fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
@@ -1,101 +1,101 @@
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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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LINK_DIRECTORIES(
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"C:/MinGW/lib"
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)
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/Extras
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACTUtils
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
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)
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LINK_LIBRARIES(
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GLUI GIMPACTUtils ConvexDecomposition OpenGLSupport BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletFileLoader LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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SET(AllBulletDemos_SRCS
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Main.cpp
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DemoEntries.cpp
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../CcdPhysicsDemo/CcdPhysicsDemo.cpp
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../BasicDemo/BasicDemo.cpp
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../BspDemo/BspDemo.cpp
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../BspDemo/BspConverter.cpp
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../BspDemo/BspLoader.cpp
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../DynamicControlDemo/MotorDemo.cpp
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../ConcaveDemo/ConcavePhysicsDemo.cpp
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../ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
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../ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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../ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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../SliderConstraintDemo/SliderConstraintDemo.cpp
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../RagdollDemo/RagdollDemo.cpp
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../GimpactTestDemo/GimpactTestDemo.cpp
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../Raytracer/Raytracer.cpp
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../GjkConvexCastDemo/LinearConvexCastDemo.cpp
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../ForkLiftDemo/ForkLiftDemo.cpp
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../SoftDemo/SoftDemo.cpp
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../ConstraintDemo/ConstraintDemo.cpp
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)
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IF (WIN32)
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ADD_EXECUTABLE(AppAllBulletDemos
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${AllBulletDemos_SRCS}
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${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
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)
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ELSE()
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ADD_EXECUTABLE(AppAllBulletDemos
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${AllBulletDemos_SRCS}
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)
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ENDIF()
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IF (WIN32)
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IF (NOT INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
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IF (CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppAllBulletDemos
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
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)
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ELSE(CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppAllBulletDemos
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
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)
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ENDIF(CMAKE_CL_64)
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ENDIF (NOT INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
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ENDIF(WIN32)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ADD_CUSTOM_COMMAND(
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TARGET AppAllBulletDemos
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/SerializeDemo/testFile.bullet ${CMAKE_CURRENT_BINARY_DIR}/testFile.bullet
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/file.obj ${CMAKE_CURRENT_BINARY_DIR}
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)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppAllBulletDemos PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppAllBulletDemos PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppAllBulletDemos PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
|
||||
|
||||
|
||||
# For every executable you have with a main method you should have an add_executable line below.
|
||||
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
|
||||
|
||||
|
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# You shouldn't have to modify anything below this line
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########################################################
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LINK_DIRECTORIES(
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"C:/MinGW/lib"
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)
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/Extras
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/GIMPACTUtils
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/LibXML/include
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
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)
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LINK_LIBRARIES(
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GLUI GIMPACTUtils ConvexDecomposition OpenGLSupport BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletFileLoader LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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SET(AllBulletDemos_SRCS
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Main.cpp
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DemoEntries.cpp
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../CcdPhysicsDemo/CcdPhysicsDemo.cpp
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../BasicDemo/BasicDemo.cpp
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../BspDemo/BspDemo.cpp
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../BspDemo/BspConverter.cpp
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../BspDemo/BspLoader.cpp
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../DynamicControlDemo/MotorDemo.cpp
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../ConcaveDemo/ConcavePhysicsDemo.cpp
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../ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
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../ConcaveConvexcastDemo/ConcaveConvexcastDemo.cpp
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../ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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../SliderConstraintDemo/SliderConstraintDemo.cpp
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../RagdollDemo/RagdollDemo.cpp
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../GimpactTestDemo/GimpactTestDemo.cpp
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../Raytracer/Raytracer.cpp
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../GjkConvexCastDemo/LinearConvexCastDemo.cpp
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../ForkLiftDemo/ForkLiftDemo.cpp
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../SoftDemo/SoftDemo.cpp
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../ConstraintDemo/ConstraintDemo.cpp
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)
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IF (WIN32)
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ADD_EXECUTABLE(AppAllBulletDemos
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${AllBulletDemos_SRCS}
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${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
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)
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ELSE()
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ADD_EXECUTABLE(AppAllBulletDemos
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${AllBulletDemos_SRCS}
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)
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ENDIF()
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IF (WIN32)
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IF (NOT INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
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IF (CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppAllBulletDemos
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
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)
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ELSE(CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppAllBulletDemos
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
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)
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ENDIF(CMAKE_CL_64)
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ENDIF (NOT INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
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ENDIF(WIN32)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ADD_CUSTOM_COMMAND(
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TARGET AppAllBulletDemos
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/SerializeDemo/testFile.bullet ${CMAKE_CURRENT_BINARY_DIR}/testFile.bullet
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/file.obj ${CMAKE_CURRENT_BINARY_DIR}
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)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppAllBulletDemos PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppAllBulletDemos PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppAllBulletDemos PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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@@ -1,174 +1,174 @@
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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,
|
||||
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.
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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 "DemoEntries.h"
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#include "../CcdPhysicsDemo/CcdPhysicsDemo.h"
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#include "../BspDemo/BspDemo.h"
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#include "../BasicDemo/BasicDemo.h"
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#include "../ConcaveDemo/ConcaveDemo.h"
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#include "../ConcaveRaycastDemo/ConcaveRaycastDemo.h"
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#include "../ConcaveConvexcastDemo/ConcaveConvexcastDemo.h"
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#include "../ConvexDecompositionDemo/ConvexDecompositionDemo.h"
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#include "../DynamicControlDemo/MotorDemo.h"
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#include "../SliderConstraintDemo/SliderConstraintDemo.h"
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#include "../RagdollDemo/RagdollDemo.h"
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#include "../GimpactTestDemo/GimpactTestDemo.h"
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#include "../Raytracer/Raytracer.h"
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#include "../GjkConvexCastDemo/LinearConvexCastDemo.h"
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#include "../ForkLiftDemo/ForkLiftDemo.h"
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#include "../ConstraintDemo/ConstraintDemo.h"
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//#include "../Benchmarks/BenchmarkDemo.h"
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#include "../SoftDemo/SoftDemo.h"
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#include "GLDebugFont.h"
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#include "GlutStuff.h"//OpenGL stuff
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extern int gNumAlignedAllocs;
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extern int gNumAlignedFree;
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extern int gTotalBytesAlignedAllocs;
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class btEmptyDebugDemo : public GlutDemoApplication
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{
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public:
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btEmptyDebugDemo()
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{
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}
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virtual void clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float xOffset = 10.f;
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float yStart = 20.f;
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float yIncr = 20.f;
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char buf[124];
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glColor3f(0, 0, 0);
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setOrthographicProjection();
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"gNumAlignedAllocs= %d",gNumAlignedAllocs);
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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#endif //BT_DEBUG_MEMORY_ALLOCATIONS
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glFlush();
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glutSwapBuffers();
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}
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virtual void initPhysics() {}
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static DemoApplication* Create()
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{
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btEmptyDebugDemo* demo = new btEmptyDebugDemo();
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demo->myinit();
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return demo;
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}
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||||
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};
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||||
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btDemoEntry g_demoEntries[] =
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{
|
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{"ConstraintDemo",ConstraintDemo::Create},
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{"ForkLift Demo",ForkLiftDemo::Create},
|
||||
{"Ragdoll Demo",RagdollDemo::Create},
|
||||
{"Basic Demo", BasicDemo::Create},
|
||||
{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
|
||||
{"Convex Decomposition",ConvexDecompositionDemo::Create},
|
||||
{"Concave Moving", GimpactConcaveDemo::Create},
|
||||
{"Dynamic Control Demo",MotorDemo::Create},
|
||||
{"ConcaveDemo",ConcaveDemo::Create},
|
||||
{"Concave Convexcast Demo",ConcaveConvexcastDemo::Create},
|
||||
{"SoftBody Cluster Collide1",SoftDemo19::Create},
|
||||
|
||||
{"SoftBody Ropes Attach",SoftDemo4::Create},
|
||||
|
||||
{"SoftBody Cloth Attach",SoftDemo5::Create},
|
||||
|
||||
{"SoftBody Cloth",SoftDemo0::Create},
|
||||
|
||||
// {"SoftBody Volume",SoftDemo2::Create},
|
||||
{"SoftBody Pressure",SoftDemo1::Create},
|
||||
{"SoftBody Cluster Car",SoftDemo24::Create},
|
||||
{"SoftBody Cluster Robot",SoftDemo25::Create},
|
||||
// {"SoftBody Ropes",SoftDemo3::Create},
|
||||
{"SoftBody Sticks",SoftDemo6::Create},
|
||||
{"SoftBody Collide",SoftDemo7::Create},
|
||||
{"SoftBody Collide2",SoftDemo8::Create},
|
||||
// {"SoftBody Collide3",SoftDemo9::Create},
|
||||
// {"SoftBody Impact",SoftDemo10::Create},
|
||||
{"SoftBody Aero",SoftDemo11::Create},
|
||||
{"SoftBody Friction",SoftDemo12::Create},
|
||||
// {"SoftBody Torus",SoftDemo13::Create},
|
||||
// {"SoftBody Torus Match",SoftDemo14::Create},
|
||||
// {"SoftBody Bunny",SoftDemo15::Create},
|
||||
// {"SoftBody Bunny Match",SoftDemo16::Create},
|
||||
{"SoftBody Init Cutting",SoftDemo17::Create},
|
||||
// {"SoftBody Cluster Deform",SoftDemo18::Create},
|
||||
|
||||
// {"SoftBody Cluster Collide2",SoftDemo20::Create},
|
||||
// {"SoftBody Cluster Socket",SoftDemo21::Create},
|
||||
{"SoftBody Cluster Hinge",SoftDemo22::Create},
|
||||
{"SoftBody Cluster Combine",SoftDemo23::Create},
|
||||
// {"SoftBody Cluster Stack Soft",SoftDemo26::Create},
|
||||
{"SoftBody Cluster Stack Mixed",SoftDemo27::Create},
|
||||
|
||||
{"SoftBody TetGen Tetrahedral Cube",SoftDemo28::Create},
|
||||
{"SoftBody TetGen Tetrahedral Bunny",SoftDemo29::Create},
|
||||
|
||||
|
||||
// {"SliderConstraint",SliderConstraintDemo::Create},
|
||||
|
||||
// {"ConcaveRaycastDemo",ConcaveRaycastDemo::Create},
|
||||
//{"BspDemo", BspDemo::Create},
|
||||
// {"Raytracer Test",Raytracer::Create},
|
||||
// {"GjkConvexCast",LinearConvexCastDemo::Create},
|
||||
// {"Benchmark 3000 FALL",BenchmarkDemo1::Create},
|
||||
// {"Benchmark 1000 STACK",BenchmarkDemo2::Create},
|
||||
// {"Benchmark 136 RAGDOLLS",BenchmarkDemo3::Create},
|
||||
// {"Benchmark 1000 CONVEX",BenchmarkDemo4::Create},
|
||||
// {"Benchmark Mesh-Prim",BenchmarkDemo5::Create},
|
||||
// {"Benchmark Mesh-Convex",BenchmarkDemo6::Create},
|
||||
// {"Benchmark Raycast",BenchmarkDemo7::Create},
|
||||
|
||||
{"MemoryLeak Checker",btEmptyDebugDemo::Create},
|
||||
{0, 0}
|
||||
};
|
||||
|
||||
|
||||
/*
|
||||
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 "DemoEntries.h"
|
||||
|
||||
#include "../CcdPhysicsDemo/CcdPhysicsDemo.h"
|
||||
#include "../BspDemo/BspDemo.h"
|
||||
#include "../BasicDemo/BasicDemo.h"
|
||||
#include "../ConcaveDemo/ConcaveDemo.h"
|
||||
#include "../ConcaveRaycastDemo/ConcaveRaycastDemo.h"
|
||||
#include "../ConcaveConvexcastDemo/ConcaveConvexcastDemo.h"
|
||||
#include "../ConvexDecompositionDemo/ConvexDecompositionDemo.h"
|
||||
#include "../DynamicControlDemo/MotorDemo.h"
|
||||
#include "../SliderConstraintDemo/SliderConstraintDemo.h"
|
||||
#include "../RagdollDemo/RagdollDemo.h"
|
||||
#include "../GimpactTestDemo/GimpactTestDemo.h"
|
||||
#include "../Raytracer/Raytracer.h"
|
||||
#include "../GjkConvexCastDemo/LinearConvexCastDemo.h"
|
||||
#include "../ForkLiftDemo/ForkLiftDemo.h"
|
||||
#include "../ConstraintDemo/ConstraintDemo.h"
|
||||
//#include "../Benchmarks/BenchmarkDemo.h"
|
||||
#include "../SoftDemo/SoftDemo.h"
|
||||
#include "GLDebugFont.h"
|
||||
|
||||
#include "GlutStuff.h"//OpenGL stuff
|
||||
|
||||
|
||||
extern int gNumAlignedAllocs;
|
||||
extern int gNumAlignedFree;
|
||||
extern int gTotalBytesAlignedAllocs;
|
||||
|
||||
class btEmptyDebugDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
btEmptyDebugDemo()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float xOffset = 10.f;
|
||||
float yStart = 20.f;
|
||||
float yIncr = 20.f;
|
||||
char buf[124];
|
||||
|
||||
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
setOrthographicProjection();
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"gNumAlignedAllocs= %d",gNumAlignedAllocs);
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
|
||||
GLDebugDrawString(xOffset,yStart,buf);
|
||||
yStart += yIncr;
|
||||
#endif //BT_DEBUG_MEMORY_ALLOCATIONS
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
|
||||
}
|
||||
|
||||
virtual void initPhysics() {}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
btEmptyDebugDemo* demo = new btEmptyDebugDemo();
|
||||
demo->myinit();
|
||||
return demo;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
btDemoEntry g_demoEntries[] =
|
||||
{
|
||||
|
||||
{"ConstraintDemo",ConstraintDemo::Create},
|
||||
{"ForkLift Demo",ForkLiftDemo::Create},
|
||||
{"Ragdoll Demo",RagdollDemo::Create},
|
||||
{"Basic Demo", BasicDemo::Create},
|
||||
{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
|
||||
{"Convex Decomposition",ConvexDecompositionDemo::Create},
|
||||
{"Concave Moving", GimpactConcaveDemo::Create},
|
||||
{"Dynamic Control Demo",MotorDemo::Create},
|
||||
{"ConcaveDemo",ConcaveDemo::Create},
|
||||
{"Concave Convexcast Demo",ConcaveConvexcastDemo::Create},
|
||||
{"SoftBody Cluster Collide1",SoftDemo19::Create},
|
||||
|
||||
{"SoftBody Ropes Attach",SoftDemo4::Create},
|
||||
|
||||
{"SoftBody Cloth Attach",SoftDemo5::Create},
|
||||
|
||||
{"SoftBody Cloth",SoftDemo0::Create},
|
||||
|
||||
// {"SoftBody Volume",SoftDemo2::Create},
|
||||
{"SoftBody Pressure",SoftDemo1::Create},
|
||||
{"SoftBody Cluster Car",SoftDemo24::Create},
|
||||
{"SoftBody Cluster Robot",SoftDemo25::Create},
|
||||
// {"SoftBody Ropes",SoftDemo3::Create},
|
||||
{"SoftBody Sticks",SoftDemo6::Create},
|
||||
{"SoftBody Collide",SoftDemo7::Create},
|
||||
{"SoftBody Collide2",SoftDemo8::Create},
|
||||
// {"SoftBody Collide3",SoftDemo9::Create},
|
||||
// {"SoftBody Impact",SoftDemo10::Create},
|
||||
{"SoftBody Aero",SoftDemo11::Create},
|
||||
{"SoftBody Friction",SoftDemo12::Create},
|
||||
// {"SoftBody Torus",SoftDemo13::Create},
|
||||
// {"SoftBody Torus Match",SoftDemo14::Create},
|
||||
// {"SoftBody Bunny",SoftDemo15::Create},
|
||||
// {"SoftBody Bunny Match",SoftDemo16::Create},
|
||||
{"SoftBody Init Cutting",SoftDemo17::Create},
|
||||
// {"SoftBody Cluster Deform",SoftDemo18::Create},
|
||||
|
||||
// {"SoftBody Cluster Collide2",SoftDemo20::Create},
|
||||
// {"SoftBody Cluster Socket",SoftDemo21::Create},
|
||||
{"SoftBody Cluster Hinge",SoftDemo22::Create},
|
||||
{"SoftBody Cluster Combine",SoftDemo23::Create},
|
||||
// {"SoftBody Cluster Stack Soft",SoftDemo26::Create},
|
||||
{"SoftBody Cluster Stack Mixed",SoftDemo27::Create},
|
||||
|
||||
{"SoftBody TetGen Tetrahedral Cube",SoftDemo28::Create},
|
||||
{"SoftBody TetGen Tetrahedral Bunny",SoftDemo29::Create},
|
||||
|
||||
|
||||
// {"SliderConstraint",SliderConstraintDemo::Create},
|
||||
|
||||
// {"ConcaveRaycastDemo",ConcaveRaycastDemo::Create},
|
||||
//{"BspDemo", BspDemo::Create},
|
||||
// {"Raytracer Test",Raytracer::Create},
|
||||
// {"GjkConvexCast",LinearConvexCastDemo::Create},
|
||||
// {"Benchmark 3000 FALL",BenchmarkDemo1::Create},
|
||||
// {"Benchmark 1000 STACK",BenchmarkDemo2::Create},
|
||||
// {"Benchmark 136 RAGDOLLS",BenchmarkDemo3::Create},
|
||||
// {"Benchmark 1000 CONVEX",BenchmarkDemo4::Create},
|
||||
// {"Benchmark Mesh-Prim",BenchmarkDemo5::Create},
|
||||
// {"Benchmark Mesh-Convex",BenchmarkDemo6::Create},
|
||||
// {"Benchmark Raycast",BenchmarkDemo7::Create},
|
||||
|
||||
{"MemoryLeak Checker",btEmptyDebugDemo::Create},
|
||||
{0, 0}
|
||||
};
|
||||
|
||||
|
||||
|
||||
@@ -1,34 +1,34 @@
|
||||
/*
|
||||
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_DEMO_ENTRIES_H
|
||||
#define BT_DEMO_ENTRIES_H
|
||||
|
||||
|
||||
class DemoApplication;
|
||||
|
||||
typedef DemoApplication* DemoCreateFcn();
|
||||
|
||||
struct btDemoEntry
|
||||
{
|
||||
const char *name;
|
||||
DemoCreateFcn *createFcn;
|
||||
};
|
||||
|
||||
extern btDemoEntry g_demoEntries[];
|
||||
|
||||
|
||||
|
||||
#endif //BT_DEMO_ENTRIES_H
|
||||
/*
|
||||
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_DEMO_ENTRIES_H
|
||||
#define BT_DEMO_ENTRIES_H
|
||||
|
||||
|
||||
class DemoApplication;
|
||||
|
||||
typedef DemoApplication* DemoCreateFcn();
|
||||
|
||||
struct btDemoEntry
|
||||
{
|
||||
const char *name;
|
||||
DemoCreateFcn *createFcn;
|
||||
};
|
||||
|
||||
extern btDemoEntry g_demoEntries[];
|
||||
|
||||
|
||||
|
||||
#endif //BT_DEMO_ENTRIES_H
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,266 +1,266 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
//#define TEST_SERIALIZATION 1
|
||||
|
||||
///create 125 (5x5x5) dynamic object
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_Z 5
|
||||
|
||||
//maximum number of objects (and allow user to shoot additional boxes)
|
||||
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
|
||||
|
||||
///scaling of the objects (0.1 = 20 centimeter boxes )
|
||||
#define SCALING 1.
|
||||
#define START_POS_X -5
|
||||
#define START_POS_Y -5
|
||||
#define START_POS_Z -3
|
||||
|
||||
#include "BasicDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#ifdef TEST_SERIALIZATION
|
||||
#include "LinearMath/btSerializer.h"
|
||||
#endif //TEST_SERIALIZATION
|
||||
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
|
||||
void BasicDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = getDeltaTimeMicroseconds();
|
||||
|
||||
///step the simulation
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
|
||||
swapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void BasicDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing to detect problems
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void BasicDemo::initPhysics()
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(true);
|
||||
|
||||
setCameraDistance(btScalar(SCALING*50.));
|
||||
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
|
||||
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
||||
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
///create a few basic rigid bodies
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
|
||||
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-50,0));
|
||||
|
||||
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
||||
{
|
||||
btScalar mass(0.);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
groundShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
float start_x = START_POS_X - ARRAY_SIZE_X/2;
|
||||
float start_y = START_POS_Y;
|
||||
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
|
||||
|
||||
for (int k=0;k<ARRAY_SIZE_Y;k++)
|
||||
{
|
||||
for (int i=0;i<ARRAY_SIZE_X;i++)
|
||||
{
|
||||
for(int j = 0;j<ARRAY_SIZE_Z;j++)
|
||||
{
|
||||
startTransform.setOrigin(SCALING*btVector3(
|
||||
btScalar(2.0*i + start_x),
|
||||
btScalar(20+2.0*k + start_y),
|
||||
btScalar(2.0*j + start_z)));
|
||||
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
clientResetScene();
|
||||
|
||||
|
||||
#ifdef TEST_SERIALIZATION
|
||||
//test serializing this
|
||||
|
||||
int maxSerializeBufferSize = 1024*1024*5;
|
||||
|
||||
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
|
||||
m_dynamicsWorld->serialize(serializer);
|
||||
|
||||
FILE* f2 = fopen("testFile.bullet","wb");
|
||||
fwrite(serializer->m_buffer,serializer->m_currentSize,1,f2);
|
||||
fclose(f2);
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile("testFile.bullet");
|
||||
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
|
||||
bool verboseDumpAllTypes = true;
|
||||
if (ok)
|
||||
bulletFile2->parse(verboseDumpAllTypes);
|
||||
|
||||
if (verboseDumpAllTypes)
|
||||
{
|
||||
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
|
||||
}
|
||||
#endif //TEST_SERIALIZATION
|
||||
|
||||
}
|
||||
|
||||
|
||||
void BasicDemo::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;
|
||||
}
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
delete m_solver;
|
||||
|
||||
delete m_broadphase;
|
||||
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
//#define TEST_SERIALIZATION 1
|
||||
|
||||
///create 125 (5x5x5) dynamic object
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_Z 5
|
||||
|
||||
//maximum number of objects (and allow user to shoot additional boxes)
|
||||
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
|
||||
|
||||
///scaling of the objects (0.1 = 20 centimeter boxes )
|
||||
#define SCALING 1.
|
||||
#define START_POS_X -5
|
||||
#define START_POS_Y -5
|
||||
#define START_POS_Z -3
|
||||
|
||||
#include "BasicDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#ifdef TEST_SERIALIZATION
|
||||
#include "LinearMath/btSerializer.h"
|
||||
#endif //TEST_SERIALIZATION
|
||||
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
|
||||
void BasicDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = getDeltaTimeMicroseconds();
|
||||
|
||||
///step the simulation
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
|
||||
swapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void BasicDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing to detect problems
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void BasicDemo::initPhysics()
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(true);
|
||||
|
||||
setCameraDistance(btScalar(SCALING*50.));
|
||||
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
|
||||
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
||||
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
///create a few basic rigid bodies
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
|
||||
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-50,0));
|
||||
|
||||
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
||||
{
|
||||
btScalar mass(0.);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
groundShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
float start_x = START_POS_X - ARRAY_SIZE_X/2;
|
||||
float start_y = START_POS_Y;
|
||||
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
|
||||
|
||||
for (int k=0;k<ARRAY_SIZE_Y;k++)
|
||||
{
|
||||
for (int i=0;i<ARRAY_SIZE_X;i++)
|
||||
{
|
||||
for(int j = 0;j<ARRAY_SIZE_Z;j++)
|
||||
{
|
||||
startTransform.setOrigin(SCALING*btVector3(
|
||||
btScalar(2.0*i + start_x),
|
||||
btScalar(20+2.0*k + start_y),
|
||||
btScalar(2.0*j + start_z)));
|
||||
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
clientResetScene();
|
||||
|
||||
|
||||
#ifdef TEST_SERIALIZATION
|
||||
//test serializing this
|
||||
|
||||
int maxSerializeBufferSize = 1024*1024*5;
|
||||
|
||||
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
|
||||
m_dynamicsWorld->serialize(serializer);
|
||||
|
||||
FILE* f2 = fopen("testFile.bullet","wb");
|
||||
fwrite(serializer->m_buffer,serializer->m_currentSize,1,f2);
|
||||
fclose(f2);
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile("testFile.bullet");
|
||||
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
|
||||
bool verboseDumpAllTypes = true;
|
||||
if (ok)
|
||||
bulletFile2->parse(verboseDumpAllTypes);
|
||||
|
||||
if (verboseDumpAllTypes)
|
||||
{
|
||||
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
|
||||
}
|
||||
#endif //TEST_SERIALIZATION
|
||||
|
||||
}
|
||||
|
||||
|
||||
void BasicDemo::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;
|
||||
}
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
delete m_solver;
|
||||
|
||||
delete m_broadphase;
|
||||
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,81 +1,81 @@
|
||||
/*
|
||||
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 BASIC_DEMO_H
|
||||
#define BASIC_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;
|
||||
|
||||
///BasicDemo is good starting point for learning the code base and porting.
