mirror of
https://github.com/bulletphysics/bullet3
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218e9f9bf9
set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location. no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)
339 lines
11 KiB
C++
339 lines
11 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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#include "BulletCollision/CollisionShapes/btBox2dShape.h"
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#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h"
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#include "BulletCollision/CollisionShapes/btBox2dShape.h"
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#include "BulletCollision/CollisionShapes/btConvex2dShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
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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 1
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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 "Planar2D.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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#include <stdio.h> //printf debugging
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#include "LinearMath/btAlignedObjectArray.h"
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class btBroadphaseInterface;
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class btCollisionShape;
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class btOverlappingPairCache;
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class btCollisionDispatcher;
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class btConstraintSolver;
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struct btCollisionAlgorithmCreateFunc;
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class btDefaultCollisionConfiguration;
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class GL_DialogDynamicsWorld;
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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class Planar2D : public CommonRigidBodyBase
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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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btConstraintSolver* m_solver;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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btConvex2dConvex2dAlgorithm::CreateFunc* m_convexAlgo2d;
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btVoronoiSimplexSolver* m_simplexSolver;
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btMinkowskiPenetrationDepthSolver* m_pdSolver;
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btBox2dBox2dCollisionAlgorithm::CreateFunc* m_box2dbox2dAlgo;
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public:
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Planar2D(struct GUIHelperInterface* helper)
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:CommonRigidBodyBase(helper)
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{
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}
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virtual ~Planar2D()
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{
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exitPhysics();
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}
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void initPhysics();
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void exitPhysics();
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void resetCamera()
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{
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float dist = 9;
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float pitch = 539;
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float yaw = 11;
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float targetPos[3]={8.6,10.5,-20.6};
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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 Planar2D::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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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_simplexSolver = new btVoronoiSimplexSolver();
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m_pdSolver = new btMinkowskiPenetrationDepthSolver();
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m_convexAlgo2d = new btConvex2dConvex2dAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);
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m_box2dbox2dAlgo = new btBox2dBox2dCollisionAlgorithm::CreateFunc();
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m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,m_convexAlgo2d);
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m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,m_convexAlgo2d);
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m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,m_convexAlgo2d);
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m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,m_box2dbox2dAlgo);
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m_broadphase = new btDbvtBroadphase();
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//m_broadphase = new btSimpleBroadphase();
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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->getSolverInfo().m_erp = 1.f;
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//m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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///create a few basic rigid bodies
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.),btScalar(50.),btScalar(150.)));
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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,-43,0));
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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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}
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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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btScalar u= btScalar(1*SCALING-0.04);
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btVector3 points[3] = {btVector3(0,u,0),btVector3(-u,-u,0),btVector3(u,-u,0)};
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btConvexShape* childShape0 = new btBoxShape(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04)));
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btConvexShape* colShape= new btConvex2dShape(childShape0);
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//btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.04));
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btConvexShape* childShape1 = new btConvexHullShape(&points[0].getX(),3);
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btConvexShape* colShape2= new btConvex2dShape(childShape1);
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btConvexShape* childShape2 = new btCylinderShapeZ(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04)));
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btConvexShape* colShape3= new btConvex2dShape(childShape2);
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m_collisionShapes.push_back(colShape);
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m_collisionShapes.push_back(colShape2);
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m_collisionShapes.push_back(colShape3);
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m_collisionShapes.push_back(childShape0);
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m_collisionShapes.push_back(childShape1);
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m_collisionShapes.push_back(childShape2);
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//btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f);
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colShape->setMargin(btScalar(0.03));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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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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btVector3 x(-ARRAY_SIZE_X, 8.0f,-20.f);
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btVector3 y;
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btVector3 deltaX(SCALING*1, SCALING*2,0.f);
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btVector3 deltaY(SCALING*2, 0.0f,0.f);
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for (int i = 0; i < ARRAY_SIZE_X; ++i)
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{
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y = x;
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for (int j = i; j < ARRAY_SIZE_Y; ++j)
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{
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startTransform.setOrigin(y-btVector3(-10,0,0));
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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(0,0,0);
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switch (j%3)
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{
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#if 1
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case 0:
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rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape,localInertia);
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break;
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case 1:
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rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
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break;
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#endif
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default:
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rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape2,localInertia);
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}
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btRigidBody* body = new btRigidBody(rbInfo);
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//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
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body->setActivationState(ISLAND_SLEEPING);
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body->setLinearFactor(btVector3(1,1,0));
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body->setAngularFactor(btVector3(0,0,1));
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m_dynamicsWorld->addRigidBody(body);
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body->setActivationState(ISLAND_SLEEPING);
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// y += -0.8*deltaY;
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y += deltaY;
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}
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x += deltaX;
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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 Planar2D::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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if (m_dynamicsWorld)
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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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delete m_convexAlgo2d;
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delete m_pdSolver;
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delete m_simplexSolver;
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delete m_box2dbox2dAlgo;
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m_dynamicsWorld = 0;
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m_solver = 0;
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m_broadphase = 0;
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m_dispatcher = 0;
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m_collisionConfiguration = 0;
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m_convexAlgo2d=0;
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m_pdSolver = 0;
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m_simplexSolver = 0;
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m_box2dbox2dAlgo = 0;
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}
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CommonExampleInterface* Planar2DCreateFunc(struct CommonExampleOptions& options)
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{
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return new Planar2D(options.m_guiHelper);
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}
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