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Added experimental implicit gyroscopic force implementation, one by Michael Ewert, and another by Cooper (from OpenDE)

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Will also add Erin Catto's local implicit version from the GDC 2015 tutorial
Added demo for btGeneric6DofSpring2Constraint, thanks to Gabor Puhr
Add gfxBridge.autogenerateGraphicsObjects method for Bullet 2 demos in new framework (need to implement all Bullet 2 collision shape types...)
Use 1,1,1 for local scaling in btStaticPlaneShape
This commit is contained in:
erwin coumans
2015-03-24 15:55:05 -07:00
parent 29949b63cc
commit 1e13454511
17 changed files with 852 additions and 25 deletions
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63
Demos/GyroscopicDemo/GyroscopicSetup.cpp Normal file
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#include "GyroscopicSetup.h"
void GyroscopicSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.setUpAxis(2);
createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 0, 1), 0);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, 0, 0));
btRigidBody* groundBody;
groundBody = createRigidBody(0, groundTransform, groundShape);
groundBody->setFriction(btSqrt(2));
btVector3 positions[4] = {
btVector3(0.8, -5, 4),
btVector3(0.8, -2, 4),
btVector3(0.8, 2, 4),
btVector3(0.8, 5, 4)
};
int gyroflags[4] = {
0,//none, no gyroscopic term
BT_ENABLE_GYROPSCOPIC_FORCE_EXPLICIT,
BT_ENABLE_GYROPSCOPIC_FORCE_IMPLICIT_EWERT,
BT_ENABLE_GYROPSCOPIC_FORCE_IMPLICIT_COOPER,
};
for (int i = 0; i<4; i++)
{
btCylinderShapeZ* top = new btCylinderShapeZ(btVector3(1, 1, 0.125));
btCapsuleShapeZ* pin = new btCapsuleShapeZ(0.05, 1.5);
top->setMargin(0.01);
pin->setMargin(0.01);
btCompoundShape* compound = new btCompoundShape();
compound->addChildShape(btTransform::getIdentity(), top);
compound->addChildShape(btTransform::getIdentity(), pin);
btVector3 localInertia;
top->calculateLocalInertia(1, localInertia);
btRigidBody* body = new btRigidBody(1, 0, compound, localInertia);
btTransform tr;
tr.setIdentity();
tr.setOrigin(positions[i]);
body->setCenterOfMassTransform(tr);
body->setAngularVelocity(btVector3(1, 17, 3));
body->setLinearVelocity(btVector3(0, 0, 0));
body->setFriction(btSqrt(1));
m_dynamicsWorld->addRigidBody(body);
body->setFlags(gyroflags[i]);
body->setDamping(0.00001f, 0.0001f);
}
gfxBridge.autogenerateGraphicsObjects(m_dynamicsWorld);
}