mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
02582e3a78
add test for VR HUD/sub-titles fix issue in previous commit, partial string use %.8s not %8.s use long long int in b3Clock fix warning/error in pointer alignment in serialization Fix pybullet Windows compilation. (thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)
153 lines
3.7 KiB
C++
153 lines
3.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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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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#include "BasicExample.h"
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#include "btBulletDynamicsCommon.h"
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Z 5
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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struct BasicExample : public CommonRigidBodyBase
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{
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BasicExample(struct GUIHelperInterface* helper)
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:CommonRigidBodyBase(helper)
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{
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}
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virtual ~BasicExample(){}
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virtual void initPhysics();
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virtual void renderScene();
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void resetCamera()
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{
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float dist = 4;
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float pitch = 52;
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float yaw = 35;
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float targetPos[3]={0,0,0};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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void BasicExample::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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createEmptyDynamicsWorld();
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//m_dynamicsWorld->setGravity(btVector3(0,0,0));
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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if (m_dynamicsWorld->getDebugDrawer())
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
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///create a few basic rigid bodies
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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//groundShape->initializePolyhedralFeatures();
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//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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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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{
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btScalar mass(0.);
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createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
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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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btBoxShape* colShape = createBoxShape(btVector3(.1,.1,.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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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(btVector3(
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btScalar(0.2*i),
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btScalar(2+.2*k),
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btScalar(0.2*j)));
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createRigidBody(mass,startTransform,colShape);
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}
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}
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}
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void BasicExample::renderScene()
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{
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CommonRigidBodyBase::renderScene();
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}
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CommonExampleInterface* BasicExampleCreateFunc(CommonExampleOptions& options)
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{
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return new BasicExample(options.m_guiHelper);
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}
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B3_STANDALONE_EXAMPLE(BasicExampleCreateFunc)
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