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Constraint demo has been changed - debug visualization turned on by default

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This commit is contained in:
rponom
2009-01-16 03:06:28 +00:00
parent 21afccdb29
commit 4bcd016c98
4 changed files with 603 additions and 390 deletions
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144
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@@ -34,6 +34,7 @@ const int numObjects = 3;
#define M_PI 3.1415926f
#define M_PI_2 ((M_PI)*0.5f)
#define M_PI_4 ((M_PI)*0.25f)
btTransform sliderTransform;
btVector3 lowerSliderLimit = btVector3(-10,0,0);
@@ -79,6 +80,16 @@ void ConstraintDemo::initPhysics()
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
btRigidBody* groundBody = localCreateRigidBody(0, groundTransform, groundShape);
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
btTransform trans;
@@ -86,6 +97,7 @@ void ConstraintDemo::initPhysics()
trans.setOrigin(btVector3(0,20,0));
float mass = 1.f;
#if 1
//point to point constraint (ball socket)
{
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
@@ -93,6 +105,7 @@ void ConstraintDemo::initPhysics()
mass = 1.f;
btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
// btRigidBody* body1 = localCreateRigidBody( 0.0,trans,0);
//body1->setActivationState(DISABLE_DEACTIVATION);
//body1->setDamping(0.3,0.3);
@@ -116,10 +129,12 @@ void ConstraintDemo::initPhysics()
hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
m_dynamicsWorld->addConstraint(hinge);//p2p);
// m_dynamicsWorld->addConstraint(p2p);
}
#endif
#if 1
//create a slider, using the generic D6 constraint
{
mass = 1.f;
@@ -141,36 +156,143 @@ void ConstraintDemo::initPhysics()
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
bool useLinearReferenceFrameA = false;//use fixed frame B for linear limits
btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*d6body0,*fixedBody1,frameInA,frameInB,useLinearReferenceFrameA);
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
btGeneric6DofConstraint* slider = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
slider->setLinearLowerLimit(lowerSliderLimit);
slider->setLinearUpperLimit(hiSliderLimit);
//range should be small, otherwise singularities will 'explode' the constraint
slider->setAngularLowerLimit(btVector3(20,0,0));
slider->setAngularUpperLimit(btVector3(0,0,0));
slider->setAngularLowerLimit(btVector3(-1.5,0,0));
slider->setAngularUpperLimit(btVector3(1.5,0,0));
// slider->setAngularLowerLimit(btVector3(0,0,0));
// slider->setAngularUpperLimit(btVector3(0,0,0));
slider->getTranslationalLimitMotor()->m_enableMotor[0] = true;
slider->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
slider->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
m_dynamicsWorld->addConstraint(slider);
}
#endif
#if 1
{ // create a door using hinge constraint attached to the world
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
m_collisionShapes.push_back(pDoorShape);
btTransform doorTrans;
doorTrans.setIdentity();
doorTrans.setOrigin(btVector3(-5.0f, 0.0f, 0.0f));
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
btRigidBody* pDoorBody = localCreateRigidBody( 1.0, doorTrans, pDoorShape);
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA( 2.1f, 0.0f, 0.0f ); // right next to the door slightly outside
const btVector3 btPivotA( 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
spDoorHinge->setLimit( 0.0f, M_PI_2 );
m_dynamicsWorld->addConstraint(spDoorHinge);
}
//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
//btRigidBody* pDropBody = localCreateRigidBody( 10.0, doorTrans, shape);
}
#endif
#if 1
{ // create a generic 6DOF constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
// btRigidBody* pBodyA = localCreateRigidBody( mass, tr, shape);
btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
// btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, 0);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
pBodyB->setActivationState(DISABLE_DEACTIVATION);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
m_dynamicsWorld->addConstraint(pGen6DOF, true);
}
#endif
#if 1
{ // create a ConeTwist constraint
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-10.), btScalar(0.), btScalar(0.)));
