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
54
ObsoleteDemos/InternalEdgeDemo/CMakeLists.txt
Normal file
54
ObsoleteDemos/InternalEdgeDemo/CMakeLists.txt
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@@ -0,0 +1,54 @@
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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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IF (USE_GLUT)
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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} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppInternalEdgeDemo
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InternalEdgeDemo.cpp
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InternalEdgeDemo.h
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main.cpp
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)
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ELSE (USE_GLUT)
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INCLUDE_DIRECTORIES(
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${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 ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppInternalEdgeDemo
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WIN32
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../OpenGL/Win32AppMain.cpp
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InternalEdgeDemo.cpp
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InternalEdgeDemo.h
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Win32InternalEdgeDemo.cpp
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)
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ENDIF (USE_GLUT)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppInternalEdgeDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppInternalEdgeDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppInternalEdgeDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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623
ObsoleteDemos/InternalEdgeDemo/InternalEdgeDemo.cpp
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623
ObsoleteDemos/InternalEdgeDemo/InternalEdgeDemo.cpp
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@@ -0,0 +1,623 @@
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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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#include "GLDebugFont.h"
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//#define SHIFT_INDICES 1
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#define SWAP_WINDING 1
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//#define ROTATE_GROUND 1
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bool enable=true;
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#if defined (SHIFT_INDICES) && !defined (SWAP_WINDING)
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//#define TEST_INCONSISTENT_WINDING
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#endif
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
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#include "Taru.mdl"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "InternalEdgeDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
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#include "GLDebugDrawer.h"
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GLDebugDrawer gDebugDrawer;
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static btVector3* gVertices=0;
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static int* gIndices=0;
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static btBvhTriangleMeshShape* trimeshShape =0;
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static btRigidBody* staticBody = 0;
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static float waveheight = 0.f;
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const float TRIANGLE_SIZE=20.f;
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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inline btScalar calculateCombinedFriction(float friction0,float friction1)
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{
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return 0.f;
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btScalar friction = friction0 * friction1;
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const btScalar MAX_FRICTION = 10.f;
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
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{
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return restitution0 * restitution1;
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}
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///////////////////////////////////////////////////////////////
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static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
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{
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if (enable)
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{
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btAdjustInternalEdgeContacts(cp,colObj1Wrap,colObj0Wrap, partId1,index1);
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//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
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//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
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}
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float friction0 = colObj0Wrap->getCollisionObject()->getFriction();
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float friction1 = colObj1Wrap->getCollisionObject()->getFriction();
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float restitution0 = colObj0Wrap->getCollisionObject()->getRestitution();
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float restitution1 = colObj1Wrap->getCollisionObject()->getRestitution();
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if (colObj0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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friction0 = 1.0;//partId0,index0
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restitution0 = 0.f;
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}
