Updated BulletDino.c demo, to test C-API.
This commit is contained in:
ejcoumans
@@ -1,5 +1,8 @@
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/// this demo will be modified to use the upcoming Bullet C-API, stay tuned.
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/* This demo has been modified to use the Bullet C-API.
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The C-API is minimal, and will develop based on developer feedback.
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The C++ API is recommended, and compatible with the C-API.
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*/
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/* Copyright (c) Mark J. Kilgard, 1994, 1997. */
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@@ -68,6 +71,16 @@
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#endif
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//#include "../../include/Bullet-C-Api.h"
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#include "../include/Bullet-C-Api.h"
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plPhysicsSdkHandle physicsSdk=0;
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plDynamicsWorldHandle dynamicsWorld=0;
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plRigidBodyHandle floorRigidBody;
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plRigidBodyHandle dinoRigidBody;
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/* Variable controlling various rendering modes. */
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static int stencilReflection = 1, stencilShadow = 1, offsetShadow = 1;
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static int renderShadow = 1, renderDinosaur = 1, renderReflection = 1;
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@@ -136,6 +149,7 @@ makeFloorTexture(void)
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GLubyte floorTexture[16][16][3];
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GLubyte *loc;
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int s, t;
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loc=0;
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/* Setup RGB image for the texture. */
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loc = (GLubyte*) floorTexture;
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@@ -325,10 +339,22 @@ static void
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drawDinosaur(void)
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{
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glPushMatrix();
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plReal matrix[16];
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plVector3 dinoWorldPos;
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glPushMatrix();
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/* Translate the dinosaur to be at (0,8,0). */
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glTranslatef(-8, 0, -bodyWidth / 2);
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glTranslatef(0.0, jump, 0.0);
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plGetOpenGLMatrix(dinoRigidBody,matrix);
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// plGetPosition(dinoRigidBody,dinoWorldPos);
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// glTranslatef(-8, 0, -bodyWidth / 2);
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//glTranslatef(0.0, jump, 0.0);
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// glTranslatef(dinoWorldPos[0],dinoWorldPos[1],dinoWorldPos[2]);
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glMultMatrixf(matrix);
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// glutSolidCube(15);
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glTranslatef(-8.5, -8.5, 0);
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glMaterialfv(GL_FRONT, GL_DIFFUSE, skinColor);
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glCallList(BODY_WHOLE);
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glTranslatef(0.0, 0.0, bodyWidth);
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@@ -341,6 +367,8 @@ drawDinosaur(void)
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glTranslatef(0.0, 0.0, bodyWidth / 2 - 0.1);
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glMaterialfv(GL_FRONT, GL_DIFFUSE, eyeColor);
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glCallList(EYE_WHOLE);
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glPopMatrix();
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}
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@@ -660,7 +688,7 @@ motion(int x, int y)
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starty = y;
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glutPostRedisplay();
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}
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if (lightMoving) {
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if (0){//lightMoving) {
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lightAngle += (x - lightStartX)/40.0;
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lightHeight += (lightStartY - y)/20.0;
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lightStartX = x;
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@@ -674,13 +702,21 @@ static void
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idle(void)
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{
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static float time = 0.0;
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static float prevtime = 0.0;
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float dtime;
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prevtime = time;
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time = glutGet(GLUT_ELAPSED_TIME) / 500.0;
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dtime = time - prevtime;
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jump = 4.0 * fabs(sin(time)*0.5);
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if (!lightMoving) {
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lightAngle += 0.03;
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lightAngle = time;
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}
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if (dynamicsWorld)
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plStepSimulation(dynamicsWorld,dtime);
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glutPostRedisplay();
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}
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@@ -792,12 +828,65 @@ supportsOneDotOne(void)
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return 0; /* OpenGL version string malformed! */
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}
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int
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main(int argc, char **argv)
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{
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int i;
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plCollisionShapeHandle floorShape;
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plCollisionShapeHandle dinoShape,dinoChildShape;
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plVector3 floorPos,childPos;
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plVector3 dinoPos;
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plQuaternion childOrn,dinoOrient;
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void* user_data;
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physicsSdk = plNewBulletSdk();
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dynamicsWorld = plCreateDynamicsWorld(physicsSdk);
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printf("BulletDino\n");
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//create ground plane
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floorShape = plNewConvexHullShape();
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for (i=0;i<4;i++)
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{
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// floorVertices
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plAddVertex(floorShape,floorVertices[i][0],floorVertices[i][1],floorVertices[i][2]);
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}
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floorShape = plNewBoxShape(120,0,120);
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floorRigidBody = plCreateRigidBody(user_data,0.f,floorShape);
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floorPos[0] = 0;
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floorPos[1] = 0;
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floorPos[2] = 0;
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plSetPosition(floorRigidBody,floorPos);
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plAddRigidBody(dynamicsWorld,floorRigidBody);
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//create dino rigidbody
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dinoChildShape = plNewBoxShape(8.5,8.5,8.5);
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dinoShape = plNewCompoundShape();
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childPos[0] = 0;
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childPos[1] = 0;
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childPos[2] = 0;
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childOrn[0] = 0;
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childOrn[1] = 0;
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childOrn[2] = 0;
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childOrn[3] = 1;
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plAddChildShape(dinoShape,dinoChildShape,childPos,childOrn);
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dinoPos[0] = -10; dinoPos[1] = 28; dinoPos[2] = 0;
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dinoRigidBody = plCreateRigidBody(0,1.0,dinoShape);
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plSetPosition(dinoRigidBody,dinoPos);
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plSetEuler(0,0,3.15*0.20,dinoOrient);
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plSetOrientation(dinoRigidBody,dinoOrient);
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plAddRigidBody(dynamicsWorld,dinoRigidBody);
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printf("BulletDino\n");
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glutInit(&argc, argv);
