Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
This commit is contained in:
erwin coumans
62
ObsoleteDemos/CollisionInterfaceDemo/CMakeLists.txt
Normal file
62
ObsoleteDemos/CollisionInterfaceDemo/CMakeLists.txt
Normal file
@@ -0,0 +1,62 @@
|
||||
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
|
||||
|
||||
|
||||
# For every executable you have with a main method you should have an add_executable line below.
|
||||
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
|
||||
|
||||
|
||||
|
||||
# You shouldn't have to modify anything below this line
|
||||
########################################################
|
||||
|
||||
|
||||
IF (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
../OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppCollisionInterfaceDemo
|
||||
CollisionInterfaceDemo.cpp
|
||||
CollisionInterfaceDemo.h
|
||||
main.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppCollisionInterfaceDemo
|
||||
CollisionInterfaceDemo.cpp
|
||||
CollisionInterfaceDemo.h
|
||||
main.cpp
|
||||
)
|
||||
ENDIF()
|
||||
ELSE (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
../OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppCollisionInterfaceDemo
|
||||
WIN32
|
||||
CollisionInterfaceDemo.cpp
|
||||
CollisionInterfaceDemo.h
|
||||
Win32CollisionInterfaceDemo.cpp
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
|
||||
)
|
||||
ENDIF (USE_GLUT)
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
292
ObsoleteDemos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
Normal file
292
ObsoleteDemos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
Normal file
@@ -0,0 +1,292 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
///
|
||||
/// CollisionInterfaceDemo shows high level usage of the Collision Detection.
|
||||
///
|
||||
#define TEST_NOT_ADDING_OBJECTS_TO_WORLD
|
||||
|
||||
#include "GL_Simplex1to4.h"
|
||||
|
||||
//include common Bullet Collision Detection headerfiles
|
||||
#include "btBulletCollisionCommon.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "CollisionInterfaceDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
btScalar yaw=0.f,pitch=0.f,roll=0.f;
|
||||
const int maxNumObjects = 4;
|
||||
const int numObjects = 2;
|
||||
|
||||
GL_Simplex1to4 simplex;
|
||||
|
||||
btCollisionObject objects[maxNumObjects];
|
||||
btCollisionWorld* collisionWorld = 0;
|
||||
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
|
||||
void CollisionInterfaceDemo::initPhysics()
|
||||
{
|
||||
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
|
||||
|
||||
btMatrix3x3 basisA;
|
||||
basisA.setIdentity();
|
||||
|
||||
btMatrix3x3 basisB;
|
||||
basisB.setIdentity();
|
||||
|
||||
objects[0].getWorldTransform().setBasis(basisA);
|
||||
objects[1].getWorldTransform().setBasis(basisB);
|
||||
|
||||
btBoxShape* boxA = new btBoxShape(btVector3(1,1,1));
|
||||
boxA->setMargin(0.f);
|
||||
|
||||
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
boxB->setMargin(0.f);
|
||||
//ConvexHullShape hullA(points0,3);
|
||||
//hullA.setLocalScaling(btVector3(3,3,3));
|
||||
//ConvexHullShape hullB(points1,4);
|
||||
//hullB.setLocalScaling(btVector3(4,4,4));
|
||||
|
||||
objects[0].setCollisionShape(boxA);//&hullA;
|
||||
objects[1].setCollisionShape(boxB);//&hullB;
|
||||
|
||||
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
|
||||
btVector3 worldAabbMin(-1000,-1000,-1000);
|
||||
btVector3 worldAabbMax(1000,1000,1000);
|
||||
|
||||
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
|
||||
|
||||
//SimpleBroadphase is a brute force alternative, performing N^2 aabb overlap tests
|
||||
