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
33
ObsoleteDemos/VehicleDemo/CMakeLists.txt
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33
ObsoleteDemos/VehicleDemo/CMakeLists.txt
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@@ -0,0 +1,33 @@
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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(AppVehicleDemo
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heightfield128x128.cpp
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VehicleDemo.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(AppVehicleDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppVehicleDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppVehicleDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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5
ObsoleteDemos/VehicleDemo/Makefile.am
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5
ObsoleteDemos/VehicleDemo/Makefile.am
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@@ -0,0 +1,5 @@
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noinst_PROGRAMS=VehicleDemo
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VehicleDemo_SOURCES=VehicleDemo.cpp VehicleDemo.h heightfield128x128.cpp main.cpp
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VehicleDemo_CXXFLAGS=-I@top_builddir@/src -I@top_builddir@/Demos/OpenGL $(CXXFLAGS)
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VehicleDemo_LDADD=-L../OpenGL -lbulletopenglsupport -L../../src -lBulletDynamics -lBulletCollision -lLinearMath @opengl_LIBS@
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683
ObsoleteDemos/VehicleDemo/VehicleDemo.cpp
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683
ObsoleteDemos/VehicleDemo/VehicleDemo.cpp
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@@ -0,0 +1,683 @@
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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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/// September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder
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/// This VehicleDemo file is very early in development, please check it later
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/// One todo is a basic engine model:
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/// A function that maps user input (throttle) into torque/force applied on the wheels
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/// with gears etc.
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
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extern char MyHeightfield[];
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//
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// By default, Bullet Vehicle uses Y as up axis.
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// You can override the up axis, for example Z-axis up. Enable this define to see how to:
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//#define FORCE_ZAXIS_UP 1
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//
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#ifdef FORCE_ZAXIS_UP
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int rightIndex = 0;
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int upIndex = 2;
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int forwardIndex = 1;
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btVector3 wheelDirectionCS0(0,0,-1);
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btVector3 wheelAxleCS(1,0,0);
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#else
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int rightIndex = 0;
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int upIndex = 1;
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int forwardIndex = 2;
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btVector3 wheelDirectionCS0(0,-1,0);
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btVector3 wheelAxleCS(-1,0,0);
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#endif
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#include "GLDebugDrawer.h"
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#include <stdio.h> //printf debugging
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#include "VehicleDemo.h"
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const int maxProxies = 32766;
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const int maxOverlap = 65535;
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///btRaycastVehicle is the interface for the constraint that implements the raycast vehicle
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///notice that for higher-quality slow-moving vehicles, another approach might be better
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///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
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float gEngineForce = 0.f;
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float gBreakingForce = 0.f;
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float maxEngineForce = 1000.f;//this should be engine/velocity dependent
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float maxBreakingForce = 100.f;
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float gVehicleSteering = 0.f;
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float steeringIncrement = 0.04f;
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float steeringClamp = 0.3f;
