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Start re-organizing demos so the physics setup can be shared easier (explicit create graphics objects, init/exit physics etc)

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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
2014-06-24 10:14:06 -07:00
parent 28f19f1bab
commit 68f798a2da
29 changed files with 746 additions and 655 deletions
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122
Demos3/bullet2/BasicDemo/BasicDemo.cpp
View File

@@ -14,8 +14,8 @@
static const float scaling=0.35f;
BasicDemo::BasicDemo(SimpleOpenGL3App* app)
:Bullet2RigidBodyDemo(app)
BasicDemo::BasicDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup)
:Bullet2RigidBodyDemo(app,physicsSetup)
{
}
@@ -25,124 +25,6 @@ BasicDemo::~BasicDemo()
void BasicDemo::createGround(int cubeShapeId)
{
{
btVector4 color(0.3,0.3,1,1);
btVector4 halfExtents(50,50,50,1);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
}
}
void BasicDemo::initPhysics()
{
m_physicsSetup.m_glApp = m_glApp;
m_physicsSetup.initPhysics();
m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
m_glApp->m_instancingRenderer->writeTransforms();
}
void BasicDemo::exitPhysics()
{
m_physicsSetup.exitPhysics();
m_dynamicsWorld = 0;
//Bullet2RigidBodyDemo::exitPhysics();
}
//SimpleOpenGL3App* m_glApp;
btRigidBody* MyBasicDemoPhysicsSetup::createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color)
{
btRigidBody* body = BasicDemoPhysicsSetup::createRigidBody(mass,startTransform,shape);
int graphicsShapeId = shape->getUserIndex();
btAssert(graphicsShapeId>=0);
btVector3 localScaling = shape->getLocalScaling();
int graphicsInstanceId = m_glApp->m_instancingRenderer->registerGraphicsInstance(graphicsShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,localScaling);
body->setUserIndex(graphicsInstanceId);
//todo: create graphics representation
return body;
}
btBoxShape* MyBasicDemoPhysicsSetup::createBoxShape(const btVector3& halfExtents)
{
btBoxShape* box = BasicDemoPhysicsSetup::createBoxShape(halfExtents);
int cubeShapeId = m_glApp->registerCubeShape(halfExtents.x(),halfExtents.y(),halfExtents.z());
box->setUserIndex(cubeShapeId);
//todo: create graphics representation
return box;
}
void BasicDemo::renderScene()
{
//sync graphics -> physics world transforms
{
for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj ->getUserIndex();
if (index>=0)
{
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,index);
}
}
m_glApp->m_instancingRenderer->writeTransforms();
}
m_glApp->m_instancingRenderer->renderScene();
}
void BasicDemo::stepSimulation(float dt)
{
m_physicsSetup.stepSimulation(dt);
m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
/*
//print applied force
//contact points
for (int i=0;i<m_dynamicsWorld->getDispatcher()->getNumManifolds();i++)
{
btPersistentManifold* contact = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
for (int c=0;c<contact->getNumContacts();c++)
{
btManifoldPoint& pt = contact->getContactPoint(c);
btScalar dist = pt.getDistance();
if (dist< contact->getContactProcessingThreshold())
{
printf("normalImpulse[%d.%d] = %f\n",i,c,pt.m_appliedImpulse);
} else
{
printf("?\n");
}
}
}
*/
}

18
Demos3/bullet2/BasicDemo/BasicDemo.h
View File

@@ -7,36 +7,26 @@
#include "../../../Demos/BasicDemo/BasicDemoPhysicsSetup.h"
struct MyBasicDemoPhysicsSetup : public BasicDemoPhysicsSetup
{
SimpleOpenGL3App* m_glApp;
virtual btRigidBody* createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color);
virtual btBoxShape* createBoxShape(const btVector3& halfExtents);
};
class BasicDemo : public Bullet2RigidBodyDemo
{
MyBasicDemoPhysicsSetup m_physicsSetup;
public:
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
{
return new BasicDemo(app);
CommonPhysicsSetup* physicsSetup = new BasicDemoPhysicsSetup();
return new BasicDemo(app, physicsSetup);
}
BasicDemo(SimpleOpenGL3App* app);
BasicDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup);
virtual ~BasicDemo();
void createGround(int cubeShapeId);
virtual void initPhysics();
virtual void exitPhysics();
virtual void renderScene();
virtual void stepSimulation(float dt);
};