tr.getBasis().setEulerZYX(0,0,0);
btRigidBody* pBodyB = localCreateRigidBody(1.0, tr, shape);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInA.getBasis().setEulerZYX(0, 0, M_PI_2);
frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-1.), btScalar(0.)));
frameInB = btTransform::getIdentity();
frameInB.getBasis().setEulerZYX(0,0, M_PI_2);
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(4.), btScalar(0.)));
btConeTwistConstraint* pCT = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
pCT->setLimit(btScalar(M_PI_4)*0.5f, btScalar(M_PI_4), btScalar(M_PI * 0.9));
m_dynamicsWorld->addConstraint(pCT, true);
}
#endif
#if 1
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
btRigidBody* pBody = localCreateRigidBody( 1.0, tr, shape);
pBody->setActivationState(DISABLE_DEACTIVATION);
const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
pHinge->enableAngularMotor(true, -1.0, 0.165);
m_dynamicsWorld->addConstraint(pHinge);
}
#endif
}
ConstraintDemo::~ConstraintDemo()
@@ -266,7 +388,7 @@ void ConstraintDemo::clientMoveAndDisplay()
}
renderme();
drawLimit();
// drawLimit();
glFlush();
glutSwapBuffers();
@@ -282,7 +404,7 @@ void ConstraintDemo::displayCallback(void) {
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
drawLimit();
// drawLimit();
renderme();

35
Demos/ConstraintDemo/main.cpp
View File

@@ -1,15 +1,20 @@
#include "ConstraintDemo.h"
#include "GlutStuff.h"
int main(int argc,char** argv)
{
ConstraintDemo* constraintDemo = new ConstraintDemo();
constraintDemo->initPhysics();
return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
}
#include "ConstraintDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
int main(int argc,char** argv)
{
GLDebugDrawer gDebugDrawer;
ConstraintDemo* constraintDemo = new ConstraintDemo();
constraintDemo->initPhysics();
constraintDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
constraintDemo->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
}

12
Demos/OpenGL/DemoApplication.cpp
View File

@@ -368,6 +368,18 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
else
m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
break;
case 'C' :
if (m_debugMode & btIDebugDraw::DBG_DrawConstraints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraints);
else
m_debugMode |= btIDebugDraw::DBG_DrawConstraints;
break;
case 'L' :
if (m_debugMode & btIDebugDraw::DBG_DrawConstraintLimits)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraintLimits);
else
m_debugMode |= btIDebugDraw::DBG_DrawConstraintLimits;
break;
case 'd' :
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)

802
Demos/SliderConstraintDemo/SliderConstraintDemo.cpp
View File

@@ -1,365 +1,439 @@
/*
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.
*/
/*
Added by Roman Ponomarev (rponom@gmail.com)
April 04, 2008
Added support for ODE sover
April 24, 2008
*/
//-----------------------------------------------------------------------------
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
#include "SliderConstraintDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
//-----------------------------------------------------------------------------
#define SLIDER_DEMO_USE_ODE_SOLVER 0
#define SLIDER_DEMO_USE_6DOF 0
#define CUBE_HALF_EXTENTS 1.f
//-----------------------------------------------------------------------------
// A couple of sliders
#if SLIDER_DEMO_USE_6DOF
static btGeneric6DofConstraint *spSlider1, *spSlider2;
#else
static btSliderConstraint *spSlider1, *spSlider2;
#endif
//-----------------------------------------------------------------------------
static void draw_axes(const btRigidBody& rb, const btTransform& frame)
{
glBegin(GL_LINES);
// draw world transform
btVector3 from = rb.getWorldTransform().getOrigin();
btVector3 to = from + rb.getWorldTransform().getBasis() * btVector3(5,0,0);
// X in red
glColor3f(255.0F, 0.0F, 0.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
to = from + rb.getWorldTransform().getBasis() * btVector3(0,5,0);
// Y in green
glColor3f(0.0F, 255.0F, 0.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
to = from + rb.getWorldTransform().getBasis() * btVector3(0,0,5);
// Z in blue
glColor3f(0.0F, 0.0F, 255.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
// draw slider frame