|
||||
|
||||
class BasicDemo : 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:
|
||||
|
||||
BasicDemo()
|
||||
{
|
||||
}
|
||||
virtual ~BasicDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BasicDemo* demo = new BasicDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BASIC_DEMO_H
|
||||
|
||||
/*
|
||||
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 BASIC_DEMO_H
|
||||
#define BASIC_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;
|
||||
|
||||
///BasicDemo is good starting point for learning the code base and porting.
|
||||
|
||||
class BasicDemo : 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:
|
||||
|
||||
BasicDemo()
|
||||
{
|
||||
}
|
||||
virtual ~BasicDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BasicDemo* demo = new BasicDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BASIC_DEMO_H
|
||||
|
||||
|
||||
@@ -1,25 +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 "BasicDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new BasicDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
#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 "BasicDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new BasicDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,265 +1,265 @@
|
||||
/*
|
||||
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 BENCHMARK_DEMO_H
|
||||
#define BENCHMARK_DEMO_H
|
||||
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
|
||||
class btDynamicsWorld;
|
||||
|
||||
#define NUMRAYS 500
|
||||
|
||||
class btRigidBody;
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
|
||||
#ifndef USE_GRAPHICAL_BENCHMARK
|
||||
///empty placeholder
|
||||
class DemoApplication
|
||||
{
|
||||
protected:
|
||||
|
||||
btDynamicsWorld* m_dynamicsWorld;
|
||||
btScalar m_defaultContactProcessingThreshold;
|
||||
|
||||
public:
|
||||
DemoApplication()
|
||||
:m_defaultContactProcessingThreshold(BT_LARGE_FLOAT)
|
||||
{
|
||||
}
|
||||
virtual void myinit() {}
|
||||
virtual btDynamicsWorld* getDynamicsWorld()
|
||||
{
|
||||
return m_dynamicsWorld;
|
||||
}
|
||||
|
||||
btScalar getDeltaTimeMicroseconds()
|
||||
{
|
||||
return 1.f;
|
||||
}
|
||||
|
||||
void renderme() {}
|
||||
void setCameraDistance(btScalar dist){}
|
||||
void clientResetScene(){}
|
||||
btRigidBody* localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
|
||||
|
||||
};
|
||||
///BenchmarkDemo is provides several performance tests
|
||||
#define PlatformDemoApplication DemoApplication
|
||||
#else //USE_GRAPHICAL_BENCHMARK
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
#endif //USE_GRAPHICAL_BENCHMARK
|
||||
|
||||
|
||||
class BenchmarkDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btAlignedObjectArray<class RagDoll*> m_ragdolls;
|
||||
|
||||
btBroadphaseInterface* m_overlappingPairCache;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
int m_benchmark;
|
||||
|
||||
void createTest1();
|
||||
void createTest2();
|
||||
void createTest3();
|
||||
void createTest4();
|
||||
void createTest5();
|
||||
void createTest6();
|
||||
void createTest7();
|
||||
|
||||
void createWall(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize);
|
||||
void createPyramid(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize);
|
||||
void createTowerCircle(const btVector3& offsetPosition,int stackSize,int rotSize,const btVector3& boxSize);
|
||||
void createLargeMeshBody();
|
||||
|
||||
|
||||
class SpuBatchRaycaster* m_batchRaycaster;
|
||||
class btThreadSupportInterface* m_batchRaycasterThreadSupport;
|
||||
|
||||
void castRays();
|
||||
void initRays();
|
||||
|
||||
public:
|
||||
|
||||
BenchmarkDemo(int benchmark)
|
||||
:m_benchmark(benchmark)
|
||||
{
|
||||
}
|
||||
virtual ~BenchmarkDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
class BenchmarkDemo1 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo1()
|
||||
:BenchmarkDemo(1)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo1* demo = new BenchmarkDemo1;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
class BenchmarkDemo2 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo2()
|
||||
:BenchmarkDemo(2)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo2* demo = new BenchmarkDemo2;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
class BenchmarkDemo3 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo3()
|
||||
:BenchmarkDemo(3)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo3* demo = new BenchmarkDemo3;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
class BenchmarkDemo4 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo4()
|
||||
:BenchmarkDemo(4)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo4* demo = new BenchmarkDemo4;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
class BenchmarkDemo5 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo5()
|
||||
:BenchmarkDemo(5)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo5* demo = new BenchmarkDemo5;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
class BenchmarkDemo6 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo6()
|
||||
:BenchmarkDemo(6)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo6* demo = new BenchmarkDemo6;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
class BenchmarkDemo7 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo7()
|
||||
:BenchmarkDemo(7)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo7* demo = new BenchmarkDemo7;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
#endif //BENCHMARK_DEMO_H
|
||||
|
||||
/*
|
||||
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 BENCHMARK_DEMO_H
|
||||
#define BENCHMARK_DEMO_H
|
||||
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
|
||||
class btDynamicsWorld;
|
||||
|
||||
#define NUMRAYS 500
|
||||
|
||||
class btRigidBody;
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
|
||||
#ifndef USE_GRAPHICAL_BENCHMARK
|
||||
///empty placeholder
|
||||
class DemoApplication
|
||||
{
|
||||
protected:
|
||||
|
||||
btDynamicsWorld* m_dynamicsWorld;
|
||||
btScalar m_defaultContactProcessingThreshold;
|
||||
|
||||
public:
|
||||
DemoApplication()
|
||||
:m_defaultContactProcessingThreshold(BT_LARGE_FLOAT)
|
||||
{
|
||||
}
|
||||
virtual void myinit() {}
|
||||
virtual btDynamicsWorld* getDynamicsWorld()
|
||||
{
|
||||
return m_dynamicsWorld;
|
||||
}
|
||||
|
||||
btScalar getDeltaTimeMicroseconds()
|
||||
{
|
||||
return 1.f;
|
||||
}
|
||||
|
||||
void renderme() {}
|
||||
void setCameraDistance(btScalar dist){}
|
||||
void clientResetScene(){}
|
||||
btRigidBody* localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
|
||||
|
||||
};
|
||||
///BenchmarkDemo is provides several performance tests
|
||||
#define PlatformDemoApplication DemoApplication
|
||||
#else //USE_GRAPHICAL_BENCHMARK
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
#endif //USE_GRAPHICAL_BENCHMARK
|
||||
|
||||
|
||||
class BenchmarkDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btAlignedObjectArray<class RagDoll*> m_ragdolls;
|
||||
|
||||
btBroadphaseInterface* m_overlappingPairCache;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
int m_benchmark;
|
||||
|
||||
void createTest1();
|
||||
void createTest2();
|
||||
void createTest3();
|
||||
void createTest4();
|
||||
void createTest5();
|
||||
void createTest6();
|
||||
void createTest7();
|
||||
|
||||
void createWall(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize);
|
||||
void createPyramid(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize);
|
||||
void createTowerCircle(const btVector3& offsetPosition,int stackSize,int rotSize,const btVector3& boxSize);
|
||||
void createLargeMeshBody();
|
||||
|
||||
|
||||
class SpuBatchRaycaster* m_batchRaycaster;
|
||||
class btThreadSupportInterface* m_batchRaycasterThreadSupport;
|
||||
|
||||
void castRays();
|
||||
void initRays();
|
||||
|
||||
public:
|
||||
|
||||
BenchmarkDemo(int benchmark)
|
||||
:m_benchmark(benchmark)
|
||||
{
|
||||
}
|
||||
virtual ~BenchmarkDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
class BenchmarkDemo1 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo1()
|
||||
:BenchmarkDemo(1)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo1* demo = new BenchmarkDemo1;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
class BenchmarkDemo2 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo2()
|
||||
:BenchmarkDemo(2)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo2* demo = new BenchmarkDemo2;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
class BenchmarkDemo3 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo3()
|
||||
:BenchmarkDemo(3)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo3* demo = new BenchmarkDemo3;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
class BenchmarkDemo4 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo4()
|
||||
:BenchmarkDemo(4)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo4* demo = new BenchmarkDemo4;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
class BenchmarkDemo5 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo5()
|
||||
:BenchmarkDemo(5)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo5* demo = new BenchmarkDemo5;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
class BenchmarkDemo6 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo6()
|
||||
:BenchmarkDemo(6)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo6* demo = new BenchmarkDemo6;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
class BenchmarkDemo7 : public BenchmarkDemo
|
||||
{
|
||||
public:
|
||||
BenchmarkDemo7()
|
||||
:BenchmarkDemo(7)
|
||||
{
|
||||
}
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BenchmarkDemo7* demo = new BenchmarkDemo7;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
#endif //BENCHMARK_DEMO_H
|
||||
|
||||
|
||||
@@ -1,105 +1,105 @@
|
||||
# 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
|
||||
########################################################
|
||||
|
||||
IF (USE_GRAPHICAL_BENCHMARK)
|
||||
IF (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
IF (USE_MULTITHREADED_BENCHMARK)
|
||||
LINK_LIBRARIES( OpenGLSupport BulletMultiThreaded BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
|
||||
ELSE()
|
||||
LINK_LIBRARIES( OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
|
||||
ENDIF(USE_MULTITHREADED_BENCHMARK)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppBenchmarks
|
||||
main.cpp
|
||||
BenchmarkDemo.cpp
|
||||
BenchmarkDemo.h
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppBenchmarks
|
||||
main.cpp
|
||||
BenchmarkDemo.cpp
|
||||
BenchmarkDemo.h
|
||||
)
|
||||
ENDIF ()
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBenchmarks
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBenchmarks
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppBenchmarks PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppBenchmarks PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppBenchmarks PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
|
||||
ENDIF(WIN32)
|
||||
ELSE (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
IF (USE_MULTITHREADED_BENCHMARK)
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletMultiThreaded BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
ELSE()
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ENDIF()
|
||||
|
||||
ADD_EXECUTABLE(AppBenchmarks
|
||||
WIN32
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
BenchmarkDemo.cpp
|
||||
BenchmarkDemo.h
|
||||
Win32BenchmarkDemo.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ENDIF (USE_GLUT)
|
||||
ELSE (USE_GRAPHICAL_BENCHMARK)
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
IF (USE_MULTITHREADED_BENCHMARK)
|
||||
LINK_LIBRARIES( BulletMultiThreaded BulletDynamics BulletCollision LinearMath )
|
||||
ELSE()
|
||||
LINK_LIBRARIES( BulletDynamics BulletCollision LinearMath )
|
||||
ENDIF()
|
||||
|
||||
|
||||
ADD_EXECUTABLE(AppBenchmarks
|
||||
main.cpp
|
||||
BenchmarkDemo.cpp
|
||||
)
|
||||
# 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
|
||||
########################################################
|
||||
|
||||
IF (USE_GRAPHICAL_BENCHMARK)
|
||||
IF (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
IF (USE_MULTITHREADED_BENCHMARK)
|
||||
LINK_LIBRARIES( OpenGLSupport BulletMultiThreaded BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
|
||||
ELSE()
|
||||
LINK_LIBRARIES( OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
|
||||
ENDIF(USE_MULTITHREADED_BENCHMARK)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppBenchmarks
|
||||
main.cpp
|
||||
BenchmarkDemo.cpp
|
||||
BenchmarkDemo.h
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppBenchmarks
|
||||
main.cpp
|
||||
BenchmarkDemo.cpp
|
||||
BenchmarkDemo.h
|
||||
)
|
||||
ENDIF ()
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBenchmarks
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBenchmarks
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppBenchmarks PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppBenchmarks PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppBenchmarks PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
|
||||
ENDIF(WIN32)
|
||||
ELSE (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
IF (USE_MULTITHREADED_BENCHMARK)
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletMultiThreaded BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
ELSE()
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ENDIF()
|
||||
|
||||
ADD_EXECUTABLE(AppBenchmarks
|
||||
WIN32
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
BenchmarkDemo.cpp
|
||||
BenchmarkDemo.h
|
||||
Win32BenchmarkDemo.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ENDIF (USE_GLUT)
|
||||
ELSE (USE_GRAPHICAL_BENCHMARK)
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
IF (USE_MULTITHREADED_BENCHMARK)
|
||||
LINK_LIBRARIES( BulletMultiThreaded BulletDynamics BulletCollision LinearMath )
|
||||
ELSE()
|
||||
LINK_LIBRARIES( BulletDynamics BulletCollision LinearMath )
|
||||
ENDIF()
|
||||
|
||||
|
||||
ADD_EXECUTABLE(AppBenchmarks
|
||||
main.cpp
|
||||
BenchmarkDemo.cpp
|
||||
)
|
||||
ENDIF (USE_GRAPHICAL_BENCHMARK)
|
||||
@@ -1,49 +1,49 @@
|
||||
#define TaruVtxCount 43
|
||||
#define TaruIdxCount 132
|
||||
|
||||
static float TaruVtx[] = {
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.28852f,1.34412e-007f,-1.28852f,
|
||||
1.82224f,1.90735e-007f,0.0f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
-1.28852f,1.34412e-007f,-1.28852f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-1.82224f,1.90735e-007f,1.59305e-007f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.28852f,2.47058e-007f,1.28852f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
2.38958e-007f,2.70388e-007f,1.82224f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
1.28852f,2.47058e-007f,1.28852f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
};
|
||||
|
||||
#define TaruVtxCount 43
|
||||
#define TaruIdxCount 132
|
||||
|
||||
static float TaruVtx[] = {
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.28852f,1.34412e-007f,-1.28852f,
|
||||
1.82224f,1.90735e-007f,0.0f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
-1.28852f,1.34412e-007f,-1.28852f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-1.82224f,1.90735e-007f,1.59305e-007f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.28852f,2.47058e-007f,1.28852f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
2.38958e-007f,2.70388e-007f,1.82224f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
1.28852f,2.47058e-007f,1.28852f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
};
|
||||
|
||||
|
||||
@@ -1,25 +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 "BenchmarkDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new BenchmarkDemo(1);
|
||||
}
|
||||
|
||||
#endif
|
||||
#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 "BenchmarkDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new BenchmarkDemo(1);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,88 +1,88 @@
|
||||
/*
|
||||
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 "BenchmarkDemo.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
#include <stdio.h>
|
||||
|
||||
#ifdef USE_GRAPHICAL_BENCHMARK
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
#define benchmarkDemo benchmarkDemo2
|
||||
#endif //USE_GRAPHICAL_BENCHMARK
|
||||
|
||||
|
||||
#define NUM_DEMOS 7
|
||||
#define NUM_TESTS 650
|
||||
|
||||
extern bool gDisableDeactivation;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
gDisableDeactivation = true;
|
||||
|
||||
BenchmarkDemo1 benchmarkDemo1;
|
||||
BenchmarkDemo2 benchmarkDemo2;
|
||||
BenchmarkDemo3 benchmarkDemo3;
|
||||
BenchmarkDemo4 benchmarkDemo4;
|
||||
BenchmarkDemo5 benchmarkDemo5;
|
||||
BenchmarkDemo6 benchmarkDemo6;
|
||||
BenchmarkDemo7 benchmarkDemo7;
|
||||
|
||||
BenchmarkDemo* demoArray[NUM_DEMOS] = {&benchmarkDemo1,&benchmarkDemo2,&benchmarkDemo3,&benchmarkDemo4,&benchmarkDemo5,&benchmarkDemo6,&benchmarkDemo7};
|
||||
const char* demoNames[NUM_DEMOS] = {"3000 fall", "1000 stack", "136 ragdolls","1000 convex", "prim-trimesh", "convex-trimesh","raytests"};
|
||||
float totalTime[NUM_DEMOS] = {0.f,0.f,0.f,0.f,0.f,0.f,0.f};
|
||||
|
||||
#ifdef USE_GRAPHICAL_BENCHMARK
|
||||
benchmarkDemo.initPhysics();
|
||||
benchmarkDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
benchmarkDemo.setDebugMode(benchmarkDemo.getDebugMode() | btIDebugDraw::DBG_NoDeactivation);
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&benchmarkDemo);
|
||||
|
||||
#else //USE_GRAPHICAL_BENCHMARK
|
||||
int d;
|
||||
|
||||
for (d=0;d<NUM_DEMOS;d++)
|
||||
{
|
||||
demoArray[d]->initPhysics();
|
||||
|
||||
|
||||
for (int i=0;i<NUM_TESTS;i++)
|
||||
{
|
||||
demoArray[d]->clientMoveAndDisplay();
|
||||
float frameTime = CProfileManager::Get_Time_Since_Reset();
|
||||
if ((i % 25)==0)
|
||||
{
|
||||
printf("BenchmarkDemo: %s, Frame %d, Duration (ms): %f\n",demoNames[d],i,frameTime);
|
||||
}
|
||||
totalTime[d] += frameTime;
|
||||
if (i==NUM_TESTS-1)
|
||||
CProfileManager::dumpAll();
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
for (d=0;d<NUM_DEMOS;d++)
|
||||
{
|
||||
printf("\nResults for %s: %f",demoNames[d],totalTime[d]*(1.f/NUM_TESTS));
|
||||
}
|
||||
|
||||
#endif //USE_GRAPHICAL_BENCHMARK
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
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 "BenchmarkDemo.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
#include <stdio.h>
|
||||
|
||||
#ifdef USE_GRAPHICAL_BENCHMARK
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
#define benchmarkDemo benchmarkDemo2
|
||||
#endif //USE_GRAPHICAL_BENCHMARK
|
||||
|
||||
|
||||
#define NUM_DEMOS 7
|
||||
#define NUM_TESTS 650
|
||||
|
||||
extern bool gDisableDeactivation;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
gDisableDeactivation = true;
|
||||
|
||||
BenchmarkDemo1 benchmarkDemo1;
|
||||
BenchmarkDemo2 benchmarkDemo2;
|
||||
BenchmarkDemo3 benchmarkDemo3;
|
||||
BenchmarkDemo4 benchmarkDemo4;
|
||||
BenchmarkDemo5 benchmarkDemo5;
|
||||
BenchmarkDemo6 benchmarkDemo6;
|
||||
BenchmarkDemo7 benchmarkDemo7;
|
||||
|
||||
BenchmarkDemo* demoArray[NUM_DEMOS] = {&benchmarkDemo1,&benchmarkDemo2,&benchmarkDemo3,&benchmarkDemo4,&benchmarkDemo5,&benchmarkDemo6,&benchmarkDemo7};
|
||||
const char* demoNames[NUM_DEMOS] = {"3000 fall", "1000 stack", "136 ragdolls","1000 convex", "prim-trimesh", "convex-trimesh","raytests"};
|
||||
float totalTime[NUM_DEMOS] = {0.f,0.f,0.f,0.f,0.f,0.f,0.f};
|
||||
|
||||
#ifdef USE_GRAPHICAL_BENCHMARK
|
||||
benchmarkDemo.initPhysics();
|
||||
benchmarkDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
benchmarkDemo.setDebugMode(benchmarkDemo.getDebugMode() | btIDebugDraw::DBG_NoDeactivation);
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&benchmarkDemo);
|
||||
|
||||
#else //USE_GRAPHICAL_BENCHMARK
|
||||
int d;
|
||||
|
||||
for (d=0;d<NUM_DEMOS;d++)
|
||||
{
|
||||
demoArray[d]->initPhysics();
|
||||
|
||||
|
||||
for (int i=0;i<NUM_TESTS;i++)
|
||||
{
|
||||
demoArray[d]->clientMoveAndDisplay();
|
||||
float frameTime = CProfileManager::Get_Time_Since_Reset();
|
||||
if ((i % 25)==0)
|
||||
{
|
||||
printf("BenchmarkDemo: %s, Frame %d, Duration (ms): %f\n",demoNames[d],i,frameTime);
|
||||
}
|
||||
totalTime[d] += frameTime;
|
||||
if (i==NUM_TESTS-1)
|
||||
CProfileManager::dumpAll();
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
for (d=0;d<NUM_DEMOS;d++)
|
||||
{
|
||||
printf("\nResults for %s: %f",demoNames[d],totalTime[d]*(1.f/NUM_TESTS));
|
||||
}
|
||||
|
||||
#endif //USE_GRAPHICAL_BENCHMARK
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,358 +1,358 @@
|
||||
/*
|
||||
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 "BulletCollision/CollisionShapes/btBox2dShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h"
|
||||
#include "GL_DialogDynamicsWorld.h"
|
||||
#include "GL_DialogWindow.h"
|
||||
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btBox2dShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvex2dShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
|
||||
|
||||
///create 125 (5x5x5) dynamic object
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_Z 1
|
||||
|
||||
//maximum number of objects (and allow user to shoot additional boxes)
|
||||
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
|
||||
|
||||
///scaling of the objects (0.1 = 20 centimeter boxes )
|
||||
#define SCALING 1
|
||||
#define START_POS_X -5
|
||||
#define START_POS_Y -5
|
||||
#define START_POS_Z -3
|
||||
|
||||
#include "Box2dDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
|
||||
void Box2dDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = getDeltaTimeMicroseconds();
|
||||
|
||||
///step the simulation
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
if (m_dialogDynamicsWorld)
|
||||
m_dialogDynamicsWorld->draw(ms / 1000000.f);
|
||||
|
||||
glFlush();
|
||||
|
||||
swapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Box2dDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing to detect problems
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
if (m_dialogDynamicsWorld)
|
||||
m_dialogDynamicsWorld->draw(0.f);
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Box2dDemo::reshape(int w, int h)
|
||||
{
|
||||
if (m_dialogDynamicsWorld)
|
||||
m_dialogDynamicsWorld->setScreenSize(w,h);
|
||||
PlatformDemoApplication::reshape(w,h);
|
||||
}
|
||||
|
||||
void Box2dDemo::initPhysics()
|
||||
{
|
||||
|
||||
m_dialogDynamicsWorld = new GL_DialogDynamicsWorld();
|
||||
|
||||
//m_dialogDynamicsWorld->createDialog(100,110,200,50);
|
||||
//m_dialogDynamicsWorld->createDialog(100,00,100,100);
|
||||
//m_dialogDynamicsWorld->createDialog(0,0,100,100);
|
||||
GL_DialogWindow* settings = m_dialogDynamicsWorld->createDialog(50,0,200,120,"Settings");
|
||||
GL_ToggleControl* toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 1");
|
||||
toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 2");
|
||||
toggle ->m_active = true;
|
||||
toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 3");
|
||||
GL_SliderControl* slider = m_dialogDynamicsWorld->createSlider(settings,"Slider");
|
||||
|
||||
GL_DialogWindow* dialog = m_dialogDynamicsWorld->createDialog(0,200,420,300,"Help");
|
||||
GL_TextControl* txt = new GL_TextControl;
|
||||
dialog->addControl(txt);
|
||||
txt->m_textLines.push_back("Mouse to move");
|
||||
txt->m_textLines.push_back("Test 2");
|
||||
txt->m_textLines.push_back("mouse to interact");
|
||||
txt->m_textLines.push_back("ALT + mouse to move camera");
|
||||
txt->m_textLines.push_back("space to reset");
|
||||
txt->m_textLines.push_back("cursor keys and z,x to navigate");
|
||||
txt->m_textLines.push_back("i to toggle simulation, s single step");
|
||||
txt->m_textLines.push_back("q to quit");
|
||||
txt->m_textLines.push_back(". to shoot box");
|
||||
txt->m_textLines.push_back("d to toggle deactivation");
|
||||
txt->m_textLines.push_back("g to toggle mesh animation (ConcaveDemo)");
|
||||
txt->m_textLines.push_back("h to toggle help text");
|
||||
txt->m_textLines.push_back("o to toggle orthogonal/perspective view");
|
||||
//txt->m_textLines.push_back("+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
