fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
@@ -1,175 +1,175 @@
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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 "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "UserCollisionAlgorithm.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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//The user defined collision algorithm
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#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
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GLDebugDrawer debugDrawer;
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static const int NUM_VERTICES = 5;
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static const int NUM_TRIANGLES=4;
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btVector3 gVertices[NUM_VERTICES];
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int gIndices[NUM_TRIANGLES*3];
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const float TRIANGLE_SIZE=10.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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int main(int argc,char** argv)
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{
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UserCollisionAlgorithm* userCollisionAlgorithm = new UserCollisionAlgorithm;
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userCollisionAlgorithm->initPhysics();
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userCollisionAlgorithm->setCameraDistance(30.f);
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return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",userCollisionAlgorithm);
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}
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void UserCollisionAlgorithm::initPhysics()
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{
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#define TRISIZE 5.f
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const int NUM_VERTS_X = 50;
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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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btVector3* gVertices = new btVector3[totalVerts];
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int i;
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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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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);
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}
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}
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btTriangleMesh* trimesh = new btTriangleMesh();
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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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trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[j*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i+1]);
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trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[(j+1)*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i]);
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}
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}
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delete[] gVertices;
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bool useQuantizedBvhTree = true;
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btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(trimesh,useQuantizedBvhTree);
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//ConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
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btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
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btVector3 maxAabb(10000,10000,10000);
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btBroadphaseInterface* broadphase = new btAxisSweep3(-maxAabb,maxAabb);//SimpleBroadphase();
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dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
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btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver,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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btRigidBody* staticBody= localCreateRigidBody(mass, startTransform,trimeshShape);
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//enable custom material callback
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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{
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for (int i=0;i<10;i++)
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{
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btCollisionShape* sphereShape = new btSphereShape(1);
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startTransform.setOrigin(btVector3(1,2*i,1));
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//btRigidBody* body = localCreateRigidBody(1, startTransform,sphereShape);
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localCreateRigidBody(1, startTransform,sphereShape);
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}
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}
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m_dynamicsWorld->setDebugDrawer(&debugDrawer);
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}
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void UserCollisionAlgorithm::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = getDeltaTimeMicroseconds() * 0.000001f;
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m_dynamicsWorld->stepSimulation(dt);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void UserCollisionAlgorithm::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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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 "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "UserCollisionAlgorithm.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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//The user defined collision algorithm
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#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
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GLDebugDrawer debugDrawer;
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static const int NUM_VERTICES = 5;
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static const int NUM_TRIANGLES=4;
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btVector3 gVertices[NUM_VERTICES];
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int gIndices[NUM_TRIANGLES*3];
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const float TRIANGLE_SIZE=10.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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int main(int argc,char** argv)
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{
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UserCollisionAlgorithm* userCollisionAlgorithm = new UserCollisionAlgorithm;
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userCollisionAlgorithm->initPhysics();
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userCollisionAlgorithm->setCameraDistance(30.f);
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return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",userCollisionAlgorithm);
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}
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void UserCollisionAlgorithm::initPhysics()
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{
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#define TRISIZE 5.f
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const int NUM_VERTS_X = 50;
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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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btVector3* gVertices = new btVector3[totalVerts];
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int i;
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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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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);
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}
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}
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btTriangleMesh* trimesh = new btTriangleMesh();
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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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trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[j*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i+1]);
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trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[(j+1)*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i]);
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}
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}
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delete[] gVertices;
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bool useQuantizedBvhTree = true;
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btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(trimesh,useQuantizedBvhTree);
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//ConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
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btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
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btVector3 maxAabb(10000,10000,10000);
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btBroadphaseInterface* broadphase = new btAxisSweep3(-maxAabb,maxAabb);//SimpleBroadphase();
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dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
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btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver,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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btRigidBody* staticBody= localCreateRigidBody(mass, startTransform,trimeshShape);
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//enable custom material callback
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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{
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for (int i=0;i<10;i++)
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{
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btCollisionShape* sphereShape = new btSphereShape(1);
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startTransform.setOrigin(btVector3(1,2*i,1));
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//btRigidBody* body = localCreateRigidBody(1, startTransform,sphereShape);
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localCreateRigidBody(1, startTransform,sphereShape);
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}
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}
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m_dynamicsWorld->setDebugDrawer(&debugDrawer);
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}
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void UserCollisionAlgorithm::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = getDeltaTimeMicroseconds() * 0.000001f;
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m_dynamicsWorld->stepSimulation(dt);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void UserCollisionAlgorithm::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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@@ -1,36 +1,36 @@
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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.
|
||||
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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#ifndef USER_COLLISION_ALGORITHM_DEMO_H
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#define USER_COLLISION_ALGORITHM_DEMO_H
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#include "GlutDemoApplication.h"
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///UserCollisionAlgorithmDemo shows how to register and use your own collision algorithm for a certain shape pair type
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class UserCollisionAlgorithm : public GlutDemoApplication
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{
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public:
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void initPhysics();
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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};
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#endif //USER_COLLISION_ALGORITHM_DEMO_H
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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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|
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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,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
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.
|
||||
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.
|
||||
*/
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#ifndef USER_COLLISION_ALGORITHM_DEMO_H
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#define USER_COLLISION_ALGORITHM_DEMO_H
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#include "GlutDemoApplication.h"
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///UserCollisionAlgorithmDemo shows how to register and use your own collision algorithm for a certain shape pair type
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class UserCollisionAlgorithm : public GlutDemoApplication
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{
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public:
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void initPhysics();
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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};
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#endif //USER_COLLISION_ALGORITHM_DEMO_H
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