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updated VehicleDemo to show Z as up-axis, rather then Y.

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proper gravity for BspDemo
This commit is contained in:
ejcoumans
2006-11-09 19:55:14 +00:00
parent a42718f753
commit 442ce2ec09
2 changed files with 91 additions and 21 deletions
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110
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -20,6 +20,25 @@ subject to the following restrictions:
/// with gears etc.
#include "btBulletDynamicsCommon.h"
//
// By default, Bullet Vehicle uses Y as up axis.
// You can override the up axis, for example Z-axis up. Enable this define to see how to:
//#define FORCE_ZAXIS_UP 1
//
#ifdef FORCE_ZAXIS_UP
int rightIndex = 0;
int upIndex = 2;
int forwardIndex = 1;
btVector3 wheelDirectionCS0(0,0,-1);
btVector3 wheelAxleCS(1,0,0);
#else
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
btVector3 wheelDirectionCS0(0,-1,0);
btVector3 wheelAxleCS(-1,0,0);
#endif
#include "GLDebugDrawer.h"
#include <stdio.h> //printf debugging
@@ -47,8 +66,8 @@ float suspensionStiffness = 20.f;
float suspensionDamping = 2.3f;
float suspensionCompression = 4.4f;
float rollInfluence = 0.1f;//1.0f;
btVector3 wheelDirectionCS0(0,-1,0);
btVector3 wheelAxleCS(1,0,0);
btScalar suspensionRestLength(0.6);
#define CUBE_HALF_EXTENTS 1
@@ -84,11 +103,16 @@ m_maxCameraDistance(10.f)
void VehicleDemo::setupPhysics()
{
#ifdef FORCE_ZAXIS_UP
m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1;
#endif
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_dynamicsWorld = new btDiscreteDynamicsWorld();
#ifdef FORCE_ZAXIS_UP
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
#endif
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
@@ -119,7 +143,20 @@ const float TRIANGLE_SIZE=20.f;
{
float wl = .2f;
float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,height,(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
#ifdef FORCE_ZAXIS_UP
gVertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
height
);
#else
gVertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
height,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
#endif
}
}
@@ -155,12 +192,25 @@ const float TRIANGLE_SIZE=20.f;
//create ground object
localCreateRigidBody(0,tr,groundShape);
#ifdef FORCE_ZAXIS_UP
// indexRightAxis = 0;
// indexUpAxis = 2;
// indexForwardAxis = 1;
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,0,1));
#else
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,1,0));
#endif
compound->addChildShape(localTrans,chassisShape);
tr.setOrigin(btVector3(0,0.f,0));
@@ -185,20 +235,37 @@ const float TRIANGLE_SIZE=20.f;
float connectionHeight = 1.2f;
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
bool isFrontWheel=true;
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
//choose coordinate system
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
#ifdef FORCE_ZAXIS_UP
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif //FORCE_ZAXIS_UP
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
for (int i=0;i<m_vehicle->getNumWheels();i++)
@@ -281,15 +348,14 @@ void VehicleDemo::clientMoveAndDisplay()
{
int steerWheelIndex = 2;
m_vehicle->applyEngineForce(gEngineForce,steerWheelIndex);
steerWheelIndex = 3;
m_vehicle->applyEngineForce(gEngineForce,steerWheelIndex);
steerWheelIndex = 0;
m_vehicle->setSteeringValue(gVehicleSteering,steerWheelIndex);
steerWheelIndex = 1;
m_vehicle->setSteeringValue(gVehicleSteering,steerWheelIndex);
int wheelIndex = 2;
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
wheelIndex = 3;
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
wheelIndex = 0;
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
wheelIndex = 1;
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
}
@@ -383,12 +449,12 @@ void VehicleDemo::specialKeyboard(int key, int x, int y)
}
case GLUT_KEY_UP :
{
gEngineForce = -maxEngineForce;
gEngineForce = maxEngineForce;
break;
}
case GLUT_KEY_DOWN :
{
gEngineForce = maxEngineForce;
gEngineForce = -maxEngineForce;
break;
}
default:
@@ -416,7 +482,11 @@ void VehicleDemo::updateCamera()
m_cameraTargetPosition = chassisWorldTrans.getOrigin();
//interpolate the camera height
#ifdef FORCE_ZAXIS_UP
m_cameraPosition[2] = (15.0*m_cameraPosition[2] + m_cameraTargetPosition[2] + m_cameraHeight)/16.0;
#else
m_cameraPosition[1] = (15.0*m_cameraPosition[1] + m_cameraTargetPosition[1] + m_cameraHeight)/16.0;
#endif
btVector3 camToObject = m_cameraTargetPosition - m_cameraPosition;