|
||||
|
||||
|
||||
|
||||
setTexturing(true);
|
||||
setShadows(true);
|
||||
|
||||
setCameraDistance(btScalar(SCALING*50.));
|
||||
m_cameraTargetPosition.setValue(0,0,0);//0, ARRAY_SIZE_Y, 0);
|
||||
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
btVoronoiSimplexSolver* simplex = new btVoronoiSimplexSolver();
|
||||
btMinkowskiPenetrationDepthSolver* pdSolver = new btMinkowskiPenetrationDepthSolver();
|
||||
|
||||
|
||||
btConvex2dConvex2dAlgorithm::CreateFunc* convexAlgo2d = new btConvex2dConvex2dAlgorithm::CreateFunc(simplex,pdSolver);
|
||||
|
||||
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
|
||||
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
|
||||
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
|
||||
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc());
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
//m_broadphase = new btSimpleBroadphase();
|
||||
|
||||
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
||||
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
//m_dynamicsWorld->getSolverInfo().m_erp = 1.f;
|
||||
//m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
|
||||
|
||||
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
///create a few basic rigid bodies
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.),btScalar(50.),btScalar(150.)));
|
||||
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-43,0));
|
||||
|
||||
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
||||
{
|
||||
btScalar mass(0.);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
groundShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
btScalar u= btScalar(1*SCALING-0.04);
|
||||
btVector3 points[3] = {btVector3(0,u,0),btVector3(-u,-u,0),btVector3(u,-u,0)};
|
||||
btConvexShape* colShape= new btConvex2dShape(new btBoxShape(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04))));
|
||||
//btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.04));
|
||||
|
||||
btConvexShape* colShape2= new btConvex2dShape(new btConvexHullShape(&points[0].getX(),3));
|
||||
btConvexShape* colShape3= new btConvex2dShape(new btCylinderShapeZ(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04))));
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f);
|
||||
colShape->setMargin(btScalar(0.03));
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
m_collisionShapes.push_back(colShape2);
|
||||
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
// float start_x = START_POS_X - ARRAY_SIZE_X/2;
|
||||
// float start_y = START_POS_Y;
|
||||
// float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
|
||||
|
||||
btVector3 x(-ARRAY_SIZE_X, 8.0f,-20.f);
|
||||
btVector3 y;
|
||||
btVector3 deltaX(SCALING*1, SCALING*2,0.f);
|
||||
btVector3 deltaY(SCALING*2, 0.0f,0.f);
|
||||
|
||||
for (int i = 0; i < ARRAY_SIZE_X; ++i)
|
||||
{
|
||||
y = x;
|
||||
|
||||
for (int j = i; j < ARRAY_SIZE_Y; ++j)
|
||||
{
|
||||
startTransform.setOrigin(y-btVector3(-10,0,0));
|
||||
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(0,0,0);
|
||||
switch (j%3)
|
||||
{
|
||||
#if 1
|
||||
case 0:
|
||||
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape,localInertia);
|
||||
break;
|
||||
case 1:
|
||||
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
|
||||
break;
|
||||
#endif
|
||||
default:
|
||||
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape2,localInertia);
|
||||
}
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
body->setLinearFactor(btVector3(1,1,0));
|
||||
body->setAngularFactor(btVector3(0,0,1));
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
|
||||
|
||||
// y += -0.8*deltaY;
|
||||
y += deltaY;
|
||||
}
|
||||
|
||||
x += deltaX;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
clientResetScene();
|
||||
}
|
||||
|
||||
|
||||
void Box2dDemo::exitPhysics()
|
||||
{
|
||||
delete m_dialogDynamicsWorld;
|
||||
m_dialogDynamicsWorld = 0;
|
||||
|
||||
//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;
|
||||
}
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
delete m_solver;
|
||||
|
||||
delete m_broadphase;
|
||||
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
void Box2dDemo::mouseFunc(int button, int state, int x, int y)
|
||||
{
|
||||
|
||||
if (!m_dialogDynamicsWorld->mouseFunc(button,state,x,y))
|
||||
{
|
||||
DemoApplication::mouseFunc(button,state,x,y);
|
||||
}
|
||||
}
|
||||
|
||||
void Box2dDemo::mouseMotionFunc(int x,int y)
|
||||
{
|
||||
m_dialogDynamicsWorld->mouseMotionFunc(x,y);
|
||||
DemoApplication::mouseMotionFunc(x,y);
|
||||
}
|
||||
|
||||
/*
|
||||
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 "BulletCollision/CollisionShapes/btBox2dShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h"
|
||||
#include "GL_DialogDynamicsWorld.h"
|
||||
#include "GL_DialogWindow.h"
|
||||
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btBox2dShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvex2dShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
|
||||
|
||||
///create 125 (5x5x5) dynamic object
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_Z 1
|
||||
|
||||
//maximum number of objects (and allow user to shoot additional boxes)
|
||||
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
|
||||
|
||||
///scaling of the objects (0.1 = 20 centimeter boxes )
|
||||
#define SCALING 1
|
||||
#define START_POS_X -5
|
||||
#define START_POS_Y -5
|
||||
#define START_POS_Z -3
|
||||
|
||||
#include "Box2dDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
|
||||
void Box2dDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = getDeltaTimeMicroseconds();
|
||||
|
||||
///step the simulation
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
if (m_dialogDynamicsWorld)
|
||||
m_dialogDynamicsWorld->draw(ms / 1000000.f);
|
||||
|
||||
glFlush();
|
||||
|
||||
swapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Box2dDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing to detect problems
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
if (m_dialogDynamicsWorld)
|
||||
m_dialogDynamicsWorld->draw(0.f);
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Box2dDemo::reshape(int w, int h)
|
||||
{
|
||||
if (m_dialogDynamicsWorld)
|
||||
m_dialogDynamicsWorld->setScreenSize(w,h);
|
||||
PlatformDemoApplication::reshape(w,h);
|
||||
}
|
||||
|
||||
void Box2dDemo::initPhysics()
|
||||
{
|
||||
|
||||
m_dialogDynamicsWorld = new GL_DialogDynamicsWorld();
|
||||
|
||||
//m_dialogDynamicsWorld->createDialog(100,110,200,50);
|
||||
//m_dialogDynamicsWorld->createDialog(100,00,100,100);
|
||||
//m_dialogDynamicsWorld->createDialog(0,0,100,100);
|
||||
GL_DialogWindow* settings = m_dialogDynamicsWorld->createDialog(50,0,200,120,"Settings");
|
||||
GL_ToggleControl* toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 1");
|
||||
toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 2");
|
||||
toggle ->m_active = true;
|
||||
toggle = m_dialogDynamicsWorld->createToggle(settings,"Toggle 3");
|
||||
GL_SliderControl* slider = m_dialogDynamicsWorld->createSlider(settings,"Slider");
|
||||
|
||||
GL_DialogWindow* dialog = m_dialogDynamicsWorld->createDialog(0,200,420,300,"Help");
|
||||
GL_TextControl* txt = new GL_TextControl;
|
||||
dialog->addControl(txt);
|
||||
txt->m_textLines.push_back("Mouse to move");
|
||||
txt->m_textLines.push_back("Test 2");
|
||||
txt->m_textLines.push_back("mouse to interact");
|
||||
txt->m_textLines.push_back("ALT + mouse to move camera");
|
||||
txt->m_textLines.push_back("space to reset");
|
||||
txt->m_textLines.push_back("cursor keys and z,x to navigate");
|
||||
txt->m_textLines.push_back("i to toggle simulation, s single step");
|
||||
txt->m_textLines.push_back("q to quit");
|
||||
txt->m_textLines.push_back(". to shoot box");
|
||||
txt->m_textLines.push_back("d to toggle deactivation");
|
||||
txt->m_textLines.push_back("g to toggle mesh animation (ConcaveDemo)");
|
||||
txt->m_textLines.push_back("h to toggle help text");
|
||||
txt->m_textLines.push_back("o to toggle orthogonal/perspective view");
|
||||
//txt->m_textLines.push_back("+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
|
||||
|
||||
|
||||
|
||||
setTexturing(true);
|
||||
setShadows(true);
|
||||
|
||||
setCameraDistance(btScalar(SCALING*50.));
|
||||
m_cameraTargetPosition.setValue(0,0,0);//0, ARRAY_SIZE_Y, 0);
|
||||
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
btVoronoiSimplexSolver* simplex = new btVoronoiSimplexSolver();
|
||||
btMinkowskiPenetrationDepthSolver* pdSolver = new btMinkowskiPenetrationDepthSolver();
|
||||
|
||||
|
||||
btConvex2dConvex2dAlgorithm::CreateFunc* convexAlgo2d = new btConvex2dConvex2dAlgorithm::CreateFunc(simplex,pdSolver);
|
||||
|
||||
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
|
||||
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
|
||||
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
|
||||
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc());
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
//m_broadphase = new btSimpleBroadphase();
|
||||
|
||||
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
||||
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
//m_dynamicsWorld->getSolverInfo().m_erp = 1.f;
|
||||
//m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
|
||||
|
||||
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
///create a few basic rigid bodies
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.),btScalar(50.),btScalar(150.)));
|
||||
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-43,0));
|
||||
|
||||
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
||||
{
|
||||
btScalar mass(0.);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
groundShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
//add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
btScalar u= btScalar(1*SCALING-0.04);
|
||||
btVector3 points[3] = {btVector3(0,u,0),btVector3(-u,-u,0),btVector3(u,-u,0)};
|
||||
btConvexShape* colShape= new btConvex2dShape(new btBoxShape(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04))));
|
||||
//btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.04));
|
||||
|
||||
btConvexShape* colShape2= new btConvex2dShape(new btConvexHullShape(&points[0].getX(),3));
|
||||
btConvexShape* colShape3= new btConvex2dShape(new btCylinderShapeZ(btVector3(btScalar(SCALING*1),btScalar(SCALING*1),btScalar(0.04))));
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f);
|
||||
colShape->setMargin(btScalar(0.03));
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
m_collisionShapes.push_back(colShape2);
|
||||
|
||||
|
||||
/// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
// float start_x = START_POS_X - ARRAY_SIZE_X/2;
|
||||
// float start_y = START_POS_Y;
|
||||
// float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
|
||||
|
||||
btVector3 x(-ARRAY_SIZE_X, 8.0f,-20.f);
|
||||
btVector3 y;
|
||||
btVector3 deltaX(SCALING*1, SCALING*2,0.f);
|
||||
btVector3 deltaY(SCALING*2, 0.0f,0.f);
|
||||
|
||||
for (int i = 0; i < ARRAY_SIZE_X; ++i)
|
||||
{
|
||||
y = x;
|
||||
|
||||
for (int j = i; j < ARRAY_SIZE_Y; ++j)
|
||||
{
|
||||
startTransform.setOrigin(y-btVector3(-10,0,0));
|
||||
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(0,0,0);
|
||||
switch (j%3)
|
||||
{
|
||||
#if 1
|
||||
case 0:
|
||||
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape,localInertia);
|
||||
break;
|
||||
case 1:
|
||||
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
|
||||
break;
|
||||
#endif
|
||||
default:
|
||||
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape2,localInertia);
|
||||
}
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
body->setLinearFactor(btVector3(1,1,0));
|
||||
body->setAngularFactor(btVector3(0,0,1));
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
|
||||
|
||||
// y += -0.8*deltaY;
|
||||
y += deltaY;
|
||||
}
|
||||
|
||||
x += deltaX;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
clientResetScene();
|
||||
}
|
||||
|
||||
|
||||
void Box2dDemo::exitPhysics()
|
||||
{
|
||||
delete m_dialogDynamicsWorld;
|
||||
m_dialogDynamicsWorld = 0;
|
||||
|
||||
//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;
|
||||
}
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
delete m_solver;
|
||||
|
||||
delete m_broadphase;
|
||||
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
void Box2dDemo::mouseFunc(int button, int state, int x, int y)
|
||||
{
|
||||
|
||||
if (!m_dialogDynamicsWorld->mouseFunc(button,state,x,y))
|
||||
{
|
||||
DemoApplication::mouseFunc(button,state,x,y);
|
||||
}
|
||||
}
|
||||
|
||||
void Box2dDemo::mouseMotionFunc(int x,int y)
|
||||
{
|
||||
m_dialogDynamicsWorld->mouseMotionFunc(x,y);
|
||||
DemoApplication::mouseMotionFunc(x,y);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,89 +1,89 @@
|
||||
/*
|
||||
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 BOX2D_DEMO_H
|
||||
#define BOX2D_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;
|
||||
class GL_DialogDynamicsWorld;
|
||||
|
||||
///Box2dDemo is good starting point for learning the code base and porting.
|
||||
class Box2dDemo : 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;
|
||||
|
||||
GL_DialogDynamicsWorld* m_dialogDynamicsWorld;
|
||||
|
||||
public:
|
||||
|
||||
Box2dDemo() : m_dialogDynamicsWorld(0)
|
||||
{
|
||||
}
|
||||
virtual ~Box2dDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void reshape(int w, int h);
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
Box2dDemo* demo = new Box2dDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
virtual void mouseFunc(int button, int state, int x, int y);
|
||||
virtual void mouseMotionFunc(int x,int y);
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BOX2D_DEMO_H
|
||||
|
||||
/*
|
||||
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 BOX2D_DEMO_H
|
||||
#define BOX2D_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;
|
||||
class GL_DialogDynamicsWorld;
|
||||
|
||||
///Box2dDemo is good starting point for learning the code base and porting.
|
||||
class Box2dDemo : 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;
|
||||
|
||||
GL_DialogDynamicsWorld* m_dialogDynamicsWorld;
|
||||
|
||||
public:
|
||||
|
||||
Box2dDemo() : m_dialogDynamicsWorld(0)
|
||||
{
|
||||
}
|
||||
virtual ~Box2dDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void reshape(int w, int h);
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
Box2dDemo* demo = new Box2dDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
virtual void mouseFunc(int button, int state, int x, int y);
|
||||
virtual void mouseMotionFunc(int x,int y);
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BOX2D_DEMO_H
|
||||
|
||||
|
||||
@@ -1,25 +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 "Box2dDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new Box2dDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
#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 "Box2dDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new Box2dDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,61 +1,61 @@
|
||||
/*
|
||||
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 "Box2dDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
class OurValue
|
||||
{
|
||||
int m_uid;
|
||||
|
||||
public:
|
||||
OurValue(const btVector3& initialPos)
|
||||
:m_position(initialPos)
|
||||
{
|
||||
static int gUid=0;
|
||||
m_uid=gUid;
|
||||
gUid++;
|
||||
}
|
||||
|
||||
btVector3 m_position;
|
||||
int getUid() const
|
||||
{
|
||||
return m_uid;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
Box2dDemo ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
|
||||
/*
|
||||
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 "Box2dDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
class OurValue
|
||||
{
|
||||
int m_uid;
|
||||
|
||||
public:
|
||||
OurValue(const btVector3& initialPos)
|
||||
:m_position(initialPos)
|
||||
{
|
||||
static int gUid=0;
|
||||
m_uid=gUid;
|
||||
gUid++;
|
||||
}
|
||||
|
||||
btVector3 m_position;
|
||||
int getUid() const
|
||||
{
|
||||
return m_uid;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
Box2dDemo ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,207 +1,207 @@
|
||||
/*
|
||||
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 "BspConverter.h"
|
||||
#include "BspLoader.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btGeometryUtil.h"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
|
||||
void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
|
||||
{
|
||||
{
|
||||
|
||||
float playstartf[3] = {0,0,100};
|
||||
|
||||
if (bspLoader.findVectorByName(&playstartf[0],"info_player_start"))
|
||||
{
|
||||
printf("found playerstart\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
if (bspLoader.findVectorByName(&playstartf[0],"info_player_deathmatch"))
|
||||
{
|
||||
printf("found deatchmatch start\n");
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 playerStart (playstartf[0],playstartf[1],playstartf[2]);
|
||||
|
||||
|
||||
playerStart[2] += 20.f; //start a bit higher
|
||||
|
||||
playerStart *= scaling;
|
||||
|
||||
|
||||
|
||||
//progressBegin("Loading bsp");
|
||||
|
||||
for (int i=0;i<bspLoader.m_numleafs;i++)
|
||||
{
|
||||
printf("Reading bspLeaf %i from total %i (%f procent)\n",i, bspLoader.m_numleafs,(100.f*(float)i/float(bspLoader.m_numleafs)) );
|
||||
|
||||
bool isValidBrush = false;
|
||||
|
||||
BSPLeaf& leaf = bspLoader.m_dleafs[i];
|
||||
|
||||
for (int b=0;b<leaf.numLeafBrushes;b++)
|
||||
{
|
||||
btAlignedObjectArray<btVector3> planeEquations;
|
||||
|
||||
int brushid = bspLoader.m_dleafbrushes[leaf.firstLeafBrush+b];
|
||||
|
||||
BSPBrush& brush = bspLoader.m_dbrushes[brushid];
|
||||
if (brush.shaderNum!=-1)
|
||||
{
|
||||
if (bspLoader.m_dshaders[ brush.shaderNum ].contentFlags & BSPCONTENTS_SOLID)
|
||||
{
|
||||
brush.shaderNum = -1;
|
||||
|
||||
for (int p=0;p<brush.numSides;p++)
|
||||
{
|
||||
int sideid = brush.firstSide+p;
|
||||
BSPBrushSide& brushside = bspLoader.m_dbrushsides[sideid];
|
||||
int planeid = brushside.planeNum;
|
||||
BSPPlane& plane = bspLoader.m_dplanes[planeid];
|
||||
btVector3 planeEq;
|
||||
planeEq.setValue(
|
||||
plane.normal[0],
|
||||
plane.normal[1],
|
||||
plane.normal[2]);
|
||||
planeEq[3] = scaling*-plane.dist;
|
||||
|
||||
planeEquations.push_back(planeEq);
|
||||
isValidBrush=true;
|
||||
}
|
||||
if (isValidBrush)
|
||||
{
|
||||
|
||||
btAlignedObjectArray<btVector3> vertices;
|
||||
btGeometryUtil::getVerticesFromPlaneEquations(planeEquations,vertices);
|
||||
|
||||
bool isEntity = false;
|
||||
btVector3 entityTarget(0.f,0.f,0.f);
|
||||
addConvexVerticesCollider(vertices,isEntity,entityTarget);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#define USE_ENTITIES
|
||||
#ifdef USE_ENTITIES
|
||||
|
||||
|
||||
{
|
||||
int i;
|
||||
for (i=0;i<bspLoader.m_num_entities;i++)
|
||||
{
|
||||
const BSPEntity& entity = bspLoader.m_entities[i];
|
||||
const char* cl = bspLoader.getValueForKey(&entity,"classname");
|
||||
if ( !strcmp( cl, "trigger_push" ) ) {
|
||||
btVector3 targetLocation(0.f,0.f,0.f);
|
||||
|
||||
cl = bspLoader.getValueForKey(&entity,"target");
|
||||
if ( strcmp( cl, "" ) ) {
|
||||
//its not empty so ...
|
||||
|
||||
/*
|
||||
//lookup the target position for the jumppad:
|
||||
const BSPEntity* targetentity = bspLoader.getEntityByValue( "targetname" , cl );
|
||||
if (targetentity)
|
||||
{
|
||||
if (bspLoader.getVectorForKey( targetentity , "origin",&targetLocation[0]))
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
cl = bspLoader.getValueForKey(&entity,"model");
|
||||
if ( strcmp( cl, "" ) ) {
|
||||
// add the model as a brush
|
||||
if (cl[0] == '*')
|
||||
{
|
||||
int modelnr = atoi(&cl[1]);
|
||||
if ((modelnr >=0) && (modelnr < bspLoader.m_nummodels))
|
||||
{
|
||||
const BSPModel& model = bspLoader.m_dmodels[modelnr];
|
||||
for (int n=0;n<model.numBrushes;n++)
|
||||
{
|
||||
btAlignedObjectArray<btVector3> planeEquations;
|
||||
bool isValidBrush = false;
|
||||
|
||||
//convert brush
|
||||
const BSPBrush& brush = bspLoader.m_dbrushes[model.firstBrush+n];
|
||||
{
|
||||
for (int p=0;p<brush.numSides;p++)
|
||||
{
|
||||
int sideid = brush.firstSide+p;
|
||||
BSPBrushSide& brushside = bspLoader.m_dbrushsides[sideid];
|
||||
int planeid = brushside.planeNum;
|
||||
BSPPlane& plane = bspLoader.m_dplanes[planeid];
|
||||
btVector3 planeEq;
|
||||
planeEq.setValue(
|
||||
plane.normal[0],
|
||||
plane.normal[1],
|
||||
plane.normal[2]);
|
||||
planeEq[3] = scaling*-plane.dist;
|
||||
planeEquations.push_back(planeEq);
|
||||
isValidBrush=true;
|
||||
}
|
||||
if (isValidBrush)
|
||||
{
|
||||
|
||||
btAlignedObjectArray<btVector3> vertices;
|
||||
btGeometryUtil::getVerticesFromPlaneEquations(planeEquations,vertices);
|
||||
|
||||
bool isEntity=true;
|
||||
addConvexVerticesCollider(vertices,isEntity,targetLocation);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("unsupported trigger_push model, md3 ?\n");
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif //USE_ENTITIES
|
||||
|
||||
|
||||
|
||||
//progressEnd();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
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 "BspConverter.h"
|
||||
#include "BspLoader.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btGeometryUtil.h"
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
|
||||
void BspConverter::convertBsp(BspLoader& bspLoader,float scaling)
|
||||
{
|
||||
{
|
||||
|
||||
float playstartf[3] = {0,0,100};
|
||||
|
||||
if (bspLoader.findVectorByName(&playstartf[0],"info_player_start"))
|
||||
{
|
||||
printf("found playerstart\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
if (bspLoader.findVectorByName(&playstartf[0],"info_player_deathmatch"))
|
||||
{
|
||||
printf("found deatchmatch start\n");
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 playerStart (playstartf[0],playstartf[1],playstartf[2]);
|
||||
|
||||
|
||||
playerStart[2] += 20.f; //start a bit higher
|
||||
|
||||
playerStart *= scaling;
|
||||
|
||||
|
||||
|
||||
//progressBegin("Loading bsp");
|
||||
|
||||
for (int i=0;i<bspLoader.m_numleafs;i++)
|
||||
{
|
||||
printf("Reading bspLeaf %i from total %i (%f procent)\n",i, bspLoader.m_numleafs,(100.f*(float)i/float(bspLoader.m_numleafs)) );
|
||||
|
||||
bool isValidBrush = false;
|
||||
|
||||
BSPLeaf& leaf = bspLoader.m_dleafs[i];
|
||||
|
||||
for (int b=0;b<leaf.numLeafBrushes;b++)
|
||||
{
|
||||
btAlignedObjectArray<btVector3> planeEquations;
|
||||
|
||||
int brushid = bspLoader.m_dleafbrushes[leaf.firstLeafBrush+b];
|
||||
|
||||
BSPBrush& brush = bspLoader.m_dbrushes[brushid];
|
||||
if (brush.shaderNum!=-1)
|
||||
{
|
||||
if (bspLoader.m_dshaders[ brush.shaderNum ].contentFlags & BSPCONTENTS_SOLID)
|
||||
{
|
||||
brush.shaderNum = -1;
|
||||
|
||||
for (int p=0;p<brush.numSides;p++)
|
||||
{
|
||||
int sideid = brush.firstSide+p;
|
||||
BSPBrushSide& brushside = bspLoader.m_dbrushsides[sideid];
|
||||
int planeid = brushside.planeNum;
|
||||
BSPPlane& plane = bspLoader.m_dplanes[planeid];
|
||||
btVector3 planeEq;
|
||||
planeEq.setValue(
|
||||
plane.normal[0],
|
||||
plane.normal[1],
|
||||
plane.normal[2]);
|
||||
planeEq[3] = scaling*-plane.dist;
|
||||
|
||||
planeEquations.push_back(planeEq);
|
||||
isValidBrush=true;
|
||||
}
|
||||
if (isValidBrush)
|
||||
{
|
||||
|
||||
btAlignedObjectArray<btVector3> vertices;
|
||||
btGeometryUtil::getVerticesFromPlaneEquations(planeEquations,vertices);
|
||||
|
||||
bool isEntity = false;
|
||||
btVector3 entityTarget(0.f,0.f,0.f);
|
||||
addConvexVerticesCollider(vertices,isEntity,entityTarget);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#define USE_ENTITIES
|
||||
#ifdef USE_ENTITIES
|
||||
|
||||
|
||||
{
|
||||
int i;
|
||||
for (i=0;i<bspLoader.m_num_entities;i++)
|
||||
{
|
||||
const BSPEntity& entity = bspLoader.m_entities[i];
|
||||
const char* cl = bspLoader.getValueForKey(&entity,"classname");
|
||||
if ( !strcmp( cl, "trigger_push" ) ) {
|
||||
btVector3 targetLocation(0.f,0.f,0.f);
|
||||
|
||||
cl = bspLoader.getValueForKey(&entity,"target");
|
||||
if ( strcmp( cl, "" ) ) {
|
||||
//its not empty so ...