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float wheelRadius = 0.5f;
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float wheelWidth = 0.4f;
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float wheelFriction = 1000;//BT_LARGE_FLOAT;
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float suspensionStiffness = 20.f;
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float suspensionDamping = 2.3f;
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float suspensionCompression = 4.4f;
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float rollInfluence = 0.1f;//1.0f;
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btScalar suspensionRestLength(0.6);
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#define CUBE_HALF_EXTENTS 1
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////////////////////////////////////
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VehicleDemo::VehicleDemo()
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:
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m_carChassis(0),
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m_indexVertexArrays(0),
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m_vertices(0),
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m_cameraHeight(4.f),
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m_minCameraDistance(3.f),
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m_maxCameraDistance(10.f)
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{
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m_vehicle = 0;
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m_wheelShape = 0;
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m_cameraPosition = btVector3(30,30,30);
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}
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VehicleDemo::~VehicleDemo()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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delete m_indexVertexArrays;
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delete m_vertices;
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//delete dynamics world
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delete m_dynamicsWorld;
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delete m_vehicleRayCaster;
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delete m_vehicle;
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delete m_wheelShape;
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//delete solver
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delete m_constraintSolver;
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//delete broadphase
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delete m_overlappingPairCache;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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void VehicleDemo::initPhysics()
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{
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#ifdef FORCE_ZAXIS_UP
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m_cameraUp = btVector3(0,0,1);
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m_forwardAxis = 1;
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#endif
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btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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m_collisionShapes.push_back(groundShape);
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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_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
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m_constraintSolver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
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#ifdef FORCE_ZAXIS_UP
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m_dynamicsWorld->setGravity(btVector3(0,0,-10));
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#endif
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//m_dynamicsWorld->setGravity(btVector3(0,0,0));
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btTransform tr;
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tr.setIdentity();
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//either use heightfield or triangle mesh
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//#define USE_TRIMESH_GROUND 1
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#ifdef USE_TRIMESH_GROUND
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int i;
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const float TRIANGLE_SIZE=20.f;
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//create a triangle-mesh ground
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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const int NUM_VERTS_X = 20;
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const int NUM_VERTS_Y = 20;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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m_vertices = new btVector3[totalVerts];
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int* gIndices = new int[totalTriangles*3];
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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||||
for (int j=0;j<NUM_VERTS_Y;j++)
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{
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float wl = .2f;
