mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
282 lines
9.6 KiB
C++
282 lines
9.6 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 "btBulletDynamicsCommon.h"
|
|
#include "LinearMath/btQuickprof.h"
|
|
#include "LinearMath/btIDebugDraw.h"
|
|
#include "../CommonInterfaces/CommonParameterInterface.h"
|
|
#include <stdio.h> //printf debugging
|
|
#include <algorithm>
|
|
|
|
class btCollisionShape;
|
|
|
|
#include "CommonRigidBodyMTBase.h"
|
|
#include "MultiThreadedDemo.h"
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
#include "btBulletCollisionCommon.h"
|
|
|
|
|
|
#define BT_OVERRIDE
|
|
|
|
static btScalar gSliderStackRows = 8.0f;
|
|
static btScalar gSliderStackColumns = 6.0f;
|
|
static btScalar gSliderStackHeight = 15.0f;
|
|
static btScalar gSliderGroundHorizontalAmplitude = 0.0f;
|
|
static btScalar gSliderGroundVerticalAmplitude = 0.0f;
|
|
|
|
|
|
/// MultiThreadedDemo shows how to setup and use multithreading
|
|
class MultiThreadedDemo : public CommonRigidBodyMTBase
|
|
{
|
|
static const int kUpAxis = 1;
|
|
|
|
btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);
|
|
|
|
btVector3 m_cameraTargetPos;
|
|
float m_cameraPitch;
|
|
float m_cameraYaw;
|
|
float m_cameraDist;
|
|
btRigidBody* m_groundBody;
|
|
btTransform m_groundStartXf;
|
|
float m_groundMovePhase;
|
|
|
|
void createStack( const btVector3& pos, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size );
|
|
void createSceneObjects();
|
|
void destroySceneObjects();
|
|
|
|
public:
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
MultiThreadedDemo( struct GUIHelperInterface* helper );
|
|
|
|
virtual ~MultiThreadedDemo() {}
|
|
|
|
virtual void stepSimulation( float deltaTime ) BT_OVERRIDE
|
|
{
|
|
if ( m_dynamicsWorld )
|
|
{
|
|
if (m_groundBody)
|
|
{
|
|
// update ground
|
|
const float cyclesPerSecond = 1.0f;
|
|
m_groundMovePhase += cyclesPerSecond * deltaTime;
|
|
m_groundMovePhase -= floor( m_groundMovePhase ); // keep phase between 0 and 1
|
|
btTransform xf = m_groundStartXf;
|
|
float gndHOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude;
|
|
float gndHVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundHorizontalAmplitude * cyclesPerSecond * SIMD_2_PI; // d(gndHOffset)/dt
|
|
float gndVOffset = btSin(m_groundMovePhase * SIMD_2_PI) * gSliderGroundVerticalAmplitude;
|
|
float gndVVel = btCos(m_groundMovePhase * SIMD_2_PI) * gSliderGroundVerticalAmplitude * cyclesPerSecond * SIMD_2_PI; // d(gndVOffset)/dt
|
|
btVector3 offset(0,0,0);
|
|
btVector3 vel(0,0,0);
|
|
int horizAxis = 2;
|
|
offset[horizAxis] = gndHOffset;
|
|
vel[horizAxis] = gndHVel;
|
|
offset[kUpAxis] = gndVOffset;
|
|
vel[kUpAxis] = gndVVel;
|
|
xf.setOrigin(xf.getOrigin() + offset);
|
|
m_groundBody->setWorldTransform( xf );
|
|
m_groundBody->setLinearVelocity( vel );
|
|
}
|
|
// always step by 1/60 for benchmarking
|
|
m_dynamicsWorld->stepSimulation( 1.0f / 60.0f, 0 );
|
|
}
|
|
}
|
|
|
|
virtual void initPhysics() BT_OVERRIDE;
|
|
virtual void resetCamera() BT_OVERRIDE
|
|
{
|
|
m_guiHelper->resetCamera( m_cameraDist,
|
|
m_cameraPitch,
|
|
m_cameraYaw,
|
|
m_cameraTargetPos.x(),
|
|
m_cameraTargetPos.y(),
|
|
m_cameraTargetPos.z()
|
|
);
|
|
}
|
|
|
|
};
|
|
|
|
|
|
MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper)
|
|
: CommonRigidBodyMTBase( helper )
|
|
{
|
|
m_groundBody = NULL;
|
|
m_groundMovePhase = 0.0f;
|
|
m_cameraTargetPos = btVector3( 0.0f, 0.0f, 0.0f );
|
|
m_cameraPitch = 90.0f;
|
|
m_cameraYaw = 30.0f;
|
|
m_cameraDist = 48.0f;
|
|
helper->setUpAxis( kUpAxis );
|
|
}
|
|
|
|
|
|
void MultiThreadedDemo::initPhysics()
|
|
{
|
|
createEmptyDynamicsWorld();
|
|
|
|
m_dynamicsWorld->setGravity( btVector3( 0, -10, 0 ) );
|
|
|
|
{
|
|
SliderParams slider( "Stack height", &gSliderStackHeight );
|
|
slider.m_minVal = 1.0f;
|
|
slider.m_maxVal = 30.0f;
|
|
slider.m_clampToIntegers = true;
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
|
|
}
|
|
{
|
|
SliderParams slider( "Stack rows", &gSliderStackRows );
|
|
slider.m_minVal = 1.0f;
|
|
slider.m_maxVal = 20.0f;
|
|
slider.m_clampToIntegers = true;