|
||||
|
||||
/*
|
||||
//lookup the target position for the jumppad:
|
||||
const BSPEntity* targetentity = bspLoader.getEntityByValue( "targetname" , cl );
|
||||
if (targetentity)
|
||||
{
|
||||
if (bspLoader.getVectorForKey( targetentity , "origin",&targetLocation[0]))
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
cl = bspLoader.getValueForKey(&entity,"model");
|
||||
if ( strcmp( cl, "" ) ) {
|
||||
// add the model as a brush
|
||||
if (cl[0] == '*')
|
||||
{
|
||||
int modelnr = atoi(&cl[1]);
|
||||
if ((modelnr >=0) && (modelnr < bspLoader.m_nummodels))
|
||||
{
|
||||
const BSPModel& model = bspLoader.m_dmodels[modelnr];
|
||||
for (int n=0;n<model.numBrushes;n++)
|
||||
{
|
||||
btAlignedObjectArray<btVector3> planeEquations;
|
||||
bool isValidBrush = false;
|
||||
|
||||
//convert brush
|
||||
const BSPBrush& brush = bspLoader.m_dbrushes[model.firstBrush+n];
|
||||
{
|
||||
for (int p=0;p<brush.numSides;p++)
|
||||
{
|
||||
int sideid = brush.firstSide+p;
|
||||
BSPBrushSide& brushside = bspLoader.m_dbrushsides[sideid];
|
||||
int planeid = brushside.planeNum;
|
||||
BSPPlane& plane = bspLoader.m_dplanes[planeid];
|
||||
btVector3 planeEq;
|
||||
planeEq.setValue(
|
||||
plane.normal[0],
|
||||
plane.normal[1],
|
||||
plane.normal[2]);
|
||||
planeEq[3] = scaling*-plane.dist;
|
||||
planeEquations.push_back(planeEq);
|
||||
isValidBrush=true;
|
||||
}
|
||||
if (isValidBrush)
|
||||
{
|
||||
|
||||
btAlignedObjectArray<btVector3> vertices;
|
||||
btGeometryUtil::getVerticesFromPlaneEquations(planeEquations,vertices);
|
||||
|
||||
bool isEntity=true;
|
||||
addConvexVerticesCollider(vertices,isEntity,targetLocation);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("unsupported trigger_push model, md3 ?\n");
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif //USE_ENTITIES
|
||||
|
||||
|
||||
|
||||
//progressEnd();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,39 +1,39 @@
|
||||
/*
|
||||
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 BSP_CONVERTER_H
|
||||
#define BSP_CONVERTER_H
|
||||
|
||||
class BspLoader;
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
///BspConverter turns a loaded bsp level into convex parts (vertices)
|
||||
class BspConverter
|
||||
{
|
||||
public:
|
||||
|
||||
void convertBsp(BspLoader& bspLoader,float scaling);
|
||||
virtual ~BspConverter()
|
||||
{
|
||||
}
|
||||
|
||||
///this callback is called for each brush that succesfully converted into vertices
|
||||
virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation) = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif //BSP_CONVERTER_H
|
||||
|
||||
/*
|
||||
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 BSP_CONVERTER_H
|
||||
#define BSP_CONVERTER_H
|
||||
|
||||
class BspLoader;
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
///BspConverter turns a loaded bsp level into convex parts (vertices)
|
||||
class BspConverter
|
||||
{
|
||||
public:
|
||||
|
||||
void convertBsp(BspLoader& bspLoader,float scaling);
|
||||
virtual ~BspConverter()
|
||||
{
|
||||
}
|
||||
|
||||
///this callback is called for each brush that succesfully converted into vertices
|
||||
virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation) = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif //BSP_CONVERTER_H
|
||||
|
||||
|
||||
@@ -1,321 +1,321 @@
|
||||
/*
|
||||
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/btQuickprof.h"
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
|
||||
#define QUAKE_BSP_IMPORTING 1
|
||||
|
||||
#ifdef QUAKE_BSP_IMPORTING
|
||||
#include "BspLoader.h"
|
||||
#include "BspConverter.h"
|
||||
#endif //QUAKE_BSP_IMPORTING
|
||||
|
||||
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
|
||||
#include "BspDemo.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
|
||||
|
||||
|
||||
#define CUBE_HALF_EXTENTS 1
|
||||
#define EXTRA_HEIGHT -20.f
|
||||
|
||||
|
||||
|
||||
///BspToBulletConverter extends the BspConverter to convert to Bullet datastructures
|
||||
class BspToBulletConverter : public BspConverter
|
||||
{
|
||||
BspDemo* m_demoApp;
|
||||
|
||||
public:
|
||||
|
||||
BspToBulletConverter(BspDemo* demoApp)
|
||||
:m_demoApp(demoApp)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation)
|
||||
{
|
||||
///perhaps we can do something special with entities (isEntity)
|
||||
///like adding a collision Triggering (as example)
|
||||
|
||||
if (vertices.size() > 0)
|
||||
{
|
||||
float mass = 0.f;
|
||||
btTransform startTransform;
|
||||
//can use a shift
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,0,-10.f));
|
||||
//this create an internal copy of the vertices
|
||||
|
||||
btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
|
||||
m_demoApp->m_collisionShapes.push_back(shape);
|
||||
|
||||
//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
|
||||
m_demoApp->localCreateRigidBody(mass, startTransform,shape);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
BspDemo::~BspDemo()
|
||||
{
|
||||
//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;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
|
||||
void BspDemo::initPhysics()
|
||||
{
|
||||
const char* bspfilename = "BspDemo.bsp";
|
||||
|
||||
initPhysics(bspfilename);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void BspDemo::initPhysics(const char* bspfilename)
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(false);
|
||||
|
||||
m_cameraUp = btVector3(0,0,1);
|
||||
m_forwardAxis = 1;
|
||||
|
||||
setCameraDistance(22.f);
|
||||
|
||||
///Setup a Physics Simulation Environment
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
btVector3 worldMin(-1000,-1000,-1000);
|
||||
btVector3 worldMax(1000,1000,1000);
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
//m_broadphase = new btAxisSweep3(worldMin,worldMax);
|
||||
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
|
||||
m_solver = new btSequentialImpulseConstraintSolver();
|
||||
//ConstraintSolver* solver = new OdeConstraintSolver;
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->setGravity(-m_cameraUp * 10);
|
||||
|
||||
|
||||
#ifdef QUAKE_BSP_IMPORTING
|
||||
|
||||
void* memoryBuffer = 0;
|
||||
|
||||
FILE* file = fopen(bspfilename,"r");
|
||||
if (!file)
|
||||
{
|
||||
//try again other path,
|
||||
//sight... visual studio leaves the current working directory in the projectfiles folder
|
||||
//instead of executable folder. who wants this default behaviour?!?
|
||||
bspfilename = "../../BspDemo.bsp";
|
||||
file = fopen(bspfilename,"r");
|
||||
}
|
||||
if (!file)
|
||||
{
|
||||
|
||||
//try again other path, cmake needs 4 levels deep back...
|
||||
bspfilename = "../../../../BspDemo.bsp";
|
||||
file = fopen(bspfilename,"r");
|
||||
}
|
||||
if (!file)
|
||||
{
|
||||
//try again other path,
|
||||
//sight... visual studio leaves the current working directory in the projectfiles folder
|
||||
//instead of executable folder. who wants this default behaviour?!?
|
||||
bspfilename = "BspDemo.bsp";
|
||||
file = fopen(bspfilename,"r");
|
||||
}
|
||||
|
||||
if (file)
|
||||
{
|
||||
BspLoader bspLoader;
|
||||
int size=0;
|
||||
if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) { /* File operations denied? ok, just close and return failure */
|
||||
printf("Error: cannot get filesize from %s\n", bspfilename);
|
||||
} else
|
||||
{
|
||||
//how to detect file size?
|
||||
memoryBuffer = malloc(size+1);
|
||||
fread(memoryBuffer,1,size,file);
|
||||
bspLoader.loadBSPFile( memoryBuffer);
|
||||
|
||||
BspToBulletConverter bsp2bullet(this);
|
||||
float bspScaling = 0.1f;
|
||||
bsp2bullet.convertBsp(bspLoader,bspScaling);
|
||||
|
||||
}
|
||||
fclose(file);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
clientResetScene();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void BspDemo::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 BspDemo::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();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//some code that de-mangles the windows filename passed in as argument
|
||||
char cleaned_filename[512];
|
||||
char* getLastFileName()
|
||||
{
|
||||
return cleaned_filename;
|
||||
}
|
||||
char* makeExeToBspFilename(const char* lpCmdLine)
|
||||
{
|
||||
|
||||
|
||||
// We might get a windows-style path on the command line, this can mess up the DOM which expects
|
||||
// all paths to be URI's. This block of code does some conversion to try and make the input
|
||||
// compliant without breaking the ability to accept a properly formatted URI. Right now this only
|
||||
// displays the first filename
|
||||
const char *in = lpCmdLine;
|
||||
char* out = cleaned_filename;
|
||||
*out = '\0';
|
||||
// If the first character is a ", skip it (filenames with spaces in them are quoted)
|
||||
if(*in == '\"')
|
||||
{
|
||||
in++;
|
||||
}
|
||||
int i;
|
||||
for(i =0; i<512; i++)
|
||||
{
|
||||
//if we get '.' we stop as well, unless it's the first character. Then we add .bsp as extension
|
||||
// If we hit a null or a quote, stop copying. This will get just the first filename.
|
||||
if(i && (in[0] == '.') && (in[1] == 'e') && (in[2] == 'x') && (in[3] == 'e'))
|
||||
break;
|
||||
|
||||
// If we hit a null or a quote, stop copying. This will get just the first filename.
|
||||
if(*in == '\0' || *in == '\"')
|
||||
break;
|
||||
// Copy while swapping backslashes for forward ones
|
||||
if(*in == '\\')
|
||||
{
|
||||
*out = '/';
|
||||
}
|
||||
else
|
||||
{
|
||||
*out = *in;
|
||||
}
|
||||
in++;
|
||||
out++;
|
||||
}
|
||||
*(out++) = '.';
|
||||
*(out++) = 'b';
|
||||
*(out++) = 's';
|
||||
*(out++) = 'p';
|
||||
*(out++) = 0;
|
||||
|
||||
return cleaned_filename;
|
||||
}
|
||||
/*
|
||||
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/btQuickprof.h"
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
|
||||
#define QUAKE_BSP_IMPORTING 1
|
||||
|
||||
#ifdef QUAKE_BSP_IMPORTING
|
||||
#include "BspLoader.h"
|
||||
#include "BspConverter.h"
|
||||
#endif //QUAKE_BSP_IMPORTING
|
||||
|
||||
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
|
||||
#include "BspDemo.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
|
||||
|
||||
|
||||
#define CUBE_HALF_EXTENTS 1
|
||||
#define EXTRA_HEIGHT -20.f
|
||||
|
||||
|
||||
|
||||
///BspToBulletConverter extends the BspConverter to convert to Bullet datastructures
|
||||
class BspToBulletConverter : public BspConverter
|
||||
{
|
||||
BspDemo* m_demoApp;
|
||||
|
||||
public:
|
||||
|
||||
BspToBulletConverter(BspDemo* demoApp)
|
||||
:m_demoApp(demoApp)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation)
|
||||
{
|
||||
///perhaps we can do something special with entities (isEntity)
|
||||
///like adding a collision Triggering (as example)
|
||||
|
||||
if (vertices.size() > 0)
|
||||
{
|
||||
float mass = 0.f;
|
||||
btTransform startTransform;
|
||||
//can use a shift
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,0,-10.f));
|
||||
//this create an internal copy of the vertices
|
||||
|
||||
btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
|
||||
m_demoApp->m_collisionShapes.push_back(shape);
|
||||
|
||||
//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
|
||||
m_demoApp->localCreateRigidBody(mass, startTransform,shape);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
BspDemo::~BspDemo()
|
||||
{
|
||||
//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;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
|
||||
void BspDemo::initPhysics()
|
||||
{
|
||||
const char* bspfilename = "BspDemo.bsp";
|
||||
|
||||
initPhysics(bspfilename);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void BspDemo::initPhysics(const char* bspfilename)
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(false);
|
||||
|
||||
m_cameraUp = btVector3(0,0,1);
|
||||
m_forwardAxis = 1;
|
||||
|
||||
setCameraDistance(22.f);
|
||||
|
||||
///Setup a Physics Simulation Environment
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
btVector3 worldMin(-1000,-1000,-1000);
|
||||
btVector3 worldMax(1000,1000,1000);
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
//m_broadphase = new btAxisSweep3(worldMin,worldMax);
|
||||
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
|
||||
m_solver = new btSequentialImpulseConstraintSolver();
|
||||
//ConstraintSolver* solver = new OdeConstraintSolver;
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->setGravity(-m_cameraUp * 10);
|
||||
|
||||
|
||||
#ifdef QUAKE_BSP_IMPORTING
|
||||
|
||||
void* memoryBuffer = 0;
|
||||
|
||||
FILE* file = fopen(bspfilename,"r");
|
||||
if (!file)
|
||||
{
|
||||
//try again other path,
|
||||
//sight... visual studio leaves the current working directory in the projectfiles folder
|
||||
//instead of executable folder. who wants this default behaviour?!?
|
||||
bspfilename = "../../BspDemo.bsp";
|
||||
file = fopen(bspfilename,"r");
|
||||
}
|
||||
if (!file)
|
||||
{
|
||||
|
||||
//try again other path, cmake needs 4 levels deep back...
|
||||
bspfilename = "../../../../BspDemo.bsp";
|
||||
file = fopen(bspfilename,"r");
|
||||
}
|
||||
if (!file)
|
||||
{
|
||||
//try again other path,
|
||||
//sight... visual studio leaves the current working directory in the projectfiles folder
|
||||
//instead of executable folder. who wants this default behaviour?!?
|
||||
bspfilename = "BspDemo.bsp";
|
||||
file = fopen(bspfilename,"r");
|
||||
}
|
||||
|
||||
if (file)
|
||||
{
|
||||
BspLoader bspLoader;
|
||||
int size=0;
|
||||
if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) { /* File operations denied? ok, just close and return failure */
|
||||
printf("Error: cannot get filesize from %s\n", bspfilename);
|
||||
} else
|
||||
{
|
||||
//how to detect file size?
|
||||
memoryBuffer = malloc(size+1);
|
||||
fread(memoryBuffer,1,size,file);
|
||||
bspLoader.loadBSPFile( memoryBuffer);
|
||||
|
||||
BspToBulletConverter bsp2bullet(this);
|
||||
float bspScaling = 0.1f;
|
||||
bsp2bullet.convertBsp(bspLoader,bspScaling);
|
||||
|
||||
}
|
||||
fclose(file);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
clientResetScene();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void BspDemo::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 BspDemo::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();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//some code that de-mangles the windows filename passed in as argument
|
||||
char cleaned_filename[512];
|
||||
char* getLastFileName()
|
||||
{
|
||||
return cleaned_filename;
|
||||
}
|
||||
char* makeExeToBspFilename(const char* lpCmdLine)
|
||||
{
|
||||
|
||||
|
||||
// We might get a windows-style path on the command line, this can mess up the DOM which expects
|
||||
// all paths to be URI's. This block of code does some conversion to try and make the input
|
||||
// compliant without breaking the ability to accept a properly formatted URI. Right now this only
|
||||
// displays the first filename
|
||||
const char *in = lpCmdLine;
|
||||
char* out = cleaned_filename;
|
||||
*out = '\0';
|
||||
// If the first character is a ", skip it (filenames with spaces in them are quoted)
|
||||
if(*in == '\"')
|
||||
{
|
||||
in++;
|
||||
}
|
||||
int i;
|
||||
for(i =0; i<512; i++)
|
||||
{
|
||||
//if we get '.' we stop as well, unless it's the first character. Then we add .bsp as extension
|
||||
// If we hit a null or a quote, stop copying. This will get just the first filename.
|
||||
if(i && (in[0] == '.') && (in[1] == 'e') && (in[2] == 'x') && (in[3] == 'e'))
|
||||
break;
|
||||
|
||||
// If we hit a null or a quote, stop copying. This will get just the first filename.
|
||||
if(*in == '\0' || *in == '\"')
|
||||
break;
|
||||
// Copy while swapping backslashes for forward ones
|
||||
if(*in == '\\')
|
||||
{
|
||||
*out = '/';
|
||||
}
|
||||
else
|
||||
{
|
||||
*out = *in;
|
||||
}
|
||||
in++;
|
||||
out++;
|
||||
}
|
||||
*(out++) = '.';
|
||||
*(out++) = 'b';
|
||||
*(out++) = 's';
|
||||
*(out++) = 'p';
|
||||
*(out++) = 0;
|
||||
|
||||
return cleaned_filename;
|
||||
}
|
||||
|
||||
@@ -1,71 +1,71 @@
|
||||
/*
|
||||
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 BSP_DEMO_H
|
||||
#define BSP_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
|
||||
///BspDemo shows the convex collision detection, by converting a Quake BSP file into convex objects and allowing interaction with boxes.
|
||||
class BspDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
|
||||
|
||||
|
||||
virtual ~BspDemo();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
void initPhysics(const char* bspfilename);
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BspDemo* demo = new BspDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics("BspDemo.bsp");
|
||||
return demo;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BSP_DEMO_H
|
||||
|
||||
|
||||
/*
|
||||
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 BSP_DEMO_H
|
||||
#define BSP_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
|
||||
///BspDemo shows the convex collision detection, by converting a Quake BSP file into convex objects and allowing interaction with boxes.
|
||||
class BspDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
|
||||
|
||||
|
||||
virtual ~BspDemo();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
void initPhysics(const char* bspfilename);
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BspDemo* demo = new BspDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics("BspDemo.bsp");
|
||||
return demo;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BSP_DEMO_H
|
||||
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,295 +1,295 @@
|
||||
/*
|
||||
===========================================================================
|
||||
Copyright (C) 1999-2005 Id Software, Inc.
|
||||
|
||||
This file is part of Quake III Arena source code.
|
||||
|
||||
Quake III Arena source code is free software; you can redistribute it
|
||||
and/or modify it under the terms of the GNU bteral Public License as
|
||||
published by the Free Software Foundation; either version 2 of the License,
|
||||
or (at your option) any later version.
|
||||
|
||||
Quake III Arena source code is distributed in the hope that it will be
|
||||
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU bteral Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU bteral Public License
|
||||
along with Foobar; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
===========================================================================
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef BSP_LOADER_H
|
||||
#define BSP_LOADER_H
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
#define BSPMAXTOKEN 1024
|
||||
#define BSPMAX_KEY 32
|
||||
#define BSPMAX_VALUE 1024
|
||||
#define BSPCONTENTS_SOLID 1
|
||||
#define BSPCONTENTS_AREAPORTAL 0x8000
|
||||
#define BSPLUMP_ENTITIES 0
|
||||
#define BSPLUMP_SHADERS 1
|
||||
#define BSPLUMP_PLANES 2
|
||||
#define BSPLUMP_NODES 3
|
||||
#define BSPLUMP_LEAFS 4
|
||||
#define BSPLUMP_LEAFSURFACES 5
|
||||
#define BSPLUMP_LEAFBRUSHES 6
|
||||
#define LUMP_MODELS 7
|
||||
#define LUMP_BRUSHES 8
|
||||
#define LUMP_BRUSHSIDES 9
|
||||
#define LUMP_DRAWVERTS 10
|
||||
#define LUMP_DRAWINDEXES 11
|
||||
#define LUMP_SURFACES 13
|
||||
#define LUMP_LIGHTMAPS 14
|
||||
#define LUMP_LIGHTGRID 15
|
||||
#define LUMP_VISIBILITY 16
|
||||
#define HEADER_LUMPS 17
|
||||
#define MAX_QPATH 64
|
||||
|
||||
|
||||
|
||||
typedef struct {
|
||||
int fileofs, filelen;
|
||||
} BSPLump;
|
||||
|
||||
typedef float BSPVector3[3];
|
||||
|
||||
typedef struct {
|
||||
int ident;
|
||||
int version;
|
||||
|
||||
BSPLump lumps[HEADER_LUMPS];
|
||||
} BSPHeader;
|
||||
|
||||
|
||||
typedef struct {
|
||||
float mins[3], maxs[3];
|
||||
int firstSurface, numSurfaces;
|
||||
int firstBrush, numBrushes;
|
||||
} BSPModel;
|
||||
|
||||
typedef struct {
|
||||
char shader[MAX_QPATH];
|
||||
int surfaceFlags;
|
||||
int contentFlags;
|
||||
} BSPShader;
|
||||
|
||||
typedef struct {
|
||||
float normal[3];
|
||||
float dist;
|
||||
} BSPPlane;
|
||||
|
||||
typedef struct {
|
||||
int planeNum;
|
||||
int children[2];
|
||||
int mins[3];
|
||||
int maxs[3];
|
||||
} BSPNode;
|
||||
|
||||
typedef struct {
|
||||
int cluster;
|
||||
int area;
|
||||
|
||||
int mins[3];
|
||||
int maxs[3];
|
||||
|
||||
int firstLeafSurface;
|
||||
int numLeafSurfaces;
|
||||
|
||||
int firstLeafBrush;
|
||||
int numLeafBrushes;
|
||||
} BSPLeaf;
|
||||
|
||||
typedef struct {
|
||||
int planeNum;
|
||||
int shaderNum;
|
||||
} BSPBrushSide;
|
||||
|
||||
typedef struct {
|
||||
int firstSide;
|
||||
int numSides;
|
||||
int shaderNum;
|
||||
} BSPBrush;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef struct BSPPair {
|
||||
struct BSPPair *next;
|
||||
char *key;
|
||||
char *value;
|
||||
} BSPKeyValuePair;
|
||||
|
||||
typedef struct {
|
||||
BSPVector3 origin;
|
||||
struct bspbrush_s *brushes;
|
||||
struct parseMesh_s *patches;
|
||||
int firstDrawSurf;
|
||||
BSPKeyValuePair *epairs;
|
||||
} BSPEntity;
|
||||
|
||||
typedef enum {
|
||||
MST_BAD,
|
||||
MST_PLANAR,
|
||||
MST_PATCH,
|
||||
MST_TRIANGLE_SOUP,
|
||||
MST_FLARE
|
||||
} BSPMapSurface;
|
||||
|
||||
typedef struct {
|
||||
int shaderNum;
|
||||
int fogNum;
|
||||
int surfaceType;
|
||||
|
||||
int firstVert;
|
||||
int numVerts;
|
||||
|
||||
int firstIndex;
|
||||
int numIndexes;
|
||||
|
||||
int lightmapNum;
|
||||
int lightmapX, lightmapY;
|
||||
int lightmapWidth, lightmapHeight;
|
||||
|
||||
BSPVector3 lightmapOrigin;
|
||||
BSPVector3 lightmapVecs[3];
|
||||
|
||||
int patchWidth;
|
||||
int patchHeight;
|
||||
} BSPSurface;
|
||||
|
||||
|
||||
|
||||
///GPL code from IdSofware to parse a Quake 3 BSP file
|
||||
///check that your platform define __BIG_ENDIAN__ correctly (in BspLoader.cpp)
|
||||
class BspLoader
|
||||
{
|
||||
int m_Endianness;
|
||||
|
||||
public:
|
||||
|
||||
BspLoader();
|
||||
|
||||
bool loadBSPFile( void* memoryBuffer);
|
||||
|
||||
const char* getValueForKey( const BSPEntity *ent, const char *key ) const;
|
||||
|
||||
bool getVectorForKey( const BSPEntity *ent, const char *key, BSPVector3 vec );
|
||||
|
||||
float getFloatForKey( const BSPEntity *ent, const char *key );
|
||||
|
||||
void parseEntities( void );
|
||||
|
||||
bool findVectorByName(float* outvec,const char* name);
|
||||
|
||||
const BSPEntity * getEntityByValue( const char* name, const char* value);
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
void parseFromMemory (char *buffer, int size);
|
||||
|
||||
|
||||
|
||||
bool isEndOfScript (bool crossline);
|
||||
|
||||
bool getToken (bool crossline);
|
||||
|
||||
char *copystring(const char *s);
|
||||
|
||||
void stripTrailing( char *e );
|
||||
|
||||
BSPKeyValuePair * parseEpair( void );
|
||||
|
||||
bool parseEntity( void );
|
||||
|
||||
short isLittleShort (short l);
|
||||
int isLittleLong (int l);
|
||||
float isLittleFloat (float l);
|
||||
|
||||
int isBigLong (int l);
|
||||
short isBigShort (short l);
|
||||
float isBigFloat (float l);
|
||||
|
||||
void swapBlock( int *block, int sizeOfBlock );
|
||||
|
||||
int copyLump( BSPHeader *header, int lump, void *dest, int size );
|
||||
|
||||
void swapBSPFile( void );
|
||||
|
||||
|
||||
|
||||
|
||||
public: //easier for conversion
|
||||
int m_num_entities;
|
||||
btAlignedObjectArray<BSPEntity> m_entities;
|
||||
|
||||
int m_nummodels;
|
||||
btAlignedObjectArray<BSPModel> m_dmodels;
|
||||
|
||||
int m_numShaders;
|
||||
btAlignedObjectArray<BSPShader> m_dshaders;
|
||||
|
||||
int m_entdatasize;
|
||||
btAlignedObjectArray<char> m_dentdata;
|
||||
|
||||
int m_numleafs;
|
||||
btAlignedObjectArray<BSPLeaf> m_dleafs;
|
||||
|
||||
int m_numplanes;
|
||||
btAlignedObjectArray<BSPPlane> m_dplanes;
|
||||
|
||||
int m_numnodes;
|
||||
btAlignedObjectArray<BSPNode> m_dnodes;
|
||||
|
||||
int m_numleafsurfaces;
|
||||
btAlignedObjectArray<int> m_dleafsurfaces;
|
||||
|
||||
int m_numleafbrushes;
|
||||
btAlignedObjectArray<int> m_dleafbrushes;
|
||||
|
||||
int m_numbrushes;
|
||||
btAlignedObjectArray<BSPBrush> m_dbrushes;
|
||||
|
||||
int m_numbrushsides;
|
||||
btAlignedObjectArray<BSPBrushSide> m_dbrushsides;
|
||||
|
||||
int m_numLightBytes;
|
||||
btAlignedObjectArray<unsigned char> m_lightBytes;
|
||||
|
||||
int m_numGridPoints;
|
||||
btAlignedObjectArray<unsigned char> m_gridData;
|
||||
|
||||
int m_numVisBytes;
|
||||
btAlignedObjectArray<unsigned char> m_visBytes;
|
||||
|
||||
|
||||
int m_numDrawIndexes;
|
||||
btAlignedObjectArray<int> m_drawIndexes;
|
||||
|
||||
int m_numDrawSurfaces;
|
||||
btAlignedObjectArray<BSPSurface> m_drawSurfaces;
|
||||
|
||||
enum
|
||||
{
|
||||
BSP_LITTLE_ENDIAN = 0,
|
||||
BSP_BIG_ENDIAN = 1
|
||||
};
|
||||
|
||||
//returns machines big endian / little endian
|
||||
//
|
||||
int getMachineEndianness();
|
||||
|
||||
inline int machineEndianness()
|
||||
{
|
||||
return m_Endianness;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BSP_LOADER_H
|
||||
/*
|
||||
===========================================================================
|
||||
Copyright (C) 1999-2005 Id Software, Inc.
