first step in refactoring/cleaning up demos
This commit is contained in:
ejcoumans
36
Demos/ConcaveDemo/ConcaveDemo.h
Normal file
36
Demos/ConcaveDemo/ConcaveDemo.h
Normal file
@@ -0,0 +1,36 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CONCAVE_DEMO_H
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#define CONCAVE_DEMO_H
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#include "DemoApplication.h"
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///ConcaveDemo shows usage of static concave triangle meshes
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///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
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class ConcaveDemo : public DemoApplication
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{
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public:
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void initPhysics();
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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virtual void clientResetScene();
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};
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#endif //CONCAVE_DEMO_H
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@@ -16,76 +16,28 @@ subject to the following restrictions:
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "MyMotionState.h"
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//#include "GL_LineSegmentShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/Simplex1to4Shape.h"
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#include "Dynamics/RigidBody.h"
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#include "BroadphaseCollision/AxisSweep3.h"
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#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
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//#include "ConstraintSolver/OdeConstraintSolver.h"
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#include "CollisionDispatch/CollisionDispatcher.h"
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#include "BroadphaseCollision/SimpleBroadphase.h"
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#include "CollisionShapes/TriangleMeshShape.h"
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#include "CollisionShapes/TriangleIndexVertexArray.h"
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#include "CollisionShapes/BvhTriangleMeshShape.h"
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#include "CollisionShapes/TriangleMesh.h"
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#include "IDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "PHY_Pro.h"
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#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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#endif
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//think different
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#if defined(__APPLE__) && !defined (VMDMESA)
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#endif
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#include "ConcaveDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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const int numObjects = 80;
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const int maxNumObjects = 100;
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MyMotionState ms[maxNumObjects];
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CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
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int shapeIndex[maxNumObjects];
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CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
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TriangleMesh meshData;
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StridingMeshInterface* ptr;
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GLDebugDrawer debugDrawer;
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//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
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// SimdPoint3(50,0,0));
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CollisionShape* shapePtr[5] =
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{
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new BoxShape (SimdVector3(100,10,100)),
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new BoxShape (SimdVector3(2,2,2)),
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new BU_Simplex1to4(SimdPoint3(-2,-2,-2),SimdPoint3(2,-2,-2),SimdPoint3(-2,2,-2),SimdPoint3(0,0,2)),
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new BoxShape (SimdVector3(1,3,1)),
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#ifdef DEBUG_MESH
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new TriangleMeshShape(&meshData),
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#else
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NULL,
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#endif
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//(&meshData)
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};
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static const int NUM_VERTICES = 5;
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static const int NUM_TRIANGLES=4;
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@@ -155,82 +107,16 @@ int main(int argc,char** argv)
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{
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gContactAddedCallback = CustomMaterialCombinerCallback;
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printf("BroadphaseProxy: %i\n",sizeof(BroadphaseProxy));
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printf("AxisSweep3::Handle : %i\n",sizeof(AxisSweep3::Handle));
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ConcaveDemo* concaveDemo = new ConcaveDemo();
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concaveDemo->initPhysics();
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concaveDemo->setCameraDistance(30.f);
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printf("SimpleBroadphaseProxy : %i\n",sizeof(SimpleBroadphaseProxy));
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return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",concaveDemo);
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}
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printf("RigidBody : %i\n",sizeof(RigidBody));
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printf("CcdPhysicsController: %i\n",sizeof(CcdPhysicsController));
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printf("ManifoldPoint: %i\n",sizeof(ManifoldPoint));
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setCameraDistance(30.f);
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#define TRISIZE 10.f
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#ifdef DEBUG_MESH
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SimdVector3 vert0(-TRISIZE ,0,TRISIZE );
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SimdVector3 vert1(TRISIZE ,10,TRISIZE );
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SimdVector3 vert2(TRISIZE ,0,-TRISIZE );
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meshData.AddTriangle(vert0,vert1,vert2);
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SimdVector3 vert3(-TRISIZE ,0,TRISIZE );
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SimdVector3 vert4(TRISIZE ,0,-TRISIZE );
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SimdVector3 vert5(-TRISIZE ,0,-TRISIZE );
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meshData.AddTriangle(vert3,vert4,vert5);
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#else
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#ifdef ODE_MESH
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SimdVector3 Size = SimdVector3(15.f,15.f,12.5f);
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gVertices[0][0] = -Size[0];
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gVertices[0][1] = Size[2];
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gVertices[0][2] = -Size[1];
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gVertices[1][0] = Size[0];
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gVertices[1][1] = Size[2];
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gVertices[1][2] = -Size[1];
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gVertices[2][0] = Size[0];
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gVertices[2][1] = Size[2];
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gVertices[2][2] = Size[1];
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gVertices[3][0] = -Size[0];
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gVertices[3][1] = Size[2];
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gVertices[3][2] = Size[1];
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gVertices[4][0] = 0;