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//height set to zero, but can also use curved landscape, just uncomment out the code
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float height = 0.f;//20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
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#ifdef FORCE_ZAXIS_UP
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m_vertices[i+j*NUM_VERTS_X].setValue(
|
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(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
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height
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);
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#else
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m_vertices[i+j*NUM_VERTS_X].setValue(
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(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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height,
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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#endif
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}
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}
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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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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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m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
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bool useQuantizedAabbCompression = true;
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groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
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tr.setOrigin(btVector3(0,-4.5f,0));
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#else
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//testing btHeightfieldTerrainShape
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int width=128;
|
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int length=128;
|
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|
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#ifdef LOAD_FROM_FILE
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unsigned char* heightfieldData = new unsigned char[width*length];
|
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{
|
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for (int i=0;i<width*length;i++)
|
||||
{
|
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heightfieldData[i]=0;
|
||||
}
|
||||
}
|
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|
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char* filename="heightfield128x128.raw";
|
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FILE* heightfieldFile = fopen(filename,"r");
|
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if (!heightfieldFile)
|
||||
{
|
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filename="../../heightfield128x128.raw";
|
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heightfieldFile = fopen(filename,"r");
|
||||
}
|
||||
if (heightfieldFile)
|
||||
{
|
||||
int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
|
||||
//btAssert(numBytes);
|
||||
if (!numBytes)
|
||||
{
|
||||
printf("couldn't read heightfield at %s\n",filename);
|
||||
}
|
||||
fclose (heightfieldFile);
|
||||
}
|
||||
#else
|
||||
char* heightfieldData = MyHeightfield;
|
||||
#endif
|
||||
|
||||
|
||||
//btScalar maxHeight = 20000.f;//exposes a bug
|
||||
btScalar maxHeight = 100;
|
||||
|
||||
bool useFloatDatam=false;
|
||||
bool flipQuadEdges=false;
|
||||
|
||||
btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
|
||||
btVector3 mmin,mmax;
|
||||
heightFieldShape->getAabb(btTransform::getIdentity(),mmin,mmax);
|
||||
|
||||
groundShape = heightFieldShape;
|
||||
|
||||
heightFieldShape->setUseDiamondSubdivision(true);
|
||||
|
||||
btVector3 localScaling(100,1,100);
|
||||
localScaling[upIndex]=1.f;
|
||||
groundShape->setLocalScaling(localScaling);
|
||||
|
||||
//tr.setOrigin(btVector3(0,9940,0));
|
||||
tr.setOrigin(btVector3(0,49.4,0));
|
||||
|
||||
#endif //
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
//create ground object
|
||||
localCreateRigidBody(0,tr,groundShape);
|
||||
tr.setOrigin(btVector3(0,0,0));//-64.5f,0));
|
||||
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
// indexRightAxis = 0;
|
||||
// indexUpAxis = 2;
|
||||
// indexForwardAxis = 1;
|
||||
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
|
||||
btCompoundShape* compound = new btCompoundShape();
|
||||
btTransform localTrans;
|
||||
localTrans.setIdentity();
|
||||
//localTrans effectively shifts the center of mass with respect to the chassis
|
||||
localTrans.setOrigin(btVector3(0,0,1));
|
||||
#else
|
||||
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
|
||||
m_collisionShapes.push_back(chassisShape);
|
||||
|
||||
btCompoundShape* compound = new btCompoundShape();
|
||||
m_collisionShapes.push_back(compound);
|
||||
btTransform localTrans;
|
||||
localTrans.setIdentity();
|
||||
//localTrans effectively shifts the center of mass with respect to the chassis
|
||||
localTrans.setOrigin(btVector3(0,1,0));
|
||||
#endif
|
||||
|
||||
compound->addChildShape(localTrans,chassisShape);
|
||||
|
||||
tr.setOrigin(btVector3(0,0.f,0));
|
||||
|
||||