btTransform calc_frame = rb.getWorldTransform() * frame;
from = calc_frame.getOrigin();
to = from + calc_frame.getBasis() * btVector3(10,0,0);
// X in red
glColor3f(255.0F, 0.0F, 0.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
to = from + calc_frame.getBasis() * btVector3(0,10,0);
// Y in green
glColor3f(0.0F, 255.0F, 0.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
to = from + calc_frame.getBasis() * btVector3(0,0,10);
// Z in blue
glColor3f(0.0F, 0.0F, 255.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
} // draw_axes()
//-----------------------------------------------------------------------------
#if SLIDER_DEMO_USE_6DOF
static void drawSlider(btGeneric6DofConstraint* pSlider)
{
draw_axes(pSlider->getRigidBodyA(), pSlider->getFrameOffsetA());
draw_axes(pSlider->getRigidBodyB(), pSlider->getFrameOffsetB());
} // drawSlider()
#else
static void drawSlider(btSliderConstraint* pSlider)
{
draw_axes(pSlider->getRigidBodyA(), pSlider->getFrameOffsetA());
draw_axes(pSlider->getRigidBodyB(), pSlider->getFrameOffsetB());
// draw limits in white
btVector3 from(pSlider->getLowerLinLimit(), 0, 0);
btVector3 to(pSlider->getUpperLinLimit(), 0, 0);
btTransform trans;
if(pSlider->getUseLinearReferenceFrameA())
{
trans = pSlider->getRigidBodyA().getWorldTransform() * pSlider->getFrameOffsetA();
}
else
{
trans = pSlider->getRigidBodyB().getWorldTransform() * pSlider->getFrameOffsetB();
}
from = trans * from;
to = trans * to;
glBegin(GL_LINES);
glColor3f(255.0F, 255.0F, 255.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
} // drawSlider()
#endif
//-----------------------------------------------------------------------------
void SliderConstraintDemo::initPhysics()
{
/*
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.
*/
/*
Added by Roman Ponomarev (rponom@gmail.com)
April 04, 2008
Added support for ODE sover
April 24, 2008
*/
//-----------------------------------------------------------------------------
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
#include "SliderConstraintDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
//-----------------------------------------------------------------------------
#define SLIDER_DEMO_USE_ODE_SOLVER 0
#define SLIDER_DEMO_USE_6DOF 0
#define CUBE_HALF_EXTENTS 1.f
//-----------------------------------------------------------------------------
// A couple of sliders
#if SLIDER_DEMO_USE_6DOF
static btGeneric6DofConstraint *spSlider1, *spSlider2;
#else
static btSliderConstraint *spSlider1, *spSlider2;
#endif
static btPoint2PointConstraint* spP2PConst;
static btHingeConstraint* spHingeConst;
//-----------------------------------------------------------------------------
static void draw_axes(const btRigidBody& rb, const btTransform& frame)
{
glBegin(GL_LINES);
// draw world transform
btVector3 from = rb.getWorldTransform().getOrigin();
btVector3 to = from + rb.getWorldTransform().getBasis() * btVector3(5,0,0);
// X in red
glColor3f(255.0F, 0.0F, 0.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
to = from + rb.getWorldTransform().getBasis() * btVector3(0,5,0);
// Y in green
glColor3f(0.0F, 255.0F, 0.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
to = from + rb.getWorldTransform().getBasis() * btVector3(0,0,5);
// Z in blue
glColor3f(0.0F, 0.0F, 255.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
// draw slider frame
btTransform calc_frame = rb.getWorldTransform() * frame;
from = calc_frame.getOrigin();
to = from + calc_frame.getBasis() * btVector3(10,0,0);
// X in red
glColor3f(255.0F, 0.0F, 0.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
to = from + calc_frame.getBasis() * btVector3(0,10,0);
// Y in green
glColor3f(0.0F, 255.0F, 0.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
to = from + calc_frame.getBasis() * btVector3(0,0,10);
// Z in blue
glColor3f(0.0F, 0.0F, 255.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
} // draw_axes()
//-----------------------------------------------------------------------------
#if SLIDER_DEMO_USE_6DOF
static void drawSlider(btGeneric6DofConstraint* pSlider)
{
draw_axes(pSlider->getRigidBodyA(), pSlider->getFrameOffsetA());
draw_axes(pSlider->getRigidBodyB(), pSlider->getFrameOffsetB());
} // drawSlider()
#else
static void drawSlider(btSliderConstraint* pSlider)
