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
69
ObsoleteDemos/RaytestDemo/CMakeLists.txt
Normal file
69
ObsoleteDemos/RaytestDemo/CMakeLists.txt
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@@ -0,0 +1,69 @@
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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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# This is the variable for Windows. I use this to define the root of my directory structure.
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SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
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# You shouldn't have to modify anything below this line
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########################################################
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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../OpenGL
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)
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IF (USE_GLUT)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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IF (WIN32)
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ADD_EXECUTABLE(AppRaytestDemo
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main.cpp
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RaytestDemo.cpp
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RaytestDemo.h
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${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
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)
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ELSE()
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ADD_EXECUTABLE(AppRaytestDemo
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main.cpp
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RaytestDemo.cpp
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RaytestDemo.h
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)
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ENDIF()
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ELSE (USE_GLUT)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppRaytestDemo
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WIN32
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../OpenGL/Win32AppMain.cpp
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Win32RaytestDemo.cpp
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RaytestDemo.cpp
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RaytestDemo.h
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${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
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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(AppRaytestDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppRaytestDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppRaytestDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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5
ObsoleteDemos/RaytestDemo/Makefile.am
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5
ObsoleteDemos/RaytestDemo/Makefile.am
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@@ -0,0 +1,5 @@
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noinst_PROGRAMS=BasicDemo
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BasicDemo_SOURCES=BasicDemo.cpp BasicDemo.h main.cpp
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BasicDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS)
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BasicDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lBulletDynamics -lBulletCollision -lLinearMath @opengl_LIBS@
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333
ObsoleteDemos/RaytestDemo/RaytestDemo.cpp
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333
ObsoleteDemos/RaytestDemo/RaytestDemo.cpp
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@@ -0,0 +1,333 @@
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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 "RaytestDemo.h"
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#include "GlutStuff.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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#include "BulletCollision/Gimpact/btGImpactShape.h"
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#include <stdio.h> //printf debugging
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#include "GLDebugDrawer.h"
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static GLDebugDrawer sDebugDraw;
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void RaytestDemo::castRays()
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{
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static float up = 0.f;
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static float dir = 1.f;
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//add some simple animation
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if (!m_idle)
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{
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up+=0.01*dir;
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if (btFabs(up)>2)
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{
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dir*=-1.f;
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}
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btTransform tr = m_dynamicsWorld->getCollisionObjectArray()[1]->getWorldTransform();
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static float angle = 0.f;
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angle+=0.01f;
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tr.setRotation(btQuaternion(btVector3(0,1,0),angle));
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m_dynamicsWorld->getCollisionObjectArray()[1]->setWorldTransform(tr);
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}
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///step the simulation
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->updateAabbs();
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m_dynamicsWorld->computeOverlappingPairs();
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btVector3 red(1,0,0);
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btVector3 blue(0,0,1);
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///all hits
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{
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btVector3 from(-30,1+up,0);
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btVector3 to(30,1,0);
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sDebugDraw.drawLine(from,to,btVector4(0,0,0,1));
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btCollisionWorld::AllHitsRayResultCallback allResults(from,to);
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allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal;
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//kF_UseGjkConvexRaytest flag is now enabled by default, use the faster but more approximate algorithm
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allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
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m_dynamicsWorld->rayTest(from,to,allResults);
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for (int i=0;i<allResults.m_hitFractions.size();i++)
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{
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btVector3 p = from.lerp(to,allResults.m_hitFractions[i]);
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sDebugDraw.drawSphere(p,0.1,red);
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}
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}
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///first hit
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{
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btVector3 from(-30,1.2,0);
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btVector3 to(30,1.2,0);
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sDebugDraw.drawLine(from,to,btVector4(0,0,1,1));
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btCollisionWorld::ClosestRayResultCallback closestResults(from,to);
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closestResults.m_flags |= btTriangleRaycastCallback::kF_FilterBackfaces;
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m_dynamicsWorld->rayTest(from,to,closestResults);
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if (closestResults.hasHit())
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{
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btVector3 p = from.lerp(to,closestResults.m_closestHitFraction);
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sDebugDraw.drawSphere(p,0.1,blue);