|
||||
|
||||
This file is part of Quake III Arena source code.
|
||||
|
||||
Quake III Arena source code is free software; you can redistribute it
|
||||
and/or modify it under the terms of the GNU bteral Public License as
|
||||
published by the Free Software Foundation; either version 2 of the License,
|
||||
or (at your option) any later version.
|
||||
|
||||
Quake III Arena source code is distributed in the hope that it will be
|
||||
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU bteral Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU bteral Public License
|
||||
along with Foobar; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
===========================================================================
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef BSP_LOADER_H
|
||||
#define BSP_LOADER_H
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
#define BSPMAXTOKEN 1024
|
||||
#define BSPMAX_KEY 32
|
||||
#define BSPMAX_VALUE 1024
|
||||
#define BSPCONTENTS_SOLID 1
|
||||
#define BSPCONTENTS_AREAPORTAL 0x8000
|
||||
#define BSPLUMP_ENTITIES 0
|
||||
#define BSPLUMP_SHADERS 1
|
||||
#define BSPLUMP_PLANES 2
|
||||
#define BSPLUMP_NODES 3
|
||||
#define BSPLUMP_LEAFS 4
|
||||
#define BSPLUMP_LEAFSURFACES 5
|
||||
#define BSPLUMP_LEAFBRUSHES 6
|
||||
#define LUMP_MODELS 7
|
||||
#define LUMP_BRUSHES 8
|
||||
#define LUMP_BRUSHSIDES 9
|
||||
#define LUMP_DRAWVERTS 10
|
||||
#define LUMP_DRAWINDEXES 11
|
||||
#define LUMP_SURFACES 13
|
||||
#define LUMP_LIGHTMAPS 14
|
||||
#define LUMP_LIGHTGRID 15
|
||||
#define LUMP_VISIBILITY 16
|
||||
#define HEADER_LUMPS 17
|
||||
#define MAX_QPATH 64
|
||||
|
||||
|
||||
|
||||
typedef struct {
|
||||
int fileofs, filelen;
|
||||
} BSPLump;
|
||||
|
||||
typedef float BSPVector3[3];
|
||||
|
||||
typedef struct {
|
||||
int ident;
|
||||
int version;
|
||||
|
||||
BSPLump lumps[HEADER_LUMPS];
|
||||
} BSPHeader;
|
||||
|
||||
|
||||
typedef struct {
|
||||
float mins[3], maxs[3];
|
||||
int firstSurface, numSurfaces;
|
||||
int firstBrush, numBrushes;
|
||||
} BSPModel;
|
||||
|
||||
typedef struct {
|
||||
char shader[MAX_QPATH];
|
||||
int surfaceFlags;
|
||||
int contentFlags;
|
||||
} BSPShader;
|
||||
|
||||
typedef struct {
|
||||
float normal[3];
|
||||
float dist;
|
||||
} BSPPlane;
|
||||
|
||||
typedef struct {
|
||||
int planeNum;
|
||||
int children[2];
|
||||
int mins[3];
|
||||
int maxs[3];
|
||||
} BSPNode;
|
||||
|
||||
typedef struct {
|
||||
int cluster;
|
||||
int area;
|
||||
|
||||
int mins[3];
|
||||
int maxs[3];
|
||||
|
||||
int firstLeafSurface;
|
||||
int numLeafSurfaces;
|
||||
|
||||
int firstLeafBrush;
|
||||
int numLeafBrushes;
|
||||
} BSPLeaf;
|
||||
|
||||
typedef struct {
|
||||
int planeNum;
|
||||
int shaderNum;
|
||||
} BSPBrushSide;
|
||||
|
||||
typedef struct {
|
||||
int firstSide;
|
||||
int numSides;
|
||||
int shaderNum;
|
||||
} BSPBrush;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef struct BSPPair {
|
||||
struct BSPPair *next;
|
||||
char *key;
|
||||
char *value;
|
||||
} BSPKeyValuePair;
|
||||
|
||||
typedef struct {
|
||||
BSPVector3 origin;
|
||||
struct bspbrush_s *brushes;
|
||||
struct parseMesh_s *patches;
|
||||
int firstDrawSurf;
|
||||
BSPKeyValuePair *epairs;
|
||||
} BSPEntity;
|
||||
|
||||
typedef enum {
|
||||
MST_BAD,
|
||||
MST_PLANAR,
|
||||
MST_PATCH,
|
||||
MST_TRIANGLE_SOUP,
|
||||
MST_FLARE
|
||||
} BSPMapSurface;
|
||||
|
||||
typedef struct {
|
||||
int shaderNum;
|
||||
int fogNum;
|
||||
int surfaceType;
|
||||
|
||||
int firstVert;
|
||||
int numVerts;
|
||||
|
||||
int firstIndex;
|
||||
int numIndexes;
|
||||
|
||||
int lightmapNum;
|
||||
int lightmapX, lightmapY;
|
||||
int lightmapWidth, lightmapHeight;
|
||||
|
||||
BSPVector3 lightmapOrigin;
|
||||
BSPVector3 lightmapVecs[3];
|
||||
|
||||
int patchWidth;
|
||||
int patchHeight;
|
||||
} BSPSurface;
|
||||
|
||||
|
||||
|
||||
///GPL code from IdSofware to parse a Quake 3 BSP file
|
||||
///check that your platform define __BIG_ENDIAN__ correctly (in BspLoader.cpp)
|
||||
class BspLoader
|
||||
{
|
||||
int m_Endianness;
|
||||
|
||||
public:
|
||||
|
||||
BspLoader();
|
||||
|
||||
bool loadBSPFile( void* memoryBuffer);
|
||||
|
||||
const char* getValueForKey( const BSPEntity *ent, const char *key ) const;
|
||||
|
||||
bool getVectorForKey( const BSPEntity *ent, const char *key, BSPVector3 vec );
|
||||
|
||||
float getFloatForKey( const BSPEntity *ent, const char *key );
|
||||
|
||||
void parseEntities( void );
|
||||
|
||||
bool findVectorByName(float* outvec,const char* name);
|
||||
|
||||
const BSPEntity * getEntityByValue( const char* name, const char* value);
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
void parseFromMemory (char *buffer, int size);
|
||||
|
||||
|
||||
|
||||
bool isEndOfScript (bool crossline);
|
||||
|
||||
bool getToken (bool crossline);
|
||||
|
||||
char *copystring(const char *s);
|
||||
|
||||
void stripTrailing( char *e );
|
||||
|
||||
BSPKeyValuePair * parseEpair( void );
|
||||
|
||||
bool parseEntity( void );
|
||||
|
||||
short isLittleShort (short l);
|
||||
int isLittleLong (int l);
|
||||
float isLittleFloat (float l);
|
||||
|
||||
int isBigLong (int l);
|
||||
short isBigShort (short l);
|
||||
float isBigFloat (float l);
|
||||
|
||||
void swapBlock( int *block, int sizeOfBlock );
|
||||
|
||||
int copyLump( BSPHeader *header, int lump, void *dest, int size );
|
||||
|
||||
void swapBSPFile( void );
|
||||
|
||||
|
||||
|
||||
|
||||
public: //easier for conversion
|
||||
int m_num_entities;
|
||||
btAlignedObjectArray<BSPEntity> m_entities;
|
||||
|
||||
int m_nummodels;
|
||||
btAlignedObjectArray<BSPModel> m_dmodels;
|
||||
|
||||
int m_numShaders;
|
||||
btAlignedObjectArray<BSPShader> m_dshaders;
|
||||
|
||||
int m_entdatasize;
|
||||
btAlignedObjectArray<char> m_dentdata;
|
||||
|
||||
int m_numleafs;
|
||||
btAlignedObjectArray<BSPLeaf> m_dleafs;
|
||||
|
||||
int m_numplanes;
|
||||
btAlignedObjectArray<BSPPlane> m_dplanes;
|
||||
|
||||
int m_numnodes;
|
||||
btAlignedObjectArray<BSPNode> m_dnodes;
|
||||
|
||||
int m_numleafsurfaces;
|
||||
btAlignedObjectArray<int> m_dleafsurfaces;
|
||||
|
||||
int m_numleafbrushes;
|
||||
btAlignedObjectArray<int> m_dleafbrushes;
|
||||
|
||||
int m_numbrushes;
|
||||
btAlignedObjectArray<BSPBrush> m_dbrushes;
|
||||
|
||||
int m_numbrushsides;
|
||||
btAlignedObjectArray<BSPBrushSide> m_dbrushsides;
|
||||
|
||||
int m_numLightBytes;
|
||||
btAlignedObjectArray<unsigned char> m_lightBytes;
|
||||
|
||||
int m_numGridPoints;
|
||||
btAlignedObjectArray<unsigned char> m_gridData;
|
||||
|
||||
int m_numVisBytes;
|
||||
btAlignedObjectArray<unsigned char> m_visBytes;
|
||||
|
||||
|
||||
int m_numDrawIndexes;
|
||||
btAlignedObjectArray<int> m_drawIndexes;
|
||||
|
||||
int m_numDrawSurfaces;
|
||||
btAlignedObjectArray<BSPSurface> m_drawSurfaces;
|
||||
|
||||
enum
|
||||
{
|
||||
BSP_LITTLE_ENDIAN = 0,
|
||||
BSP_BIG_ENDIAN = 1
|
||||
};
|
||||
|
||||
//returns machines big endian / little endian
|
||||
//
|
||||
int getMachineEndianness();
|
||||
|
||||
inline int machineEndianness()
|
||||
{
|
||||
return m_Endianness;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BSP_LOADER_H
|
||||
|
||||
@@ -1,60 +1,60 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppBspPhysicsDemo
|
||||
main.cpp
|
||||
BspDemo.cpp
|
||||
BspLoader.cpp
|
||||
BspConverter.cpp
|
||||
)
|
||||
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBspPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBspPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
|
||||
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBspPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/BspDemo.bsp ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppBspPhysicsDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppBspPhysicsDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppBspPhysicsDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppBspPhysicsDemo
|
||||
main.cpp
|
||||
BspDemo.cpp
|
||||
BspLoader.cpp
|
||||
BspConverter.cpp
|
||||
)
|
||||
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBspPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBspPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
|
||||
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppBspPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/BspDemo.bsp ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppBspPhysicsDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppBspPhysicsDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppBspPhysicsDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,57 +1,57 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppCcdPhysicsDemo
|
||||
main.cpp
|
||||
CcdPhysicsDemo.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppCcdPhysicsDemo
|
||||
main.cpp
|
||||
CcdPhysicsDemo.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCcdPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCcdPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppCcdPhysicsDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppCcdPhysicsDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppCcdPhysicsDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppCcdPhysicsDemo
|
||||
main.cpp
|
||||
CcdPhysicsDemo.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppCcdPhysicsDemo
|
||||
main.cpp
|
||||
CcdPhysicsDemo.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCcdPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCcdPhysicsDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppCcdPhysicsDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppCcdPhysicsDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppCcdPhysicsDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,83 +1,83 @@
|
||||
/*
|
||||
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 CCD_PHYSICS_DEMO_H
|
||||
#define CCD_PHYSICS_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
|
||||
///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
|
||||
class CcdPhysicsDemo : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#ifdef WIN32
|
||||
class Win32ThreadSupport* m_threadSupportCollision;
|
||||
class Win32ThreadSupport* m_threadSupportSolver;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~CcdPhysicsDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
void createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos );
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
CcdPhysicsDemo* demo = new CcdPhysicsDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //CCD_PHYSICS_DEMO_H
|
||||
|
||||
/*
|
||||
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 CCD_PHYSICS_DEMO_H
|
||||
#define CCD_PHYSICS_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
|
||||
///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
|
||||
class CcdPhysicsDemo : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
#ifdef USE_PARALLEL_DISPATCHER
|
||||
#ifdef WIN32
|
||||
class Win32ThreadSupport* m_threadSupportCollision;
|
||||
class Win32ThreadSupport* m_threadSupportSolver;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~CcdPhysicsDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
void createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos );
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
CcdPhysicsDemo* demo = new CcdPhysicsDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //CCD_PHYSICS_DEMO_H
|
||||
|
||||
|
||||
@@ -1,75 +1,75 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
SET(CharacterDemo_SRCS
|
||||
|
||||
DynamicCharacterController.cpp
|
||||
DynamicCharacterController.h
|
||||
CharacterDemo.cpp
|
||||
CharacterDemo.h
|
||||
../BspDemo/BspConverter.cpp
|
||||
../BspDemo/BspConverter.h
|
||||
../BspDemo/BspLoader.cpp
|
||||
../BspDemo/BspLoader.h
|
||||
main.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppCharacterDemo
|
||||
${CharacterDemo_SRCS}
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppCharacterDemo
|
||||
${CharacterDemo_SRCS}
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCharacterDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCharacterDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCharacterDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/BspDemo.bsp ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppCharacterDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppCharacterDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppCharacterDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
SET(CharacterDemo_SRCS
|
||||
|
||||
DynamicCharacterController.cpp
|
||||
DynamicCharacterController.h
|
||||
CharacterDemo.cpp
|
||||
CharacterDemo.h
|
||||
../BspDemo/BspConverter.cpp
|
||||
../BspDemo/BspConverter.h
|
||||
../BspDemo/BspLoader.cpp
|
||||
../BspDemo/BspLoader.h
|
||||
main.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppCharacterDemo
|
||||
${CharacterDemo_SRCS}
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppCharacterDemo
|
||||
${CharacterDemo_SRCS}
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCharacterDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCharacterDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCharacterDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/BspDemo.bsp ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppCharacterDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppCharacterDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppCharacterDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,153 +1,153 @@
|
||||
/*
|
||||
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 CHARACTER_DEMO_H
|
||||
#define CHARACTER_DEMO_H
|
||||
|
||||
|
||||
///DYNAMIC_CHARACTER_CONTROLLER is not fully implemented yet at the moment
|
||||
//#define DYNAMIC_CHARACTER_CONTROLLER 1
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
|
||||
|
||||
class btCharacterControllerInterface;
|
||||
class btDynamicCharacterController;
|
||||
class btKinematicCharacterController;
|
||||
|
||||
class btCollisionShape;
|
||||
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///CharacterDemo shows how to setup and use the built-in raycast vehicle
|
||||
class CharacterDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
#ifdef DYNAMIC_CHARACTER_CONTROLLER
|
||||
btCharacterControllerInterface* m_character;
|
||||
#else
|
||||
btKinematicCharacterController* m_character;
|
||||
class btPairCachingGhostObject* m_ghostObject;
|
||||
#endif
|
||||
|
||||
|
||||
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;
|
||||
|
||||
void debugDrawContacts();
|
||||
|
||||
float m_cameraHeight;
|
||||
|
||||
float m_minCameraDistance;
|
||||
float m_maxCameraDistance;
|
||||
|
||||
|
||||
CharacterDemo();
|
||||
|
||||
virtual ~CharacterDemo();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
///a very basic camera following the character
|
||||
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()
|
||||
{
|
||||
CharacterDemo* demo = new CharacterDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
#define QUAKE_BSP_IMPORTING 1
|
||||
#ifdef QUAKE_BSP_IMPORTING
|
||||
#include "../BspDemo/BspLoader.h"
|
||||
#include "../BspDemo/BspConverter.h"
|
||||
|
||||
|
||||
|
||||
|
||||
class BspToBulletConverter : public BspConverter
|
||||
{
|
||||
CharacterDemo* m_demoApp;
|
||||
|
||||
public:
|
||||
|
||||
BspToBulletConverter(CharacterDemo* demoApp)
|
||||
:m_demoApp(demoApp)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation)
|
||||
{
|
||||
///perhaps we can do something special with entities (isEntity)
|
||||
///like adding a collision Triggering (as example)
|
||||
|
||||
if (vertices.size() > 0)
|
||||
{
|
||||
float mass = 0.f;
|
||||
btTransform startTransform;
|
||||
//can use a shift
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,-10.0f,0.0f));
|
||||
//this create an internal copy of the vertices
|
||||
for (int i = 0; i < vertices.size(); i++)
|
||||
{
|
||||
vertices[i] *= btScalar(0.5);
|
||||
float t = vertices[i].getZ() * btScalar(0.75);
|
||||
vertices[i].setZ(-vertices[i].getY());
|
||||
vertices[i].setY(t);
|
||||
}
|
||||
|
||||
btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
|
||||
m_demoApp->m_collisionShapes.push_back(shape);
|
||||
|
||||
//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
|
||||
m_demoApp->localCreateRigidBody(mass, startTransform,shape);
|
||||
}
|
||||
}
|
||||
};
|
||||
#endif //QUAKE_BSP_IMPORTING
|
||||
|
||||
|
||||
#endif //CHARACTER_DEMO_H
|
||||
|
||||
|
||||
/*
|
||||
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 CHARACTER_DEMO_H
|
||||
#define CHARACTER_DEMO_H
|
||||
|
||||
|
||||
///DYNAMIC_CHARACTER_CONTROLLER is not fully implemented yet at the moment
|
||||
//#define DYNAMIC_CHARACTER_CONTROLLER 1
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
|
||||
|
||||
class btCharacterControllerInterface;
|
||||
class btDynamicCharacterController;
|
||||
class btKinematicCharacterController;
|
||||
|
||||
class btCollisionShape;
|
||||
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///CharacterDemo shows how to setup and use the built-in raycast vehicle
|
||||
class CharacterDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
#ifdef DYNAMIC_CHARACTER_CONTROLLER
|
||||
btCharacterControllerInterface* m_character;
|
||||
#else
|
||||
btKinematicCharacterController* m_character;
|
||||
class btPairCachingGhostObject* m_ghostObject;
|
||||
#endif
|
||||
|
||||
|
||||
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;
|
||||
|
||||
void debugDrawContacts();
|
||||
|
||||
float m_cameraHeight;
|
||||
|
||||
float m_minCameraDistance;
|
||||
float m_maxCameraDistance;
|
||||
|
||||
|
||||
CharacterDemo();
|
||||
|
||||
virtual ~CharacterDemo();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
///a very basic camera following the character
|
||||
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()
|
||||
{
|
||||
CharacterDemo* demo = new CharacterDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
#define QUAKE_BSP_IMPORTING 1
|
||||
#ifdef QUAKE_BSP_IMPORTING
|
||||
#include "../BspDemo/BspLoader.h"
|
||||
#include "../BspDemo/BspConverter.h"
|
||||
|
||||
|
||||
|
||||
|
||||
class BspToBulletConverter : public BspConverter
|
||||
{
|
||||
CharacterDemo* m_demoApp;
|
||||
|
||||
public:
|
||||
|
||||
BspToBulletConverter(CharacterDemo* demoApp)
|
||||
:m_demoApp(demoApp)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void addConvexVerticesCollider(btAlignedObjectArray<btVector3>& vertices, bool isEntity, const btVector3& entityTargetLocation)
|
||||
{
|
||||
///perhaps we can do something special with entities (isEntity)
|
||||
///like adding a collision Triggering (as example)
|
||||
|
||||
if (vertices.size() > 0)
|
||||
{
|
||||
float mass = 0.f;
|
||||
btTransform startTransform;
|
||||
//can use a shift
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,-10.0f,0.0f));
|
||||
//this create an internal copy of the vertices
|
||||
for (int i = 0; i < vertices.size(); i++)
|
||||
{
|
||||
vertices[i] *= btScalar(0.5);
|
||||
float t = vertices[i].getZ() * btScalar(0.75);
|
||||
vertices[i].setZ(-vertices[i].getY());
|
||||
vertices[i].setY(t);
|
||||
}
|
||||
|
||||
btCollisionShape* shape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
|
||||
m_demoApp->m_collisionShapes.push_back(shape);
|
||||
|
||||
//btRigidBody* body = m_demoApp->localCreateRigidBody(mass, startTransform,shape);
|
||||
m_demoApp->localCreateRigidBody(mass, startTransform,shape);
|
||||
}
|
||||
}
|
||||
};
|
||||
#endif //QUAKE_BSP_IMPORTING
|
||||
|
||||
|
||||
#endif //CHARACTER_DEMO_H
|
||||
|
||||
|
||||
|
||||
@@ -1,204 +1,204 @@
|
||||
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
#include "LinearMath/btDefaultMotionState.h"
|
||||
#include "DynamicCharacterController.h"
|
||||
|
||||
DynamicCharacterController::DynamicCharacterController ()
|
||||
{
|
||||
m_rayLambda[0] = 1.0;
|
||||
m_rayLambda[1] = 1.0;
|
||||
m_halfHeight = 1.0;
|
||||
m_turnAngle = 0.0;
|
||||
m_maxLinearVelocity = 10.0;
|
||||
m_walkVelocity = 8.0; // meters/sec
|
||||
m_turnVelocity = 1.0; // radians/sec
|
||||
m_shape = NULL;
|
||||
m_rigidBody = NULL;
|
||||
}
|
||||
|
||||
DynamicCharacterController::~DynamicCharacterController ()
|
||||
{
|
||||
}
|
||||
|
||||
void DynamicCharacterController::setup (btScalar height, btScalar width, btScalar stepHeight)
|
||||
{
|
||||
btVector3 spherePositions[2];
|
||||
btScalar sphereRadii[2];
|
||||
|
||||
sphereRadii[0] = width;
|
||||
sphereRadii[1] = width;
|
||||
spherePositions[0] = btVector3 (0.0, (height/btScalar(2.0) - width), 0.0);
|
||||
spherePositions[1] = btVector3 (0.0, (-height/btScalar(2.0) + width), 0.0);
|
||||
|
||||
m_halfHeight = height/btScalar(2.0);
|
||||
|
||||
m_shape = new btMultiSphereShape (&spherePositions[0], &sphereRadii[0], 2);
|
||||
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity ();
|
||||
startTransform.setOrigin (btVector3(0.0, 2.0, 0.0));
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo cInfo(1.0, myMotionState, m_shape);
|
||||
m_rigidBody = new btRigidBody(cInfo);
|
||||
// kinematic vs. static doesn't work
|
||||
//m_rigidBody->setCollisionFlags( m_rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
||||
m_rigidBody->setSleepingThresholds (0.0, 0.0);
|
||||
m_rigidBody->setAngularFactor (0.0);
|
||||
|
||||
}
|
||||
|
||||
void DynamicCharacterController::destroy ()
|
||||
{
|
||||
if (m_shape)
|
||||
{
|
||||
delete m_shape;
|
||||
}
|
||||
|
||||
if (m_rigidBody)
|
||||
{
|
||||
delete m_rigidBody;
|
||||
m_rigidBody = 0;
|
||||
}
|
||||
}
|
||||
|
||||
btCollisionObject* DynamicCharacterController::getCollisionObject ()
|
||||
{
|
||||
return m_rigidBody;
|
||||
}
|
||||
|
||||
void DynamicCharacterController::preStep (const btCollisionWorld* collisionWorld)
|
||||
{
|
||||
btTransform xform;
|
||||
m_rigidBody->getMotionState()->getWorldTransform (xform);
|
||||
btVector3 down = -xform.getBasis()[1];
|
||||
btVector3 forward = xform.getBasis()[2];
|
||||
down.normalize ();
|
||||
forward.normalize();
|
||||
|
||||
m_raySource[0] = xform.getOrigin();
|
||||
m_raySource[1] = xform.getOrigin();
|
||||
|
||||
m_rayTarget[0] = m_raySource[0] + down * m_halfHeight * btScalar(1.1);
|
||||
m_rayTarget[1] = m_raySource[1] + forward * m_halfHeight * btScalar(1.1);
|
||||
|
||||
class ClosestNotMe : public btCollisionWorld::ClosestRayResultCallback
|
||||
{
|
||||
public:
|
||||
ClosestNotMe (btRigidBody* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
|
||||
{
|
||||
m_me = me;
|
||||
}
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
|
||||
{
|
||||
if (rayResult.m_collisionObject == m_me)
|
||||
return 1.0;
|
||||
|
||||
return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace
|
||||
);
|
||||
}
|
||||
protected:
|
||||
btRigidBody* m_me;
|
||||
};
|
||||
|
||||
ClosestNotMe rayCallback(m_rigidBody);
|
||||
|
||||
int i = 0;
|
||||
for (i = 0; i < 2; i++)
|
||||
{
|
||||
rayCallback.m_closestHitFraction = 1.0;
|
||||
collisionWorld->rayTest (m_raySource[i], m_rayTarget[i], rayCallback);
|
||||
if (rayCallback.hasHit())
|
||||
{
|
||||
m_rayLambda[i] = rayCallback.m_closestHitFraction;
|
||||
} else {
|
||||
m_rayLambda[i] = 1.0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void DynamicCharacterController::playerStep (const btCollisionWorld* dynaWorld,btScalar dt,
|
||||
int forward,
|
||||
int backward,
|
||||
int left,
|
||||
int right,
|
||||
int jump)
|
||||
{
|
||||
btTransform xform;
|
||||
m_rigidBody->getMotionState()->getWorldTransform (xform);
|
||||
|
||||
/* Handle turning */
|
||||
if (left)
|
||||
m_turnAngle -= dt * m_turnVelocity;
|
||||
if (right)
|
||||
m_turnAngle += dt * m_turnVelocity;
|
||||
|
||||
xform.setRotation (btQuaternion (btVector3(0.0, 1.0, 0.0), m_turnAngle));
|
||||
|
||||
btVector3 linearVelocity = m_rigidBody->getLinearVelocity();
|
||||
btScalar speed = m_rigidBody->getLinearVelocity().length();
|
||||
|
||||
btVector3 forwardDir = xform.getBasis()[2];
|
||||
forwardDir.normalize ();
|
||||
btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
|
||||
btScalar walkSpeed = m_walkVelocity * dt;
|
||||
|
||||
if (forward)
|
||||
walkDirection += forwardDir;
|
||||
if (backward)
|
||||
walkDirection -= forwardDir;
|
||||
|
||||
|
||||
|
||||
if (!forward && !backward && onGround())
|
||||
{
|
||||
/* Dampen when on the ground and not being moved by the player */
|
||||
linearVelocity *= btScalar(0.2);
|
||||
m_rigidBody->setLinearVelocity (linearVelocity);
|
||||
} else {
|
||||
if (speed < m_maxLinearVelocity)
|
||||
{
|
||||
btVector3 velocity = linearVelocity + walkDirection * walkSpeed;
|
||||
m_rigidBody->setLinearVelocity (velocity);
|
||||
}
|
||||
}
|
||||
|
||||
m_rigidBody->getMotionState()->setWorldTransform (xform);
|
||||
m_rigidBody->setCenterOfMassTransform (xform);
