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
32
ObsoleteDemos/MultiMaterialDemo/CMakeLists.txt
Normal file
32
ObsoleteDemos/MultiMaterialDemo/CMakeLists.txt
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@@ -0,0 +1,32 @@
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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(AppMultiMaterialDemo
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MultiMaterialDemo.cpp
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main.cpp
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)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppMultiMaterialDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppMultiMaterialDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppMultiMaterialDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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383
ObsoleteDemos/MultiMaterialDemo/MultiMaterialDemo.cpp
Normal file
383
ObsoleteDemos/MultiMaterialDemo/MultiMaterialDemo.cpp
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@@ -0,0 +1,383 @@
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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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||||
|
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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 "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "MultiMaterialDemo.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 "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h"
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#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btMaterial.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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// Create a custom material, just because we can
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class CustomMaterial : public btMaterial
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{
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public:
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int foo1;
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int foo2;
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CustomMaterial(){}
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CustomMaterial(int a, int b) {foo1 = a; foo2 = b;}
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};
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// Storage for the vertex data
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static btVector3* gVertices = 0;
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// Storage for the face data
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static int* gIndices = 0;
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// Storage for the material data
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static CustomMaterial* gMaterials = 0;
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// Storage for the face -> material index data
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static int* gFaceMaterialIndices = 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=1.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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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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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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// Apply material properties
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if (colObj0Wrap->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE)
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{
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const btCollisionShape* parent0 = colObj0Wrap->getCollisionObject()->getCollisionShape();
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if(parent0 != 0 && parent0->getShapeType() == MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE)
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{
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btMultimaterialTriangleMeshShape* shape = (btMultimaterialTriangleMeshShape*)parent0;
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const btMaterial * props = shape->getMaterialProperties(partId0, index0);
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cp.m_combinedFriction = calculateCombinedFriction(props->m_friction, colObj1Wrap->getCollisionObject()->getFriction());
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cp.m_combinedRestitution = props->m_restitution * colObj1Wrap->getCollisionObject()->getRestitution();
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}
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}
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else if (colObj1Wrap->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE)
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{
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const btCollisionShape* parent1 = colObj1Wrap->getCollisionObject()->getCollisionShape();
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if(parent1 != 0 && parent1->getShapeType() == MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE)
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{
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btMultimaterialTriangleMeshShape* shape = (btMultimaterialTriangleMeshShape*)parent1;
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const btMaterial * props = shape->getMaterialProperties(partId1, index1);
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cp.m_combinedFriction = calculateCombinedFriction(props->m_friction, colObj0Wrap->getCollisionObject()->getFriction());
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cp.m_combinedRestitution = props->m_restitution * colObj0Wrap->getCollisionObject()->getRestitution();
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}
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}
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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 = 20;
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const int NUM_VERTS_Y = 50;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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void MultiMaterialDemo::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((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 MultiMaterialDemo::keyboardCallback(unsigned char key, int x, int y)
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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 MultiMaterialDemo::initPhysics()
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{
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#define TRISIZE 50.f
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gContactAddedCallback = CustomMaterialCombinerCallback;
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// The number of triangles
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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// The number of materials
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const int totalMaterials = 2;
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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// int materialStride = sizeof(CustomMaterial);
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// int triangleMaterialStride = sizeof(int);
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gVertices = new btVector3[totalVerts];
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gIndices = new int[totalTriangles*3];
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gMaterials = new CustomMaterial[totalMaterials];
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gFaceMaterialIndices = new int[totalTriangles];
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// Explicitly set up the materials. It's a small array so let's do it bit by bit.
