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add MultiDofDemo (Featherstone 3DOF spherical joint)

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minor prettify of BasicDemo,RagdollDemo.
require 'multiDof' argument in btMultiBody.h (not default=false)
This commit is contained in:
Erwin Coumans
2014-01-10 16:34:39 -08:00
parent a8e60b4ee5
commit 7e4b1c1c8a
9 changed files with 481 additions and 28 deletions
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27
Demos3/bullet2/BasicDemo/BasicDemo.cpp
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@@ -2,11 +2,13 @@
#include "OpenGLWindow/SimpleOpenGL3App.h"
#include "btBulletDynamicsCommon.h"
#include "Bullet3Common/b3Vector3.h"
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
#define ARRAY_SIZE_X 1
#define ARRAY_SIZE_Y 1
#define ARRAY_SIZE_Z 1
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
static const float scaling=0.35f;
BasicDemo::BasicDemo(SimpleOpenGL3App* app)
:Bullet2RigidBodyDemo(app)
@@ -46,7 +48,14 @@ void BasicDemo::createGround(int cubeShapeId)
}
void BasicDemo::initPhysics()
{
Bullet2RigidBodyDemo::initPhysics();
// Bullet2RigidBodyDemo::initPhysics();
m_config = new btDefaultCollisionConfiguration;
m_dispatcher = new btCollisionDispatcher(m_config);
m_bp = new btDbvtBroadphase();
m_solver = new btNNCGConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
int curColor=0;
//create ground
int cubeShapeId = m_glApp->registerCubeShape();
@@ -58,7 +67,7 @@ void BasicDemo::initPhysics()
{
float halfExtents[]={0.1,1,1,1};
float halfExtents[]={scaling,scaling,scaling,1};
b3Vector4 colors[4] =
{
b3MakeVector4(1,0,0,1),
@@ -75,7 +84,7 @@ void BasicDemo::initPhysics()
btVector3 localInertia;
btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
colShape ->calculateLocalInertia(mass,localInertia);
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
@@ -87,9 +96,9 @@ void BasicDemo::initPhysics()
curColor++;
curColor&=3;
startTransform.setOrigin(btVector3(
btScalar(2.0*i),
btScalar(2+2.0*k),
btScalar(2.0*j)));
btScalar(2.0*scaling*i),
btScalar(2.*scaling+2.0*scaling*k),
btScalar(2.0*scaling*j)));
m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);