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
31
ObsoleteDemos/ContinuousConvexCollision/CMakeLists.txt
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31
ObsoleteDemos/ContinuousConvexCollision/CMakeLists.txt
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
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# For every executable you have with a main method you should have an add_executable line below.
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# For every add executable line you should list every .cpp and .h file you have associated with that executable.
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# You shouldn't have to modify anything below this line
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########################################################
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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../OpenGL
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)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppContinuousConvexCollisionDemo
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ContinuousConvexCollisionDemo.cpp
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)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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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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#ifndef CONTINUOUS_CONVEX_COLLISION_DEMO_H
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#define CONTINUOUS_CONVEX_COLLISION_DEMO_H
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///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
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#include "GlutDemoApplication.h"
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class btContinuousConvexCollisionDemo : public GlutDemoApplication
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{
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public:
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void initPhysics();
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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};
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#endif //CONTINUOUS_CONVEX_COLLISION_DEMO_H
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@@ -0,0 +1,287 @@
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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/*
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Continuous Convex Collision Demo demonstrates an efficient continuous collision detection algorithm.
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Both linear and angular velocities are supported. Convex Objects are sampled using Supporting Vertex.
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Motion using Exponential Map.
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Future ideas: Comparison with Screwing Motion.
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Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
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*/
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///This low level demo need internal access, and intentionally doesn't include the btBulletCollisionCommon.h headerfile
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#include "LinearMath/btQuaternion.h"
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#include "LinearMath/btTransform.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "LinearMath/btTransformUtil.h"
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#include "DebugCastResult.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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#include "GL_ShapeDrawer.h"
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#include "ContinuousConvexCollision.h"
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#include "GlutStuff.h"
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float yaw=0.f,pitch=0.f,roll=0.f;
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const int maxNumObjects = 4;
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const int numObjects = 2;
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btVector3 angVels[numObjects];
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btVector3 linVels[numObjects];
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btPolyhedralConvexShape* shapePtr[maxNumObjects];
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btTransform fromTrans[maxNumObjects];
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btTransform toTrans[maxNumObjects];
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int screenWidth = 640;
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int screenHeight = 480;
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int main(int argc,char** argv)
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{
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btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
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ccdDemo->setCameraDistance(40.f);
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ccdDemo->initPhysics();
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return glutmain(argc, argv,screenWidth,screenHeight,"Continuous Convex Collision Demo",ccdDemo);
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}
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void btContinuousConvexCollisionDemo::initPhysics()
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{
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fromTrans[0].setOrigin(btVector3(0,10,20));
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toTrans[0].setOrigin(btVector3(0,10,-20));
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fromTrans[1].setOrigin(btVector3(-2,7,0));
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toTrans[1].setOrigin(btVector3(-2,10,0));
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btMatrix3x3 identBasis;
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identBasis.setIdentity();
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btMatrix3x3 basisA;
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basisA.setIdentity();
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basisA.setEulerZYX(0.f,-SIMD_HALF_PI,0.f);
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fromTrans[0].setBasis(identBasis);
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toTrans[0].setBasis(basisA);
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fromTrans[1].setBasis(identBasis);
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toTrans[1].setBasis(identBasis);
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toTrans[1].setBasis(identBasis);
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btVector3 boxHalfExtentsA(10,1,1);
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btVector3 boxHalfExtentsB(1.1f,1.1f,1.1f);
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btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
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// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btVector3(-2,0,-2),btVector3(2,0,-2),btVector3(0,0,2),btVector3(0,2,0));
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// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btVector3(-12,0,0),btVector3(12,0,0));
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btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
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shapePtr[0] = boxA;
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shapePtr[1] = boxB;
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shapePtr[0]->setMargin(0.01f);
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shapePtr[1]->setMargin(0.01f);
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for (int i=0;i<numObjects;i++)
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{
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btTransformUtil::calculateVelocity(fromTrans[i],toTrans[i],1.f,linVels[i],angVels[i]);
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}
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}
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//to be implemented by the demo
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void btContinuousConvexCollisionDemo::clientMoveAndDisplay()
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{
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displayCallback();
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}
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static btVoronoiSimplexSolver sVoronoiSimplexSolver;
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btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