m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
|
||||
//m_carChassis->setDamping(0.2,0.2);
|
||||
|
||||
m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
|
||||
|
||||
clientResetScene();
|
||||
|
||||
/// create vehicle
|
||||
{
|
||||
|
||||
m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
|
||||
m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
|
||||
|
||||
///never deactivate the vehicle
|
||||
m_carChassis->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
m_dynamicsWorld->addVehicle(m_vehicle);
|
||||
|
||||
float connectionHeight = 1.2f;
|
||||
|
||||
|
||||
bool isFrontWheel=true;
|
||||
|
||||
//choose coordinate system
|
||||
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
|
||||
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
|
||||
#else
|
||||
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
|
||||
#endif
|
||||
|
||||
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
|
||||
#else
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
|
||||
#endif
|
||||
|
||||
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
|
||||
#else
|
||||
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
|
||||
#endif //FORCE_ZAXIS_UP
|
||||
isFrontWheel = false;
|
||||
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
|
||||
#else
|
||||
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
|
||||
#endif
|
||||
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
|
||||
|
||||
for (int i=0;i<m_vehicle->getNumWheels();i++)
|
||||
{
|
||||
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
|
||||
wheel.m_suspensionStiffness = suspensionStiffness;
|
||||
wheel.m_wheelsDampingRelaxation = suspensionDamping;
|
||||
wheel.m_wheelsDampingCompression = suspensionCompression;
|
||||
wheel.m_frictionSlip = wheelFriction;
|
||||
wheel.m_rollInfluence = rollInfluence;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
setCameraDistance(26.f);
|
||||
|
||||
}
|
||||
|
||||
|
||||
//to be implemented by the demo
|
||||
void VehicleDemo::renderme()
|
||||
{
|
||||
|
||||
updateCamera();
|
||||
|
||||
btScalar m[16];
|
||||
int i;
|
||||
|
||||
|
||||
btVector3 wheelColor(1,0,0);
|
||||
|
||||
btVector3 worldBoundsMin,worldBoundsMax;
|
||||
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
|
||||
|
||||
|
||||
|
||||
for (i=0;i<m_vehicle->getNumWheels();i++)
|
||||
{
|
||||
//synchronize the wheels with the (interpolated) chassis worldtransform
|
||||
m_vehicle->updateWheelTransform(i,true);
|
||||
//draw wheels (cylinders)
|
||||
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
|
||||
m_shapeDrawer->drawOpenGL(m,m_wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
}
|
||||
|
||||
|
||||
DemoApplication::renderme();
|
||||
|
||||
}
|
||||
|
||||
void VehicleDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
|
||||
{
|
||||
int wheelIndex = 2;
|
||||
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
|
||||
m_vehicle->setBrake(gBreakingForce,wheelIndex);
|
||||
wheelIndex = 3;
|
||||
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
|
||||
m_vehicle->setBrake(gBreakingForce,wheelIndex);
|
||||
|
||||
|
||||
wheelIndex = 0;
|
||||
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
|
||||
wheelIndex = 1;
|
||||
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
|
||||
|
||||
}
|
||||
|
||||
|
||||
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
//during idle mode, just run 1 simulation step maximum
|
||||
int maxSimSubSteps = m_idle ? 1 : 2;
|
||||
if (m_idle)
|
||||
dt = 1.0/420.f;
|
||||
|
||||
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
|
||||
|
||||
|
||||
//#define VERBOSE_FEEDBACK
|
||||
#ifdef VERBOSE_FEEDBACK
|
||||
if (!numSimSteps)
|
||||
printf("Interpolated transforms\n");
|
||||
else
|
||||
{
|
||||
if (numSimSteps > maxSimSubSteps)
|
||||
{
|
||||
//detect dropping frames
|
||||
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
|
||||
} else
|
||||
{
|
||||
printf("Simulated (%i) steps\n",numSimSteps);
|
||||
}
|
||||
}
|
||||
#endif //VERBOSE_FEEDBACK
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef USE_QUICKPROF
|
||||
btProfiler::beginBlock("render");
|
||||
#endif //USE_QUICKPROF
|
||||
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
#ifdef USE_QUICKPROF
|
||||
btProfiler::endBlock("render");
|
||||
#endif
|
||||
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void VehicleDemo::displayCallback(void)
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void VehicleDemo::clientResetScene()
|
||||
{
|
||||
gVehicleSteering = 0.f;
|
||||
m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
|
||||
m_carChassis->setLinearVelocity(btVector3(0,0,0));
|
||||
m_carChassis->setAngularVelocity(btVector3(0,0,0));
|
||||
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
if (m_vehicle)
|
||||
{
|
||||
m_vehicle->resetSuspension();
|
||||
for (int i=0;i<m_vehicle->getNumWheels();i++)
|
||||
{
|
||||
//synchronize the wheels with the (interpolated) chassis worldtransform
|
||||
m_vehicle->updateWheelTransform(i,true);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void VehicleDemo::specialKeyboardUp(int key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case GLUT_KEY_UP :
|
||||
{
|
||||
gEngineForce = 0.f;
|
||||
break;
|
||||
}
|
||||
case GLUT_KEY_DOWN :
|
||||
{
|
||||
gBreakingForce = 0.f;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
DemoApplication::specialKeyboardUp(key,x,y);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void VehicleDemo::specialKeyboard(int key, int x, int y)