|
||||
}
|
||||
|
||||
bool DynamicCharacterController::canJump () const
|
||||
{
|
||||
return onGround();
|
||||
}
|
||||
|
||||
void DynamicCharacterController::jump ()
|
||||
{
|
||||
if (!canJump())
|
||||
return;
|
||||
|
||||
btTransform xform;
|
||||
m_rigidBody->getMotionState()->getWorldTransform (xform);
|
||||
btVector3 up = xform.getBasis()[1];
|
||||
up.normalize ();
|
||||
btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
|
||||
m_rigidBody->applyCentralImpulse (up * magnitude);
|
||||
}
|
||||
|
||||
bool DynamicCharacterController::onGround () const
|
||||
{
|
||||
return m_rayLambda[0] < btScalar(1.0);
|
||||
}
|
||||
|
||||
void DynamicCharacterController::reset ()
|
||||
{
|
||||
}
|
||||
void DynamicCharacterController::warp (const btVector3& origin)
|
||||
{
|
||||
}
|
||||
void DynamicCharacterController::registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
#include "LinearMath/btDefaultMotionState.h"
|
||||
#include "DynamicCharacterController.h"
|
||||
|
||||
DynamicCharacterController::DynamicCharacterController ()
|
||||
{
|
||||
m_rayLambda[0] = 1.0;
|
||||
m_rayLambda[1] = 1.0;
|
||||
m_halfHeight = 1.0;
|
||||
m_turnAngle = 0.0;
|
||||
m_maxLinearVelocity = 10.0;
|
||||
m_walkVelocity = 8.0; // meters/sec
|
||||
m_turnVelocity = 1.0; // radians/sec
|
||||
m_shape = NULL;
|
||||
m_rigidBody = NULL;
|
||||
}
|
||||
|
||||
DynamicCharacterController::~DynamicCharacterController ()
|
||||
{
|
||||
}
|
||||
|
||||
void DynamicCharacterController::setup (btScalar height, btScalar width, btScalar stepHeight)
|
||||
{
|
||||
btVector3 spherePositions[2];
|
||||
btScalar sphereRadii[2];
|
||||
|
||||
sphereRadii[0] = width;
|
||||
sphereRadii[1] = width;
|
||||
spherePositions[0] = btVector3 (0.0, (height/btScalar(2.0) - width), 0.0);
|
||||
spherePositions[1] = btVector3 (0.0, (-height/btScalar(2.0) + width), 0.0);
|
||||
|
||||
m_halfHeight = height/btScalar(2.0);
|
||||
|
||||
m_shape = new btMultiSphereShape (&spherePositions[0], &sphereRadii[0], 2);
|
||||
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity ();
|
||||
startTransform.setOrigin (btVector3(0.0, 2.0, 0.0));
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo cInfo(1.0, myMotionState, m_shape);
|
||||
m_rigidBody = new btRigidBody(cInfo);
|
||||
// kinematic vs. static doesn't work
|
||||
//m_rigidBody->setCollisionFlags( m_rigidBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
||||
m_rigidBody->setSleepingThresholds (0.0, 0.0);
|
||||
m_rigidBody->setAngularFactor (0.0);
|
||||
|
||||
}
|
||||
|
||||
void DynamicCharacterController::destroy ()
|
||||
{
|
||||
if (m_shape)
|
||||
{
|
||||
delete m_shape;
|
||||
}
|
||||
|
||||
if (m_rigidBody)
|
||||
{
|
||||
delete m_rigidBody;
|
||||
m_rigidBody = 0;
|
||||
}
|
||||
}
|
||||
|
||||
btCollisionObject* DynamicCharacterController::getCollisionObject ()
|
||||
{
|
||||
return m_rigidBody;
|
||||
}
|
||||
|
||||
void DynamicCharacterController::preStep (const btCollisionWorld* collisionWorld)
|
||||
{
|
||||
btTransform xform;
|
||||
m_rigidBody->getMotionState()->getWorldTransform (xform);
|
||||
btVector3 down = -xform.getBasis()[1];
|
||||
btVector3 forward = xform.getBasis()[2];
|
||||
down.normalize ();
|
||||
forward.normalize();
|
||||
|
||||
m_raySource[0] = xform.getOrigin();
|
||||
m_raySource[1] = xform.getOrigin();
|
||||
|
||||
m_rayTarget[0] = m_raySource[0] + down * m_halfHeight * btScalar(1.1);
|
||||
m_rayTarget[1] = m_raySource[1] + forward * m_halfHeight * btScalar(1.1);
|
||||
|
||||
class ClosestNotMe : public btCollisionWorld::ClosestRayResultCallback
|
||||
{
|
||||
public:
|
||||
ClosestNotMe (btRigidBody* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0, 0.0, 0.0), btVector3(0.0, 0.0, 0.0))
|
||||
{
|
||||
m_me = me;
|
||||
}
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
|
||||
{
|
||||
if (rayResult.m_collisionObject == m_me)
|
||||
return 1.0;
|
||||
|
||||
return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace
|
||||
);
|
||||
}
|
||||
protected:
|
||||
btRigidBody* m_me;
|
||||
};
|
||||
|
||||
ClosestNotMe rayCallback(m_rigidBody);
|
||||
|
||||
int i = 0;
|
||||
for (i = 0; i < 2; i++)
|
||||
{
|
||||
rayCallback.m_closestHitFraction = 1.0;
|
||||
collisionWorld->rayTest (m_raySource[i], m_rayTarget[i], rayCallback);
|
||||
if (rayCallback.hasHit())
|
||||
{
|
||||
m_rayLambda[i] = rayCallback.m_closestHitFraction;
|
||||
} else {
|
||||
m_rayLambda[i] = 1.0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void DynamicCharacterController::playerStep (const btCollisionWorld* dynaWorld,btScalar dt,
|
||||
int forward,
|
||||
int backward,
|
||||
int left,
|
||||
int right,
|
||||
int jump)
|
||||
{
|
||||
btTransform xform;
|
||||
m_rigidBody->getMotionState()->getWorldTransform (xform);
|
||||
|
||||
/* Handle turning */
|
||||
if (left)
|
||||
m_turnAngle -= dt * m_turnVelocity;
|
||||
if (right)
|
||||
m_turnAngle += dt * m_turnVelocity;
|
||||
|
||||
xform.setRotation (btQuaternion (btVector3(0.0, 1.0, 0.0), m_turnAngle));
|
||||
|
||||
btVector3 linearVelocity = m_rigidBody->getLinearVelocity();
|
||||
btScalar speed = m_rigidBody->getLinearVelocity().length();
|
||||
|
||||
btVector3 forwardDir = xform.getBasis()[2];
|
||||
forwardDir.normalize ();
|
||||
btVector3 walkDirection = btVector3(0.0, 0.0, 0.0);
|
||||
btScalar walkSpeed = m_walkVelocity * dt;
|
||||
|
||||
if (forward)
|
||||
walkDirection += forwardDir;
|
||||
if (backward)
|
||||
walkDirection -= forwardDir;
|
||||
|
||||
|
||||
|
||||
if (!forward && !backward && onGround())
|
||||
{
|
||||
/* Dampen when on the ground and not being moved by the player */
|
||||
linearVelocity *= btScalar(0.2);
|
||||
m_rigidBody->setLinearVelocity (linearVelocity);
|
||||
} else {
|
||||
if (speed < m_maxLinearVelocity)
|
||||
{
|
||||
btVector3 velocity = linearVelocity + walkDirection * walkSpeed;
|
||||
m_rigidBody->setLinearVelocity (velocity);
|
||||
}
|
||||
}
|
||||
|
||||
m_rigidBody->getMotionState()->setWorldTransform (xform);
|
||||
m_rigidBody->setCenterOfMassTransform (xform);
|
||||
}
|
||||
|
||||
bool DynamicCharacterController::canJump () const
|
||||
{
|
||||
return onGround();
|
||||
}
|
||||
|
||||
void DynamicCharacterController::jump ()
|
||||
{
|
||||
if (!canJump())
|
||||
return;
|
||||
|
||||
btTransform xform;
|
||||
m_rigidBody->getMotionState()->getWorldTransform (xform);
|
||||
btVector3 up = xform.getBasis()[1];
|
||||
up.normalize ();
|
||||
btScalar magnitude = (btScalar(1.0)/m_rigidBody->getInvMass()) * btScalar(8.0);
|
||||
m_rigidBody->applyCentralImpulse (up * magnitude);
|
||||
}
|
||||
|
||||
bool DynamicCharacterController::onGround () const
|
||||
{
|
||||
return m_rayLambda[0] < btScalar(1.0);
|
||||
}
|
||||
|
||||
void DynamicCharacterController::reset ()
|
||||
{
|
||||
}
|
||||
void DynamicCharacterController::warp (const btVector3& origin)
|
||||
{
|
||||
}
|
||||
void DynamicCharacterController::registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,55 +1,55 @@
|
||||
#ifndef CHARACTER_CONTROLLER_H
|
||||
#define CHARACTER_CONTROLLER_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
#include "BulletDynamics/Character/btCharacterControllerInterface.h"
|
||||
|
||||
class btCollisionShape;
|
||||
class btRigidBody;
|
||||
class btCollisionWorld;
|
||||
|
||||
///DynamicCharacterController is obsolete/unsupported at the moment
|
||||
class DynamicCharacterController : public btCharacterControllerInterface
|
||||
{
|
||||
protected:
|
||||
btScalar m_halfHeight;
|
||||
btCollisionShape* m_shape;
|
||||
btRigidBody* m_rigidBody;
|
||||
|
||||
btVector3 m_raySource[2];
|
||||
btVector3 m_rayTarget[2];
|
||||
btScalar m_rayLambda[2];
|
||||
btVector3 m_rayNormal[2];
|
||||
|
||||
btScalar m_turnAngle;
|
||||
|
||||
btScalar m_maxLinearVelocity;
|
||||
btScalar m_walkVelocity;
|
||||
btScalar m_turnVelocity;
|
||||
public:
|
||||
DynamicCharacterController ();
|
||||
~DynamicCharacterController ();
|
||||
void setup (btScalar height = 2.0, btScalar width = 0.25, btScalar stepHeight = 0.25);
|
||||
void destroy ();
|
||||
|
||||
virtual void reset ();
|
||||
virtual void warp (const btVector3& origin);
|
||||
virtual void registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher);
|
||||
|
||||
btCollisionObject* getCollisionObject ();
|
||||
|
||||
void preStep (const btCollisionWorld* collisionWorld);
|
||||
void playerStep (const btCollisionWorld* collisionWorld,btScalar dt,
|
||||
int forward,
|
||||
int backward,
|
||||
int left,
|
||||
int right,
|
||||
int jump);
|
||||
bool canJump () const;
|
||||
void jump ();
|
||||
|
||||
bool onGround () const;
|
||||
};
|
||||
|
||||
#endif
|
||||
#ifndef CHARACTER_CONTROLLER_H
|
||||
#define CHARACTER_CONTROLLER_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
#include "BulletDynamics/Character/btCharacterControllerInterface.h"
|
||||
|
||||
class btCollisionShape;
|
||||
class btRigidBody;
|
||||
class btCollisionWorld;
|
||||
|
||||
///DynamicCharacterController is obsolete/unsupported at the moment
|
||||
class DynamicCharacterController : public btCharacterControllerInterface
|
||||
{
|
||||
protected:
|
||||
btScalar m_halfHeight;
|
||||
btCollisionShape* m_shape;
|
||||
btRigidBody* m_rigidBody;
|
||||
|
||||
btVector3 m_raySource[2];
|
||||
btVector3 m_rayTarget[2];
|
||||
btScalar m_rayLambda[2];
|
||||
btVector3 m_rayNormal[2];
|
||||
|
||||
btScalar m_turnAngle;
|
||||
|
||||
btScalar m_maxLinearVelocity;
|
||||
btScalar m_walkVelocity;
|
||||
btScalar m_turnVelocity;
|
||||
public:
|
||||
DynamicCharacterController ();
|
||||
~DynamicCharacterController ();
|
||||
void setup (btScalar height = 2.0, btScalar width = 0.25, btScalar stepHeight = 0.25);
|
||||
void destroy ();
|
||||
|
||||
virtual void reset ();
|
||||
virtual void warp (const btVector3& origin);
|
||||
virtual void registerPairCacheAndDispatcher (btOverlappingPairCache* pairCache, btCollisionDispatcher* dispatcher);
|
||||
|
||||
btCollisionObject* getCollisionObject ();
|
||||
|
||||
void preStep (const btCollisionWorld* collisionWorld);
|
||||
void playerStep (const btCollisionWorld* collisionWorld,btScalar dt,
|
||||
int forward,
|
||||
int backward,
|
||||
int left,
|
||||
int right,
|
||||
int jump);
|
||||
bool canJump () const;
|
||||
void jump ();
|
||||
|
||||
bool onGround () const;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,36 +1,36 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppCollisionDemo
|
||||
CollisionDemo.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppCollisionDemo
|
||||
CollisionDemo.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppCollisionDemo
|
||||
CollisionDemo.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppCollisionDemo
|
||||
CollisionDemo.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,34 +1,34 @@
|
||||
/*
|
||||
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 COLLISION_DEMO_H
|
||||
#define COLLISION_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///CollisionDemo shows the low-level direct access to GJK
|
||||
class CollisionDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
};
|
||||
|
||||
#endif //COLLISION_DEMO_H
|
||||
|
||||
/*
|
||||
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 COLLISION_DEMO_H
|
||||
#define COLLISION_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///CollisionDemo shows the low-level direct access to GJK
|
||||
class CollisionDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
};
|
||||
|
||||
#endif //COLLISION_DEMO_H
|
||||
|
||||
|
||||
@@ -1,77 +1,77 @@
|
||||
# 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
|
||||
########################################################
|
||||
|
||||
|
||||
IF (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppCollisionInterfaceDemo
|
||||
CollisionInterfaceDemo.cpp
|
||||
CollisionInterfaceDemo.h
|
||||
main.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppCollisionInterfaceDemo
|
||||
CollisionInterfaceDemo.cpp
|
||||
CollisionInterfaceDemo.h
|
||||
main.cpp
|
||||
)
|
||||
ENDIF()
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCollisionInterfaceDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCollisionInterfaceDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
ELSE (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppCollisionInterfaceDemo
|
||||
WIN32
|
||||
CollisionInterfaceDemo.cpp
|
||||
CollisionInterfaceDemo.h
|
||||
Win32CollisionInterfaceDemo.cpp
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ENDIF (USE_GLUT)
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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
|
||||
########################################################
|
||||
|
||||
|
||||
IF (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppCollisionInterfaceDemo
|
||||
CollisionInterfaceDemo.cpp
|
||||
CollisionInterfaceDemo.h
|
||||
main.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppCollisionInterfaceDemo
|
||||
CollisionInterfaceDemo.cpp
|
||||
CollisionInterfaceDemo.h
|
||||
main.cpp
|
||||
)
|
||||
ENDIF()
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCollisionInterfaceDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppCollisionInterfaceDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
ELSE (USE_GLUT)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppCollisionInterfaceDemo
|
||||
WIN32
|
||||
CollisionInterfaceDemo.cpp
|
||||
CollisionInterfaceDemo.h
|
||||
Win32CollisionInterfaceDemo.cpp
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ENDIF (USE_GLUT)
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppCollisionInterfaceDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,42 +1,42 @@
|
||||
/*
|
||||
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 COLLISION_INTERFACE_DEMO_H
|
||||
#define COLLISION_INTERFACE_DEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
///CollisionInterfaceDemo shows how to use the collision detection without dynamics (btCollisionWorld/CollisionObject)
|
||||
class CollisionInterfaceDemo : public PlatformDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
};
|
||||
|
||||
#endif //COLLISION_INTERFACE_DEMO_H
|
||||
|
||||
/*
|
||||
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 COLLISION_INTERFACE_DEMO_H
|
||||
#define COLLISION_INTERFACE_DEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
///CollisionInterfaceDemo shows how to use the collision detection without dynamics (btCollisionWorld/CollisionObject)
|
||||
class CollisionInterfaceDemo : public PlatformDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
};
|
||||
|
||||
#endif //COLLISION_INTERFACE_DEMO_H
|
||||
|
||||
|
||||
@@ -1,25 +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 "CollisionInterfaceDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new CollisionInterfaceDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
#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 "CollisionInterfaceDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new CollisionInterfaceDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,19 +1,19 @@
|
||||
|
||||
#include "CollisionInterfaceDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
int screenWidth = 640;
|
||||
int screenHeight = 480;
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
CollisionInterfaceDemo* collisionInterfaceDemo = new CollisionInterfaceDemo();
|
||||
|
||||
collisionInterfaceDemo->initPhysics();
|
||||
|
||||
collisionInterfaceDemo->clientResetScene();
|
||||
|
||||
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Interface Demo",collisionInterfaceDemo);
|
||||
}
|
||||
|
||||
#include "CollisionInterfaceDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
int screenWidth = 640;
|
||||
int screenHeight = 480;
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
CollisionInterfaceDemo* collisionInterfaceDemo = new CollisionInterfaceDemo();
|
||||
|
||||
collisionInterfaceDemo->initPhysics();
|
||||
|
||||
collisionInterfaceDemo->clientResetScene();
|
||||
|
||||
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Interface Demo",collisionInterfaceDemo);
|
||||
}
|
||||
|
||||
@@ -1,48 +1,48 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConcaveConvexCastDemo
|
||||
ConcaveConvexcastDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConcaveConvexCastDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConcaveConvexCastDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppConcaveConvexCastDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppConcaveConvexCastDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppConcaveConvexCastDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConcaveConvexCastDemo
|
||||
ConcaveConvexcastDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConcaveConvexCastDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConcaveConvexCastDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppConcaveConvexCastDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppConcaveConvexCastDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppConcaveConvexCastDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,84 +1,84 @@
|
||||
/*
|
||||
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 CONCAVE_CONVEXCAST_DEMO_H
|
||||
#define CONCAVE_CONVEXCAST_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
class btTriangleIndexVertexArray;
|
||||
|
||||
///ConcaveRaycaseDemo shows usage of static concave triangle meshes
|
||||
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
|
||||
class ConcaveConvexcastDemo : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
bool m_animatedMesh;
|
||||
|
||||
public:
|
||||
|
||||
ConcaveConvexcastDemo() : m_animatedMesh(true)
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~ConcaveConvexcastDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
//to show refit works
|
||||
void setVertexPositions(float waveheight, float offset);
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConcaveConvexcastDemo* demo = new ConcaveConvexcastDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
};
|
||||
};
|
||||
|
||||
#endif //CONCAVE_CONVEXCAST_DEMO_H
|
||||
|
||||
/*
|
||||
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 CONCAVE_CONVEXCAST_DEMO_H
|
||||
#define CONCAVE_CONVEXCAST_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
class btTriangleIndexVertexArray;
|
||||
|
||||
///ConcaveRaycaseDemo shows usage of static concave triangle meshes
|
||||
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
|
||||
class ConcaveConvexcastDemo : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
bool m_animatedMesh;
|
||||
|
||||
public:
|
||||
|
||||
ConcaveConvexcastDemo() : m_animatedMesh(true)
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~ConcaveConvexcastDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
//to show refit works
|
||||
void setVertexPositions(float waveheight, float offset);
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConcaveConvexcastDemo* demo = new ConcaveConvexcastDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
};
|
||||
};
|
||||
|
||||
#endif //CONCAVE_CONVEXCAST_DEMO_H
|
||||
|
||||
|
||||
@@ -1,91 +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 CONCAVE_DEMO_H
|
||||
#define CONCAVE_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;
|
||||
class btTriangleIndexVertexArray;
|
||||
|
||||
///ConcaveDemo shows usage of static concave triangle meshes
|
||||
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
|
||||
class ConcaveDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
bool m_animatedMesh;
|
||||
|
||||
public:
|
||||
|
||||
ConcaveDemo() : m_animatedMesh(true)
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~ConcaveDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
//to show refit works
|
||||
void setVertexPositions(float waveheight, float offset);
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConcaveDemo* demo = new ConcaveDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
};
|
||||
};
|
||||
|
||||
#endif //CONCAVE_DEMO_H
|
||||
|
||||
/*
|
||||
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 CONCAVE_DEMO_H
|
||||
#define CONCAVE_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;
|
||||
class btTriangleIndexVertexArray;
|
||||
|
||||
///ConcaveDemo shows usage of static concave triangle meshes
|
||||
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
|
||||
class ConcaveDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
bool m_animatedMesh;
|
||||
|
||||
public:
|
||||
|
||||
ConcaveDemo() : m_animatedMesh(true)
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~ConcaveDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
//to show refit works
|
||||
void setVertexPositions(float waveheight, float offset);
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConcaveDemo* demo = new ConcaveDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
};
|
||||
};
|
||||
|
||||
#endif //CONCAVE_DEMO_H
|
||||
|
||||
|
||||
@@ -1,25 +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 "ConcaveDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new ConcaveDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
#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 "ConcaveDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new ConcaveDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,39 +1,39 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppConcaveRayCastDemo
|
||||
ConcaveRaycastDemo.cpp
|
||||
main.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppConcaveRayCastDemo
|
||||
ConcaveRaycastDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppConcaveRayCastDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppConcaveRayCastDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppConcaveRayCastDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppConcaveRayCastDemo
|
||||
ConcaveRaycastDemo.cpp
|
||||
main.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppConcaveRayCastDemo
|
||||
ConcaveRaycastDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppConcaveRayCastDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppConcaveRayCastDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppConcaveRayCastDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,493 +1,493 @@
|
||||
/*
|
||||
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 "ConcaveRaycastDemo.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
//#define BATCH_RAYCASTER
|
||||
|
||||
#ifdef BATCH_RAYCASTER
|
||||
#include "BulletMultiThreaded/SpuBatchRaycaster.h"
|
||||
static SpuBatchRaycaster* gBatchRaycaster = NULL;
|
||||
#endif
|
||||
|
||||
#ifdef USE_LIBSPE2
|
||||
#include "BulletMultiThreaded/SpuLibspe2Support.h"
|
||||
#elif defined (_WIN32)
|
||||
#include "BulletMultiThreaded/Win32ThreadSupport.h"
|
||||
#else
|
||||
//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
|
||||
#include "BulletMultiThreaded/SequentialThreadSupport.h"
|
||||
#endif //USE_LIBSPE2
|
||||
|
||||
static btVector3* gVertices=0;
|
||||
static int* gIndices=0;
|
||||
static btBvhTriangleMeshShape* trimeshShape =0;
|
||||
static btRigidBody* staticBody = 0;
|
||||
static float waveheight = 5.f;
|
||||
|
||||
const float TRIANGLE_SIZE=8.f;
|
||||
|
||||
|
||||
/* Scrolls back and forth over terrain */
|
||||
#define NUMRAYS_IN_BAR 100
|
||||
class btRaycastBar
|
||||
{
|
||||
public:
|
||||
btVector3 source[NUMRAYS_IN_BAR];
|
||||
btVector3 dest[NUMRAYS_IN_BAR];
|
||||
btVector3 direction[NUMRAYS_IN_BAR];
|
||||
btVector3 hit[NUMRAYS_IN_BAR];
|
||||
btVector3 normal[NUMRAYS_IN_BAR];
|
||||
|
||||
int frame_counter;
|
||||
int ms;
|
||||
int sum_ms;
|
||||
int sum_ms_samples;
|
||||
int min_ms;
|
||||
int max_ms;
|
||||
|
||||
#ifdef USE_BT_CLOCK
|
||||
btClock frame_timer;
|
||||
#endif //USE_BT_CLOCK
|
||||
|
||||
btScalar dx;
|
||||
btScalar min_x;
|
||||
btScalar max_x;
|
||||
btScalar min_y;
|
||||
btScalar max_y;
|
||||
btScalar sign;
|
||||
|
||||
btRaycastBar ()
|
||||
{
|
||||
ms = 0;
|
||||
max_ms = 0;
|
||||
min_ms = 9999.0;
|
||||
sum_ms_samples = 0;
|
||||
sum_ms = 0;
|
||||
}
|
||||
|
||||
btRaycastBar (bool unused, btScalar ray_length, btScalar min_z, btScalar max_z, btScalar min_y = -10, btScalar max_y = 10)
|
||||
{
|
||||
frame_counter = 0;
|
||||
ms = 0;
|
||||
max_ms = 0;
|
||||
min_ms = 9999.0;
|
||||
sum_ms_samples = 0;
|
||||
sum_ms = 0;
|
||||
dx = 10.0;
|
||||
min_x = -40;
|
||||
max_x = 20;
|
||||
this->min_y = min_y;
|
||||
this->max_y = max_y;
|
||||
sign = 1.0;
|
||||
btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
btScalar z = (max_z-min_z)/btScalar(NUMRAYS_IN_BAR) * btScalar(i) + min_z;
|
||||
source[i] = btVector3(min_x, max_y, z);
|
||||
dest[i] = btVector3(min_x + ray_length, min_y, z);
|
||||
normal[i] = btVector3(1.0, 0.0, 0.0);
|
||||
}
|
||||
}
|
||||
|
||||