//SimpleBroadphase* broadphase = new btSimpleBroadphase;
|
||||
|
||||
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
|
||||
collisionWorld->setDebugDrawer(&debugDrawer);
|
||||
|
||||
#ifdef TEST_NOT_ADDING_OBJECTS_TO_WORLD
|
||||
// collisionWorld->addCollisionObject(&objects[0]);
|
||||
collisionWorld->addCollisionObject(&objects[1]);
|
||||
#endif //TEST_NOT_ADDING_OBJECTS_TO_WORLD
|
||||
|
||||
}
|
||||
|
||||
|
||||
//to be implemented by the demo
|
||||
|
||||
void CollisionInterfaceDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
displayCallback();
|
||||
}
|
||||
|
||||
|
||||
static btVoronoiSimplexSolver sGjkSimplexSolver;
|
||||
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
|
||||
|
||||
struct btDrawingResult : public btCollisionWorld::ContactResultCallback
|
||||
{
|
||||
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
|
||||
{
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
btVector3 ptA = cp.getPositionWorldOnA();
|
||||
btVector3 ptB = cp.getPositionWorldOnB();
|
||||
|
||||
glVertex3d(ptA.x(),ptA.y(),ptA.z());
|
||||
glVertex3d(ptB.x(),ptB.y(),ptB.z());
|
||||
glEnd();
|
||||
|
||||
return 0;
|
||||
}
|
||||
};
|
||||
|
||||
void CollisionInterfaceDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glDisable(GL_LIGHTING);
|
||||
|
||||
btScalar m[16];
|
||||
|
||||
btVector3 worldBoundsMin,worldBoundsMax;
|
||||
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
|
||||
|
||||
|
||||
int i;
|
||||
for (i=0;i<numObjects;i++)
|
||||
{
|
||||
|
||||
objects[i].getWorldTransform().getOpenGLMatrix( m );
|
||||
m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
}
|
||||
|
||||
collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
|
||||
|
||||
if (collisionWorld)
|
||||
collisionWorld->performDiscreteCollisionDetection();
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#ifndef TEST_NOT_ADDING_OBJECTS_TO_WORLD
|
||||
|
||||
collisionWorld->debugDrawWorld();
|
||||
///one way to draw all the contact points is iterating over contact manifolds in the dispatcher:
|
||||
|
||||
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
|
||||
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
for (int j=0;j<numContacts;j++)
|
||||
{
|
||||
btManifoldPoint& pt = contactManifold->getContactPoint(j);
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
btVector3 ptA = pt.getPositionWorldOnA();
|
||||
btVector3 ptB = pt.getPositionWorldOnB();
|
||||
|
||||
glVertex3d(ptA.x(),ptA.y(),ptA.z());
|
||||
glVertex3d(ptB.x(),ptB.y(),ptB.z());
|
||||
glEnd();
|
||||
}
|
||||
|
||||
//you can un-comment out this line, and then all points are removed
|
||||
//contactManifold->clearManifold();
|
||||
}
|
||||
#else
|
||||
|
||||
|
||||
glDisable(GL_TEXTURE_2D);
|
||||
for (i=0;i<numObjects;i++)
|
||||
{
|
||||
collisionWorld->debugDrawObject(objects[i].getWorldTransform(),objects[i].getCollisionShape(), btVector3(1,1,0));
|
||||
}
|
||||
|
||||
btDrawingResult renderCallback;
|
||||
|
||||
//collisionWorld->contactPairTest(&objects[0],&objects[1], renderCallback);
|
||||
collisionWorld->contactTest(&objects[0],renderCallback);
|
||||
|
||||
#if 0
|
||||
|
||||
//another way is to directly query the dispatcher for both objects. The objects don't need to be inserted into the world
|
||||
|
||||
btCollisionAlgorithm* algo = collisionWorld->getDispatcher()->findAlgorithm(&objects[0],&objects[1]);
|
||||
btManifoldResult contactPointResult(&objects[0],&objects[1]);
|
||||
algo->processCollision(&objects[0],&objects[1],collisionWorld->getDispatchInfo(),&contactPointResult);
|
||||
|
||||
btManifoldArray manifoldArray;
|
||||
algo->getAllContactManifolds(manifoldArray);
