Start re-organizing demos so the physics setup can be shared easier (explicit create graphics objects, init/exit physics etc)
Add B3G_RETURN key code, only implemented in Windows so far (todo: Mac, Linux) Fix Windows key management (use WM_CHAR event instead of WM_KEYUP Add Return (OnKeyReturn) key support TreeNode, so we can select an item using the return key.
This commit is contained in:
Erwin Coumans
179
Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp
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179
Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp
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#include "CcdPhysicsSetup.h"
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#include "btBulletDynamicsCommon.h"
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#define CUBE_HALF_EXTENTS 1.f
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#define EXTRA_HEIGHT 1.f
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void KinematicObjectSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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createEmptyDynamicsWorld();
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{
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btBoxShape* box = new btBoxShape(btVector3(btScalar(10.), btScalar(1.), btScalar(10.)));
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gfxBridge.createCollisionShapeGraphicsObject(box);
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btTransform startTrans;
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startTrans.setIdentity();
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startTrans.setOrigin(btVector3(0, -1, 0));
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btRigidBody* body = createRigidBody(0, startTrans, box);
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body->setMotionState(0);
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body->setFriction(1);
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body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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body->setActivationState(DISABLE_DEACTIVATION);
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gfxBridge.createRigidBodyGraphicsObject(body, btVector3(0,1,0));
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}
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{
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btBoxShape* box = new btBoxShape(btVector3(btScalar(1.), btScalar(1.), btScalar(1.)));
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gfxBridge.createCollisionShapeGraphicsObject(box);
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btTransform startTrans;
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startTrans.setIdentity();
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startTrans.setOrigin(btVector3(0, 1, 0));
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btRigidBody* body = createRigidBody(1, startTrans, box);
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body->setFriction(1);
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body->setActivationState(DISABLE_DEACTIVATION);
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gfxBridge.createRigidBodyGraphicsObject(body, btVector3(1, 1, 0));
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}
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}
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void KinematicObjectSetup::stepSimulation(float deltaTime)
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{
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if (m_dynamicsWorld)
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{
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btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[0];
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btRigidBody* body = btRigidBody::upcast(colObj);
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if (body)
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{
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btMotionState* ms = body->getMotionState();
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btTransform startTrans;
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startTrans.setIdentity();
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static float time = 0.f;
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time += 0.01f;
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static float xPos = 0.f;
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xPos = sinf(time)*10.f;
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startTrans.setOrigin(btVector3(xPos, -1, 0));
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if (ms)
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{
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ms->setWorldTransform(startTrans);
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}
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else
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{
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body->setWorldTransform(startTrans);
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}
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}
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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}
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void CcdPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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createEmptyDynamicsWorld();
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///create a few basic rigid bodies
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btBoxShape* box = new btBoxShape(btVector3(btScalar(110.), btScalar(1.), btScalar(110.)));
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gfxBridge.createCollisionShapeGraphicsObject(box);
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// box->initializePolyhedralFeatures();
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btCollisionShape* groundShape = box;
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m_collisionShapes.push_back(groundShape);
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//m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
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m_collisionShapes.push_back(new btBoxShape(btVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS)));
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btTransform groundTransform;
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groundTransform.setIdentity();
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//groundTransform.setOrigin(btVector3(5,5,5));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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gfxBridge.createRigidBodyGraphicsObject(body, btVector3(0, 1, 0));
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body->setFriction(0.5);
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//body->setRollingFriction(0.3);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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btCollisionShape* colShape = new btBoxShape(btVector3(1, 1, 1));
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gfxBridge.createCollisionShapeGraphicsObject(colShape);
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass, localInertia);
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int gNumObjects = 120;//120;
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int i;
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for (i = 0; i<gNumObjects; i++)
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{
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btCollisionShape* shape = colShape;// m_collisionShapes[1];
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btTransform trans;
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trans.setIdentity();
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//stack them
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int colsize = 10;
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int row = (i*CUBE_HALF_EXTENTS * 2) / (colsize * 2 * CUBE_HALF_EXTENTS);
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int row2 = row;
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int col = (i) % (colsize)-colsize / 2;
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if (col>3)
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{
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col = 11;
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row2 |= 1;
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}
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btVector3 pos(col * 2 * CUBE_HALF_EXTENTS + (row2 % 2)*CUBE_HALF_EXTENTS,
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row * 2 * CUBE_HALF_EXTENTS + CUBE_HALF_EXTENTS + EXTRA_HEIGHT, 0);
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trans.setOrigin(pos);
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float mass = 1.f;
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btRigidBody* body = createRigidBody(mass, trans, shape);
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gfxBridge.createRigidBodyGraphicsObject(body, btVector3(1, 1, 0));
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body->setAnisotropicFriction(shape->getAnisotropicRollingFrictionDirection(), btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
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body->setFriction(0.5);
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//body->setRollingFriction(.3);
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///when using m_ccdMode
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//if (m_ccdMode == USE_CCD)
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{
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body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
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body->setCcdSweptSphereRadius(0.9*CUBE_HALF_EXTENTS);
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}
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}
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}
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}
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