added very crude little LuaDemo, to create physics objects using Lua scripts (very preliminary)
This commit is contained in:
erwincoumans
@@ -9,6 +9,7 @@
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#include "../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.h"
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#include "../bullet2/RagdollDemo/RagdollDemo.h"
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#include "../bullet2/LuaDemo/LuaDemo.h"
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struct BulletDemoEntry
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@@ -27,7 +28,7 @@ static BulletDemoEntry allDemos[]=
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{"Ragdoll",RagDollDemo::MyCreateFunc},
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{"MultiBody1",FeatherstoneDemo1::MyCreateFunc},
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{"MultiDofDemo",MultiDofDemo::MyCreateFunc},
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{"LuaDemo",LuaDemo::MyCreateFunc}
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};
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@@ -9,13 +9,14 @@
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includedirs {
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".",
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"../../src",
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"../../btgui"
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"../../btgui",
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"../../btgui/lua-5.2.3/src"
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}
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initOpenGL()
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initGlew()
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links{"gwen", "OpenGL_Window","OpenGL_TrueTypeFont","BulletSoftBody","BulletDynamics","BulletCollision","LinearMath"}
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links{"gwen", "OpenGL_Window","OpenGL_TrueTypeFont","BulletSoftBody","BulletDynamics","BulletCollision","LinearMath","lua-5.2.3"}
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files {
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"**.cpp",
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@@ -32,6 +33,10 @@
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"../bullet2/BasicDemo/HingeDemo.h",
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"../bullet2/RagdollDemo/RagdollDemo.cpp",
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"../bullet2/RagdollDemo/RagdollDemo.h",
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"../bullet2/LuaDemo/LuaDemo.cpp",
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"../bullet2/LuaDemo/LuaDemo.h",
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"../../src/Bullet3Common/**.cpp",
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"../../src/Bullet3Common/**.h",
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"../../btgui/Timing/b3Clock.cpp",
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@@ -7,7 +7,7 @@
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class Bullet2RigidBodyDemo : public BulletDemoInterface
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{
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protected:
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public:
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class btDiscreteDynamicsWorld* m_dynamicsWorld;
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class btCollisionDispatcher* m_dispatcher;
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class btBroadphaseInterface* m_bp;
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499
Demos3/bullet2/LuaDemo/LuaDemo.cpp
Normal file
499
Demos3/bullet2/LuaDemo/LuaDemo.cpp
Normal file
@@ -0,0 +1,499 @@
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#include "LuaDemo.h"
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#include "OpenGLWindow/SimpleOpenGL3App.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btVector3.h"
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#include <iostream>
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#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
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extern "C" {
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#include "lua.h"
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#include "lualib.h"
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#include "lauxlib.h"
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}
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char* sLuaFileName = "init_physics.lua";
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static const float scaling=0.35f;
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static LuaDemo* sLuaDemo = 0;
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static btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(1,1,0,1),
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};
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//todo: allow to create solver, broadphase, multiple worlds etc.