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gMaterials[0].m_friction = 0;
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gMaterials[0].m_restitution = 0.9;
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gMaterials[0].foo1 = 5;
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gMaterials[0].foo2 = 7;
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gMaterials[1].m_friction = 0.9;
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gMaterials[1].m_restitution = 0.1;
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gMaterials[1].foo1 = 53;
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gMaterials[1].foo2 = 15;
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int i;
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// Set up the vertex data
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setVertexPositions(waveheight,0.f);
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int index=0;
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// Set up the face data
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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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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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}
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}
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// Set up the face->material index data
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for(int a = 0; a < totalTriangles; a++)
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{
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// This will give the first half of the faces low friction and high restitution
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// and the second half of the faces high friction and low restitution
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if(a > totalTriangles*0.5f)
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gFaceMaterialIndices[a] = 0;
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else
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gFaceMaterialIndices[a] = 1;
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}
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// Create the array structure
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m_indexVertexArrays = new btTriangleIndexVertexMaterialArray(
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totalTriangles, gIndices, indexStride,
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totalVerts,(btScalar*) &gVertices[0].x(),vertStride,
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totalMaterials, (unsigned char *)gMaterials, sizeof(CustomMaterial),
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gFaceMaterialIndices, sizeof(int));
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bool useQuantizedAabbCompression = true;
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// Create the multimaterial mesh shape
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trimeshShape = new btMultimaterialTriangleMeshShape((btTriangleIndexVertexMaterialArray*)m_indexVertexArrays,useQuantizedAabbCompression);
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m_collisionShapes.push_back(trimeshShape);
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btCollisionShape* groundShape = trimeshShape;
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_broadphase = new btAxisSweep3(worldMin,worldMax);
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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btCollisionShape* colShape = new btBoxShape(btVector3(0.5f,0.5f,0.5f));
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m_collisionShapes.push_back(colShape);
|
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|
||||
{
|
||||
for (int i=0;i<1;i++)
|
||||
{
|
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startTransform.setOrigin(btVector3(10,10,-20));
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btRigidBody* body = localCreateRigidBody(1, startTransform,colShape);
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body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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body->setFriction(0.9f);
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body->setGravity(btVector3(0,-20.f,0));
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body->applyCentralImpulse(btVector3(-7.7f,0,0));
|
||||
}
|
||||
}
|
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|
||||
startTransform.setIdentity();
|
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staticBody = localCreateRigidBody(mass, startTransform,groundShape);
|
||||
|
||||
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
|
||||
|
||||
//enable custom material callback
|
||||
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
||||
}
|
||||
|
||||
void MultiMaterialDemo::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);
|
||||
|
||||
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,
|
||||
(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);
|
||||
|
||||
//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);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void MultiMaterialDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MultiMaterialDemo::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;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
84
ObsoleteDemos/MultiMaterialDemo/MultiMaterialDemo.h
Normal file
84
ObsoleteDemos/MultiMaterialDemo/MultiMaterialDemo.h
Normal file
@@ -0,0 +1,84 @@
|
||||
/*
|
||||
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
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
class btTriangleIndexVertexArray;
|
||||
|
||||
///MultiMaterialDemo shows usage of static concave triangle meshes
|
||||
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
|
||||
class MultiMaterialDemo : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//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:
|
||||
|
||||
MultiMaterialDemo() : m_animatedMesh(true)
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~MultiMaterialDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
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()
|
||||
{
|
||||
MultiMaterialDemo* demo = new MultiMaterialDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
};
|
||||
};
|
||||
|
||||
#endif //CONCAVE_DEMO_H
|
||||
|
||||
22
ObsoleteDemos/MultiMaterialDemo/main.cpp
Normal file
22
ObsoleteDemos/MultiMaterialDemo/main.cpp
Normal file
@@ -0,0 +1,22 @@
|
||||
|
||||
#include "MultiMaterialDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
MultiMaterialDemo* multiMaterialDemo = new MultiMaterialDemo();
|
||||
multiMaterialDemo->initPhysics();
|
||||
multiMaterialDemo->setCameraDistance(30.f);
|
||||
|
||||
multiMaterialDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
return glutmain(argc, argv,640,480,"Multimaterial Mesh Demo",multiMaterialDemo);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user