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gVertices[4][1] = 0;
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gVertices[4][2] = 0;
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gIndices[0] = 0;
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gIndices[1] = 1;
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gIndices[2] = 4;
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gIndices[3] = 1;
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gIndices[4] = 2;
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gIndices[5] = 4;
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gIndices[6] = 2;
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gIndices[7] = 3;
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gIndices[8] = 4;
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gIndices[9] = 3;
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gIndices[10] = 0;
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gIndices[11] = 4;
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int vertStride = sizeof(SimdVector3);
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int indexStride = 3*sizeof(int);
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TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(NUM_TRIANGLES,
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gIndices,
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indexStride,
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NUM_VERTICES,(float*) &gVertices[0].x(),vertStride);
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//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
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shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
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#else
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void ConcaveDemo::initPhysics()
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{
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#define TRISIZE 10.f
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int vertStride = sizeof(SimdVector3);
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int indexStride = 3*sizeof(int);
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@@ -274,190 +160,49 @@ int main(int argc,char** argv)
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indexStride,
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totalVerts,(float*) &gVertices[0].x(),vertStride);
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//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
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shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
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#endif
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CollisionShape* trimeshShape = new BvhTriangleMeshShape(indexVertexArrays);
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#endif//DEBUG_MESH
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ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
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//ConstraintSolver* solver = new OdeConstraintSolver;
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CollisionDispatcher* dispatcher = new CollisionDispatcher();
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OverlappingPairCache* broadphase = new SimpleBroadphase();
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physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
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m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
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bool isDynamic = false;
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float mass = 0.f;
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SimdTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(SimdVector3(0,-2,0));
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physicsEnvironmentPtr->setGravity(-1,-10,1);
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PHY_ShapeProps shapeProps;
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shapeProps.m_do_anisotropic = false;
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shapeProps.m_do_fh = false;
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shapeProps.m_do_rot_fh = false;
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shapeProps.m_friction_scaling[0] = 1.;
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shapeProps.m_friction_scaling[1] = 1.;
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shapeProps.m_friction_scaling[2] = 1.;
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CcdPhysicsController* staticTrimesh = LocalCreatePhysicsObject(isDynamic, mass, startTransform,trimeshShape);
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//enable custom material callback
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staticTrimesh->GetRigidBody()->m_collisionFlags |= CollisionObject::customMaterialCallback;
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shapeProps.m_inertia = 1.f;
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shapeProps.m_lin_drag = 0.95999998f;
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shapeProps.m_ang_drag = 0.89999998f;
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shapeProps.m_mass = 1.0f;
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PHY_MaterialProps materialProps;
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materialProps.m_friction = 0.f;// 50.5f;
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materialProps.m_restitution = 0.1f;
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CcdConstructionInfo ccdObjectCi;
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ccdObjectCi.m_friction = 0.f;//50.5f;
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ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
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ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
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SimdTransform tr;
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tr.setIdentity();
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for (i=0;i<numObjects;i++)
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{
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if (i>0)
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shapeIndex[i] = 1;//2 = tetrahedron
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else
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shapeIndex[i] = 4;
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for (int i=0;i<10;i++)
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{
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CollisionShape* boxShape = new BoxShape(SimdVector3(1,1,1));
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startTransform.setOrigin(SimdVector3(2*i,1,1));
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CcdPhysicsController* boxRigidBody = LocalCreatePhysicsObject(true, 1, startTransform,boxShape);
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}
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}
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for (i=0;i<numObjects;i++)
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{
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shapeProps.m_shape = shapePtr[shapeIndex[i]];
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bool isDyna = i>0;
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if (!i)
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{
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ccdObjectCi.m_friction = 0.0f;
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//SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
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//ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
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//ms[i].setWorldPosition(0,-10,0);
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} else
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{
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ccdObjectCi.m_friction = 0.5f;
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ms[i].setWorldPosition(10,i*15-10,0);
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}
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//either create a few stacks, to show several islands, or create 1 large stack, showing stability
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//ms[i].setWorldPosition((i*5) % 30,i*15-10,0);
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ccdObjectCi.m_MotionState = &ms[i];
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ccdObjectCi.m_gravity = SimdVector3(0,0,0);
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ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
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if (!isDyna)
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{
