#include "CommonGraphicsAppInterface.h"
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#include "CommonWindowInterface.h"
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#include "CommonCameraInterface.h"
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struct CommonMultiBodyBase : public CommonExampleInterface
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{
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btMultiBodyConstraintSolver* m_solver;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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btMultiBodyDynamicsWorld* m_dynamicsWorld;
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//data for picking objects
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class btRigidBody* m_pickedBody;
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class btTypedConstraint* m_pickedConstraint;
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class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
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btVector3 m_oldPickingPos;
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btVector3 m_hitPos;
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btScalar m_oldPickingDist;
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bool m_prevCanSleep;
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struct GUIHelperInterface* m_guiHelper;
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CommonMultiBodyBase(GUIHelperInterface* helper)
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:m_broadphase(0),
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m_dispatcher(0),
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m_solver(0),
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m_collisionConfiguration(0),
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m_dynamicsWorld(0),
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m_pickedBody(0),
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m_pickedConstraint(0),
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m_pickingMultiBodyPoint2Point(0),
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m_prevCanSleep(false),
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m_guiHelper(helper)
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{
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}
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virtual void createEmptyDynamicsWorld()
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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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m_solver = new btMultiBodyConstraintSolver;
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m_dynamicsWorld = new btMultiBodyDynamicsWorld(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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virtual void stepSimulation(float deltaTime)
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{
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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}
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virtual void exitPhysics()
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{
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removePickingConstraint();
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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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if (m_dynamicsWorld)
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{
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int i;
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for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
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{
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m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
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}
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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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}
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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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virtual void syncPhysicsToGraphics()
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{
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if (m_dynamicsWorld)
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{
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m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
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}
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}
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virtual void renderScene()
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{
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if (m_dynamicsWorld)
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{
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m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
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m_guiHelper->render(m_dynamicsWorld);
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}
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}
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virtual void physicsDebugDraw(int debugDrawFlags)
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{
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if (m_dynamicsWorld)
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{
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if (m_dynamicsWorld->getDebugDrawer())
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{
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
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}
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m_dynamicsWorld->debugDrawWorld();
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}
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}
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virtual bool keyboardCallback(int key, int state)
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{
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return false;//don't handle this key
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}
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btVector3 getRayTo(int x,int y)
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{
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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btAssert(0);
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return btVector3(0,0,0);
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}
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float fov = btScalar(2.0) * btAtan(tanFov);
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btVector3 camPos,camTarget;
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renderer->getActiveCamera()->getCameraPosition(camPos);
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renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
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btVector3 rayFrom = camPos;
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btVector3 rayForward = (camTarget-camPos);
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rayForward.normalize();
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float farPlane = 10000.f;
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rayForward*= farPlane;
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btVector3 rightOffset;
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btVector3 cameraUp=btVector3(0,0,0);
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cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1;
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btVector3 vertical = cameraUp;
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btVector3 hor;
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hor = rayForward.cross(vertical);
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hor.normalize();
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vertical = hor.cross(rayForward);
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vertical.normalize();
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float tanfov = tanf(0.5f*fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
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btScalar aspect;
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float width = float(renderer->getScreenWidth());
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float height = float (renderer->getScreenHeight());
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aspect = width / height;
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hor*=aspect;
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btVector3 rayToCenter = rayFrom + rayForward;
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btVector3 dHor = hor * 1.f/width;
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btVector3 dVert = vertical * 1.f/height;
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btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += btScalar(x) * dHor;
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rayTo -= btScalar(y) * dVert;
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return rayTo;
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}
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virtual bool mouseMoveCallback(float x,float y)
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{
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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btAssert(0);
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return false;
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}
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btVector3 rayTo = getRayTo(int(x), int(y));
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btVector3 rayFrom;
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renderer->getActiveCamera()->getCameraPosition(rayFrom);
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movePickedBody(rayFrom,rayTo);
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return false;
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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btAssert(0);
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return false;
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}
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CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
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if (state==1)
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{
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if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) ))
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{
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btVector3 camPos;
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renderer->getActiveCamera()->getCameraPosition(camPos);
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btVector3 rayFrom = camPos;
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btVector3 rayTo = getRayTo(int(x),int(y));
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pickBody(rayFrom, rayTo);
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}
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} else
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{
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if (button==0)
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{
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removePickingConstraint();
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//remove p2p
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}
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}
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//printf("button=%d, state=%d\n",button,state);
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return false;
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}
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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if (m_dynamicsWorld==0)
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return false;
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btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
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m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
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if (rayCallback.hasHit())
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{
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btVector3 pickPos = rayCallback.m_hitPointWorld;
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btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
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if (body)
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{
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//other exclusions?