{
draw_axes(pSlider->getRigidBodyA(), pSlider->getFrameOffsetA());
draw_axes(pSlider->getRigidBodyB(), pSlider->getFrameOffsetB());
// draw limits in white
btVector3 from(pSlider->getLowerLinLimit(), 0, 0);
btVector3 to(pSlider->getUpperLinLimit(), 0, 0);
btTransform trans;
if(pSlider->getUseLinearReferenceFrameA())
{
trans = pSlider->getRigidBodyA().getWorldTransform() * pSlider->getFrameOffsetA();
}
else
{
trans = pSlider->getRigidBodyB().getWorldTransform() * pSlider->getFrameOffsetB();
}
from = trans * from;
to = trans * to;
glBegin(GL_LINES);
glColor3f(255.0F, 255.0F, 255.0F);
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
} // drawSlider()
#endif
//-----------------------------------------------------------------------------
void SliderConstraintDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
// init world
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
#if SLIDER_DEMO_USE_ODE_SOLVER
m_constraintSolver = new btOdeQuickstepConstraintSolver();
#else
m_constraintSolver = new btSequentialImpulseConstraintSolver();
#endif
btDiscreteDynamicsWorld* wp = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
// wp->getSolverInfo().m_numIterations = 20; // default is 10
m_dynamicsWorld = wp;
// add floor
//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
btRigidBody* groundBody = localCreateRigidBody(0, groundTransform, groundShape);
// add box shape (will be reused for all bodies)
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
// mass of dymamic bodies
btScalar mass = btScalar(1.);
// add dynamic rigid body A1
btTransform trans;
trans.setIdentity();
btVector3 worldPos(0,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-10,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
#if SLIDER_DEMO_USE_6DOF
spSlider1 = new btGeneric6DofConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
btVector3 lowerSliderLimit = btVector3(-20,0,0);
btVector3 hiSliderLimit = btVector3(-10,0,0);
// btVector3 lowerSliderLimit = btVector3(-20,-5,-5);
// btVector3 hiSliderLimit = btVector3(-10,5,5);
spSlider1->setLinearLowerLimit(lowerSliderLimit);
spSlider1->setLinearUpperLimit(hiSliderLimit);
spSlider1->setAngularLowerLimit(btVector3(0,0,0));
spSlider1->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
spSlider1->setLowerLinLimit(-15.0F);
spSlider1->setUpperLinLimit(-5.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
#endif
m_dynamicsWorld->addConstraint(spSlider1, true);
// add kinematic rigid body A2
worldPos.setValue(0,2,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA2 = localCreateRigidBody(0, trans, shape);
pRbA2->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B2
worldPos.setValue(-10,2,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB2 = localCreateRigidBody(mass, trans, shape);
pRbB2->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A2 and B2 and add it to world
#if SLIDER_DEMO_USE_6DOF
spSlider2 = new btGeneric6DofConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLinearLowerLimit(lowerSliderLimit);
spSlider2->setLinearUpperLimit(hiSliderLimit);
spSlider2->setAngularLowerLimit(btVector3(0,0,0));
spSlider2->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLowerLinLimit(-25.0F);
spSlider2->setUpperLinLimit(-5.0F);
spSlider2->setLowerAngLimit(SIMD_PI / 2.0F);
spSlider2->setUpperAngLimit(-SIMD_PI / 2.0F);
// add motors
spSlider2->setPoweredLinMotor(true);
spSlider2->setMaxLinMotorForce(0.1);
spSlider2->setTargetLinMotorVelocity(5.0);
spSlider2->setPoweredAngMotor(true);
// spSlider2->setMaxAngMotorForce(0.01);
spSlider2->setMaxAngMotorForce(10.0);
spSlider2->setTargetAngMotorVelocity(1.0);
// change default damping and restitution
spSlider2->setDampingDirLin(0.005F);
spSlider2->setRestitutionLimLin(1.1F);
// various ODE tests
// spSlider2->setDampingLimLin(0.1F); // linear bounce factor for ODE == 1.0 - DampingLimLin;
// spSlider2->setDampingLimAng(0.1F); // angular bounce factor for ODE == 1.0 - DampingLimAng;
// spSlider2->setSoftnessOrthoAng(0.1);
// spSlider2->setSoftnessOrthoLin(0.1);
// spSlider2->setSoftnessLimLin(0.1);
// spSlider2->setSoftnessLimAng(0.1);
#endif
m_dynamicsWorld->addConstraint(spSlider2, true);
} // SliderConstraintDemo::initPhysics()
//-----------------------------------------------------------------------------