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for (i=1; i<argc; i++) {
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@@ -895,5 +984,10 @@ printf("BulletDino\n");
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findPlane(floorPlane, floorVertices[1], floorVertices[2], floorVertices[3]);
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glutMainLoop();
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plDeleteDynamicsWorld(dynamicsWorld);
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plDeletePhysicsSdk(physicsSdk);
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return 0; /* ANSI C requires main to return int. */
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}
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@@ -43,7 +43,8 @@ extern "C" {
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PL_DECLARE_HANDLE(plCollisionShapeHandle);
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/* Constraint for Rigid Bodies */
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PL_DECLARE_HANDLE(plConstraintHandle);
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/* Triangle Mesh interface */
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PL_DECLARE_HANDLE(plMeshInterfaceHandle);
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/*
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Create and Delete a Physics SDK
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@@ -79,21 +80,37 @@ extern "C" {
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extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);
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extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
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extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
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extern plCollisionShapeHandle plNewCompoundShape();
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extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
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extern void plDeleteShape(plCollisionShapeHandle shape);
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/* Convex Meshes */
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extern plCollisionShapeHandle plNewConvexHullShape();
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extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
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/* Concave static triangle meshes */
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extern plMeshInterfaceHandle plNewMeshInterface();
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extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
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extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
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extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
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/* SOLID has Response Callback/Table/Management */
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/* PhysX has Triggers, User Callbacks and filtering */
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/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */
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/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */
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/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */
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typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos);
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typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation);
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/* get world transform */
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extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
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extern void plGetPosition(plRigidBodyHandle object,plVector3 position);
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extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation);
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/* set world transform (position/orientation) */
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extern void plSetPosition(plRigidBodyHandle object, const plVector3 position);
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extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
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extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
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typedef struct plRayCastResult {
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plRigidBodyHandle m_body;
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291
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
Normal file
291
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
Normal file
@@ -0,0 +1,291 @@
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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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/*
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Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
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Work in progress, functionality will be added on demand.
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If possible, use the richer Bullet C++ API, by including <src/btBulletDynamicsCommon.h>
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*/
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#include "Bullet-C-Api.h"
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#include "btBulletDynamicsCommon.h"
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/*
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Create and Delete a Physics SDK
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*/
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struct btPhysicsSdk
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{
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// btDispatcher* m_dispatcher;
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// btOverlappingPairCache* m_pairCache;
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// btConstraintSolver* m_constraintSolver
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btVector3 m_worldAabbMin;
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btVector3 m_worldAabbMax;
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//todo: version, hardware/optimization settings etc?
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btPhysicsSdk()
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:m_worldAabbMin(-1000,-1000,-1000),
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m_worldAabbMax(1000,1000,1000)
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{
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}
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};
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plPhysicsSdkHandle plNewBulletSdk()
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{
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return (plPhysicsSdkHandle)new btPhysicsSdk;
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}
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void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk)
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{
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btPhysicsSdk* phys = reinterpret_cast<btPhysicsSdk*>(physicsSdk);
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delete phys;
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}
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/* Dynamics World */
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plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle)
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{
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btPhysicsSdk* physicsSdk = reinterpret_cast<btPhysicsSdk*>(physicsSdkHandle);
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btDispatcher* dispatcher = new btCollisionDispatcher();
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btOverlappingPairCache* pairCache = new btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax);
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btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
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return (plDynamicsWorldHandle) new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
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}
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void plDeleteDynamicsWorld(plDynamicsWorldHandle world)
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{
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btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
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delete dynamicsWorld;
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}
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void plStepSimulation(plDynamicsWorldHandle world, plReal timeStep)
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{
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btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
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assert(dynamicsWorld);
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dynamicsWorld->stepSimulation(timeStep);
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}
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void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
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{
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btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
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assert(dynamicsWorld);
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btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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assert(body);
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dynamicsWorld->addRigidBody(body);
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}
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void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
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{
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btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
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assert(dynamicsWorld);