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
|
|
}
|
|
{
|
|
SliderParams slider( "Stack columns", &gSliderStackColumns );
|
|
slider.m_minVal = 1.0f;
|
|
slider.m_maxVal = 20.0f;
|
|
slider.m_clampToIntegers = true;
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
|
|
}
|
|
{
|
|
// horizontal ground shake
|
|
SliderParams slider( "Ground horiz amp", &gSliderGroundHorizontalAmplitude );
|
|
slider.m_minVal = 0.0f;
|
|
slider.m_maxVal = 1.0f;
|
|
slider.m_clampToNotches = false;
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
|
|
}
|
|
{
|
|
// vertical ground shake
|
|
SliderParams slider( "Ground vert amp", &gSliderGroundVerticalAmplitude );
|
|
slider.m_minVal = 0.0f;
|
|
slider.m_maxVal = 1.0f;
|
|
slider.m_clampToNotches = false;
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider );
|
|
}
|
|
|
|
createSceneObjects();
|
|
|
|
m_guiHelper->createPhysicsDebugDrawer( m_dynamicsWorld );
|
|
}
|
|
|
|
|
|
|
|
btRigidBody* MultiThreadedDemo::localCreateRigidBody(btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
|
{
|
|
btRigidBody* body = createRigidBody(mass, startTransform, shape);
|
|
if ( mass > 0.0f )
|
|
{
|
|
// prevent bodies from sleeping to make profiling/benchmarking easier
|
|
body->forceActivationState( DISABLE_DEACTIVATION );
|
|
}
|
|
return body;
|
|
}
|
|
|
|
|
|
void MultiThreadedDemo::createStack( const btVector3& center, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size )
|
|
{
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
float halfBoxHeight = halfBoxSize.y();
|
|
float halfBoxWidth = halfBoxSize.x();
|
|
|
|
for ( int i = 0; i<size; i++ )
|
|
{
|
|
// This constructs a row, from left to right
|
|
int rowSize = size - i;
|
|
for ( int j = 0; j< rowSize; j++ )
|
|
{
|
|
btVector3 pos = center + btVector3( halfBoxWidth*( 1 + j * 2 - rowSize ),
|
|
halfBoxHeight * ( 1 + i * 2),
|
|
0.0f
|
|
);
|
|
|
|
trans.setOrigin( pos );
|
|
btScalar mass = 1.f;
|
|
|
|
btRigidBody* body = localCreateRigidBody( mass, trans, boxShape );
|
|
body->setFriction(1.0f);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void MultiThreadedDemo::createSceneObjects()
|
|
{
|
|
{
|
|
// create ground box
|
|
btTransform tr;
|
|
tr.setIdentity();
|
|
tr.setOrigin( btVector3( 0.f, -3.f, 0.f ) );
|
|
m_groundStartXf = tr;
|
|
|
|
//either use heightfield or triangle mesh
|
|
|
|
btVector3 groundExtents( 400, 400, 400 );
|
|
groundExtents[ kUpAxis ] = 3;
|
|
btCollisionShape* groundShape = new btBoxShape( groundExtents );
|
|
m_collisionShapes.push_back( groundShape );
|
|
|
|
//create ground object
|
|
m_groundBody = createKinematicBody( m_groundStartXf, groundShape );
|
|
m_groundBody->forceActivationState( DISABLE_DEACTIVATION );
|
|
m_groundBody->setFriction(1.0f);
|
|
}
|
|
|
|
{
|
|
// create walls of cubes
|
|
const btVector3 halfExtents = btVector3( 0.5f, 0.25f, 0.5f );
|
|
int numStackRows = btMax(1, int(gSliderStackRows));
|
|
int numStackCols = btMax(1, int(gSliderStackColumns));
|
|
int stackHeight = 15;
|
|
float stackZSpacing = 3.0f;
|
|
float stackXSpacing = 20.0f;
|
|
|
|
btBoxShape* boxShape = new btBoxShape( halfExtents );
|
|
m_collisionShapes.push_back( boxShape );
|
|
|
|
for ( int iX = 0; iX < numStackCols; ++iX )
|
|
{
|
|
for ( int iZ = 0; iZ < numStackRows; ++iZ )
|
|
{
|
|
btVector3 center = btVector3( iX * stackXSpacing, 0.0f, ( iZ - numStackRows / 2 ) * stackZSpacing );
|
|
createStack( center, boxShape, halfExtents, stackHeight );
|
|
}
|
|
}
|
|
}
|
|
#if 0
|
|
if ( false )
|
|
{
|
|
// destroyer ball
|
|
btTransform sphereTrans;
|
|
sphereTrans.setIdentity();
|
|
sphereTrans.setOrigin( btVector3( 0, 2, 40 ) );
|
|
btSphereShape* ball = new btSphereShape( 2.f );
|
|
m_collisionShapes.push_back( ball );
|
|
btRigidBody* ballBody = localCreateRigidBody( 10000.f, sphereTrans, ball );
|
|
ballBody->setLinearVelocity( btVector3( 0, 0, -10 ) );
|
|
}
|
|
#endif
|
|
m_guiHelper->autogenerateGraphicsObjects( m_dynamicsWorld );
|
|
|
|
}
|
|
|
|
|
|
CommonExampleInterface* MultiThreadedDemoCreateFunc( struct CommonExampleOptions& options )
|
|
{
|
|
return new MultiThreadedDemo(options.m_guiHelper);
|
|
}
|
|
|