SliderConstraintDemo::~SliderConstraintDemo()
{
//cleanup in the reverse order of creation/initialization
int i;
//removed/delete constraints
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
{
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
m_dynamicsWorld->removeConstraint(constraint);
delete constraint;
}
//remove the rigidbodies from the dynamics world and delete them
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 dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_constraintSolver;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
} // SliderConstraintDemo::~SliderConstraintDemo()
//-----------------------------------------------------------------------------
void SliderConstraintDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if(m_idle)
{
dt = 1.0/420.f;
}
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
bool verbose = false;
if (verbose)
{
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
}
renderme();
drawSlider(spSlider1);
drawSlider(spSlider2);
glFlush();
glutSwapBuffers();
} // SliderConstraintDemo::clientMoveAndDisplay()
//-----------------------------------------------------------------------------
void SliderConstraintDemo::displayCallback(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if(m_dynamicsWorld)
{
m_dynamicsWorld->debugDrawWorld();
}
drawSlider(spSlider1);
drawSlider(spSlider2);
renderme();
glFlush();
glutSwapBuffers();
} // SliderConstraintDemo::displayCallback()
//-----------------------------------------------------------------------------
setShadows(true);
setCameraDistance(26.f);
// init world
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
#if SLIDER_DEMO_USE_ODE_SOLVER
m_constraintSolver = new btOdeQuickstepConstraintSolver();
#else
m_constraintSolver = new btSequentialImpulseConstraintSolver();
#endif
btDiscreteDynamicsWorld* wp = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
// wp->getSolverInfo().m_numIterations = 20; // default is 10
m_dynamicsWorld = wp;
// wp->getSolverInfo().m_erp = 0.8;
// add floor
//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
btRigidBody* groundBody = localCreateRigidBody(0, groundTransform, groundShape);
// add box shape (will be reused for all bodies)
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
// mass of dymamic bodies
btScalar mass = btScalar(1.);
// add dynamic rigid body A1
btTransform trans;
trans.setIdentity();
btVector3 worldPos(0,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-10,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
#if SLIDER_DEMO_USE_6DOF
spSlider1 = new btGeneric6DofConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
btVector3 lowerSliderLimit = btVector3(-20,0,0);
btVector3 hiSliderLimit = btVector3(-10,0,0);
// btVector3 lowerSliderLimit = btVector3(-20,-5,-5);
// btVector3 hiSliderLimit = btVector3(-10,5,5);
spSlider1->setLinearLowerLimit(lowerSliderLimit);
spSlider1->setLinearUpperLimit(hiSliderLimit);
spSlider1->setAngularLowerLimit(btVector3(0,0,0));
spSlider1->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
spSlider1->setLowerLinLimit(-15.0F);
spSlider1->setUpperLinLimit(-5.0F);
// spSlider1->setLowerLinLimit(5.0F);
// spSlider1->setUpperLinLimit(15.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
#endif
m_dynamicsWorld->addConstraint(spSlider1, true);
// add kinematic rigid body A2
worldPos.setValue(0,2,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA2 = localCreateRigidBody(0., trans, shape);
pRbA2->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B2
worldPos.setValue(-10,2,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB2 = localCreateRigidBody(mass, trans, shape);
pRbB2->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A2 and B2 and add it to world
#if SLIDER_DEMO_USE_6DOF
spSlider2 = new btGeneric6DofConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLinearLowerLimit(lowerSliderLimit);
spSlider2->setLinearUpperLimit(hiSliderLimit);
spSlider2->setAngularLowerLimit(btVector3(0,0,0));
spSlider2->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
// spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, false);
spSlider2->setLowerLinLimit(-25.0F);
spSlider2->setUpperLinLimit(-5.0F);
// spSlider2->setLowerLinLimit(5.0F);