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static int createDefaultDynamicsWorld(lua_State *L)
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{
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sLuaDemo->m_config = new btDefaultCollisionConfiguration;
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sLuaDemo->m_dispatcher = new btCollisionDispatcher(sLuaDemo->m_config);
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sLuaDemo->m_bp = new btDbvtBroadphase();
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sLuaDemo->m_solver = new btNNCGConstraintSolver();
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sLuaDemo->m_dynamicsWorld = new btDiscreteDynamicsWorld(sLuaDemo->m_dispatcher,sLuaDemo->m_bp,sLuaDemo->m_solver,sLuaDemo->m_config);
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lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld);
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return 1;
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}
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static int deleteDynamicsWorld(lua_State *L)
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{
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return 0;
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}
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ATTRIBUTE_ALIGNED16(struct) CustomShapeData
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{
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btVector3 m_localScaling;
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int m_shapeIndex;
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};
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ATTRIBUTE_ALIGNED16(struct) CustomRigidBodyData
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{
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int m_graphicsInstanceIndex;
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};
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static int createCubeShape(lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==4)
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{
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btVector3 halfExtents(1,1,1);
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument to createCubeShape should be world";
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return 0;
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}
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//expect userdata = sLuaDemo->m_dynamicsWorld
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halfExtents = btVector3(lua_tonumber(L,2),lua_tonumber(L,3),lua_tonumber(L,4));
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btCollisionShape* colShape = new btBoxShape(halfExtents);
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CustomShapeData* shapeData = new CustomShapeData();
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shapeData->m_shapeIndex = sLuaDemo->m_glApp->registerCubeShape();
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shapeData->m_localScaling = halfExtents;
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colShape->setUserPointer(shapeData);
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lua_pushlightuserdata (L, colShape);
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return 1;
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} else
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{
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std::cerr << "Error: invalid number of arguments to createCubeShape, expected 4 (world,halfExtentsX,halfExtentsY,halfExtentsX) but got " << argc;
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}
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return 0;
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}
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static int createSphereShape(lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==2)
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{
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btVector3 halfExtents(1,1,1);
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument to createSphereShape should be world";
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return 0;
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}
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//expect userdata = sLuaDemo->m_dynamicsWorld
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btScalar radius = lua_tonumber(L,2);
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btCollisionShape* colShape = new btSphereShape(radius);
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CustomShapeData* shapeData = new CustomShapeData();
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shapeData->m_shapeIndex = sLuaDemo->m_glApp->registerGraphicsSphereShape(radius,false,100,0.5);
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shapeData->m_localScaling = halfExtents;
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colShape->setUserPointer(shapeData);
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lua_pushlightuserdata (L, colShape);
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return 1;
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} else
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{
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std::cerr << "Error: invalid number of arguments to createSphereShape, expected 2 (world,radius) but got " << argc;
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}
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return 0;
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}
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int luaL_returnlen(lua_State* L, int index)
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{
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lua_len(L, index);
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int len = lua_tointeger(L,-1);
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lua_pop(L, 1);
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return len;
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}
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btVector3 getLuaVectorArg(lua_State* L, int index)
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{
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btVector3 pos(0,0,0);
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int sz = luaL_returnlen(L, index); // get size of table
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{
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lua_rawgeti(L, index, 1); // push t[i]
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pos[0] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 2); // push t[i]
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pos[1] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 3); // push t[i]
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pos[2] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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}
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return pos;
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}
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btQuaternion getLuaQuaternionArg(lua_State* L, int index)
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{
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btQuaternion orn(0,0,0,1);