btRaycastBar (btScalar ray_length, btScalar z, btScalar min_y = -1000, btScalar max_y = 10)
|
||||
{
|
||||
frame_counter = 0;
|
||||
ms = 0;
|
||||
max_ms = 0;
|
||||
min_ms = 9999.0;
|
||||
sum_ms_samples = 0;
|
||||
sum_ms = 0;
|
||||
dx = 10.0;
|
||||
min_x = -40;
|
||||
max_x = 20;
|
||||
this->min_y = min_y;
|
||||
this->max_y = max_y;
|
||||
sign = 1.0;
|
||||
btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
btScalar alpha = dalpha * i;
|
||||
// rotate around by alpha degrees y
|
||||
btTransform tr (btQuaternion (btVector3(0.0, 1.0, 0.0), alpha));
|
||||
direction[i] = btVector3(1.0, 0.0, 0.0);
|
||||
direction[i] = tr* direction[i];
|
||||
direction[i] = direction[i] * ray_length;
|
||||
source[i] = btVector3(min_x, max_y, z);
|
||||
dest[i] = source[i] + direction[i];
|
||||
dest[i][1] = min_y;
|
||||
normal[i] = btVector3(1.0, 0.0, 0.0);
|
||||
}
|
||||
}
|
||||
|
||||
void move (btScalar dt)
|
||||
{
|
||||
if (dt > (1.0/60.0))
|
||||
dt = 1.0/60.0;
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
source[i][0] += dx * dt * sign;
|
||||
dest[i][0] += dx * dt * sign;
|
||||
}
|
||||
if (source[0][0] < min_x)
|
||||
sign = 1.0;
|
||||
else if (source[0][0] > max_x)
|
||||
sign = -1.0;
|
||||
}
|
||||
|
||||
void cast (btCollisionWorld* cw)
|
||||
{
|
||||
#ifdef USE_BT_CLOCK
|
||||
frame_timer.reset ();
|
||||
#endif //USE_BT_CLOCK
|
||||
|
||||
#ifdef BATCH_RAYCASTER
|
||||
if (!gBatchRaycaster)
|
||||
return;
|
||||
|
||||
gBatchRaycaster->clearRays ();
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
gBatchRaycaster->addRay (source[i], dest[i]);
|
||||
}
|
||||
gBatchRaycaster->performBatchRaycast ();
|
||||
for (int i = 0; i < gBatchRaycaster->getNumRays (); i++)
|
||||
{
|
||||
const SpuRaycastTaskWorkUnitOut& out = (*gBatchRaycaster)[i];
|
||||
hit[i].setInterpolate3(source[i],dest[i],out.hitFraction);
|
||||
normal[i] = out.hitNormal;
|
||||
normal[i].normalize ();
|
||||
}
|
||||
#else
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
|
||||
|
||||
cw->rayTest (source[i], dest[i], cb);
|
||||
if (cb.hasHit ())
|
||||
{
|
||||
hit[i] = cb.m_hitPointWorld;
|
||||
normal[i] = cb.m_hitNormalWorld;
|
||||
normal[i].normalize ();
|
||||
} else {
|
||||
hit[i] = dest[i];
|
||||
normal[i] = btVector3(1.0, 0.0, 0.0);
|
||||
}
|
||||
|
||||
}
|
||||
#ifdef USE_BT_CLOCK
|
||||
ms += frame_timer.getTimeMilliseconds ();
|
||||
#endif //USE_BT_CLOCK
|
||||
frame_counter++;
|
||||
if (frame_counter > 50)
|
||||
{
|
||||
min_ms = ms < min_ms ? ms : min_ms;
|
||||
max_ms = ms > max_ms ? ms : max_ms;
|
||||
sum_ms += ms;
|
||||
sum_ms_samples++;
|
||||
btScalar mean_ms = (btScalar)sum_ms/(btScalar)sum_ms_samples;
|
||||
printf("%d rays in %d ms %d %d %f\n", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
|
||||
ms = 0;
|
||||
frame_counter = 0;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void draw ()
|
||||
{
|
||||
glDisable (GL_LIGHTING);
|
||||
glColor3f (0.0, 1.0, 0.0);
|
||||
glBegin (GL_LINES);
|
||||
int i;
|
||||
|
||||
for (i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
glVertex3f (source[i][0], source[i][1], source[i][2]);
|
||||
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
|
||||
}
|
||||
glEnd ();
|
||||
glColor3f (1.0, 1.0, 1.0);
|
||||
glBegin (GL_LINES);
|
||||
for (i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
|
||||
glVertex3f (hit[i][0] + normal[i][0], hit[i][1] + normal[i][1], hit[i][2] + normal[i][2]);
|
||||
}
|
||||
glEnd ();
|
||||
glColor3f (0.0, 1.0, 1.0);
|
||||
glBegin (GL_POINTS);
|
||||
for ( i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
|
||||
}
|
||||
glEnd ();
|
||||
glEnable (GL_LIGHTING);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
static btRaycastBar raycastBar;
|
||||
|
||||
|
||||
const int NUM_VERTS_X = 30;
|
||||
const int NUM_VERTS_Y = 30;
|
||||
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
|
||||
|
||||
void ConcaveRaycastDemo::setVertexPositions(float waveheight, float offset)
|
||||
{
|
||||
int i;
|
||||
int j;
|
||||
|
||||
for ( i=0;i<NUM_VERTS_X;i++)
|
||||
{
|
||||
for (j=0;j<NUM_VERTS_Y;j++)
|
||||
{
|
||||
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
|
||||
//0.f,
|
||||
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
|
||||
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ConcaveRaycastDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
if (key == 'g')
|
||||
{
|
||||
m_animatedMesh = !m_animatedMesh;
|
||||
if (m_animatedMesh)
|
||||
{
|
||||
staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
||||
staticBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
} else
|
||||
{
|
||||
staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
|
||||
staticBody->forceActivationState(ACTIVE_TAG);
|
||||
}
|
||||
}
|
||||
|
||||
DemoApplication::keyboardCallback(key,x,y);
|
||||
|
||||
}
|
||||
|
||||
void ConcaveRaycastDemo::initPhysics()
|
||||
{
|
||||
#define TRISIZE 10.f
|
||||
|
||||
|
||||
|
||||
int vertStride = sizeof(btVector3);
|
||||
int indexStride = 3*sizeof(int);
|
||||
|
||||
|
||||
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
|
||||
|
||||
gVertices = new btVector3[totalVerts];
|
||||
gIndices = new int[totalTriangles*3];
|
||||
|
||||
int i;
|
||||
|
||||
|
||||
setVertexPositions(waveheight,0.f);
|
||||
|
||||
int index=0;
|
||||
for ( i=0;i<NUM_VERTS_X-1;i++)
|
||||
{
|
||||
for (int j=0;j<NUM_VERTS_Y-1;j++)
|
||||
{
|
||||
gIndices[index++] = j*NUM_VERTS_X+i;
|
||||
gIndices[index++] = j*NUM_VERTS_X+i+1;
|
||||
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
|
||||
|
||||
gIndices[index++] = j*NUM_VERTS_X+i;
|
||||
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
|
||||
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
|
||||
}
|
||||
}
|
||||
|
||||
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
|
||||
gIndices,
|
||||
indexStride,
|
||||
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
|
||||
|
||||
bool useQuantizedAabbCompression = true;
|
||||
|
||||
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
|
||||
m_collisionShapes.push_back(trimeshShape);
|
||||
|
||||
btCollisionShape* groundShape = trimeshShape;
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
|
||||
btVector3 worldMin(-1000,-1000,-1000);
|
||||
btVector3 worldMax(1000,1000,1000);
|
||||
m_broadphase = new btAxisSweep3(worldMin,worldMax);
|
||||
m_solver = new btSequentialImpulseConstraintSolver();
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
|
||||
float mass = 0.f;
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,-2,0));
|
||||
|
||||
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
{
|
||||
for (int i=0;i<10;i++)
|
||||
{
|
||||
//btCollisionShape* colShape = new btCapsuleShape(0.5,2.0);//boxShape = new btSphereShape(1.f);
|
||||
startTransform.setOrigin(btVector3(2*i,10,1));
|
||||
localCreateRigidBody(1, startTransform,colShape);
|
||||
}
|
||||
}
|
||||
|
||||
startTransform.setIdentity();
|
||||
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
|
||||
|
||||
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
|
||||
|
||||
#ifdef BATCH_RAYCASTER
|
||||
int maxNumOutstandingTasks = 4;
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
Win32ThreadSupport::Win32ThreadConstructionInfo tci("batch raycast",
|
||||
processRaycastTask,
|
||||
createRaycastLocalStoreMemory,
|
||||
maxNumOutstandingTasks);
|
||||
m_threadSupportRaycast = new Win32ThreadSupport(tci);
|
||||
printf("m_threadSupportRaycast = %p\n", m_threadSupportRaycast);
|
||||
#endif
|
||||
|
||||
gBatchRaycaster = new SpuBatchRaycaster (m_threadSupportRaycast, maxNumOutstandingTasks, m_dynamicsWorld->getCollisionObjectArray(), m_dynamicsWorld->getNumCollisionObjects());
|
||||
#endif
|
||||
|
||||
raycastBar = btRaycastBar (4000.0, 0.0);
|
||||
//raycastBar = btRaycastBar (true, 40.0, -50.0, 50.0);
|
||||
}
|
||||
|
||||
void ConcaveRaycastDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
if (m_animatedMesh)
|
||||
{
|
||||
static float offset=0.f;
|
||||
offset+=0.01f;
|
||||
|
||||
setVertexPositions(waveheight,offset);
|
||||
|
||||
btVector3 worldMin(-1000,-1000,-1000);
|
||||
btVector3 worldMax(1000,1000,1000);
|
||||
|
||||
trimeshShape->refitTree(worldMin,worldMax);
|
||||
|
||||
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
|
||||
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
}
|
||||
|
||||
m_dynamicsWorld->stepSimulation(dt);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
raycastBar.move (dt);
|
||||
raycastBar.cast (m_dynamicsWorld);
|
||||
renderme();
|
||||
raycastBar.draw ();
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void ConcaveRaycastDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
raycastBar.draw ();
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ConcaveRaycastDemo::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;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
if (m_indexVertexArrays)
|
||||
delete m_indexVertexArrays;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
delete[] gVertices;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
/*
|
||||
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 "ConcaveRaycastDemo.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
//#define BATCH_RAYCASTER
|
||||
|
||||
#ifdef BATCH_RAYCASTER
|
||||
#include "BulletMultiThreaded/SpuBatchRaycaster.h"
|
||||
static SpuBatchRaycaster* gBatchRaycaster = NULL;
|
||||
#endif
|
||||
|
||||
#ifdef USE_LIBSPE2
|
||||
#include "BulletMultiThreaded/SpuLibspe2Support.h"
|
||||
#elif defined (_WIN32)
|
||||
#include "BulletMultiThreaded/Win32ThreadSupport.h"
|
||||
#else
|
||||
//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
|
||||
#include "BulletMultiThreaded/SequentialThreadSupport.h"
|
||||
#endif //USE_LIBSPE2
|
||||
|
||||
static btVector3* gVertices=0;
|
||||
static int* gIndices=0;
|
||||
static btBvhTriangleMeshShape* trimeshShape =0;
|
||||
static btRigidBody* staticBody = 0;
|
||||
static float waveheight = 5.f;
|
||||
|
||||
const float TRIANGLE_SIZE=8.f;
|
||||
|
||||
|
||||
/* Scrolls back and forth over terrain */
|
||||
#define NUMRAYS_IN_BAR 100
|
||||
class btRaycastBar
|
||||
{
|
||||
public:
|
||||
btVector3 source[NUMRAYS_IN_BAR];
|
||||
btVector3 dest[NUMRAYS_IN_BAR];
|
||||
btVector3 direction[NUMRAYS_IN_BAR];
|
||||
btVector3 hit[NUMRAYS_IN_BAR];
|
||||
btVector3 normal[NUMRAYS_IN_BAR];
|
||||
|
||||
int frame_counter;
|
||||
int ms;
|
||||
int sum_ms;
|
||||
int sum_ms_samples;
|
||||
int min_ms;
|
||||
int max_ms;
|
||||
|
||||
#ifdef USE_BT_CLOCK
|
||||
btClock frame_timer;
|
||||
#endif //USE_BT_CLOCK
|
||||
|
||||
btScalar dx;
|
||||
btScalar min_x;
|
||||
btScalar max_x;
|
||||
btScalar min_y;
|
||||
btScalar max_y;
|
||||
btScalar sign;
|
||||
|
||||
btRaycastBar ()
|
||||
{
|
||||
ms = 0;
|
||||
max_ms = 0;
|
||||
min_ms = 9999.0;
|
||||
sum_ms_samples = 0;
|
||||
sum_ms = 0;
|
||||
}
|
||||
|
||||
btRaycastBar (bool unused, btScalar ray_length, btScalar min_z, btScalar max_z, btScalar min_y = -10, btScalar max_y = 10)
|
||||
{
|
||||
frame_counter = 0;
|
||||
ms = 0;
|
||||
max_ms = 0;
|
||||
min_ms = 9999.0;
|
||||
sum_ms_samples = 0;
|
||||
sum_ms = 0;
|
||||
dx = 10.0;
|
||||
min_x = -40;
|
||||
max_x = 20;
|
||||
this->min_y = min_y;
|
||||
this->max_y = max_y;
|
||||
sign = 1.0;
|
||||
btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
btScalar z = (max_z-min_z)/btScalar(NUMRAYS_IN_BAR) * btScalar(i) + min_z;
|
||||
source[i] = btVector3(min_x, max_y, z);
|
||||
dest[i] = btVector3(min_x + ray_length, min_y, z);
|
||||
normal[i] = btVector3(1.0, 0.0, 0.0);
|
||||
}
|
||||
}
|
||||
|
||||
btRaycastBar (btScalar ray_length, btScalar z, btScalar min_y = -1000, btScalar max_y = 10)
|
||||
{
|
||||
frame_counter = 0;
|
||||
ms = 0;
|
||||
max_ms = 0;
|
||||
min_ms = 9999.0;
|
||||
sum_ms_samples = 0;
|
||||
sum_ms = 0;
|
||||
dx = 10.0;
|
||||
min_x = -40;
|
||||
max_x = 20;
|
||||
this->min_y = min_y;
|
||||
this->max_y = max_y;
|
||||
sign = 1.0;
|
||||
btScalar dalpha = 2*SIMD_2_PI/NUMRAYS_IN_BAR;
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
btScalar alpha = dalpha * i;
|
||||
// rotate around by alpha degrees y
|
||||
btTransform tr (btQuaternion (btVector3(0.0, 1.0, 0.0), alpha));
|
||||
direction[i] = btVector3(1.0, 0.0, 0.0);
|
||||
direction[i] = tr* direction[i];
|
||||
direction[i] = direction[i] * ray_length;
|
||||
source[i] = btVector3(min_x, max_y, z);
|
||||
dest[i] = source[i] + direction[i];
|
||||
dest[i][1] = min_y;
|
||||
normal[i] = btVector3(1.0, 0.0, 0.0);
|
||||
}
|
||||
}
|
||||
|
||||
void move (btScalar dt)
|
||||
{
|
||||
if (dt > (1.0/60.0))
|
||||
dt = 1.0/60.0;
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
source[i][0] += dx * dt * sign;
|
||||
dest[i][0] += dx * dt * sign;
|
||||
}
|
||||
if (source[0][0] < min_x)
|
||||
sign = 1.0;
|
||||
else if (source[0][0] > max_x)
|
||||
sign = -1.0;
|
||||
}
|
||||
|
||||
void cast (btCollisionWorld* cw)
|
||||
{
|
||||
#ifdef USE_BT_CLOCK
|
||||
frame_timer.reset ();
|
||||
#endif //USE_BT_CLOCK
|
||||
|
||||
#ifdef BATCH_RAYCASTER
|
||||
if (!gBatchRaycaster)
|
||||
return;
|
||||
|
||||
gBatchRaycaster->clearRays ();
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
gBatchRaycaster->addRay (source[i], dest[i]);
|
||||
}
|
||||
gBatchRaycaster->performBatchRaycast ();
|
||||
for (int i = 0; i < gBatchRaycaster->getNumRays (); i++)
|
||||
{
|
||||
const SpuRaycastTaskWorkUnitOut& out = (*gBatchRaycaster)[i];
|
||||
hit[i].setInterpolate3(source[i],dest[i],out.hitFraction);
|
||||
normal[i] = out.hitNormal;
|
||||
normal[i].normalize ();
|
||||
}
|
||||
#else
|
||||
for (int i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
|
||||
|
||||
cw->rayTest (source[i], dest[i], cb);
|
||||
if (cb.hasHit ())
|
||||
{
|
||||
hit[i] = cb.m_hitPointWorld;
|
||||
normal[i] = cb.m_hitNormalWorld;
|
||||
normal[i].normalize ();
|
||||
} else {
|
||||
hit[i] = dest[i];
|
||||
normal[i] = btVector3(1.0, 0.0, 0.0);
|
||||
}
|
||||
|
||||
}
|
||||
#ifdef USE_BT_CLOCK
|
||||
ms += frame_timer.getTimeMilliseconds ();
|
||||
#endif //USE_BT_CLOCK
|
||||
frame_counter++;
|
||||
if (frame_counter > 50)
|
||||
{
|
||||
min_ms = ms < min_ms ? ms : min_ms;
|
||||
max_ms = ms > max_ms ? ms : max_ms;
|
||||
sum_ms += ms;
|
||||
sum_ms_samples++;
|
||||
btScalar mean_ms = (btScalar)sum_ms/(btScalar)sum_ms_samples;
|
||||
printf("%d rays in %d ms %d %d %f\n", NUMRAYS_IN_BAR * frame_counter, ms, min_ms, max_ms, mean_ms);
|
||||
ms = 0;
|
||||
frame_counter = 0;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void draw ()
|
||||
{
|
||||
glDisable (GL_LIGHTING);
|
||||
glColor3f (0.0, 1.0, 0.0);
|
||||
glBegin (GL_LINES);
|
||||
int i;
|
||||
|
||||
for (i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
glVertex3f (source[i][0], source[i][1], source[i][2]);
|
||||
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
|
||||
}
|
||||
glEnd ();
|
||||
glColor3f (1.0, 1.0, 1.0);
|
||||
glBegin (GL_LINES);
|
||||
for (i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
|
||||
glVertex3f (hit[i][0] + normal[i][0], hit[i][1] + normal[i][1], hit[i][2] + normal[i][2]);
|
||||
}
|
||||
glEnd ();
|
||||
glColor3f (0.0, 1.0, 1.0);
|
||||
glBegin (GL_POINTS);
|
||||
for ( i = 0; i < NUMRAYS_IN_BAR; i++)
|
||||
{
|
||||
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
|
||||
}
|
||||
glEnd ();
|
||||
glEnable (GL_LIGHTING);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
static btRaycastBar raycastBar;
|
||||
|
||||
|
||||
const int NUM_VERTS_X = 30;
|
||||
const int NUM_VERTS_Y = 30;
|
||||
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
|
||||
|
||||
void ConcaveRaycastDemo::setVertexPositions(float waveheight, float offset)
|
||||
{
|
||||
int i;
|
||||
int j;
|
||||
|
||||
for ( i=0;i<NUM_VERTS_X;i++)
|
||||
{
|
||||
for (j=0;j<NUM_VERTS_Y;j++)
|
||||
{
|
||||
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
|
||||
//0.f,
|
||||
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
|
||||
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ConcaveRaycastDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
if (key == 'g')
|
||||
{
|
||||
m_animatedMesh = !m_animatedMesh;
|
||||
if (m_animatedMesh)
|
||||
{
|
||||
staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
|
||||
staticBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
} else
|
||||
{
|
||||
staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
|
||||
staticBody->forceActivationState(ACTIVE_TAG);
|
||||
}
|
||||
}
|
||||
|
||||
DemoApplication::keyboardCallback(key,x,y);
|
||||
|
||||
}
|
||||
|
||||
void ConcaveRaycastDemo::initPhysics()
|
||||
{
|
||||
#define TRISIZE 10.f
|
||||
|
||||
|
||||
|
||||
int vertStride = sizeof(btVector3);
|
||||
int indexStride = 3*sizeof(int);
|
||||
|
||||
|
||||
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
|
||||
|
||||
gVertices = new btVector3[totalVerts];
|
||||
gIndices = new int[totalTriangles*3];
|
||||
|
||||
int i;
|
||||
|
||||
|
||||
setVertexPositions(waveheight,0.f);
|
||||
|
||||
int index=0;
|
||||
for ( i=0;i<NUM_VERTS_X-1;i++)
|
||||
{
|
||||
for (int j=0;j<NUM_VERTS_Y-1;j++)
|
||||
{
|
||||
gIndices[index++] = j*NUM_VERTS_X+i;
|
||||
gIndices[index++] = j*NUM_VERTS_X+i+1;
|
||||
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
|
||||
|
||||
gIndices[index++] = j*NUM_VERTS_X+i;
|
||||
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
|
||||
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
|
||||
}
|
||||
}
|
||||
|
||||
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
|
||||
gIndices,
|
||||
indexStride,
|
||||
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
|
||||
|
||||
bool useQuantizedAabbCompression = true;
|
||||
|
||||
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
|
||||
m_collisionShapes.push_back(trimeshShape);
|
||||
|
||||
btCollisionShape* groundShape = trimeshShape;
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
|
||||
btVector3 worldMin(-1000,-1000,-1000);
|
||||
btVector3 worldMax(1000,1000,1000);
|
||||
m_broadphase = new btAxisSweep3(worldMin,worldMax);
|
||||
m_solver = new btSequentialImpulseConstraintSolver();
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
|
||||
float mass = 0.f;
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,-2,0));
|
||||
|
||||
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
{
|
||||
for (int i=0;i<10;i++)
|
||||
{
|
||||
//btCollisionShape* colShape = new btCapsuleShape(0.5,2.0);//boxShape = new btSphereShape(1.f);
|
||||
startTransform.setOrigin(btVector3(2*i,10,1));
|
||||
localCreateRigidBody(1, startTransform,colShape);
|
||||
}
|
||||
}
|
||||
|
||||
startTransform.setIdentity();
|
||||
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
|
||||
|
||||
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
|
||||
|
||||
#ifdef BATCH_RAYCASTER
|
||||
int maxNumOutstandingTasks = 4;
|
||||
|
||||
#ifdef USE_WIN32_THREADING
|
||||
Win32ThreadSupport::Win32ThreadConstructionInfo tci("batch raycast",
|
||||
processRaycastTask,
|
||||
createRaycastLocalStoreMemory,
|
||||
maxNumOutstandingTasks);
|
||||
m_threadSupportRaycast = new Win32ThreadSupport(tci);
|
||||
printf("m_threadSupportRaycast = %p\n", m_threadSupportRaycast);
|
||||
#endif
|
||||
|
||||
gBatchRaycaster = new SpuBatchRaycaster (m_threadSupportRaycast, maxNumOutstandingTasks, m_dynamicsWorld->getCollisionObjectArray(), m_dynamicsWorld->getNumCollisionObjects());
|
||||
#endif
|
||||
|
||||
raycastBar = btRaycastBar (4000.0, 0.0);
|
||||
//raycastBar = btRaycastBar (true, 40.0, -50.0, 50.0);
|
||||
}
|
||||
|
||||
void ConcaveRaycastDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
if (m_animatedMesh)
|
||||
{
|
||||
static float offset=0.f;
|
||||
offset+=0.01f;
|
||||
|
||||
setVertexPositions(waveheight,offset);
|
||||
|
||||
btVector3 worldMin(-1000,-1000,-1000);
|
||||
btVector3 worldMax(1000,1000,1000);
|
||||
|
||||
trimeshShape->refitTree(worldMin,worldMax);
|
||||
|
||||
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
|
||||
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
}
|
||||
|
||||
m_dynamicsWorld->stepSimulation(dt);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
raycastBar.move (dt);
|
||||
raycastBar.cast (m_dynamicsWorld);
|
||||
renderme();
|
||||
raycastBar.draw ();
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void ConcaveRaycastDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
raycastBar.draw ();
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ConcaveRaycastDemo::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;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
if (m_indexVertexArrays)
|
||||
delete m_indexVertexArrays;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
delete[] gVertices;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,85 +1,85 @@
|
||||
/*
|
||||
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 CONCAVE_RAYCAST_DEMO_H
|
||||
#define CONCAVE_RAYCAST_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
class btTriangleIndexVertexArray;
|
||||
|
||||
///ConcaveRaycastDemo shows usage of static concave triangle meshes
|
||||
class ConcaveRaycastDemo : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
class btThreadSupportInterface* m_threadSupportRaycast;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
bool m_animatedMesh;
|
||||
|
||||
public:
|
||||
|
||||
ConcaveRaycastDemo() : m_animatedMesh(false)
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~ConcaveRaycastDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
//to show refit works
|
||||
void setVertexPositions(float waveheight, float offset);
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConcaveRaycastDemo* demo = new ConcaveRaycastDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
};
|
||||
};
|
||||
|
||||
#endif //CONCAVE_RAYCAST_DEMO_H
|
||||
|
||||
/*
|
||||
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 CONCAVE_RAYCAST_DEMO_H
|
||||
#define CONCAVE_RAYCAST_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
class btTriangleIndexVertexArray;
|
||||
|
||||
///ConcaveRaycastDemo shows usage of static concave triangle meshes
|
||||
class ConcaveRaycastDemo : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
class btThreadSupportInterface* m_threadSupportRaycast;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
bool m_animatedMesh;
|
||||
|
||||
public:
|
||||
|
||||
ConcaveRaycastDemo() : m_animatedMesh(false)
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~ConcaveRaycastDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
//to show refit works
|
||||
void setVertexPositions(float waveheight, float offset);
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConcaveRaycastDemo* demo = new ConcaveRaycastDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
};
|
||||
};
|
||||
|
||||
#endif //CONCAVE_RAYCAST_DEMO_H
|
||||
|
||||
|
||||
@@ -1,69 +1,69 @@
|
||||
# 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
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
|
||||
)
|
||||
|
||||
|
||||
IF (USE_GLUT)
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConstraintDemo
|
||||
ConstraintDemo.cpp
|
||||
ConstraintDemo.h
|
||||
main.cpp
|
||||
)
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConcaveDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConcaveDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
ELSE (USE_GLUT)
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConstraintDemo
|
||||
WIN32
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
Win32ConstraintDemo.cpp
|
||||
ConstraintDemo.cpp
|
||||
ConstraintDemo.h
|
||||
)
|
||||
ENDIF (USE_GLUT)
|
||||
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppConstraintDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppConstraintDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppConstraintDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
|
||||
)
|
||||
|
||||
|
||||
IF (USE_GLUT)
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConstraintDemo
|
||||
ConstraintDemo.cpp
|
||||
ConstraintDemo.h
|
||||
main.cpp
|
||||
)
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConcaveDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConcaveDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
ELSE (USE_GLUT)
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConstraintDemo
|
||||
WIN32
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
Win32ConstraintDemo.cpp
|
||||
ConstraintDemo.cpp
|
||||
ConstraintDemo.h
|
||||
)
|
||||
ENDIF (USE_GLUT)
|
||||
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppConstraintDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppConstraintDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppConstraintDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,72 +1,72 @@
|
||||
/*
|
||||
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 CONSTRAINT_DEMO_H