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shapeProps.m_mass = 0.f;
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ccdObjectCi.m_mass = shapeProps.m_mass;
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ccdObjectCi.m_collisionFlags = CollisionObject::customMaterialCallback;
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}
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else
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{
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shapeProps.m_mass = 1.f;
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ccdObjectCi.m_mass = shapeProps.m_mass;
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ccdObjectCi.m_collisionFlags =0;
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}
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SimdVector3 localInertia;
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if (shapeProps.m_mass>0.f)
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{
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shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
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} else
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{
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localInertia.setValue(0.f,0.f,0.f);
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m_physicsEnvironmentPtr->setGravity(-1,-10,1);
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}
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ccdObjectCi.m_localInertiaTensor = localInertia;
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ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];
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physObjects[i]= new CcdPhysicsController( ccdObjectCi);
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physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
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/* if (i==0)
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{
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physObjects[i]->SetAngularVelocity(0,0,-2,true);
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physObjects[i]->GetRigidBody()->setDamping(0,0);
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}
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*/
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//for the line that represents the AABB extents
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physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
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}
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return glutmain(argc, argv,640,480,"Static Concave Mesh Demo");
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m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
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}
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void renderme()
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{
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float m[16];
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int i;
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debugDrawer.SetDebugMode(getDebugMode());
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for (i=0;i<numObjects;i++)
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{
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SimdTransform transA;
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transA.setIdentity();
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float pos[3];
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float rot[4];
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ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
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ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);
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SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
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transA.setRotation(q);
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SimdPoint3 dpos;
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dpos.setValue(pos[0],pos[1],pos[2]);
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transA.setOrigin( dpos );
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transA.getOpenGLMatrix( m );
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SimdVector3 wireColor(0.f,0.f,1.f); //wants deactivation
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///color differently for active, sleeping, wantsdeactivation states
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if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
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{
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wireColor = SimdVector3 (1.f,0.f,0.f);
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}
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if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
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{
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wireColor = SimdVector3 (0.f,1.f,0.f);
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}
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char extraDebug[125];
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//sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
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shapePtr[shapeIndex[i]]->SetExtraDebugInfo(extraDebug);
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GL_ShapeDrawer::DrawOpenGL(m,shapePtr[shapeIndex[i]],wireColor,getDebugMode());
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}
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}
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void clientMoveAndDisplay()
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void ConcaveDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float deltaTime = 1.f/60.f;
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physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
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m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
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renderme();
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@@ -466,10 +211,25 @@ void clientMoveAndDisplay()
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}
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void ConcaveDemo::clientResetScene()
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{
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int numObj = m_physicsEnvironmentPtr->GetNumControllers();
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//skip ground
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for (int i=1;i<numObj;i++)
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{
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CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
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ctrl->setPosition(2*i,1,1);
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ctrl->setOrientation(0,0,0,1);
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ctrl->SetLinearVelocity(0,0,0,0);
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ctrl->SetAngularVelocity(0,0,0,0);
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}
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}
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void clientDisplay(void) {
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void ConcaveDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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@@ -480,26 +240,3 @@ void clientDisplay(void) {
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}
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void clientResetScene()
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{
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}
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void clientSpecialKeyboard(int key, int x, int y)
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{
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defaultSpecialKeyboard(key,x,y);
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}
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void clientKeyboard(unsigned char key, int x, int y)
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{
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defaultKeyboard(key, x, y);
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}
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void clientMouseFunc(int button, int state, int x, int y)
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{
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}
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void clientMotionFunc(int x,int y)
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{
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}
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