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Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure

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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
2013-12-19 12:40:59 -08:00
parent 222ecb156d
commit 69e5454d18
320 changed files with 189807 additions and 105 deletions
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39
ObsoleteDemos/UserCollisionAlgorithm/CMakeLists.txt Normal file
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF (WIN32)
ADD_EXECUTABLE(AppUserCollisionAlgorithm
UserCollisionAlgorithm.cpp
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
ELSE()
ADD_EXECUTABLE(AppUserCollisionAlgorithm
UserCollisionAlgorithm.cpp
)
ENDIF()
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppUserCollisionAlgorithm PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppUserCollisionAlgorithm PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppUserCollisionAlgorithm PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

175
ObsoleteDemos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp Normal file
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/*
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.
*/
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "UserCollisionAlgorithm.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
//The user defined collision algorithm
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
GLDebugDrawer debugDrawer;
static const int NUM_VERTICES = 5;
static const int NUM_TRIANGLES=4;
btVector3 gVertices[NUM_VERTICES];
int gIndices[NUM_TRIANGLES*3];
const float TRIANGLE_SIZE=10.f;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(float friction0,float friction1)
{
btScalar friction = friction0 * friction1;
const btScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
{
return restitution0 * restitution1;
}
int main(int argc,char** argv)
{
UserCollisionAlgorithm* userCollisionAlgorithm = new UserCollisionAlgorithm;
userCollisionAlgorithm->initPhysics();
userCollisionAlgorithm->setCameraDistance(30.f);
return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",userCollisionAlgorithm);
}
void UserCollisionAlgorithm::initPhysics()
{
#define TRISIZE 5.f
const int NUM_VERTS_X = 50;
const int NUM_VERTS_Y = 50;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
btVector3* gVertices = new btVector3[totalVerts];
int i;
for ( i=0;i<NUM_VERTS_X;i++)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
btTriangleMesh* trimesh = new btTriangleMesh();
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[j*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i+1]);
trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[(j+1)*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i]);
}
}
delete[] gVertices;
bool useQuantizedBvhTree = true;
btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(trimesh,useQuantizedBvhTree);
//ConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
btVector3 maxAabb(10000,10000,10000);
btBroadphaseInterface* broadphase = new btAxisSweep3(-maxAabb,maxAabb);//SimpleBroadphase();
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver,collisionConfiguration);
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
btRigidBody* staticBody= localCreateRigidBody(mass, startTransform,trimeshShape);
//enable custom material callback
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
{
for (int i=0;i<10;i++)
{
btCollisionShape* sphereShape = new btSphereShape(1);
startTransform.setOrigin(btVector3(1,2*i,1));
//btRigidBody* body = localCreateRigidBody(1, startTransform,sphereShape);
localCreateRigidBody(1, startTransform,sphereShape);
}
}
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
}
void UserCollisionAlgorithm::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
m_dynamicsWorld->stepSimulation(dt);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();
glutSwapBuffers();
}
void UserCollisionAlgorithm::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
glFlush();
glutSwapBuffers();
}

36
ObsoleteDemos/UserCollisionAlgorithm/UserCollisionAlgorithm.h Normal file
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/*
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 USER_COLLISION_ALGORITHM_DEMO_H
#define USER_COLLISION_ALGORITHM_DEMO_H
#include "GlutDemoApplication.h"
///UserCollisionAlgorithmDemo shows how to register and use your own collision algorithm for a certain shape pair type
class UserCollisionAlgorithm : public GlutDemoApplication
{
public:
void initPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
};
#endif //USER_COLLISION_ALGORITHM_DEMO_H