180
Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp
View File

@@ -2,54 +2,102 @@
#include "btBulletDynamicsCommon.h"
#include "OpenGLWindow/SimpleOpenGL3App.h"
Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(SimpleOpenGL3App* app)
:m_glApp(app),
m_pickedBody(0),
m_pickedConstraint(0),
m_controlPressed(false),
m_altPressed(false)
struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
{
m_config = 0;
m_dispatcher = 0;
m_bp = 0;
m_solver = 0;
m_dynamicsWorld = 0;
SimpleOpenGL3App* m_glApp;
MyGraphicsPhysicsBridge(SimpleOpenGL3App* glApp)
:m_glApp(glApp)
{
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
{
btCollisionShape* shape = body->getCollisionShape();
btTransform startTransform = body->getWorldTransform();
int graphicsShapeId = shape->getUserIndex();
btAssert(graphicsShapeId >= 0);
btVector3 localScaling = shape->getLocalScaling();
int graphicsInstanceId = m_glApp->m_instancingRenderer->registerGraphicsInstance(graphicsShapeId, startTransform.getOrigin(), startTransform.getRotation(), color, localScaling);
body->setUserIndex(graphicsInstanceId);
}
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
//todo: support all collision shape types
switch (collisionShape->getShapeType())
{
case BOX_SHAPE_PROXYTYPE:
{
btBoxShape* box = (btBoxShape*)collisionShape;
btVector3 halfExtents = box->getHalfExtentsWithMargin();
int cubeShapeId = m_glApp->registerCubeShape(halfExtents.x(), halfExtents.y(), halfExtents.z());
box->setUserIndex(cubeShapeId);
break;
}
default:
{
btAssert(0);
}
};
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
int numCollisionObjects = rbWorld->getNumCollisionObjects();
for (int i = 0; i<numCollisionObjects; i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj->getUserIndex();
if (index >= 0)
{
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos, orn, index);
}
}
m_glApp->m_instancingRenderer->writeTransforms();
}
};
Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup)
:m_glApp(app),
m_physicsSetup(physicsSetup),
m_controlPressed(false),
m_altPressed(false)
{
}
void Bullet2RigidBodyDemo::initPhysics()
{
m_config = new btDefaultCollisionConfiguration;
m_dispatcher = new btCollisionDispatcher(m_config);
m_bp = new btDbvtBroadphase();
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
MyGraphicsPhysicsBridge glBridge(m_glApp);
m_physicsSetup->initPhysics(glBridge);
m_glApp->m_instancingRenderer->writeTransforms();
}
void Bullet2RigidBodyDemo::exitPhysics()
{
delete m_dynamicsWorld;
m_dynamicsWorld=0;
delete m_solver;
m_solver=0;
delete m_bp;
m_bp=0;
delete m_dispatcher;
m_dispatcher=0;
delete m_config;
m_config=0;
m_physicsSetup->exitPhysics();
}
void Bullet2RigidBodyDemo::stepSimulation(float deltaTime)
{
m_dynamicsWorld->stepSimulation(deltaTime);
m_physicsSetup->stepSimulation(deltaTime);
}
void Bullet2RigidBodyDemo::renderScene()
{
//sync graphics -> physics world transforms
MyGraphicsPhysicsBridge glBridge(m_glApp);
m_physicsSetup->syncPhysicsToGraphics(glBridge);
m_glApp->m_instancingRenderer->renderScene();
}
Bullet2RigidBodyDemo::~Bullet2RigidBodyDemo()
{
btAssert(m_config == 0);
btAssert(m_dispatcher == 0);
btAssert(m_bp == 0);
btAssert(m_solver == 0);
btAssert(m_dynamicsWorld == 0);
}
btVector3 Bullet2RigidBodyDemo::getRayTo(int x,int y)
@@ -115,28 +163,10 @@ btVector3 Bullet2RigidBodyDemo::getRayTo(int x,int y)
bool Bullet2RigidBodyDemo::mouseMoveCallback(float x,float y)
{
//if (m_data->m_altPressed!=0 || m_data->m_controlPressed!=0)
//return false;
if (m_pickedBody && m_pickedConstraint)
{
btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
if (pickCon)
{
//keep it at the same picking distance
btVector3 newRayTo = getRayTo(x,y);
btVector3 rayFrom;
btVector3 oldPivotInB = pickCon->getPivotInB();
btVector3 newPivotB;
m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
dir *= m_oldPickingDist;
newPivotB = rayFrom + dir;
pickCon->setPivotB(newPivotB);
}
}
btVector3 rayTo = getRayTo(x, y);
btVector3 rayFrom;
m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
m_physicsSetup->movePickedBody(rayFrom,rayTo);
return false;
}
@@ -153,53 +183,15 @@ bool Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, f
btVector3 rayFrom = camPos;
btVector3 rayTo = getRayTo(x,y);
btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
if (rayCallback.hasHit())
{
bool hasPicked = m_physicsSetup->pickBody(rayFrom, rayTo);
btVector3 pickPos = rayCallback.m_hitPointWorld;
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
//other exclusions?
if (!(body->isStaticObject() || body->isKinematicObject()))
{
m_pickedBody = body;
m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p,true);
m_pickedConstraint = p2p;
btScalar mousePickClamping = 30.f;
p2p->m_setting.m_impulseClamp = mousePickClamping;
//very weak constraint for picking
p2p->m_setting.m_tau = 0.001f;
}
}
// pickObject(pickPos, rayCallback.m_collisionObject);
m_oldPickingPos = rayTo;
m_hitPos = pickPos;
m_oldPickingDist = (pickPos-rayFrom).length();
// printf("hit !\n");
//add p2p
}
}
} else
{
if (button==0)
{
if (m_pickedConstraint)
{
m_dynamicsWorld->removeConstraint(m_pickedConstraint);
delete m_pickedConstraint;
m_pickedConstraint=0;
m_pickedBody = 0;
}
m_physicsSetup->removePickingConstraint();
//remove p2p
}
}