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if (colObj1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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if (index1&1)
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{
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friction1 = 1.0f;//partId1,index1
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} else
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{
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friction1 = 0.f;
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}
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restitution1 = 0.f;
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}
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cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
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cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
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//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
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return true;
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}
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extern ContactAddedCallback gContactAddedCallback;
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const int NUM_VERTS_X = 2;
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const int NUM_VERTS_Y = 2;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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void InternalEdgeDemo::setVertexPositions(float waveheight, float offset)
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{
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int i;
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int j;
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue(
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(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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//0.f,
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waveheight*sinf((float)i+offset)*cosf((float)j+offset),
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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}
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}
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}
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void InternalEdgeDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key=='n')
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{
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enable = !enable;
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}
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if (key == 'g')
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{
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m_animatedMesh = !m_animatedMesh;
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if (m_animatedMesh)
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->setActivationState(DISABLE_DEACTIVATION);
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} else
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->forceActivationState(ACTIVE_TAG);
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}
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}
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DemoApplication::keyboardCallback(key,x,y);
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}
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void InternalEdgeDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(false);//true);
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#define TRISIZE 10.f
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gContactAddedCallback = CustomMaterialCombinerCallback;
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#define USE_TRIMESH_SHAPE 1
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#ifdef USE_TRIMESH_SHAPE
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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gVertices = new btVector3[totalVerts];
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gIndices = new int[totalTriangles*3];
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int i;
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setVertexPositions(waveheight,0.f);
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//gVertices[1].setY(21.1);
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//gVertices[1].setY(121.1);
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gVertices[1].setY(.1f);
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#ifdef ROTATE_GROUND
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//gVertices[1].setY(-1.1);
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#else
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//gVertices[1].setY(0.1);
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//gVertices[1].setY(-0.1);
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//gVertices[1].setY(-20.1);
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//gVertices[1].setY(-20);
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#endif
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int index=0;
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for ( i=0;i<NUM_VERTS_X-1;i++)
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{
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for (int j=0;j<NUM_VERTS_Y-1;j++)
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{
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#ifdef SWAP_WINDING
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#ifdef SHIFT_INDICES
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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#else
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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#endif //SHIFT_INDICES
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#else //SWAP_WINDING
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#ifdef SHIFT_INDICES
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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#ifdef TEST_INCONSISTENT_WINDING
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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#else //TEST_INCONSISTENT_WINDING