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if (!(body->isStaticObject() || body->isKinematicObject()))
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{
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m_pickedBody = body;
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m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
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//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
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btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
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btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);
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m_dynamicsWorld->addConstraint(p2p, true);
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m_pickedConstraint = p2p;
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btScalar mousePickClamping = 30.f;
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p2p->m_setting.m_impulseClamp = mousePickClamping;
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//very weak constraint for picking
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p2p->m_setting.m_tau = 0.001f;
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}
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} else
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{
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btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
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if (multiCol && multiCol->m_multiBody)
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{
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m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
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multiCol->m_multiBody->setCanSleep(false);
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btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);
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btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos);
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//if you add too much energy to the system, causing high angular velocities, simulation 'explodes'
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//see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949
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//so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply
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//it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?)
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btScalar scaling=1;
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p2p->setMaxAppliedImpulse(2*scaling);
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btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
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world->addMultiBodyConstraint(p2p);
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m_pickingMultiBodyPoint2Point =p2p;
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}
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}
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// pickObject(pickPos, rayCallback.m_collisionObject);
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m_oldPickingPos = rayToWorld;
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m_hitPos = pickPos;
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m_oldPickingDist = (pickPos - rayFromWorld).length();
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// printf("hit !\n");
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//add p2p
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}
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return false;
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}
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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if (m_pickedBody && m_pickedConstraint)
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{
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btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
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if (pickCon)
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{
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//keep it at the same picking distance
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btVector3 dir = rayToWorld-rayFromWorld;
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dir.normalize();
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dir *= m_oldPickingDist;
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btVector3 newPivotB = rayFromWorld + dir;
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pickCon->setPivotB(newPivotB);
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}
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}
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if (m_pickingMultiBodyPoint2Point)
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{
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//keep it at the same picking distance
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btVector3 dir = rayToWorld-rayFromWorld;
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dir.normalize();
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dir *= m_oldPickingDist;
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btVector3 newPivotB = rayFromWorld + dir;
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m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB);
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}
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return false;
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}
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virtual void removePickingConstraint()
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{
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if (m_pickedConstraint)
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{
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m_dynamicsWorld->removeConstraint(m_pickedConstraint);
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delete m_pickedConstraint;
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m_pickedConstraint = 0;
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m_pickedBody = 0;
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}
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if (m_pickingMultiBodyPoint2Point)
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{
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m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(m_prevCanSleep);
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btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
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world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point);
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delete m_pickingMultiBodyPoint2Point;
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m_pickingMultiBodyPoint2Point = 0;
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}
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}
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btBoxShape* createBoxShape(const btVector3& halfExtents)
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{
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btBoxShape* box = new btBoxShape(halfExtents);
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return box;
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}
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btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
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{
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btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
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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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shape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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#define USE_MOTIONSTATE 1
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#ifdef USE_MOTIONSTATE
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo cInfo(mass, myMotionState, shape, localInertia);
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btRigidBody* body = new btRigidBody(cInfo);
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//body->setContactProcessingThreshold(m_defaultContactProcessingThreshold);
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#else
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btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia);
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body->setWorldTransform(startTransform);
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#endif//
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body->setUserIndex(-1);
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m_dynamicsWorld->addRigidBody(body);
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return body;
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}
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};
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#endif //COMMON_MULTI_BODY_SETUP_H
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