updated demos -> ALT + mouse uses Maya-style controls, replaced BMF_Fonts by GLDebugFont

fix debug drawing of btMultiSphereShape added box2d demo added experimental gpu 2d demo
2009-05-09 19:27:14 +00:00
parent 7a210546cf
commit 33029ad996
129 changed files with 8576 additions and 2184 deletions
--- a/Demos/Box2dDemo/Box2dDemo.cpp
+++ b/Demos/Box2dDemo/Box2dDemo.cpp
@@ -0,0 +1,256 @@
+/*
+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.
+*/
+
+#include "btBox2dShape.h"
+#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
+#include "btBox2dBox2dCollisionAlgorithm.h"
+
+///create 125 (5x5x5) dynamic object
+#define ARRAY_SIZE_X 17
+#define ARRAY_SIZE_Y 17
+#define ARRAY_SIZE_Z 1
+
+//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 "Box2dDemo.h"
+#include "GlutStuff.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include <stdio.h> //printf debugging
+
+
+void Box2dDemo::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();
+
+	glutSwapBuffers();
+
+}
+
+
+
+void Box2dDemo::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();
+	glutSwapBuffers();
+}
+
+
+
+
+
+void	Box2dDemo::initPhysics()
+{
+	setTexturing(true);
+	setShadows(true);
+
+	setCameraDistance(btScalar(SCALING*50.));
+	m_cameraTargetPosition.setValue(0, ARRAY_SIZE_Y, 0);
+
+	///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_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new btEmptyAlgorithm::CreateFunc);
+	m_dispatcher->registerCollisionCreateFunc(CUSTOM_CONVEX_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc);
+
+	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->getSolverInfo().m_erp = 1.f;
+	//m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
+	
+
+
+	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+
+	///create a few basic rigid bodies
+	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.),btScalar(50.),btScalar(150.)));
+//	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-43,0));
+
+	//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);
+
+		//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 btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
+		btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.));
+		colShape->setMargin(0.);
+		//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;
+
+		btVector3 x(-ARRAY_SIZE_X, 8.0f,-20.f);
+		btVector3 y;
+		btVector3 deltaX(SCALING*1, SCALING*2,0.f);
+		btVector3 deltaY(SCALING*2, 0.0f,0.f);
+
+		for (int i = 0; i < ARRAY_SIZE_X; ++i)
+		{
+			y = x;
+
+			for (int  j = i; j < ARRAY_SIZE_Y; ++j)
+			{
+					startTransform.setOrigin(y);
+
+			
+					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
+					btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+					btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
+					btRigidBody* body = new btRigidBody(rbInfo);
+					//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
+					body->setActivationState(ISLAND_SLEEPING);
+					body->setLinearFactor(btVector3(1,1,0));
+					body->setAngularFactor(btVector3(0,0,1));
+
+					m_dynamicsWorld->addRigidBody(body);
+					body->setActivationState(ISLAND_SLEEPING);
+
+
+				y += deltaY;
+			}
+
+			x += deltaX;
+		}
+
+	}
+
+
+	clientResetScene();
+}
+	
+
+void	Box2dDemo::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.size();j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+
+	delete m_dynamicsWorld;
+	
+	delete m_solver;
+	
+	delete m_broadphase;
+	
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+
+	
+}
+
+
+
+