|
||||
|
||||
int numManifolds = manifoldArray.size();
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
btPersistentManifold* contactManifold = manifoldArray[i];
|
||||
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
// btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
bool swap = obA == &objects[0];
|
||||
|
||||
for (int j=0;j<numContacts;j++)
|
||||
{
|
||||
btManifoldPoint& pt = contactManifold->getContactPoint(j);
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
btVector3 ptA = swap ?pt.getPositionWorldOnA():pt.getPositionWorldOnB();
|
||||
btVector3 ptB = swap ? pt.getPositionWorldOnB():pt.getPositionWorldOnA();
|
||||
|
||||
glVertex3d(ptA.x(),ptA.y(),ptA.z());
|
||||
glVertex3d(ptB.x(),ptB.y(),ptB.z());
|
||||
glEnd();
|
||||
}
|
||||
|
||||
//you can un-comment out this line, and then all points are removed
|
||||
//contactManifold->clearManifold();
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//GL_ShapeDrawer::drawCoordSystem();
|
||||
|
||||
|
||||
// btQuaternion qA = objects[0].getWorldTransform().getRotation();
|
||||
// btQuaternion qB = objects[1].getWorldTransform().getRotation();
|
||||
|
||||
|
||||
if (!m_idle)
|
||||
{
|
||||
|
||||
|
||||
btScalar timeInSeconds = getDeltaTimeMicroseconds()/1000.f;
|
||||
|
||||
btQuaternion orn;
|
||||
|
||||
objects[0].getWorldTransform().getBasis().getEulerYPR(yaw,pitch,roll);
|
||||
pitch += 0.00005f*timeInSeconds;
|
||||
yaw += 0.0001f*timeInSeconds;
|
||||
objects[0].getWorldTransform().getBasis().setEulerYPR(yaw,pitch,roll);
|
||||
|
||||
orn.setEuler(yaw,pitch,roll);
|
||||
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(0,-0.00001*timeInSeconds,0));
|
||||
|
||||
//objects[0].getWorldTransform().setRotation(orn);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
void CollisionInterfaceDemo::clientResetScene()
|
||||
{
|
||||
objects[0].getWorldTransform().setOrigin(btVector3(0.0f,3.f,0.f));
|
||||
|
||||
btQuaternion rotA(0.739f,-0.204f,0.587f,0.257f);
|
||||
rotA.normalize();
|
||||
|
||||
objects[0].getWorldTransform().setRotation(rotA);
|
||||
|
||||
objects[1].getWorldTransform().setOrigin(btVector3(0.0f,4.248f,0.f));
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,42 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
#ifndef COLLISION_INTERFACE_DEMO_H
|
||||
#define COLLISION_INTERFACE_DEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
///CollisionInterfaceDemo shows how to use the collision detection without dynamics (btCollisionWorld/CollisionObject)
|
||||
class CollisionInterfaceDemo : public PlatformDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
};
|
||||
|
||||
#endif //COLLISION_INTERFACE_DEMO_H
|
||||
|
||||
@@ -0,0 +1,25 @@
|
||||
#ifdef _WINDOWS
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "CollisionInterfaceDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new CollisionInterfaceDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
19
ObsoleteDemos/CollisionInterfaceDemo/main.cpp
Normal file
19
ObsoleteDemos/CollisionInterfaceDemo/main.cpp
Normal file
@@ -0,0 +1,19 @@
|
||||
|
||||
#include "CollisionInterfaceDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
int screenWidth = 640;
|
||||
int screenHeight = 480;
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
CollisionInterfaceDemo* collisionInterfaceDemo = new CollisionInterfaceDemo();
|
||||
|
||||
collisionInterfaceDemo->initPhysics();
|
||||
|
||||
collisionInterfaceDemo->clientResetScene();
|
||||
|
||||
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Interface Demo",collisionInterfaceDemo);
|
||||
}
|
||||
Reference in New Issue
Block a user