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int sz = luaL_returnlen(L, index); // get size of table
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{
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lua_rawgeti(L, index, 1); // push t[i]
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orn[0] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 2); // push t[i]
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orn[1] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 3); // push t[i]
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orn[2] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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lua_rawgeti(L, index, 4); // push t[i]
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orn[3] = lua_tonumber(L,-1);
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lua_pop(L, 1);
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}
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return orn;
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}
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static int createRigidBody (lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==5)
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{
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btTransform startTransform;
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startTransform.setIdentity();
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument to b3CreateRigidbody should be world";
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return 0;
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}
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btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) lua_touserdata(L,1);
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if (world != sLuaDemo->m_dynamicsWorld)
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{
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std::cerr << "error: first argument expected to be a world";
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return 0;
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}
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if (!lua_isuserdata(L,2))
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{
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std::cerr << "error: second argument to b3CreateRigidbody should be world";
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return 0;
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}
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btScalar mass = lua_tonumber(L,3);
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luaL_checktype(L,4, LUA_TTABLE);
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btVector3 pos = getLuaVectorArg(L,4);
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btQuaternion orn = getLuaQuaternionArg(L,5);
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btCollisionShape* colShape = (btCollisionShape* )lua_touserdata(L,2);
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//expect userdata = sLuaDemo->m_dynamicsWorld
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btVector3 inertia(0,0,0);
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if (mass)
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{
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colShape->calculateLocalInertia(mass,inertia);
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}
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btRigidBody* body = new btRigidBody(mass,0,colShape,inertia);
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body->getWorldTransform().setOrigin(pos);
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body->getWorldTransform().setRotation(orn);
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CustomShapeData* shapeData = (CustomShapeData*)colShape->getUserPointer();
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if (shapeData)
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{
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CustomRigidBodyData* rbd = new CustomRigidBodyData;
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static int curColor = 0;
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btVector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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CustomShapeData* shapeData = (CustomShapeData*)body->getCollisionShape()->getUserPointer();
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if (shapeData)
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{
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rbd ->m_graphicsInstanceIndex = sLuaDemo->m_glApp->m_instancingRenderer->registerGraphicsInstance(shapeData->m_shapeIndex,startTransform.getOrigin(),startTransform.getRotation(),color,shapeData->m_localScaling);
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body->setUserPointer(rbd);
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}
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}
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world->addRigidBody(body);
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lua_pushlightuserdata (L, body);
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return 1;
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} else
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{
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std::cerr << "Error: invalid number of arguments to createRigidBody, expected 5 (world,shape,mass,pos,orn) but got " << argc;
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}
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return 0;
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}
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static int setBodyPosition(lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==3)
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{
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument needs to be a world";
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return 0;
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}
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if (!lua_isuserdata(L,2))
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{
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std::cerr << "error: second argument needs to be a body";
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return 0;
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}
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btRigidBody* body = (btRigidBody*)lua_touserdata(L,2);
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btVector3 pos = getLuaVectorArg(L,3);
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btTransform& tr = body ->getWorldTransform();
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tr.setOrigin(pos);
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body->setWorldTransform(tr);
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} else
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{
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std::cerr << "error: setBodyPosition expects 6 arguments like setBodyPosition(world,body,0,1,0)";
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}
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return 0;
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}
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static int setBodyOrientation(lua_State *L)
