mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-05 15:21:06 +00:00
425 lines
11 KiB
C++
425 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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#define CUBE_HALF_EXTENTS 1
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#define EXTRA_HEIGHT 1.f
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#include "CcdPhysicsDemo.h"
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#include "GlutStuff.h"
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#include "GLDebugFont.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 "GLDebugDrawer.h"
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#if 0
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extern btAlignedObjectArray<btVector3> debugContacts;
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extern btAlignedObjectArray<btVector3> debugNormals;
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#endif
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static GLDebugDrawer sDebugDrawer;
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CcdPhysicsDemo::CcdPhysicsDemo()
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:m_ccdMode(USE_CCD)
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{
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setDebugMode(btIDebugDraw::DBG_DrawText+btIDebugDraw::DBG_NoHelpText);
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setCameraDistance(btScalar(40.));
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}
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void CcdPhysicsDemo::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(1./60.,0);//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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displayText();
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#if 0
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for (int i=0;i<debugContacts.size();i++)
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{
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getDynamicsWorld()->getDebugDrawer()->drawContactPoint(debugContacts[i],debugNormals[i],0,0,btVector3(1,0,0));
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}
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#endif
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glFlush();
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swapBuffers();
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}
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void CcdPhysicsDemo::displayText()
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{
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int lineWidth=440;
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int xStart = m_glutScreenWidth - lineWidth;
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int yStart = 20;
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if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
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{
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setOrthographicProjection();
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glDisable(GL_LIGHTING);
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glColor3f(0, 0, 0);
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char buf[124];
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glRasterPos3f(xStart, yStart, 0);
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switch (m_ccdMode)
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{
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case USE_CCD:
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{
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sprintf(buf,"Predictive contacts and motion clamping");
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break;
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}
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case USE_NO_CCD:
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{
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sprintf(buf,"CCD handling disabled");
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break;
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}
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default:
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{
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sprintf(buf,"unknown CCD setting");
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};
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};
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GLDebugDrawString(xStart,20,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"Press 'p' to change CCD mode");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"Press '.' or right mouse to shoot bullets");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"space to restart, h(elp), t(ext), w(ire)");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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resetPerspectiveProjection();
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glEnable(GL_LIGHTING);
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}
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}
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void CcdPhysicsDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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displayText();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->debugDrawWorld();
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}
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#if 0
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for (int i=0;i<debugContacts.size();i++)
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{
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getDynamicsWorld()->getDebugDrawer()->drawContactPoint(debugContacts[i],debugNormals[i],0,0,btVector3(1,0,0));
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}
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#endif
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glFlush();
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swapBuffers();
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}
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void CcdPhysicsDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(true);
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m_ShootBoxInitialSpeed = 4000.f;
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m_defaultContactProcessingThreshold = 0.f;
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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_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_collisionConfiguration->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,CONVEX_SHAPE_PROXYTYPE));
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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->getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_RANDMIZE_ORDER;
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m_dynamicsWorld ->setDebugDrawer(&sDebugDrawer);
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//m_dynamicsWorld->getSolverInfo().m_splitImpulse=false;
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if (m_ccdMode==USE_CCD)
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{
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m_dynamicsWorld->getDispatchInfo().m_useContinuous=true;
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} else
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{
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m_dynamicsWorld->getDispatchInfo().m_useContinuous=false;
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}
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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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btBoxShape* box = new btBoxShape(btVector3(btScalar(110.),btScalar(1.),btScalar(110.)));
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// box->initializePolyhedralFeatures();
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btCollisionShape* groundShape = box;
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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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//m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
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m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
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btTransform groundTransform;
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groundTransform.setIdentity();
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//groundTransform.setOrigin(btVector3(5,5,5));
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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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body->setFriction(0.5);
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//body->setRollingFriction(0.3);
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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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btCollisionShape* colShape = new btBoxShape(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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int gNumObjects = 120;//120;
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int i;
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for (i=0;i<gNumObjects;i++)
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{
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btCollisionShape* shape = m_collisionShapes[1];
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btTransform trans;
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trans.setIdentity();
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//stack them
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int colsize = 10;
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int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
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int row2 = row;
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int col = (i)%(colsize)-colsize/2;
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if (col>3)
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{
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col=11;
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row2 |=1;
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}
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btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
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row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
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trans.setOrigin(pos);
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float mass = 1.f;
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btRigidBody* body = localCreateRigidBody(mass,trans,shape);
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body->setAnisotropicFriction(shape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
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body->setFriction(0.5);
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//body->setRollingFriction(.3);
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///when using m_ccdMode
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if (m_ccdMode==USE_CCD)
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{
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body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
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body->setCcdSweptSphereRadius(0.9*CUBE_HALF_EXTENTS);
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}
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}
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}
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}
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void CcdPhysicsDemo::clientResetScene()
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{
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exitPhysics();
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initPhysics();
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}
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void CcdPhysicsDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key=='p')
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{
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switch (m_ccdMode)
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{
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case USE_CCD:
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{
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m_ccdMode = USE_NO_CCD;
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break;
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}
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case USE_NO_CCD:
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default:
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{
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m_ccdMode = USE_CCD;
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}
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};
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clientResetScene();
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} else
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{
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DemoApplication::keyboardCallback(key,x,y);
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}
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}
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void CcdPhysicsDemo::shootBox(const btVector3& destination)
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{
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if (m_dynamicsWorld)
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{
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float mass = 1.f;
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btTransform startTransform;
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startTransform.setIdentity();
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btVector3 camPos = getCameraPosition();
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startTransform.setOrigin(camPos);
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setShootBoxShape ();
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btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
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body->setLinearFactor(btVector3(1,1,1));
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//body->setRestitution(1);
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btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
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linVel.normalize();
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linVel*=m_ShootBoxInitialSpeed;
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body->getWorldTransform().setOrigin(camPos);
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body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
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body->setLinearVelocity(linVel);
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body->setAngularVelocity(btVector3(0,0,0));
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body->setContactProcessingThreshold(1e30);
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///when using m_ccdMode, disable regular CCD
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if (m_ccdMode==USE_CCD)
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{
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body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
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body->setCcdSweptSphereRadius(0.4f);
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}
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}
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}
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void CcdPhysicsDemo::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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