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sDebugDraw.drawLine(p,p+closestResults.m_hitNormalWorld,blue);
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}
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}
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}
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}
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void RaytestDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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castRays();
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if (m_dynamicsWorld)
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{
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float ms = getDeltaTimeMicroseconds();
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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m_dynamicsWorld->debugDrawWorld();
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}
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renderme();
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glFlush();
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swapBuffers();
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}
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void RaytestDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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castRays();
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renderme();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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glFlush();
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swapBuffers();
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}
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void RaytestDemo::initPhysics()
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{
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m_ele = 10;
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m_azi = 75;
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setTexturing(true);
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setShadows(true);
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setCameraDistance(btScalar(20.));
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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//m_collisionConfiguration->setConvexConvexMultipointIterations();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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m_dynamicsWorld ->setDebugDrawer(&sDebugDraw);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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///create a few basic rigid bodies
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setRollingFriction(1);
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body->setFriction(1);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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{
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btVector3 convexPoints[]={ btVector3(-1,-1,-1),btVector3(-1,-1,1),btVector3(-1,1,1),btVector3(-1,1,-1),
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btVector3(2,0,0)};
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btVector3 quad[] = {
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btVector3(0,1,-1),
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btVector3(0,1,1),
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btVector3(0,-1,1),
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btVector3(0,-1,-1)};
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btTriangleMesh* mesh = new btTriangleMesh();
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mesh->addTriangle(quad[0],quad[1],quad[2],true);
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mesh->addTriangle(quad[0],quad[2],quad[3],true);
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//btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(mesh,true,true);
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btGImpactMeshShape * trimesh = new btGImpactMeshShape(mesh);
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trimesh->updateBound();
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|
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#define NUM_SHAPES 6
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btCollisionShape* colShapes[NUM_SHAPES] = {
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trimesh,
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new btConvexHullShape(&convexPoints[0].getX(),sizeof(convexPoints)/sizeof(btVector3),sizeof(btVector3)),
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new btSphereShape(1),
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new btCapsuleShape(0.2,1),
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new btCylinderShape(btVector3(0.2,1,0.2)),
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new btBoxShape(btVector3(1,1,1))
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};
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for (int i=0;i<NUM_SHAPES;i++)
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m_collisionShapes.push_back(colShapes[i]);
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|
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for (int i=0;i<6;i++)
|
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{
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//create a few dynamic rigidbodies
|
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// Re-using the same collision is better for memory usage and performance
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|
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|
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|
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/// Create Dynamic Objects
|
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3((i-3)*5,1,0));
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|
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|
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btScalar mass(1.f);
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if (!i)
|
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mass=0.f;
|
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|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
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|
||||
btVector3 localInertia(0,0,0);
|
||||
btCollisionShape* colShape = colShapes[i%NUM_SHAPES];
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
|
||||
rbInfo.m_startWorldTransform = startTransform;
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
body->setRollingFriction(0.03);
|
||||
body->setFriction(1);
|
||||
body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
void RaytestDemo::clientResetScene()
|
||||
{
|
||||
exitPhysics();
|
||||
initPhysics();
|
||||
}
|
||||
|
||||
|
||||
void RaytestDemo::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;
|
||||
}
|
||||
m_collisionShapes.clear();
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
delete m_solver;
|
||||
|
||||
delete m_broadphase;
|
||||
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
82
ObsoleteDemos/RaytestDemo/RaytestDemo.h
Normal file
82
ObsoleteDemos/RaytestDemo/RaytestDemo.h
Normal file
@@ -0,0 +1,82 @@
|
||||
/*
|
||||
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 BT_RAYTEST_DEMO_H
|
||||
#define BT_RAYTEST_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;
|
||||
|
||||
///RaytestDemo shows how to use the btCollisionWorld::rayTest feature
|
||||
|
||||
class RaytestDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
public:
|
||||
|
||||
RaytestDemo()
|
||||
{
|
||||
}
|
||||
virtual ~RaytestDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
void castRays();
|
||||
virtual void displayCallback();
|
||||
virtual void clientResetScene();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
RaytestDemo* demo = new RaytestDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_RAYTEST_DEMO_H
|
||||
|
||||
25
ObsoleteDemos/RaytestDemo/Win32RaytestDemo.cpp
Normal file
25
ObsoleteDemos/RaytestDemo/Win32RaytestDemo.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 "RaytestDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new RaytestDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
41
ObsoleteDemos/RaytestDemo/main.cpp
Normal file
41
ObsoleteDemos/RaytestDemo/main.cpp
Normal file
@@ -0,0 +1,41 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2007 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.
|
||||
*/
|
||||
|
||||
#include "RaytestDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
RaytestDemo ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,1024,600,"Bullet Physics Demo. http://bulletphysics.org",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user