mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
408 lines
9.8 KiB
C++
408 lines
9.8 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#include "CcdPhysicsEnvironment.h"
|
|
#include "CcdPhysicsController.h"
|
|
#include "MyMotionState.h"
|
|
//#include "GL_LineSegmentShape.h"
|
|
#include "CollisionShapes/BoxShape.h"
|
|
#include "CollisionShapes/Simplex1to4Shape.h"
|
|
#include "Dynamics/RigidBody.h"
|
|
#include "ConstraintSolver/SimpleConstraintSolver.h"
|
|
#include "ConstraintSolver/OdeConstraintSolver.h"
|
|
#include "CollisionDispatch/CollisionDispatcher.h"
|
|
#include "BroadphaseCollision/SimpleBroadphase.h"
|
|
#include "CollisionShapes/TriangleMeshShape.h"
|
|
#include "CollisionShapes/TriangleIndexVertexArray.h"
|
|
#include "CollisionShapes/BvhTriangleMeshShape.h"
|
|
#include "CollisionShapes/TriangleMesh.h"
|
|
|
|
#include "IDebugDraw.h"
|
|
//#include "GLDebugDrawer.h"
|
|
|
|
#include "PHY_Pro.h"
|
|
|
|
|
|
#ifdef WIN32 //needed for glut.h
|
|
#include <windows.h>
|
|
#endif
|
|
#include <GL/glut.h>
|
|
#include "GL_ShapeDrawer.h"
|
|
|
|
#include "GlutStuff.h"
|
|
|
|
|
|
const int numObjects = 80;
|
|
|
|
const int maxNumObjects = 100;
|
|
MyMotionState ms[maxNumObjects];
|
|
CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
|
|
int shapeIndex[maxNumObjects];
|
|
CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
|
|
|
|
TriangleMesh meshData;
|
|
StridingMeshInterface* ptr;
|
|
|
|
|
|
//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
|
|
// SimdPoint3(50,0,0));
|
|
CollisionShape* shapePtr[5] =
|
|
{
|
|
new BoxShape (SimdVector3(100,10,100)),
|
|
new BoxShape (SimdVector3(2,2,2)),
|
|
new BU_Simplex1to4(SimdPoint3(-2,-2,-2),SimdPoint3(2,-2,-2),SimdPoint3(-2,2,-2),SimdPoint3(0,0,2)),
|
|
|
|
|
|
new BoxShape (SimdVector3(1,3,1)),
|
|
#ifdef DEBUG_MESH
|
|
new TriangleMeshShape(&meshData),
|
|
#else
|
|
NULL,
|
|
#endif
|
|
//(&meshData)
|
|
|
|
};
|
|
|
|
static const int NUM_VERTICES = 5;
|
|
static const int NUM_TRIANGLES=4;
|
|
|
|
SimdVector3 gVertices[NUM_VERTICES];
|
|
int gIndices[NUM_TRIANGLES*3];
|
|
|
|
int main(int argc,char** argv)
|
|
{
|
|
|
|
setCameraDistance(30.f);
|
|
|
|
#define TRISIZE 10.f
|
|
#ifdef DEBUG_MESH
|
|
SimdVector3 vert0(-TRISIZE ,0,TRISIZE );
|
|
SimdVector3 vert1(TRISIZE ,10,TRISIZE );
|
|
SimdVector3 vert2(TRISIZE ,0,-TRISIZE );
|
|
meshData.AddTriangle(vert0,vert1,vert2);
|
|
SimdVector3 vert3(-TRISIZE ,0,TRISIZE );
|
|
SimdVector3 vert4(TRISIZE ,0,-TRISIZE );
|
|
SimdVector3 vert5(-TRISIZE ,0,-TRISIZE );
|
|
meshData.AddTriangle(vert3,vert4,vert5);
|
|
#else
|
|
#ifdef ODE_MESH
|
|
SimdVector3 Size = SimdVector3(15.f,15.f,12.5f);
|
|
|
|
gVertices[0][0] = -Size[0];
|
|
gVertices[0][1] = Size[2];
|
|
gVertices[0][2] = -Size[1];
|
|
|
|
gVertices[1][0] = Size[0];
|
|
gVertices[1][1] = Size[2];
|
|
gVertices[1][2] = -Size[1];
|
|
|
|
gVertices[2][0] = Size[0];
|
|
gVertices[2][1] = Size[2];
|
|
gVertices[2][2] = Size[1];
|
|
|
|
gVertices[3][0] = -Size[0];
|
|
gVertices[3][1] = Size[2];
|
|
gVertices[3][2] = Size[1];
|
|
|
|
gVertices[4][0] = 0;
|
|
gVertices[4][1] = 0;
|
|
gVertices[4][2] = 0;
|
|
|
|
gIndices[0] = 0;
|
|
gIndices[1] = 1;
|
|
gIndices[2] = 4;
|
|
|
|
gIndices[3] = 1;
|
|
gIndices[4] = 2;
|
|
gIndices[5] = 4;
|
|
|
|
gIndices[6] = 2;
|
|
gIndices[7] = 3;
|
|
gIndices[8] = 4;
|
|
|
|
gIndices[9] = 3;
|
