mirror of
https://github.com/bulletphysics/bullet3
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116 lines
3.2 KiB
C++
116 lines
3.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans 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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///experimental support for Featherstone multi body (articulated hierarchies)
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#ifndef FEATHERSTONE_MULTIBODY_DEMO_H
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#define FEATHERSTONE_MULTIBODY_DEMO_H
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#ifdef _WINDOWS
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#include "Win32DemoApplication.h"
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#define PlatformDemoApplication Win32DemoApplication
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#else
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#include "GlutDemoApplication.h"
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#define PlatformDemoApplication GlutDemoApplication
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#endif
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#include "LinearMath/btAlignedObjectArray.h"
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class btMultiBody;
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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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///FeatherstoneMultiBodyDemo is good starting point for learning the code base and porting.
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struct btMultiBodySettings
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{
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btMultiBodySettings()
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{
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m_numLinks = 0;
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m_basePosition.setZero();
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m_isFixedBase = true;
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m_usePrismatic = false;
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m_canSleep = true;
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m_createConstraints = false;
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m_disableParentCollision = false;
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}
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int m_numLinks;
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btVector3 m_basePosition;
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bool m_isFixedBase;
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bool m_usePrismatic;
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bool m_canSleep;
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bool m_createConstraints;
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bool m_disableParentCollision;
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};
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class FeatherstoneMultiBodyDemo : public PlatformDemoApplication
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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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virtual void mouseMotionFunc(int x,int y);
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virtual void removePickingConstraint();
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virtual void pickObject(const btVector3& pickPos, const class btCollisionObject* hitObj);
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class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
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btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, const btMultiBodySettings& settings);
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public:
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FeatherstoneMultiBodyDemo()
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:m_pickingMultiBodyPoint2Point(0)
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{
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}
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virtual ~FeatherstoneMultiBodyDemo()
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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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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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virtual void clientResetScene();
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static DemoApplication* Create()
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{
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FeatherstoneMultiBodyDemo* demo = new FeatherstoneMultiBodyDemo;
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demo->myinit();
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demo->initPhysics();
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return demo;
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}
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};
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#endif //FEATHERSTONE_MULTIBODY_DEMO_H
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