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
2013-12-19 12:40:59 -08:00
parent 222ecb156d
commit 69e5454d18
320 changed files with 189807 additions and 105 deletions
--- a/ObsoleteDemos/FractureDemo/btFractureBody.cpp
+++ b/ObsoleteDemos/FractureDemo/btFractureBody.cpp
@@ -0,0 +1,139 @@
+
+#include "btFractureBody.h"
+#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
+
+
+
+void	btFractureBody::recomputeConnectivity(btCollisionWorld* world)
+{
+	m_connections.clear();
+	//@todo use the AABB tree to avoid N^2 checks
+
+	if (getCollisionShape()->isCompound())
+	{
+		btCompoundShape* compound = (btCompoundShape*)getCollisionShape();
+		for (int i=0;i<compound->getNumChildShapes();i++)
+		{
+			for (int j=i+1;j<compound->getNumChildShapes();j++)
+			{
+
+				struct   MyContactResultCallback : public btCollisionWorld::ContactResultCallback
+				{
+					bool m_connected;
+					btScalar m_margin;
+					MyContactResultCallback() :m_connected(false),m_margin(0.05)
+					{
+					}
+					virtual   btScalar   addSingleResult(btManifoldPoint& cp,   const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
+					{
+						if (cp.getDistance()<=m_margin)
+							m_connected = true;
+						return 1.f;
+					}
+			   };
+
+				MyContactResultCallback result;
+
+				btCollisionObject obA;
+				obA.setWorldTransform(compound->getChildTransform(i));
+				obA.setCollisionShape(compound->getChildShape(i));
+				btCollisionObject obB;
+				obB.setWorldTransform(compound->getChildTransform(j));
+				obB.setCollisionShape(compound->getChildShape(j));
+				world->contactPairTest(&obA,&obB,result);
+				if (result.m_connected)
+				{
+					btConnection tmp;
+					tmp.m_childIndex0 = i;
+					tmp.m_childIndex1 = j;
+					tmp.m_childShape0 = compound->getChildShape(i);
+					tmp.m_childShape1 = compound->getChildShape(j);
+					tmp.m_strength = 1.f;//??
+					m_connections.push_back(tmp);
+				}
+			}
+		}
+	}
+	
+
+}
+
+btCompoundShape* btFractureBody::shiftTransformDistributeMass(btCompoundShape* boxCompound,btScalar mass,btTransform& shift)
+{
+
+	btVector3 principalInertia;
+
+	btScalar* masses = new btScalar[boxCompound->getNumChildShapes()];
+	for (int j=0;j<boxCompound->getNumChildShapes();j++)
+	{
+		//evenly distribute mass
+		masses[j]=mass/boxCompound->getNumChildShapes();
+	}
+
+	return shiftTransform(boxCompound,masses,shift,principalInertia);
+
+}
+
+
+btCompoundShape* btFractureBody::shiftTransform(btCompoundShape* boxCompound,btScalar* masses,btTransform& shift, btVector3& principalInertia)
+{
+	btTransform principal;
+
+	boxCompound->calculatePrincipalAxisTransform(masses,principal,principalInertia);
+
+
+	///create a new compound with world transform/center of mass properly aligned with the principal axis
+
+	///non-recursive compound shapes perform better
+	
+#ifdef USE_RECURSIVE_COMPOUND
+
+	btCompoundShape* newCompound = new btCompoundShape();
+	newCompound->addChildShape(principal.inverse(),boxCompound);
+	newBoxCompound = newCompound;
+	//m_collisionShapes.push_back(newCompound);
+
+	//btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
+	//btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,newCompound,principalInertia);
+
+#else
+#ifdef CHANGE_COMPOUND_INPLACE
+	newBoxCompound = boxCompound;
+	for (int i=0;i<boxCompound->getNumChildShapes();i++)
+	{
+		btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i);
+		///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update
+		boxCompound->updateChildTransform(i,newChildTransform);
+	}
+	bool isDynamic = (mass != 0.f);
+	btVector3 localInertia(0,0,0);
+	if (isDynamic)
+		boxCompound->calculateLocalInertia(mass,localInertia);
+	
+#else
+	///creation is faster using a new compound to store the shifted children
+	btCompoundShape* newBoxCompound = new btCompoundShape();
+	for (int i=0;i<boxCompound->getNumChildShapes();i++)
+	{
+		btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i);
+		///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update
+		newBoxCompound->addChildShape(newChildTransform,boxCompound->getChildShape(i));
+	}
+
+
+
+#endif
+
+#endif//USE_RECURSIVE_COMPOUND
+
+	shift = principal;
+	return newBoxCompound;
+}
+
+
+
+
+
+