diff --git a/Demos/RollingFrictionDemo/CMakeLists.txt b/Demos/RollingFrictionDemo/CMakeLists.txt new file mode 100644 index 000000000..99809ca08 --- /dev/null +++ b/Demos/RollingFrictionDemo/CMakeLists.txt @@ -0,0 +1,87 @@ +# This is basically the overall name of the project in Visual Studio this is the name of the Solution File + + +# For every executable you have with a main method you should have an add_executable line below. +# For every add executable line you should list every .cpp and .h file you have associated with that executable. + + +# This is the variable for Windows. I use this to define the root of my directory structure. +SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut) + +# You shouldn't have to modify anything below this line +######################################################## + +INCLUDE_DIRECTORIES( +${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL +) + + + +IF (USE_GLUT) + LINK_LIBRARIES( + OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} + ) + +IF (WIN32) +ADD_EXECUTABLE(AppRollingFrictionDemo + main.cpp + RollingFrictionDemo.cpp + RollingFrictionDemo.h + ${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc + ) +ELSE() + ADD_EXECUTABLE(AppRollingFrictionDemo + main.cpp + RollingFrictionDemo.cpp + RollingFrictionDemo.h + ) +ENDIF() + + + + + IF (WIN32) + IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + IF (CMAKE_CL_64) + ADD_CUSTOM_COMMAND( + TARGET AppRollingFrictionDemo + POST_BUILD + COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR} + ) + ELSE(CMAKE_CL_64) + ADD_CUSTOM_COMMAND( + TARGET AppRollingFrictionDemo + POST_BUILD +# COMMAND copy /Y ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR} + COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR} + ) + ENDIF(CMAKE_CL_64) + ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) + + ENDIF(WIN32) +ELSE (USE_GLUT) + + + + LINK_LIBRARIES( + OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} + ) + + + ADD_EXECUTABLE(AppRollingFrictionDemo + WIN32 + ../OpenGL/Win32AppMain.cpp + Win32RollingFrictionDemo.cpp + RollingFrictionDemo.cpp + RollingFrictionDemo.h + ${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc + ) + + +ENDIF (USE_GLUT) + +IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES) + SET_TARGET_PROPERTIES(AppRollingFrictionDemo PROPERTIES DEBUG_POSTFIX "_Debug") + SET_TARGET_PROPERTIES(AppRollingFrictionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel") + SET_TARGET_PROPERTIES(AppRollingFrictionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo") +ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES) \ No newline at end of file diff --git a/Demos/RollingFrictionDemo/Makefile.am b/Demos/RollingFrictionDemo/Makefile.am new file mode 100644 index 000000000..a73e4fb9e --- /dev/null +++ b/Demos/RollingFrictionDemo/Makefile.am @@ -0,0 +1,5 @@ +noinst_PROGRAMS=BasicDemo + +BasicDemo_SOURCES=BasicDemo.cpp BasicDemo.h main.cpp +BasicDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS) +BasicDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lBulletDynamics -lBulletCollision -lLinearMath @opengl_LIBS@ diff --git a/Demos/RollingFrictionDemo/RollingFrictionDemo.cpp b/Demos/RollingFrictionDemo/RollingFrictionDemo.cpp new file mode 100644 index 000000000..a54248147 --- /dev/null +++ b/Demos/RollingFrictionDemo/RollingFrictionDemo.cpp @@ -0,0 +1,271 @@ +/* +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. +*/ + + +///create 125 (5x5x5) dynamic object +#define ARRAY_SIZE_X 5 +#define ARRAY_SIZE_Y 5 +#define ARRAY_SIZE_Z 5 + +//maximum number of objects (and allow user to shoot additional boxes) +#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024) + +///scaling of the objects (0.1 = 20 centimeter boxes ) +#define SCALING 1. +#define START_POS_X -5 +#define START_POS_Y -5 +#define START_POS_Z -3 + +#include "RollingFrictionDemo.h" +#include "GlutStuff.h" +///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files. +#include "btBulletDynamicsCommon.h" +#include "GLDebugDrawer.h" +static GLDebugDrawer sDebugDraw; +#include //printf debugging + + +void RollingFrictionDemo::clientMoveAndDisplay() +{ + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + //simple dynamics world doesn't handle fixed-time-stepping + float ms = getDeltaTimeMicroseconds(); + + ///step the simulation + if (m_dynamicsWorld) + { + m_dynamicsWorld->stepSimulation(ms / 1000000.f); + //optional but useful: debug drawing + m_dynamicsWorld->debugDrawWorld(); + } + + renderme(); + + glFlush(); + + swapBuffers(); + +} + + + +void RollingFrictionDemo::displayCallback(void) { + + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + renderme(); + + //optional but useful: debug drawing to detect problems + if (m_dynamicsWorld) + m_dynamicsWorld->debugDrawWorld(); + + glFlush(); + swapBuffers(); +} + + + + + +void RollingFrictionDemo::initPhysics() +{ + setTexturing(true); + setShadows(true); + + setCameraDistance(btScalar(SCALING*26.)); + + ///collision configuration contains default setup for memory, collision setup + m_collisionConfiguration = new btDefaultCollisionConfiguration(); + //m_collisionConfiguration->setConvexConvexMultipointIterations(); + + ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) + m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); + + m_broadphase = new btDbvtBroadphase(); + + ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) + btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; + m_solver = sol; + + m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); + m_dynamicsWorld->setDebugDrawer(&sDebugDraw); +// m_dynamicsWorld->getSolverInfo().m_singleAxisRollingFrictionThreshold = 0.f;//faster but lower quality + m_dynamicsWorld->setGravity(btVector3(0,-10,0)); + + { + + ///create a few basic rigid bodies + btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(20.),btScalar(50.),btScalar(10.))); + + // btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50); + + m_collisionShapes.push_back(groundShape); + + btTransform groundTransform; + groundTransform.setIdentity(); + groundTransform.setOrigin(btVector3(0,-50,0)); + groundTransform.setRotation(btQuaternion(btVector3(0,0,1),SIMD_PI*0.03)); + //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here: + btScalar mass(0.); + + //rigidbody is dynamic if and only if mass is non zero, otherwise static + bool isDynamic = (mass != 0.f); + + btVector3 localInertia(0,0,0); + if (isDynamic) + groundShape->calculateLocalInertia(mass,localInertia); + + //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects + btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); + btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); + btRigidBody* body = new btRigidBody(rbInfo); + body->setFriction(1); + body->setRollingFriction(1); + //add the body to the dynamics world + m_dynamicsWorld->addRigidBody(body); + } + + { + + ///create a few basic rigid bodies + btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.))); + + m_collisionShapes.push_back(groundShape); + + btTransform groundTransform; + groundTransform.setIdentity(); + groundTransform.setOrigin(btVector3(0,-54,0)); + //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here: + btScalar mass(0.); + + //rigidbody is dynamic if and only if mass is non zero, otherwise static + bool isDynamic = (mass != 0.f); + + btVector3 localInertia(0,0,0); + if (isDynamic) + groundShape->calculateLocalInertia(mass,localInertia); + + //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects + btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); + btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); + btRigidBody* body = new btRigidBody(rbInfo); + body->setFriction(1); + body->setRollingFriction(1); + //add the body to the dynamics world + m_dynamicsWorld->addRigidBody(body); + } + + { + //create a few dynamic rigidbodies + // Re-using the same collision is better for memory usage and performance + + btCollisionShape* colShape = new btSphereShape(btScalar(1.)); + m_collisionShapes.push_back(colShape); + + /// Create Dynamic Objects + btTransform startTransform; + startTransform.setIdentity(); + + btScalar mass(1.f); + + //rigidbody is dynamic if and only if mass is non zero, otherwise static + bool isDynamic = (mass != 0.f); + + btVector3 localInertia(0,0,0); + if (isDynamic) + colShape->calculateLocalInertia(mass,localInertia); + + float start_x = START_POS_X - ARRAY_SIZE_X/2; + float start_y = START_POS_Y; + float start_z = START_POS_Z - ARRAY_SIZE_Z/2; + + for (int k=0;ksetFriction(1.f); + body->setRollingFriction(.3); + + m_dynamicsWorld->addRigidBody(body); + } + } + } + } + + +} +void RollingFrictionDemo::clientResetScene() +{ + exitPhysics(); + initPhysics(); +} + + +void RollingFrictionDemo::exitPhysics() +{ + + //cleanup in the reverse order of creation/initialization + + //remove the rigidbodies from the dynamics world and delete them + int i; + for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) + { + btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; + btRigidBody* body = btRigidBody::upcast(obj); + if (body && body->getMotionState()) + { + delete body->getMotionState(); + } + m_dynamicsWorld->removeCollisionObject( obj ); + delete obj; + } + + //delete collision shapes + for (int j=0;j m_collisionShapes; + + btBroadphaseInterface* m_broadphase; + + btCollisionDispatcher* m_dispatcher; + + btConstraintSolver* m_solver; + + btDefaultCollisionConfiguration* m_collisionConfiguration; + + public: + + RollingFrictionDemo() + { + } + virtual ~RollingFrictionDemo() + { + exitPhysics(); + } + void initPhysics(); + + void exitPhysics(); + + virtual void clientMoveAndDisplay(); + + virtual void displayCallback(); + virtual void clientResetScene(); + + static DemoApplication* Create() + { + RollingFrictionDemo* demo = new RollingFrictionDemo; + demo->myinit(); + demo->initPhysics(); + return demo; + } + + +}; + +#endif //_ROLLING_FRICTION_DEMO_H + diff --git a/Demos/RollingFrictionDemo/Win32RollingFrictionDemo.cpp b/Demos/RollingFrictionDemo/Win32RollingFrictionDemo.cpp new file mode 100644 index 000000000..2ecf7475f --- /dev/null +++ b/Demos/RollingFrictionDemo/Win32RollingFrictionDemo.cpp @@ -0,0 +1,25 @@ +#ifdef _WINDOWS +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans 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 "RollingFrictionDemo.h" + +///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo +DemoApplication* createDemo() +{ + return new RollingFrictionDemo(); +} + +#endif diff --git a/Demos/RollingFrictionDemo/main.cpp b/Demos/RollingFrictionDemo/main.cpp new file mode 100644 index 000000000..fe0966497 --- /dev/null +++ b/Demos/RollingFrictionDemo/main.cpp @@ -0,0 +1,41 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2007 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 "RollingFrictionDemo.h" +#include "GlutStuff.h" +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btHashMap.h" + + + + + +int main(int argc,char** argv) +{ + + RollingFrictionDemo ccdDemo; + ccdDemo.initPhysics(); + + +#ifdef CHECK_MEMORY_LEAKS + ccdDemo.exitPhysics(); +#else + return glutmain(argc, argv,1024,600,"Bullet Physics Demo. http://bulletphysics.org",&ccdDemo); +#endif + + //default glut doesn't return from mainloop + return 0; +} +