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{
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int argc = lua_gettop(L);
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if (argc==3)
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{
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if (!lua_isuserdata(L,1))
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{
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std::cerr << "error: first argument needs to be a world";
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return 0;
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}
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if (!lua_isuserdata(L,2))
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{
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std::cerr << "error: second argument needs to be a body";
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return 0;
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}
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btRigidBody* body = (btRigidBody*)lua_touserdata(L,2);
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btQuaternion orn = getLuaQuaternionArg(L,3);
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btTransform& tr = body ->getWorldTransform();
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tr.setRotation(orn);
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body->setWorldTransform(tr);
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} else
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{
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std::cerr << "error: setBodyOrientation expects 3 arguments like setBodyOrientation(world,body,orn)";
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}
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return 0;
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}
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//b3CreateConvexShape(world, points)
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//b3CreateHingeConstraint(world,bodyA,bodyB,...)
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LuaDemo::LuaDemo(SimpleOpenGL3App* app)
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:Bullet2RigidBodyDemo(app)
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{
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sLuaDemo = this;
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}
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LuaDemo::~LuaDemo()
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{
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sLuaDemo = 0;
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}
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static void report_errors(lua_State *L, int status)
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{
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if ( status!=0 ) {
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std::cerr << "-- " << lua_tostring(L, -1) << std::endl;
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lua_pop(L, 1); // remove error message
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}
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}
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void LuaDemo::initPhysics()
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{
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const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
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int numPrefixes = sizeof(prefix)/sizeof(const char*);
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char relativeFileName[1024];
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FILE* f=0;
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int result = 0;
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for (int i=0;!f && i<numPrefixes;i++)
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{
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sprintf(relativeFileName,"%s%s",prefix[i],sLuaFileName);
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f = fopen(relativeFileName,"rb");
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}
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if (f)
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{
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fclose(f);
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lua_State *L = luaL_newstate();
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luaopen_io(L); // provides io.*
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luaopen_base(L);
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luaopen_table(L);
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luaopen_string(L);
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luaopen_math(L);
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//luaopen_package(L);
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luaL_openlibs(L);
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// make my_function() available to Lua programs
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lua_register(L, "createDefaultDynamicsWorld", createDefaultDynamicsWorld);
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lua_register(L, "deleteDynamicsWorld", deleteDynamicsWorld);
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lua_register(L, "createCubeShape", createCubeShape);
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lua_register(L, "createSphereShape", createSphereShape);
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lua_register(L, "createRigidBody", createRigidBody);
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lua_register(L, "setBodyPosition", setBodyPosition);
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lua_register(L, "setBodyOrientation", setBodyOrientation);
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int s = luaL_loadfile(L, relativeFileName);
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if ( s==0 ) {
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// execute Lua program
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s = lua_pcall(L, 0, LUA_MULTRET, 0);
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}
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report_errors(L, s);
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lua_close(L);
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} else
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{
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b3Error("Cannot find Lua file%s\n",sLuaFileName);
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}
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#if 0
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int curColor=0;
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//create ground
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int cubeShapeId = m_glApp->registerCubeShape();
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float pos[]={0,0,0};
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float orn[]={0,0,0,1};
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{
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float halfExtents[]={scaling,scaling,scaling,1};
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btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(1,1,0,1),
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};