|
gIndices[10] = 0;
|
|
gIndices[11] = 4;
|
|
|
|
int vertStride = sizeof(SimdVector3);
|
|
int indexStride = 3*sizeof(int);
|
|
|
|
TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(NUM_TRIANGLES,
|
|
gIndices,
|
|
indexStride,
|
|
NUM_VERTICES,(float*) &gVertices[0].x(),vertStride);
|
|
|
|
//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
|
|
shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
|
|
#else
|
|
|
|
int vertStride = sizeof(SimdVector3);
|
|
int indexStride = 3*sizeof(int);
|
|
|
|
const int NUM_VERTS_X = 50;
|
|
const int NUM_VERTS_Y = 50;
|
|
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
|
|
|
|
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
|
|
|
|
SimdVector3* gVertices = new SimdVector3[totalVerts];
|
|
int* gIndices = new int[totalTriangles*3];
|
|
|
|
int i;
|
|
|
|
for ( i=0;i<NUM_VERTS_X;i++)
|
|
{
|
|
for (int j=0;j<NUM_VERTS_Y;j++)
|
|
{
|
|
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*10.f,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*10.f);
|
|
}
|
|
}
|
|
|
|
int index=0;
|
|
for ( i=0;i<NUM_VERTS_X-1;i++)
|
|
{
|
|
for (int j=0;j<NUM_VERTS_Y-1;j++)
|
|
{
|
|
gIndices[index++] = j*NUM_VERTS_X+i;
|
|
gIndices[index++] = j*NUM_VERTS_X+i+1;
|
|
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
|
|
|
|
gIndices[index++] = j*NUM_VERTS_X+i;
|
|
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
|
|
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
|
|
}
|
|
}
|
|
|
|
TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
|
|
gIndices,
|
|
indexStride,
|
|
totalVerts,(float*) &gVertices[0].x(),vertStride);
|
|
|
|
//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
|
|
shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
|
|
#endif
|
|
|
|
|
|
|
|
#endif//DEBUG_MESH
|
|
|
|
|
|
// GLDebugDrawer debugDrawer;
|
|
|
|
//ConstraintSolver* solver = new SimpleConstraintSolver;
|
|
ConstraintSolver* solver = new OdeConstraintSolver;
|
|
|
|
CollisionDispatcher* dispatcher = new CollisionDispatcher();
|
|
|
|
BroadphaseInterface* broadphase = new SimpleBroadphase();
|
|
|
|
|
|
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
|
|
|
|
|
|
physicsEnvironmentPtr->setGravity(-1,-10,1);
|
|
PHY_ShapeProps shapeProps;
|
|
|
|
shapeProps.m_do_anisotropic = false;
|
|
shapeProps.m_do_fh = false;
|
|
shapeProps.m_do_rot_fh = false;
|
|
shapeProps.m_friction_scaling[0] = 1.;
|
|
shapeProps.m_friction_scaling[1] = 1.;
|
|
shapeProps.m_friction_scaling[2] = 1.;
|
|
|
|
shapeProps.m_inertia = 1.f;
|
|
shapeProps.m_lin_drag = 0.95999998f;
|
|
shapeProps.m_ang_drag = 0.89999998f;
|
|
shapeProps.m_mass = 1.0f;
|
|
|
|
PHY_MaterialProps materialProps;
|
|
materialProps.m_friction = 0.f;// 50.5f;
|
|
materialProps.m_restitution = 0.1f;
|
|
|
|
CcdConstructionInfo ccdObjectCi;
|
|
ccdObjectCi.m_friction = 0.f;//50.5f;
|
|
|
|
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
|
|
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
|
|
|
|
SimdTransform tr;
|
|
tr.setIdentity();
|
|
|
|
|
|
for (i=0;i<numObjects;i++)
|
|
{
|
|
if (i>0)
|
|
shapeIndex[i] = 1;//2 = tetrahedron
|
|
else
|
|
shapeIndex[i] = 4;
|
|
}
|
|
for (i=0;i<numObjects;i++)
|
|
{
|
|
shapeProps.m_shape = shapePtr[shapeIndex[i]];
|
|
|
|
bool isDyna = i>0;
|
|
|
|
if (!i)
|
|
{
|
|
//SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
|
|
//ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
|
|
//ms[i].setWorldPosition(0,-10,0);
|
|
} else
|
|
{
|
|
ms[i].setWorldPosition(10,i*15-10,0);
|
|
}
|
|
|
|
//either create a few stacks, to show several islands, or create 1 large stack, showing stability
|
|
//ms[i].setWorldPosition((i*5) % 30,i*15-10,0);
|
|
|
|
|
|
ccdObjectCi.m_MotionState = &ms[i];
|
|
ccdObjectCi.m_gravity = SimdVector3(0,0,0);
|
|
ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
|
|
if (!isDyna)
|
|
{
|
|
shapeProps.m_mass = 0.f;
|
|
ccdObjectCi.m_mass = shapeProps.m_mass;
|
|
}
|
|
else
|
|
{
|
|
shapeProps.m_mass = 1.f;
|
|
ccdObjectCi.m_mass = shapeProps.m_mass;
|
|
}
|
|
|
|
|
|
SimdVector3 localInertia;
|
|
if (shapeProps.m_mass>0.f)
|
|
{
|
|
shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
|
|
} else
|
|
{
|
|
localInertia.setValue(0.f,0.f,0.f);
|
|
|
|
}
|
|
ccdObjectCi.m_localInertiaTensor = localInertia;
|
|
|
|
ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];
|
|
|
|
|
|
physObjects[i]= new CcdPhysicsController( ccdObjectCi);
|
|
physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
|
|
|
|
/* if (i==0)
|
|
{
|
|
physObjects[i]->SetAngularVelocity(0,0,-2,true);
|
|
physObjects[i]->GetRigidBody()->setDamping(0,0);
|
|
}
|
|
*/
|
|
//for the line that represents the AABB extents
|
|
// physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
|
|
|
|
|
|
}
|
|
return glutmain(argc, argv,640,480,"Static Concave Mesh Demo");
|
|
}
|
|
|
|
|
|
|
|
void renderme()
|
|
{
|
|
float m[16];
|
|
int i;
|
|
|
|
for (i=0;i<numObjects;i++)
|
|
{
|
|
SimdTransform transA;
|
|
transA.setIdentity();
|
|
|
|
float pos[3];
|
|
float rot[4];
|
|
|
|
ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
|
|
ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);
|
|
|
|
SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
|
|
transA.setRotation(q);
|
|
|
|
SimdPoint3 dpos;
|
|
dpos.setValue(pos[0],pos[1],pos[2]);
|
|
|
|
transA.setOrigin( dpos );
|
|
transA.getOpenGLMatrix( m );
|
|
|
|
SimdVector3 wireColor(0.f,0.f,1.f); //wants deactivation
|
|
|
|
///color differently for active, sleeping, wantsdeactivation states
|
|
if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
|
|
{
|
|
wireColor = SimdVector3 (1.f,0.f,0.f);
|
|
}
|
|
if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
|
|
{
|
|
wireColor = SimdVector3 (0.f,1.f,0.f);
|
|
}
|
|
|
|
char extraDebug[125];
|
|
//sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
|
|
shapePtr[shapeIndex[i]]->SetExtraDebugInfo(extraDebug);
|
|
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[shapeIndex[i]],wireColor,getDebugMode());
|
|
}
|
|
|
|
}
|
|
void clientMoveAndDisplay()
|
|
{
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
float deltaTime = 1.f/60.f;
|
|
|
|
physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
|
|
|
|
renderme();
|
|
|
|
glFlush();
|
|
glutSwapBuffers();
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void clientDisplay(void) {
|
|
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
renderme();
|
|
|
|
glFlush();
|
|
glutSwapBuffers();
|
|
}
|
|
|
|
|
|
void clientResetScene()
|
|
{
|
|
|
|
}
|
|
void clientKeyboard(unsigned char key, int x, int y)
|
|
{
|
|
defaultKeyboard(key, x, y);
|
|
}
|
|
|
|
|
|
void clientMouseFunc(int button, int state, int x, int y)
|
|
{
|
|
|
|
}
|
|
void clientMotionFunc(int x,int y)
|
|
{
|
|
} |