|
||||
{
|
||||
|
||||
// printf("key = %i x=%i y=%i\n",key,x,y);
|
||||
|
||||
switch (key)
|
||||
{
|
||||
case GLUT_KEY_LEFT :
|
||||
{
|
||||
gVehicleSteering += steeringIncrement;
|
||||
if ( gVehicleSteering > steeringClamp)
|
||||
gVehicleSteering = steeringClamp;
|
||||
|
||||
break;
|
||||
}
|
||||
case GLUT_KEY_RIGHT :
|
||||
{
|
||||
gVehicleSteering -= steeringIncrement;
|
||||
if ( gVehicleSteering < -steeringClamp)
|
||||
gVehicleSteering = -steeringClamp;
|
||||
|
||||
break;
|
||||
}
|
||||
case GLUT_KEY_UP :
|
||||
{
|
||||
gEngineForce = maxEngineForce;
|
||||
gBreakingForce = 0.f;
|
||||
break;
|
||||
}
|
||||
case GLUT_KEY_DOWN :
|
||||
{
|
||||
gBreakingForce = maxBreakingForce;
|
||||
gEngineForce = 0.f;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
DemoApplication::specialKeyboard(key,x,y);
|
||||
break;
|
||||
}
|
||||
|
||||
// glutPostRedisplay();
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void VehicleDemo::updateCamera()
|
||||
{
|
||||
|
||||
//#define DISABLE_CAMERA 1
|
||||
#ifdef DISABLE_CAMERA
|
||||
DemoApplication::updateCamera();
|
||||
return;
|
||||
#endif //DISABLE_CAMERA
|
||||
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
|
||||
btTransform chassisWorldTrans;
|
||||
|
||||
//look at the vehicle
|
||||
m_carChassis->getMotionState()->getWorldTransform(chassisWorldTrans);
|
||||
m_cameraTargetPosition = chassisWorldTrans.getOrigin();
|
||||
|
||||
//interpolate the camera height
|
||||
#ifdef FORCE_ZAXIS_UP
|
||||
m_cameraPosition[2] = (15.0*m_cameraPosition[2] + m_cameraTargetPosition[2] + m_cameraHeight)/16.0;
|
||||
#else
|
||||
m_cameraPosition[1] = (15.0*m_cameraPosition[1] + m_cameraTargetPosition[1] + m_cameraHeight)/16.0;
|
||||
#endif
|
||||
|
||||
btVector3 camToObject = m_cameraTargetPosition - m_cameraPosition;
|
||||
|
||||
//keep distance between min and max distance
|
||||
float cameraDistance = camToObject.length();
|
||||
float correctionFactor = 0.f;
|
||||
if (cameraDistance < m_minCameraDistance)
|
||||
{
|
||||
correctionFactor = 0.15*(m_minCameraDistance-cameraDistance)/cameraDistance;
|
||||
}
|
||||
if (cameraDistance > m_maxCameraDistance)
|
||||
{
|
||||
correctionFactor = 0.15*(m_maxCameraDistance-cameraDistance)/cameraDistance;
|
||||
}
|
||||
m_cameraPosition -= correctionFactor*camToObject;
|
||||
|
||||
btScalar aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
|
||||
glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
|
||||
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
glLoadIdentity();
|
||||
|
||||
gluLookAt(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],
|
||||
m_cameraTargetPosition[0],m_cameraTargetPosition[1], m_cameraTargetPosition[2],
|
||||
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
91
ObsoleteDemos/VehicleDemo/VehicleDemo.h
Normal file
91
ObsoleteDemos/VehicleDemo/VehicleDemo.h
Normal file
@@ -0,0 +1,91 @@
|
||||
/*
|
||||
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 VEHICLE_DEMO_H
|
||||
#define VEHICLE_DEMO_H
|
||||
|
||||
class btVehicleTuning;
|
||||
struct btVehicleRaycaster;
|
||||
class btCollisionShape;
|
||||
|
||||
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///VehicleDemo shows how to setup and use the built-in raycast vehicle
|
||||
class VehicleDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
btRigidBody* m_carChassis;
|
||||
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
class btBroadphaseInterface* m_overlappingPairCache;
|
||||
|
||||
class btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
class btConstraintSolver* m_constraintSolver;
|
||||
|
||||
class btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
class btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btVector3* m_vertices;
|
||||
|
||||
|
||||
btRaycastVehicle::btVehicleTuning m_tuning;
|
||||
btVehicleRaycaster* m_vehicleRayCaster;
|
||||
btRaycastVehicle* m_vehicle;
|
||||
btCollisionShape* m_wheelShape;
|
||||
|
||||
float m_cameraHeight;
|
||||
|
||||
float m_minCameraDistance;
|
||||
float m_maxCameraDistance;
|
||||
|
||||
|
||||
VehicleDemo();
|
||||
|
||||
virtual ~VehicleDemo();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
///a very basic camera following the vehicle
|
||||
virtual void updateCamera();
|
||||
|
||||
virtual void specialKeyboard(int key, int x, int y);
|
||||
|
||||
virtual void specialKeyboardUp(int key, int x, int y);
|
||||
|
||||
void renderme();
|
||||
|
||||
void initPhysics();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
VehicleDemo* demo = new VehicleDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
#endif //VEHICLE_DEMO_H
|
||||
|
||||
|
||||
1641
ObsoleteDemos/VehicleDemo/heightfield128x128.cpp
Normal file
1641
ObsoleteDemos/VehicleDemo/heightfield128x128.cpp
Normal file
File diff suppressed because it is too large
Load Diff
18
ObsoleteDemos/VehicleDemo/main.cpp
Normal file
18
ObsoleteDemos/VehicleDemo/main.cpp
Normal file
@@ -0,0 +1,18 @@
|
||||
|
||||
#include "VehicleDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
VehicleDemo* vehicleDemo = new VehicleDemo;
|
||||
|
||||
vehicleDemo->initPhysics();
|
||||
vehicleDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
return glutmain(argc, argv,640,480,"Bullet Vehicle Demo. http://www.continuousphysics.com/Bullet/phpBB2/", vehicleDemo);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user