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bool drawLine= false;
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int minlines = 0;
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int maxlines = 512;
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void btContinuousConvexCollisionDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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//GL_ShapeDrawer::drawCoordSystem();
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btScalar m[16];
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int i;
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btVector3 worldBoundsMin(-1000,-1000,-1000);
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btVector3 worldBoundsMax(1000,1000,1000);
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/*for (i=0;i<numObjects;i++)
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{
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fromTrans[i].getOpenGLMatrix( m );
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m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
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}
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*/
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if (getDebugMode()==btIDebugDraw::DBG_DrawAabb)
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{
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i=0;//for (i=1;i<numObjects;i++)
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{
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//for each object, subdivide the from/to transform in 10 equal steps
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int numSubSteps = 10;
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for (int s=0;s<10;s++)
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{
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btScalar subStep = s * 1.f/(float)numSubSteps;
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btTransform interpolatedTrans;
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btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],subStep,interpolatedTrans);
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//fromTrans[i].getOpenGLMatrix(m);
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//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
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//toTrans[i].getOpenGLMatrix(m);
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//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
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interpolatedTrans.getOpenGLMatrix( m );
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m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
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}
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}
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}
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btMatrix3x3 mat;
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mat.setEulerZYX(yaw,pitch,roll);
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btQuaternion orn;
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mat.getRotation(orn);
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orn.setEuler(yaw,pitch,roll);
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fromTrans[1].setRotation(orn);
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toTrans[1].setRotation(orn);
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if (m_stepping || m_singleStep)
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{
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m_singleStep = false;
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pitch += 0.005f;
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// yaw += 0.01f;
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}
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// btVector3 fromA(-25,11,0);
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// btVector3 toA(-15,11,0);
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// btQuaternion ornFromA(0.f,0.f,0.f,1.f);
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// btQuaternion ornToA(0.f,0.f,0.f,1.f);
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// btTransform rayFromWorld(ornFromA,fromA);
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// btTransform rayToWorld(ornToA,toA);
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btTransform rayFromWorld = fromTrans[0];
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btTransform rayToWorld = toTrans[0];
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if (drawLine)
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{
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glBegin(GL_LINES);
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glColor3f(0, 0, 1);
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glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
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glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
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glEnd();
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}
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//now perform a raycast on the shapes, in local (shape) space
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gGjkSimplexSolver.reset();
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//choose one of the following lines
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for (i=0;i<numObjects;i++)
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{
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fromTrans[i].getOpenGLMatrix(m);
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m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
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}
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btDebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],m_shapeDrawer);
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for (i=1;i<numObjects;i++)
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{
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btConvexCast::CastResult rayResult2;
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btConvexCast::CastResult* rayResultPtr;
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if (btIDebugDraw::DBG_DrawAabb)
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{
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rayResultPtr = &rayResult1;
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} else
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{
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rayResultPtr = &rayResult2;
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}
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//GjkConvexCast convexCaster(&gGjkSimplexSolver);
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//SubsimplexConvexCast convexCaster(&gGjkSimplexSolver);
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//optional
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btConvexPenetrationDepthSolver* penetrationDepthSolver = 0;
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btContinuousConvexCollision convexCaster(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,penetrationDepthSolver );
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gGjkSimplexSolver.reset();
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if (convexCaster.calcTimeOfImpact(fromTrans[0],toTrans[0],fromTrans[i] ,toTrans[i] ,*rayResultPtr))
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{
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glDisable(GL_DEPTH_TEST);
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btTransform hitTrans;
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btTransformUtil::integrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
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hitTrans.getOpenGLMatrix(m);
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m_shapeDrawer->drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode(),worldBoundsMin,worldBoundsMax);
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btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
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hitTrans.getOpenGLMatrix(m);
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m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
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}
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}
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swapBuffers();
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}
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