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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#endif //TEST_INCONSISTENT_WINDING
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#else //SHIFT_INDICES
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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#endif //SHIFT_INDICES
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#endif //SWAP_WINDING
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|
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|
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}
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}
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m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
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|
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bool useQuantizedAabbCompression = true;
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//comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
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#define SERIALIZE_TO_DISK 1
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#ifdef SERIALIZE_TO_DISK
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btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
|
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|
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trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
|
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m_collisionShapes.push_back(trimeshShape);
|
||||
|
||||
|
||||
///we can serialize the BVH data
|
||||
void* buffer = 0;
|
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int numBytes = trimeshShape->getOptimizedBvh()->calculateSerializeBufferSize();
|
||||
buffer = btAlignedAlloc(numBytes,16);
|
||||
bool swapEndian = false;
|
||||
trimeshShape->getOptimizedBvh()->serialize(buffer,numBytes,swapEndian);
|
||||
FILE* file = fopen("bvh.bin","wb");
|
||||
fwrite(buffer,1,numBytes,file);
|
||||
fclose(file);
|
||||
btAlignedFree(buffer);
|
||||
|
||||
|
||||
|
||||
#else
|
||||
|
||||
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,false);
|
||||
|
||||
char* fileName = "bvh.bin";
|
||||
|
||||
FILE* file = fopen(fileName,"rb");
|
||||
int size=0;
|
||||
btOptimizedBvh* bvh = 0;
|
||||
|
||||
if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) { /* File operations denied? ok, just close and return failure */
|
||||
printf("Error: cannot get filesize from %s\n", fileName);
|
||||
exit(0);
|
||||
} else
|
||||
{
|
||||
|
||||
fseek(file, 0, SEEK_SET);
|
||||
|
||||
int buffersize = size+btOptimizedBvh::getAlignmentSerializationPadding();
|
||||
|
||||
void* buffer = btAlignedAlloc(buffersize,16);
|
||||
int read = fread(buffer,1,size,file);
|
||||
fclose(file);
|
||||
bool swapEndian = false;
|
||||
bvh = btOptimizedBvh::deSerializeInPlace(buffer,buffersize,swapEndian);
|
||||
}
|
||||
|
||||
trimeshShape->setOptimizedBvh(bvh);
|
||||
|
||||
#endif
|
||||
|
||||
btCollisionShape* groundShape = trimeshShape;
|
||||
|
||||
btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap();
|
||||
|
||||
|
||||
btGenerateInternalEdgeInfo(trimeshShape,triangleInfoMap);
|
||||
|
||||
|
||||
|
||||
#else
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
#endif //USE_TRIMESH_SHAPE
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
m_solver = new btSequentialImpulseConstraintSolver();
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
/*
|
||||
m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
|
||||
m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = 1e30f;
|
||||
m_dynamicsWorld->getSolverInfo().m_maxErrorReduction = 1e30f;
|
||||
m_dynamicsWorld->getSolverInfo().m_erp =1.f;
|
||||
m_dynamicsWorld->getSolverInfo().m_erp2 = 1.f;
|
||||
*/
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
|
||||
float mass = 0.f;
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,-2,0));
|
||||
|
||||
|
||||
btConvexHullShape* colShape = new btConvexHullShape();
|
||||
for (int i=0;i<TaruVtxCount;i++)
|
||||
{
|
||||
btVector3 vtx(TaruVtx[i*3],TaruVtx[i*3+1],TaruVtx[i*3+2]);
|
||||
colShape->addPoint(vtx);
|
||||
}
|
||||
//this will enable polyhedral contact clipping, better quality, slightly slower
|
||||
colShape->initializePolyhedralFeatures();
|
||||
|
||||
//the polyhedral contact clipping can use either GJK or SAT test to find the separating axis
|
||||
m_dynamicsWorld->getDispatchInfo().m_enableSatConvex=false;
|
||||
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
{
|
||||
for (int i=0;i<1;i++)
|
||||
{
|
||||
startTransform.setOrigin(btVector3(-10.f+i*3.f,2.2f+btScalar(i)*0.1f,-1.3f));
|
||||
btRigidBody* body = localCreateRigidBody(10, startTransform,colShape);
|
||||
body->setActivationState(DISABLE_DEACTIVATION);
|
||||
body->setLinearVelocity(btVector3(0,0,-1));
|
||||
//body->setContactProcessingThreshold(0.f);
|
||||
}
|
||||
}
|
||||
{
|
||||
btBoxShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
colShape->initializePolyhedralFeatures();
|
||||
m_collisionShapes.push_back(colShape);
|
||||
startTransform.setOrigin(btVector3(-16.f+i*3.f,1.f+btScalar(i)*0.1f,-1.3f));
|
||||
btRigidBody* body = localCreateRigidBody(10, startTransform,colShape);
|
||||
body->setActivationState(DISABLE_DEACTIVATION);
|
||||
body->setLinearVelocity(btVector3(0,0,-1));
|
||||
}
|
||||
|
||||
startTransform.setIdentity();
|
||||
#ifdef ROTATE_GROUND
|
||||
btQuaternion orn(btVector3(0,0,1),SIMD_PI);
|
||||
startTransform.setOrigin(btVector3(-20,0,0));
|
||||
startTransform.setRotation(orn);
|
||||
#endif //ROTATE_GROUND
|
||||
|
||||
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
|
||||
//staticBody->setContactProcessingThreshold(-0.031f);
|
||||
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
|
||||
|
||||
//enable custom material callback
|
||||
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
||||
|
||||
getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
setDebugMode(btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_NoHelpText+btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
|
||||
|
||||
|
||||
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
btSetDebugDrawer(&gDebugDrawer);
|
||||
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void InternalEdgeDemo::clientResetScene()
|
||||
{
|
||||
DemoApplication::clientResetScene();
