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Added btUniformScalingShape (including support for debug rendering etc)

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This allows to re-use a convex shape, while each instance can re-scale it (with a uniform scalar factor)
This commit is contained in:
ejcoumans
2007-07-28 19:20:45 +00:00
parent 0df4cedc3e
commit 177b6f5ce2
6 changed files with 153 additions and 2 deletions
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10
Demos/OpenGL/DemoApplication.cpp
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@@ -23,6 +23,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btQuickprof.h"
@@ -449,8 +450,13 @@ void DemoApplication::shootBox(const btVector3& destination)
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
//btCollisionShape* boxShape = new btSphereShape(1);
btCollisionShape* boxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
//#define TEST_UNIFORM_SCALING_SHAPE 1
#ifdef TEST_UNIFORM_SCALING_SHAPE
btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
btUniformScalingShape* boxShape = new btUniformScalingShape(childShape,0.5f);
#else
btCollisionShape* boxShape = new btSphereShape(1);
#endif//
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,boxShape);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);

19
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -38,6 +38,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "LinearMath/btIDebugDraw.h"
@@ -313,6 +315,23 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
glPushMatrix();
btglMultMatrix(m);
if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
{
const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
const btConvexShape* convexShape = scalingShape->getChildShape();
float scalingFactor = (float)scalingShape->getUniformScalingFactor();
{
btScalar tmpScaling[4][4]={scalingFactor,0,0,0,
0,scalingFactor,0,0,
0,0,scalingFactor,0,
0,0,0,1};
drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode);
}
glPopMatrix();
return;
}
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);

8
Demos/RagdollDemo/RagdollDemo.cpp
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@@ -21,7 +21,13 @@ Written by: Marten Svanfeldt
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "RagdollDemo.h"
GLDebugDrawer debugDrawer;
#define M_PI 3.14159265358979323846
#define M_PI_2 1.57079632679489661923
#define M_PI_4 0.785398163397448309616
@@ -311,6 +317,8 @@ void RagdollDemo::initPhysics()
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));