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass = 1.f;
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btVector3 localInertia;
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btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
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colShape ->calculateLocalInertia(mass,localInertia);
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for (int k=0;k<3;k++)
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||||
{
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||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
for(int j = 0;j<3;j++)
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||||
{
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||||
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||||
btVector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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startTransform.setOrigin(btVector3(
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btScalar(2.0*scaling*i),
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btScalar(2.*scaling+2.0*scaling*k),
|
||||
btScalar(2.0*scaling*j)));
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||||
|
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m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
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||||
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
m_glApp->m_instancingRenderer->writeTransforms();
|
||||
}
|
||||
void LuaDemo::exitPhysics()
|
||||
{
|
||||
//todo: delete bodies, shapes, constraints
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
delete m_dynamicsWorld;
|
||||
m_dynamicsWorld=0;
|
||||
delete m_solver;
|
||||
m_solver=0;
|
||||
delete m_bp;
|
||||
m_bp=0;
|
||||
delete m_dispatcher;
|
||||
m_dispatcher=0;
|
||||
delete m_config;
|
||||
m_config=0;
|
||||
}
|
||||
}
|
||||
void LuaDemo::renderScene()
|
||||
{
|
||||
//sync graphics -> physics world transforms
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
|
||||
{
|
||||
btVector3 pos = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getOrigin();
|
||||
btQuaternion orn = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getRotation();
|
||||
if (m_dynamicsWorld->getCollisionObjectArray()[i]->getUserPointer())
|
||||
{
|
||||
CustomRigidBodyData* rbd = (CustomRigidBodyData*)m_dynamicsWorld->getCollisionObjectArray()[i]->getUserPointer();
|
||||
|
||||
|
||||
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,rbd->m_graphicsInstanceIndex);
|
||||
}
|
||||
}
|
||||
m_glApp->m_instancingRenderer->writeTransforms();
|
||||
}
|
||||
|
||||
m_glApp->m_instancingRenderer->renderScene();
|
||||
}
|
||||
|
||||
|
||||
void LuaDemo::stepSimulation(float dt)
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->stepSimulation(dt);
|
||||
}
|
||||
|
||||
|
||||
|
||||
29
Demos3/bullet2/LuaDemo/LuaDemo.h
Normal file
29
Demos3/bullet2/LuaDemo/LuaDemo.h
Normal file
@@ -0,0 +1,29 @@
|
||||
#ifndef LUA_DEMO_H
|
||||
#define LUA_DEMO_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "../BasicDemo/Bullet2RigidBodyDemo.h"
|
||||
|
||||
|
||||
//We use a struct instead of class, to make it easier to interface with Lua
|
||||
struct LuaDemo : public Bullet2RigidBodyDemo
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
|
||||
{
|
||||
return new LuaDemo(app);
|
||||
}
|
||||
|
||||
LuaDemo(SimpleOpenGL3App* app);
|
||||
virtual ~LuaDemo();
|
||||
|
||||
virtual void initPhysics();
|
||||
virtual void exitPhysics();
|
||||
virtual void renderScene();
|
||||
virtual void stepSimulation(float dt);
|
||||
};
|
||||
|
||||
|
||||
#endif //BASIC_DEMO_H
|
||||
@@ -218,6 +218,46 @@ int SimpleOpenGL3App::registerCubeShape()
|
||||
int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
|
||||
return shapeId;
|
||||
}
|
||||
|
||||
|
||||
int SimpleOpenGL3App::registerGraphicsSphereShape(float radius, bool usePointSprites, int largeSphereThreshold, int mediumSphereThreshold)
|
||||
{
|
||||
|
||||
int strideInBytes = 9*sizeof(float);
|
||||
|
||||
int graphicsShapeIndex = -1;
|
||||
|
||||
if (radius>=largeSphereThreshold)
|
||||
{
|
||||
int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
|
||||
int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
|
||||
graphicsShapeIndex = m_instancingRenderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices);
|
||||
} else
|
||||
{
|
||||
|
||||
if (usePointSprites)
|
||||
{
|
||||
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
|
||||
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
|
||||
graphicsShapeIndex = m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
|
||||
} else
|
||||
{
|
||||
if (radius>=mediumSphereThreshold)
|
||||
{
|
||||
int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
|
||||
int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
|
||||
graphicsShapeIndex = m_instancingRenderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices);
|
||||
} else
|
||||
{
|
||||
int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
|
||||
int numIndices = sizeof(low_sphere_indices)/sizeof(int);
|
||||
graphicsShapeIndex = m_instancingRenderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices);
|
||||
}
|
||||
}
|
||||
}
|
||||
return graphicsShapeIndex;
|
||||
}
|
||||
|
||||
void SimpleOpenGL3App::drawGrid(int gridSize, float yOffset)
|
||||
{
|
||||
|
||||
|
||||
@@ -17,6 +17,7 @@ struct SimpleOpenGL3App
|
||||
virtual ~SimpleOpenGL3App();
|
||||
|
||||
int registerCubeShape();
|
||||
int registerGraphicsSphereShape(float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10);
|
||||
|
||||
void drawGrid(int gridSize=10, float yOffset=0.001);
|
||||
void swapBuffer();
|
||||
|
||||
70
data/init_physics.lua
Normal file
70
data/init_physics.lua
Normal file
@@ -0,0 +1,70 @@
|
||||
-- Very basic Lua script to create some Bullet objects.
|
||||
-- See also Demos3/AllBullet2Demos using Demos3/bullet2/LuaDemo
|
||||
|
||||
--right now we cannot interleave adding instances of different shapes, they have to be added in-order
|
||||
--hence the two loops. this will be fixed soon
|
||||
|
||||
world = createDefaultDynamicsWorld()
|
||||
|
||||
cubeshape = createCubeShape(world, 30,1,30)
|
||||
pos={0,0,0}
|
||||
orn = {0,0,0,1}
|
||||
mass = 0
|
||||
body = createRigidBody(world,cubeshape,mass,pos,orn)
|
||||
|
||||
shape = createCubeShape(world, 1,1,1)
|
||||
|
||||
x=0
|
||||
z=0
|
||||
maxy = 10
|
||||
|
||||
toggle=1
|
||||
|
||||
for x=0,10 do
|
||||
for y=0,10 do
|
||||
if toggle==1 then
|
||||
toggle = 0
|
||||
for z=0,10 do
|
||||
mass = 1
|
||||
if (y==maxy) then
|
||||
--mass=30;
|
||||
end
|
||||
pos = {-14+x*2,2+2*y,z*2}
|
||||
|
||||
body = createRigidBody(world,shape,mass,pos,orn)
|
||||
setBodyPosition(world,body,pos)
|
||||
setBodyOrientation(world,body,orn)
|
||||
end
|
||||
else
|
||||
toggle = 1
|
||||
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
toggle=1
|
||||
shape = createSphereShape(world, 1)
|
||||
|
||||
for x=0,10 do
|
||||
for y=0,20 do
|
||||
if toggle==1 then
|
||||
toggle = 0
|
||||
else
|
||||
toggle = 1
|
||||
for z=0,10 do
|
||||
mass = 1
|
||||
if (y==maxy) then
|
||||
--mass=30;
|
||||
end
|
||||
|
||||
|
||||
|
||||
pos = {-14+x*2,2+2*y,z*2}
|
||||
|
||||
body = createRigidBody(world,shape,mass,pos,orn)
|
||||
setBodyPosition(world,body,pos)
|
||||
setBodyOrientation(world,body,orn)
|
||||
end
|
||||
end
|
||||
end
|
||||
end
|
||||
Reference in New Issue
Block a user