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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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84
btgui/Bullet3AppSupport/Bullet2RigidBodyDemo.cpp
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@@ -9,14 +9,25 @@
#include "MyDebugDrawer.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
static btVector4 sColors[4] =
{
btVector4(0.3,0.3,1,1),
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
//btVector4(1,1,0,1),
};
struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
{
CommonGraphicsApp* m_glApp;
MyDebugDrawer* m_debugDraw;
int m_curColor;
MyGraphicsPhysicsBridge(CommonGraphicsApp* glApp)
:m_glApp(glApp), m_debugDraw(0)
:m_glApp(glApp), m_debugDraw(0), m_curColor(0)
{
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
@@ -53,8 +64,56 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
//todo: support all collision shape types
switch (collisionShape->getShapeType())
{
case STATIC_PLANE_PROXYTYPE:
{
//draw a box, oriented along the plane normal
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
btVector3 planeOrigin = planeNormal * planeConst;
btVector3 vec0,vec1;
btPlaneSpace1(planeNormal,vec0,vec1);
btScalar vecLen = 100.f;
btVector3 verts[4];
verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
int startIndex = verticesOut.size();
indicesOut.push_back(startIndex+0);
indicesOut.push_back(startIndex+1);
indicesOut.push_back(startIndex+2);
indicesOut.push_back(startIndex+0);
indicesOut.push_back(startIndex+2);
indicesOut.push_back(startIndex+3);
btVector3 triNormal = parentTransform.getBasis()*planeNormal;
for (int i=0;i<4;i++)
{
GLInstanceVertex vtx;
btVector3 pos =parentTransform*verts[i];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 0.f;
vtx.normal[0] =triNormal.x();
vtx.normal[1] =triNormal.y();
vtx.normal[2] =triNormal.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
verticesOut.push_back(vtx);
}
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
btAssert(0);
break;
}
default:
@@ -193,6 +252,29 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
{
m_glApp->setUpAxis(axis);
}
btVector3 selectColor()
{
btVector4 color = sColors[m_curColor];
m_curColor++;
m_curColor&=3;
return color;
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
//btRigidBody* body = btRigidBody::upcast(colObj);
//does this also work for btMultiBody/btMultiBodyLinkCollider?
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
btVector3 color= selectColor();
createCollisionObjectGraphicsObject(colObj,color);
}
}
};
Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(CommonGraphicsApp* app, CommonPhysicsSetup* physicsSetup)