From 05ad68015dd8135ef9c9153fb57315c7016b0d92 Mon Sep 17 00:00:00 2001 From: Srajan Garg Date: Tue, 3 Oct 2017 01:38:20 +0530 Subject: [PATCH] add new example for btCompoundShape --- examples/ExampleBrowser/CMakeLists.txt | 2 + examples/ExampleBrowser/ExampleEntries.cpp | 2 + examples/ExtendedTutorials/CompoundBoxes.cpp | 135 +++++++++++++++++++ examples/ExtendedTutorials/CompoundBoxes.h | 22 +++ 4 files changed, 161 insertions(+) create mode 100644 examples/ExtendedTutorials/CompoundBoxes.cpp create mode 100644 examples/ExtendedTutorials/CompoundBoxes.h diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 01d0b5c18..efe7c084e 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -122,6 +122,8 @@ SET(ExtendedTutorialsSources ../ExtendedTutorials/SimpleBox.h ../ExtendedTutorials/MultipleBoxes.cpp ../ExtendedTutorials/MultipleBoxes.h + ../ExtendedTutorials/CompoundBoxes.cpp + ../ExtendedTutorials/CompoundBoxes.h ../ExtendedTutorials/SimpleCloth.cpp ../ExtendedTutorials/SimpleCloth.h ../ExtendedTutorials/SimpleJoint.cpp diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 34d123283..24d0a1fd2 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -71,6 +71,7 @@ //Extended Tutorial Includes Added by Mobeen and Benelot #include "../ExtendedTutorials/SimpleBox.h" #include "../ExtendedTutorials/MultipleBoxes.h" +#include "../ExtendedTutorials/CompoundBoxes.h" #include "../ExtendedTutorials/SimpleJoint.h" #include "../ExtendedTutorials/SimpleCloth.h" #include "../ExtendedTutorials/Chain.h" @@ -322,6 +323,7 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(0,"Extended Tutorials"), ExampleEntry(1,"Simple Box", "Simplest possible demo creating a single box rigid body that falls under gravity", ET_SimpleBoxCreateFunc), ExampleEntry(1,"Multiple Boxes", "Add multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc), + ExampleEntry(1,"Compound Boxes", "Add multiple boxes to a single CompoundShape to form a simple rigid L-beam, that falls under gravity", ET_CompoundBoxesCreateFunc), ExampleEntry(1,"Simple Joint", "Create a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc), ExampleEntry(1,"Simple Cloth", "Create a simple piece of cloth", ET_SimpleClothCreateFunc), ExampleEntry(1,"Simple Chain", "Create a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc), diff --git a/examples/ExtendedTutorials/CompoundBoxes.cpp b/examples/ExtendedTutorials/CompoundBoxes.cpp new file mode 100644 index 000000000..3a67fc504 --- /dev/null +++ b/examples/ExtendedTutorials/CompoundBoxes.cpp @@ -0,0 +1,135 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2015 Google Inc. http://bulletphysics.org + +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 "CompoundBoxes.h" + +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btVector3.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "../CommonInterfaces/CommonRigidBodyBase.h" + + +struct CompoundBoxesExample : public CommonRigidBodyBase +{ + CompoundBoxesExample(struct GUIHelperInterface* helper) + :CommonRigidBodyBase(helper) + { + } + virtual ~CompoundBoxesExample(){} + virtual void initPhysics(); + virtual void renderScene(); + void resetCamera() + { + float dist = 41; + float pitch = -35; + float yaw = 52; + float targetPos[3]={0,0.46,0}; + m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]); + } +}; + +void CompoundBoxesExample::initPhysics() +{ + m_guiHelper->setUpAxis(1); + + createEmptyDynamicsWorld(); + + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + + if (m_dynamicsWorld->getDebugDrawer()) + m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints); + + ///create a few basic rigid bodies + btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.))); + m_collisionShapes.push_back(groundShape); + + btTransform groundTransform; + groundTransform.setIdentity(); + groundTransform.setOrigin(btVector3(0,-50,0)); + { + btScalar mass(0.); + createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1)); + } + + + { + //create a few dynamic rigidbodies + // Re-using the same collision is better for memory usage and performance + btBoxShape* cube = createBoxShape(btVector3(0.5,0.5,0.5)); + m_collisionShapes.push_back(cube); + + // create a new compound shape for making an L-beam from `cube`s + btCompoundShape* compoundShape = new btCompoundShape(); + + btTransform transform; + + // add cubes in an L-beam fashion to the compound shape + transform.setIdentity(); + transform.setOrigin(btVector3(0, 0, 0)); + compoundShape->addChildShape(transform, cube); + + transform.setIdentity(); + transform.setOrigin(btVector3(0, -1, 0)); + compoundShape->addChildShape(transform, cube); + + transform.setIdentity(); + transform.setOrigin(btVector3(0, 0, 1)); + compoundShape->addChildShape(transform, cube); + + + btScalar masses[3]={1, 1, 1}; + btTransform principal; + btVector3 inertia; + compoundShape->calculatePrincipalAxisTransform(masses, principal, inertia); + + // new compund shape to store + btCompoundShape* compound2 = new btCompoundShape(); + m_collisionShapes.push_back(compound2); +#if 0 + // less efficient way to add the entire compund shape + // to a new compund shape as a child + compound2->addChildShape(principal.inverse(), compoundShape); +#else + // recompute the shift to make sure the compound shape is re-aligned + for (int i=0; i < compoundShape->getNumChildShapes(); i++) + compound2->addChildShape(compoundShape->getChildTransform(i) * principal.inverse(), + compoundShape->getChildShape(i)); +#endif + delete compoundShape; + + transform.setIdentity(); + transform.setOrigin(btVector3(0, 10, 0)); + createRigidBody(1.0, transform, compound2); + } + + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + + +void CompoundBoxesExample::renderScene() +{ + CommonRigidBodyBase::renderScene(); +} + + +CommonExampleInterface* ET_CompoundBoxesCreateFunc(CommonExampleOptions& options) +{ + return new CompoundBoxesExample(options.m_guiHelper); +} + + + diff --git a/examples/ExtendedTutorials/CompoundBoxes.h b/examples/ExtendedTutorials/CompoundBoxes.h new file mode 100644 index 000000000..a453d03e8 --- /dev/null +++ b/examples/ExtendedTutorials/CompoundBoxes.h @@ -0,0 +1,22 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2015 Google Inc. http://bulletphysics.org + +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. +*/ + +#ifndef ET_COMPOUND_BOXES_EXAMPLE_H +#define ET_COMPOUND_BOXES_EXAMPLE_H + +class CommonExampleInterface* ET_CompoundBoxesCreateFunc(struct CommonExampleOptions& options); + + +#endif //ET_COMPOUND_BOXES_EXAMPLE_H