// spSlider2->setUpperLinLimit(25.0F);
// spSlider2->setUpperLinLimit(-5.0F);
// spSlider2->setUpperLinLimit(-9.99F);
// spSlider2->setLowerAngLimit(SIMD_PI / 2.0F);
// spSlider2->setUpperAngLimit(-SIMD_PI / 2.0F);
spSlider2->setLowerAngLimit(-SIMD_PI / 2.0F);
spSlider2->setUpperAngLimit(SIMD_PI / 2.0F);
// spSlider2->setLowerAngLimit(-0.01F);
// spSlider2->setUpperAngLimit(0.01F);
// spSlider2->setDampingLimLin(0.5f);
#if 0
// add motors
spSlider2->setPoweredLinMotor(true);
spSlider2->setMaxLinMotorForce(0.1);
spSlider2->setTargetLinMotorVelocity(-5.0);
spSlider2->setPoweredAngMotor(true);
// spSlider2->setMaxAngMotorForce(0.01);
spSlider2->setMaxAngMotorForce(10.0);
spSlider2->setTargetAngMotorVelocity(1.0);
// change default damping and restitution
spSlider2->setDampingDirLin(0.005F);
spSlider2->setRestitutionLimLin(1.1F);
#endif
// various ODE tests
// spSlider2->setDampingLimLin(0.1F); // linear bounce factor for ODE == 1.0 - DampingLimLin;
// spSlider2->setDampingLimAng(0.1F); // angular bounce factor for ODE == 1.0 - DampingLimAng;
// spSlider2->setSoftnessOrthoAng(0.1);
// spSlider2->setSoftnessOrthoLin(0.1);
// spSlider2->setSoftnessLimLin(0.1);
// spSlider2->setSoftnessLimAng(0.1);
#endif
m_dynamicsWorld->addConstraint(spSlider2, true);
#if 1
{
// add dynamic rigid body A1
trans.setIdentity();
worldPos.setValue(20,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA3 = localCreateRigidBody(0.0F, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(25,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB3 = localCreateRigidBody(mass, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
btVector3 pivA( 2.5, 0., 0.);
btVector3 pivB(-2.5, 0., 0.);
spP2PConst = new btPoint2PointConstraint(*pRbA3, *pRbB3, pivA, pivB);
m_dynamicsWorld->addConstraint(spP2PConst, true);
}
#endif
#if 1
// add dynamic rigid body A4
trans.setIdentity();
worldPos.setValue(20,10,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA4 = localCreateRigidBody(0.0F, trans, shape);
pRbA4->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(27,10,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB4 = localCreateRigidBody(mass, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
btVector3 pivA( 2., 0., 0.);
btVector3 pivB(-5., 0., 0.);
btVector3 axisA(0., 0., 1.);
btVector3 axisB(0., 0., 1.);
spHingeConst = new btHingeConstraint(*pRbA4, *pRbB4, pivA, pivB, axisA, axisB);
// spHingeConst->setLimit(-1.57, 1.57);
spHingeConst->setLimit(1.57, -1.57);
spHingeConst->enableAngularMotor(true, 10.0, 0.19);
m_dynamicsWorld->addConstraint(spHingeConst, true);
#endif
} // SliderConstraintDemo::initPhysics()
//-----------------------------------------------------------------------------
SliderConstraintDemo::~SliderConstraintDemo()
{
//cleanup in the reverse order of creation/initialization
int i;
//removed/delete constraints
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
{
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
m_dynamicsWorld->removeConstraint(constraint);
delete constraint;
}
//remove the rigidbodies from the dynamics world and delete them
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 dynamics world
delete m_dynamicsWorld;
//delete solver
delete m_constraintSolver;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
} // SliderConstraintDemo::~SliderConstraintDemo()
//-----------------------------------------------------------------------------
void SliderConstraintDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if(m_idle)
{
dt = 1.0/420.f;
}
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
bool verbose = false;
if (verbose)
{
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
}
renderme();
// drawSlider(spSlider1);
// drawSlider(spSlider2);
glFlush();
glutSwapBuffers();
} // SliderConstraintDemo::clientMoveAndDisplay()
//-----------------------------------------------------------------------------
void SliderConstraintDemo::displayCallback(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if(m_dynamicsWorld)
{
m_dynamicsWorld->debugDrawWorld();
}
// drawSlider(spSlider1);
// drawSlider(spSlider2);
renderme();
glFlush();
glutSwapBuffers();
} // SliderConstraintDemo::displayCallback()
//-----------------------------------------------------------------------------