|
||||
for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
|
||||
{
|
||||
btCollisionObject* colobj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colobj);
|
||||
if (body && body->getInvMass() != 0.f)
|
||||
{
|
||||
|
||||
body->setLinearVelocity(btVector3(0,0,-1));
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void InternalEdgeDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
if (m_animatedMesh)
|
||||
{
|
||||
static float offset=0.f;
|
||||
offset+=0.01f;
|
||||
|
||||
// setVertexPositions(waveheight,offset);
|
||||
#if 0 ///not currently supported, we need to update the btInternalTriangleInfoMap
|
||||
int i;
|
||||
int j;
|
||||
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
|
||||
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
|
||||
|
||||
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
|
||||
{
|
||||
for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
|
||||
{
|
||||
|
||||
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
|
||||
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
|
||||
|
||||
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
|
||||
0.f,
|
||||
//waveheight*sinf((float)i+offset)*cosf((float)j+offset),
|
||||
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
|
||||
|
||||
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
|
||||
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
|
||||
|
||||
}
|
||||
}
|
||||
trimeshShape->partialRefitTree(aabbMin,aabbMax);
|
||||
#else
|
||||
btVector3 aabbMin,aabbMax;
|
||||
trimeshShape->getMeshInterface()->calculateAabbBruteForce(aabbMin,aabbMax);
|
||||
trimeshShape->refitTree(aabbMin,aabbMax);
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
//for debugging: clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
|
||||
//m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
}
|
||||
|
||||
|
||||
|
||||
m_dynamicsWorld->stepSimulation(dt);
|
||||
///enable one of the following to debug (render debug lines each frame)
|
||||
//m_dynamicsWorld->stepSimulation(1./800.,0);
|
||||
//m_dynamicsWorld->stepSimulation(1./60.,100,1./800.);
|
||||
//m_dynamicsWorld->stepSimulation(1./60.,0);
|
||||
|
||||
|
||||
int lineWidth=450;
|
||||
int xStart = m_glutScreenWidth - lineWidth;
|
||||
int yStart = 20;
|
||||
|
||||
if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
|
||||
{
|
||||
setOrthographicProjection();
|
||||
glDisable(GL_LIGHTING);
|
||||
glColor3f(0, 0, 0);
|
||||
char buf[124];
|
||||
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
if (enable)
|
||||
{
|
||||
sprintf(buf,"InternalEdgeUtility enabled");
|
||||
} else
|
||||
{
|
||||
sprintf(buf,"InternalEdgeUtility disabled");
|
||||
}
|
||||
GLDebugDrawString(xStart,20,buf);
|
||||
yStart+=20;
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
sprintf(buf,"Press 'n' to toggle InternalEdgeUtility");
|
||||
yStart+=20;
|
||||
GLDebugDrawString(xStart,yStart,buf);
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
|
||||
resetPerspectiveProjection();
|
||||
glEnable(GL_LIGHTING);
|
||||
}
|
||||
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void InternalEdgeDemo::displayCallback(void) {
|
||||
|
||||
clientMoveAndDisplay();
|
||||
/*
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void InternalEdgeDemo::exitPhysics()
|
||||
{
|
||||
|
||||
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
if (m_indexVertexArrays)
|
||||
delete m_indexVertexArrays;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
93
ObsoleteDemos/InternalEdgeDemo/InternalEdgeDemo.h
Normal file
93
ObsoleteDemos/InternalEdgeDemo/InternalEdgeDemo.h
Normal file
@@ -0,0 +1,93 @@
|
||||
/*
|
||||
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 CONCAVE_DEMO_H
|
||||
#define CONCAVE_DEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
class btTriangleIndexVertexArray;
|
||||
|
||||
///InternalEdgeDemo shows usage of static concave triangle meshes
|
||||
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
|
||||
class InternalEdgeDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
bool m_animatedMesh;
|
||||
|
||||
public:
|
||||
|
||||
InternalEdgeDemo() : m_animatedMesh(true)
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~InternalEdgeDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
//to show refit works
|
||||
void setVertexPositions(float waveheight, float offset);
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
InternalEdgeDemo* demo = new InternalEdgeDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
};
|
||||
};
|
||||
|
||||
#endif //CONCAVE_DEMO_H
|
||||
|
||||
49
ObsoleteDemos/InternalEdgeDemo/Taru.mdl
Normal file
49
ObsoleteDemos/InternalEdgeDemo/Taru.mdl
Normal file
@@ -0,0 +1,49 @@
|
||||
#define TaruVtxCount 43
|
||||
#define TaruIdxCount 132
|
||||
|
||||
static float TaruVtx[] = {
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.28852f,1.34412e-007f,-1.28852f,
|
||||
1.82224f,1.90735e-007f,0.0f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
-1.28852f,1.34412e-007f,-1.28852f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-1.82224f,1.90735e-007f,1.59305e-007f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.28852f,2.47058e-007f,1.28852f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
2.38958e-007f,2.70388e-007f,1.82224f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
1.28852f,2.47058e-007f,1.28852f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
};
|
||||
|
||||
25
ObsoleteDemos/InternalEdgeDemo/Win32InternalEdgeDemo.cpp
Normal file
25
ObsoleteDemos/InternalEdgeDemo/Win32InternalEdgeDemo.cpp
Normal file
@@ -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 "InternalEdgeDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new InternalEdgeDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
19
ObsoleteDemos/InternalEdgeDemo/main.cpp
Normal file
19
ObsoleteDemos/InternalEdgeDemo/main.cpp
Normal file
@@ -0,0 +1,19 @@
|
||||
|
||||
#include "InternalEdgeDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
InternalEdgeDemo* internalEdgeDemo = new InternalEdgeDemo();
|
||||
internalEdgeDemo->initPhysics();
|
||||
internalEdgeDemo->setCameraDistance(30.f);
|
||||
|
||||
|
||||
return glutmain(argc, argv,640,480,"Internal Edge Demo",internalEdgeDemo);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user