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btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
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assert(body);
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dynamicsWorld->removeRigidBody(body);
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}
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/* Rigid Body */
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plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape )
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{
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btTransform trans;
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trans.setIdentity();
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btVector3 localInertia(0,0,0);
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btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
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assert(shape);
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if (mass)
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{
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shape->calculateLocalInertia(mass,localInertia);
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}
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btRigidBody* body = new btRigidBody(mass, 0,shape,localInertia);
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body->setWorldTransform(trans);
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body->setUserPointer(user_data);
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return (plRigidBodyHandle) body;
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}
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void plDeleteRigidBody(plRigidBodyHandle cbody)
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{
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btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody);
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assert(body);
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delete body;
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}
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/* Collision Shape definition */
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plCollisionShapeHandle plNewSphereShape(plReal radius)
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{
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return (plCollisionShapeHandle) new btSphereShape(radius);
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}
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plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z)
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{
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return (plCollisionShapeHandle) new btBoxShape(btVector3(x,y,z));
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}
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plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height)
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{
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//capsule is convex hull of 2 spheres, so use btMultiSphereShape
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btVector3 inertiaHalfExtents(radius,height,radius);
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const int numSpheres = 2;
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btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)};
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btScalar radi[numSpheres] = {radius,radius};
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return (plCollisionShapeHandle) new btMultiSphereShape(inertiaHalfExtents,positions,radi,numSpheres);
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}
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plCollisionShapeHandle plNewConeShape(plReal radius, plReal height)
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{
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return (plCollisionShapeHandle) new btConeShape(radius,height);
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}
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plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height)
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{
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return (plCollisionShapeHandle) new btCylinderShape(btVector3(radius,height,radius));
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}
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/* Convex Meshes */
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plCollisionShapeHandle plNewConvexHullShape()
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{
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return (plCollisionShapeHandle) new btConvexHullShape();
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}
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/* Concave static triangle meshes */
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plMeshInterfaceHandle plNewMeshInterface()
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{
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return 0;
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}
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plCollisionShapeHandle plNewCompoundShape()
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{
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return (plCollisionShapeHandle) new btCompoundShape();
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}
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void plAddChildShape(plCollisionShapeHandle compoundShapeHandle,plCollisionShapeHandle childShapeHandle, plVector3 childPos,plQuaternion childOrn)
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{
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btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>(compoundShapeHandle);
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btAssert(colShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE);
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btCompoundShape* compoundShape = reinterpret_cast<btCompoundShape*>(colShape);
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btCollisionShape* childShape = reinterpret_cast<btCollisionShape*>(childShapeHandle);
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btTransform localTrans;
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localTrans.setIdentity();
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localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
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localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
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compoundShape->addChildShape(localTrans,childShape);
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}
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void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient)
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{
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btQuaternion orn;
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orn.setEuler(yaw,pitch,roll);
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orient[0] = orn.getX();
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orient[1] = orn.getY();
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orient[2] = orn.getZ();
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orient[3] = orn.getW();
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}
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// extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
|
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// extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
|
||||
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void plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z)
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||||
{
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btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>( cshape);
|
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btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE);
|
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btConvexHullShape* convexHullShape = reinterpret_cast<btConvexHullShape*>( cshape);
|
||||
convexHullShape->addPoint(btPoint3(x,y,z));
|
||||
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}
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void plDeleteShape(plCollisionShapeHandle cshape)
|
||||
{
|
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btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
|
||||
assert(shape);
|
||||
delete shape;
|
||||
}
|
||||
void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling)
|
||||
{
|
||||
btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
|
||||
assert(shape);
|
||||
btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]);
|
||||
shape->setLocalScaling(scaling);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void plSetPosition(plRigidBodyHandle object, const plVector3 position)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
btVector3 pos(position[0],position[1],position[2]);
|
||||
btTransform worldTrans = body->getWorldTransform();
|
||||
worldTrans.setOrigin(pos);
|
||||
body->setWorldTransform(worldTrans);
|
||||
}
|
||||
|
||||
void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
btQuaternion orn(orientation[0],orientation[1],orientation[2],orientation[3]);
|
||||
btTransform worldTrans = body->getWorldTransform();
|
||||
worldTrans.setRotation(orn);
|
||||
body->setWorldTransform(worldTrans);
|
||||
}
|
||||
|
||||
void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
body->getWorldTransform().getOpenGLMatrix(matrix);
|
||||
|
||||
}
|
||||
|
||||
void plGetPosition(plRigidBodyHandle object,plVector3 position)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
const btVector3& pos = body->getWorldTransform().getOrigin();
|
||||
position[0] = pos.getX();
|
||||
position[1] = pos.getY();
|
||||
position[2] = pos.getZ();
|
||||
}
|
||||
|
||||
void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
const btQuaternion& orn = body->getWorldTransform().getRotation();
|
||||
orientation[0] = orn.getX();
|
||||
orientation[1] = orn.getY();
|
||||
orientation[2] = orn.getZ();
|
||||
orientation[3] = orn.getW();
|
||||
}
|
||||
|
||||
|
||||
|
||||
//plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
|
||||
|
||||
// extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
|
||||
Reference in New Issue
Block a user