24
Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.h
View File

@@ -6,31 +6,28 @@
#include "../../AllBullet2Demos/BulletDemoInterface.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "../../../Demos/CommonPhysicsSetup.h"
class Bullet2RigidBodyDemo : public BulletDemoInterface
{
public:
class btDiscreteDynamicsWorld* m_dynamicsWorld;
class btCollisionDispatcher* m_dispatcher;
class btBroadphaseInterface* m_bp;
class btCollisionConfiguration* m_config;
class btConstraintSolver* m_solver;
CommonPhysicsSetup* m_physicsSetup;
public:
class btRigidBody* m_pickedBody;
class btTypedConstraint* m_pickedConstraint;
btVector3 m_oldPickingPos;
btVector3 m_hitPos;
btScalar m_oldPickingDist;
bool m_controlPressed;
bool m_altPressed;
public:
class SimpleOpenGL3App* m_glApp;
struct SimpleOpenGL3App* m_glApp;
Bullet2RigidBodyDemo(SimpleOpenGL3App* app);
Bullet2RigidBodyDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup);
virtual void initPhysics();
virtual void exitPhysics();
virtual void renderScene();
virtual void stepSimulation(float dt);
virtual ~Bullet2RigidBodyDemo();
btVector3 getRayTo(int x,int y);
@@ -49,7 +46,6 @@ public:
return false;
}
virtual void stepSimulation(float deltaTime);
};