|
||||
#define CONSTRAINT_DEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
///ConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
|
||||
class ConstraintDemo : public PlatformDemoApplication
|
||||
{
|
||||
//keep track of variables to delete memory at the end
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
class btBroadphaseInterface* m_overlappingPairCache;
|
||||
|
||||
class btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
class btConstraintSolver* m_constraintSolver;
|
||||
|
||||
class btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
void setupEmptyDynamicsWorld();
|
||||
|
||||
public:
|
||||
|
||||
|
||||
virtual ~ConstraintDemo();
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConstraintDemo* demo = new ConstraintDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
// for cone-twist motor driving
|
||||
float m_Time;
|
||||
class btConeTwistConstraint* m_ctc;
|
||||
|
||||
};
|
||||
|
||||
#endif //CONSTRAINT_DEMO_H
|
||||
|
||||
/*
|
||||
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 CONSTRAINT_DEMO_H
|
||||
#define CONSTRAINT_DEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
///ConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
|
||||
class ConstraintDemo : public PlatformDemoApplication
|
||||
{
|
||||
//keep track of variables to delete memory at the end
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
class btBroadphaseInterface* m_overlappingPairCache;
|
||||
|
||||
class btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
class btConstraintSolver* m_constraintSolver;
|
||||
|
||||
class btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
void setupEmptyDynamicsWorld();
|
||||
|
||||
public:
|
||||
|
||||
|
||||
virtual ~ConstraintDemo();
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConstraintDemo* demo = new ConstraintDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
// for cone-twist motor driving
|
||||
float m_Time;
|
||||
class btConeTwistConstraint* m_ctc;
|
||||
|
||||
};
|
||||
|
||||
#endif //CONSTRAINT_DEMO_H
|
||||
|
||||
|
||||
@@ -1,25 +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 "ConstraintDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new ConstraintDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
#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 "ConstraintDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new ConstraintDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,20 +1,20 @@
|
||||
#include "ConstraintDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
ConstraintDemo* constraintDemo = new ConstraintDemo();
|
||||
|
||||
|
||||
constraintDemo->initPhysics();
|
||||
constraintDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
constraintDemo->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
|
||||
return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
|
||||
}
|
||||
|
||||
#include "ConstraintDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
ConstraintDemo* constraintDemo = new ConstraintDemo();
|
||||
|
||||
|
||||
constraintDemo->initPhysics();
|
||||
constraintDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
constraintDemo->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
|
||||
return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/",constraintDemo);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,47 +1,47 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppContinuousConvexCollisionDemo
|
||||
ContinuousConvexCollisionDemo.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppContinuousConvexCollisionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppContinuousConvexCollisionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppContinuousConvexCollisionDemo
|
||||
ContinuousConvexCollisionDemo.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppContinuousConvexCollisionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppContinuousConvexCollisionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,36 +1,36 @@
|
||||
/*
|
||||
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 CONTINUOUS_CONVEX_COLLISION_DEMO_H
|
||||
#define CONTINUOUS_CONVEX_COLLISION_DEMO_H
|
||||
|
||||
|
||||
|
||||
///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
|
||||
#include "GlutDemoApplication.h"
|
||||
class btContinuousConvexCollisionDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //CONTINUOUS_CONVEX_COLLISION_DEMO_H
|
||||
|
||||
/*
|
||||
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 CONTINUOUS_CONVEX_COLLISION_DEMO_H
|
||||
#define CONTINUOUS_CONVEX_COLLISION_DEMO_H
|
||||
|
||||
|
||||
|
||||
///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
|
||||
#include "GlutDemoApplication.h"
|
||||
class btContinuousConvexCollisionDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //CONTINUOUS_CONVEX_COLLISION_DEMO_H
|
||||
|
||||
|
||||
@@ -1,82 +1,82 @@
|
||||
# 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.
|
||||
|
||||
|
||||
# This is the variable for Windows. I use this to define the root of my directory structure.
|
||||
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
|
||||
|
||||
# You shouldn't have to modify anything below this line
|
||||
########################################################
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
|
||||
)
|
||||
|
||||
IF (USE_GLUT)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ConvexDecomposition ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConvexDecompositionDemo
|
||||
main.cpp
|
||||
ConvexDecompositionDemo.cpp
|
||||
ConvexDecompositionDemo.h
|
||||
)
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConvexDecompositionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConvexDecompositionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
ELSE (USE_GLUT)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ConvexDecomposition ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConvexDecompositionDemo
|
||||
WIN32
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
ConvexDecompositionDemo.cpp
|
||||
ConvexDecompositionDemo.h
|
||||
Win32ConvexDecompositionDemo.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
|
||||
ENDIF (USE_GLUT)
|
||||
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConvexDecompositionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/SerializeDemo/testFile.bullet ${CMAKE_CURRENT_BINARY_DIR}/testFile.bullet
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/file.obj ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppConvexDecompositionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppConvexDecompositionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppConvexDecompositionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
# 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.
|
||||
|
||||
|
||||
# This is the variable for Windows. I use this to define the root of my directory structure.
|
||||
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
|
||||
|
||||
# You shouldn't have to modify anything below this line
|
||||
########################################################
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
|
||||
)
|
||||
|
||||
IF (USE_GLUT)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ConvexDecomposition ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConvexDecompositionDemo
|
||||
main.cpp
|
||||
ConvexDecompositionDemo.cpp
|
||||
ConvexDecompositionDemo.h
|
||||
)
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConvexDecompositionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConvexDecompositionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
ELSE (USE_GLUT)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ConvexDecomposition ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppConvexDecompositionDemo
|
||||
WIN32
|
||||
../OpenGL/Win32AppMain.cpp
|
||||
ConvexDecompositionDemo.cpp
|
||||
ConvexDecompositionDemo.h
|
||||
Win32ConvexDecompositionDemo.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
|
||||
ENDIF (USE_GLUT)
|
||||
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppConvexDecompositionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/SerializeDemo/testFile.bullet ${CMAKE_CURRENT_BINARY_DIR}/testFile.bullet
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/file.obj ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppConvexDecompositionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppConvexDecompositionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppConvexDecompositionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,88 +1,88 @@
|
||||
/*
|
||||
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 CONVEX_DECOMPOSITION_DEMO_H
|
||||
#define CONVEX_DECOMPOSITION_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;
|
||||
class btTriangleMesh;
|
||||
|
||||
///ConvexDecompositionDemo shows automatic convex decomposition of a concave mesh
|
||||
class ConvexDecompositionDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
void setupEmptyDynamicsWorld();
|
||||
public:
|
||||
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btAlignedObjectArray<btTriangleMesh*> m_trimeshes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
void initPhysics(const char* filename);
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~ConvexDecompositionDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConvexDecompositionDemo* demo = new ConvexDecompositionDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics("file.obj");
|
||||
return demo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //CONVEX_DECOMPOSITION_DEMO_H
|
||||
|
||||
|
||||
/*
|
||||
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 CONVEX_DECOMPOSITION_DEMO_H
|
||||
#define CONVEX_DECOMPOSITION_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;
|
||||
class btTriangleMesh;
|
||||
|
||||
///ConvexDecompositionDemo shows automatic convex decomposition of a concave mesh
|
||||
class ConvexDecompositionDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
void setupEmptyDynamicsWorld();
|
||||
public:
|
||||
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btAlignedObjectArray<btTriangleMesh*> m_trimeshes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
void initPhysics(const char* filename);
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~ConvexDecompositionDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ConvexDecompositionDemo* demo = new ConvexDecompositionDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics("file.obj");
|
||||
return demo;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //CONVEX_DECOMPOSITION_DEMO_H
|
||||
|
||||
|
||||
|
||||
@@ -1,25 +1,25 @@
|
||||
#ifdef _WINDOWS
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2010 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 "ConvexDecompositionDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new ConvexDecompositionDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
#ifdef _WINDOWS
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2010 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 "ConvexDecompositionDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new ConvexDecompositionDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,32 +1,32 @@
|
||||
|
||||
|
||||
#include "ConvexDecompositionDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
const char* filename = "file.obj";
|
||||
|
||||
|
||||
ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo();
|
||||
|
||||
convexDecompDemo->initPhysics(filename);
|
||||
|
||||
convexDecompDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
|
||||
convexDecompDemo->clientResetScene();
|
||||
|
||||
|
||||
|
||||
glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/",convexDecompDemo);
|
||||
|
||||
delete convexDecompDemo;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#include "ConvexDecompositionDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
const char* filename = "file.obj";
|
||||
|
||||
|
||||
ConvexDecompositionDemo* convexDecompDemo = new ConvexDecompositionDemo();
|
||||
|
||||
convexDecompDemo->initPhysics(filename);
|
||||
|
||||
convexDecompDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
|
||||
convexDecompDemo->clientResetScene();
|
||||
|
||||
|
||||
|
||||
glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/",convexDecompDemo);
|
||||
|
||||
delete convexDecompDemo;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -1,49 +1,49 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppDoublePrecisionDemo
|
||||
DoublePrecisionDemo.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppDoublePrecisionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppDoublePrecisionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppDoublePrecisionDemo
|
||||
DoublePrecisionDemo.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppDoublePrecisionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppDoublePrecisionDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,280 +1,280 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
///
|
||||
/// DoublePrecisionDemo shows high level usage of the Collision Detection.
|
||||
///
|
||||
|
||||
#include "GL_Simplex1to4.h"
|
||||
|
||||
//include common Bullet Collision Detection headerfiles
|
||||
#include "btBulletCollisionCommon.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "GLDebugFont.h"
|
||||
|
||||
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "DoublePrecisionDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
btScalar yaw=btScalar(0.);
|
||||
btScalar pitch=btScalar(0.);
|
||||
btScalar roll=btScalar(0.);
|
||||
const int maxNumObjects = 4;
|
||||
const int numObjects = 2;
|
||||
|
||||
GL_Simplex1to4 simplex;
|
||||
|
||||
|
||||
btCollisionObject objects[maxNumObjects];
|
||||
btCollisionWorld* collisionWorld = 0;
|
||||
|
||||
// so pixel ratio is 1:1
|
||||
int screenWidth = 640;
|
||||
int screenHeight = 640;
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
const btScalar LARGE_DISTANCE_FROM_ORIGIN = btScalar(999999.0);
|
||||
const btScalar VERY_SMALL_INCREMENT = btScalar(0.000009);
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
DoublePrecisionDemo* doublePrecisionDemo = new DoublePrecisionDemo();
|
||||
|
||||
doublePrecisionDemo->initPhysics();
|
||||
doublePrecisionDemo->setCameraDistance(btScalar(2.0));
|
||||
|
||||
doublePrecisionDemo->clientResetScene();
|
||||
|
||||
return glutmain(argc, argv,screenWidth,screenHeight,"Double Precision Demo",doublePrecisionDemo);
|
||||
}
|
||||
|
||||
void DoublePrecisionDemo::initPhysics()
|
||||
{
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
|
||||
|
||||
btMatrix3x3 basisA;
|
||||
basisA.setIdentity();
|
||||
|
||||
btMatrix3x3 basisB;
|
||||
basisB.setIdentity();
|
||||
|
||||
objects[0].getWorldTransform().setBasis(basisA);
|
||||
objects[1].getWorldTransform().setBasis(basisB);
|
||||
|
||||
|
||||
btBoxShape* boxA = new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
|
||||
objects[0].setCollisionShape(boxA);//&hullA;
|
||||
objects[1].setCollisionShape(boxB);//&hullB;
|
||||
|
||||
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
|
||||
btVector3 worldAabbMin(80000,80000,80000);
|
||||
btVector3 worldAabbMax(120000,120000,120000);
|
||||
|
||||
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
|
||||
|
||||
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
|
||||
|
||||
collisionWorld->addCollisionObject(&objects[0]);
|
||||
collisionWorld->addCollisionObject(&objects[1]);
|
||||
|
||||
}
|
||||
|
||||
|
||||
//to be implemented by the demo
|
||||
|
||||
void DoublePrecisionDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
displayCallback();
|
||||
}
|
||||
|
||||
|
||||
static btVoronoiSimplexSolver sGjkSimplexSolver;
|
||||
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
|
||||
|
||||
void DoublePrecisionDemo::displayCallback(void)
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glDisable(GL_LIGHTING);
|
||||
|
||||
collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
|
||||
|
||||
if (collisionWorld)
|
||||
collisionWorld->performDiscreteCollisionDetection();
|
||||
|
||||
int i;
|
||||
|
||||
btVector3 worldBoundsMin,worldBoundsMax;
|
||||
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
|
||||
|
||||
|
||||
///one way to draw all the contact points is iterating over contact manifolds / points:
|
||||
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
|
||||
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
|
||||
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
for (int j=0;j<numContacts;j++)
|
||||
{
|
||||
btManifoldPoint& pt = contactManifold->getContactPoint(j);
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(1, 1, 1);
|
||||
|
||||
btVector3 ptA = pt.getPositionWorldOnA() - m_cameraPosition;
|
||||
btVector3 ptB = pt.getPositionWorldOnB() - m_cameraPosition;
|
||||
|
||||
glVertex3d(ptA.x(),ptA.y(),ptA.z());
|
||||
glVertex3d(ptB.x(),ptB.y(),ptB.z());
|
||||
glEnd();
|
||||
}
|
||||
|
||||
//you can un-comment out this line, and then all points are removed
|
||||
//contactManifold->clearManifold();
|
||||
}
|
||||
|
||||
btScalar m[16];
|
||||
btTransform temp;
|
||||
|
||||
|
||||
btVector3 color;
|
||||
//int i;
|
||||
for (i=0;i<numObjects;i++)
|
||||
{
|
||||
if (i % 2)
|
||||
{
|
||||
color = btVector3(1,0,0);
|
||||
}
|
||||
else
|
||||
{
|
||||
color = btVector3(0,0,1);
|
||||
}
|
||||
temp = objects[i].getWorldTransform();
|
||||
temp.setOrigin(temp.getOrigin() - m_cameraPosition);
|
||||
temp.getOpenGLMatrix( m );
|
||||
m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
}
|
||||
|
||||
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
|
||||
objects[0].getWorldTransform().setOrigin(objects[0].getWorldTransform().getOrigin()+btVector3(VERY_SMALL_INCREMENT,VERY_SMALL_INCREMENT,0));
|
||||
|
||||
float yStart = 20.f;
|
||||
float yIncr = 20.f;
|
||||
char buf[124];
|
||||
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
setOrthographicProjection();
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
GLDebugDrawString(10.f,yStart,"Double Precision Mode");
|
||||
#else
|
||||
GLDebugDrawString(10.f,yStart,"Single Precision Mode");
|
||||
#endif
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
|
||||
|
||||
GLDebugDrawString(10.f,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
btScalar xValue = objects[0].getWorldTransform().getOrigin().x();
|
||||
btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
|
||||
btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
|
||||
sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
|
||||
GLDebugDrawString(10.f,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
xValue = objects[1].getWorldTransform().getOrigin().x();
|
||||
yValue = objects[1].getWorldTransform().getOrigin().y();
|
||||
zValue = objects[1].getWorldTransform().getOrigin().z();
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
|
||||
GLDebugDrawString(10.f,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
GLDebugDrawString(10.f,yStart,"w=toggle wireframe/solid");
|
||||
|
||||
resetPerspectiveProjection();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void DoublePrecisionDemo::clientResetScene()
|
||||
{
|
||||
objects[0].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN));
|
||||
objects[1].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN));
|
||||
}
|
||||
|
||||
|
||||
|
||||
void DoublePrecisionDemo::updateCamera()
|
||||
{
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
|
||||
// look at the stationary cube
|
||||
m_cameraTargetPosition = objects[0].getWorldTransform().getOrigin();
|
||||
|
||||
m_cameraPosition = m_cameraTargetPosition;
|
||||
m_cameraPosition[2] = m_cameraTargetPosition[2] - m_cameraDistance;
|
||||
|
||||
//update OpenGL camera settings
|
||||
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
|
||||
|
||||
// To not loose precision in the rendering process, we shift the object to the origin
|
||||
gluLookAt(0.0, 0.0, 0.0,
|
||||
m_cameraTargetPosition[0]-m_cameraPosition[0],m_cameraTargetPosition[1]-m_cameraPosition[1], m_cameraTargetPosition[2]-m_cameraPosition[2],
|
||||
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
}
|
||||
|
||||
void DoublePrecisionDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
if (key == 'w')
|
||||
{
|
||||
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
|
||||
{
|
||||
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
///
|
||||
/// DoublePrecisionDemo shows high level usage of the Collision Detection.
|
||||
///
|
||||
|
||||
#include "GL_Simplex1to4.h"
|
||||
|
||||
//include common Bullet Collision Detection headerfiles
|
||||
#include "btBulletCollisionCommon.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "GLDebugFont.h"
|
||||
|
||||
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "DoublePrecisionDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
btScalar yaw=btScalar(0.);
|
||||
btScalar pitch=btScalar(0.);
|
||||
btScalar roll=btScalar(0.);
|
||||
const int maxNumObjects = 4;
|
||||
const int numObjects = 2;
|
||||
|
||||
GL_Simplex1to4 simplex;
|
||||
|
||||
|
||||
btCollisionObject objects[maxNumObjects];
|
||||
btCollisionWorld* collisionWorld = 0;
|
||||
|
||||
// so pixel ratio is 1:1
|
||||
int screenWidth = 640;
|
||||
int screenHeight = 640;
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
const btScalar LARGE_DISTANCE_FROM_ORIGIN = btScalar(999999.0);
|
||||
const btScalar VERY_SMALL_INCREMENT = btScalar(0.000009);
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
DoublePrecisionDemo* doublePrecisionDemo = new DoublePrecisionDemo();
|
||||
|
||||
doublePrecisionDemo->initPhysics();
|
||||
doublePrecisionDemo->setCameraDistance(btScalar(2.0));
|
||||
|
||||
doublePrecisionDemo->clientResetScene();
|
||||
|
||||
return glutmain(argc, argv,screenWidth,screenHeight,"Double Precision Demo",doublePrecisionDemo);
|
||||
}
|
||||
|
||||
void DoublePrecisionDemo::initPhysics()
|
||||
{
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
|
||||
|
||||
btMatrix3x3 basisA;
|
||||
basisA.setIdentity();
|
||||
|
||||
btMatrix3x3 basisB;
|
||||
basisB.setIdentity();
|
||||
|
||||
objects[0].getWorldTransform().setBasis(basisA);
|
||||
objects[1].getWorldTransform().setBasis(basisB);
|
||||
|
||||
|
||||
btBoxShape* boxA = new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
|
||||
objects[0].setCollisionShape(boxA);//&hullA;
|
||||
objects[1].setCollisionShape(boxB);//&hullB;
|
||||
|
||||
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
|
||||
btVector3 worldAabbMin(80000,80000,80000);
|
||||
btVector3 worldAabbMax(120000,120000,120000);
|
||||
|
||||
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
|
||||
|
||||
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
|
||||
|
||||
collisionWorld->addCollisionObject(&objects[0]);
|
||||
collisionWorld->addCollisionObject(&objects[1]);
|
||||
|
||||
}
|
||||
|
||||
|
||||
//to be implemented by the demo
|
||||
|
||||
void DoublePrecisionDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
displayCallback();
|
||||
}
|
||||
|
||||
|
||||
static btVoronoiSimplexSolver sGjkSimplexSolver;
|
||||
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
|
||||
|
||||
void DoublePrecisionDemo::displayCallback(void)
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glDisable(GL_LIGHTING);
|
||||
|
||||
collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
|
||||
|
||||
if (collisionWorld)
|
||||
collisionWorld->performDiscreteCollisionDetection();
|
||||
|
||||
int i;
|
||||
|
||||
btVector3 worldBoundsMin,worldBoundsMax;
|
||||
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
|
||||
|
||||
|
||||
///one way to draw all the contact points is iterating over contact manifolds / points:
|
||||
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
|
||||
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
|
||||
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
for (int j=0;j<numContacts;j++)
|
||||
{
|
||||
btManifoldPoint& pt = contactManifold->getContactPoint(j);
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(1, 1, 1);
|
||||
|
||||
btVector3 ptA = pt.getPositionWorldOnA() - m_cameraPosition;
|
||||
btVector3 ptB = pt.getPositionWorldOnB() - m_cameraPosition;
|
||||
|
||||
glVertex3d(ptA.x(),ptA.y(),ptA.z());
|
||||
glVertex3d(ptB.x(),ptB.y(),ptB.z());
|
||||
glEnd();
|
||||
}
|
||||
|
||||
//you can un-comment out this line, and then all points are removed
|
||||
//contactManifold->clearManifold();
|
||||
}
|
||||
|
||||
btScalar m[16];
|
||||
btTransform temp;
|
||||
|
||||
|
||||
btVector3 color;
|
||||
//int i;
|
||||
for (i=0;i<numObjects;i++)
|
||||
{
|
||||
if (i % 2)
|
||||
{
|
||||
color = btVector3(1,0,0);
|
||||
}
|
||||
else
|
||||
{
|
||||
color = btVector3(0,0,1);
|
||||
}
|
||||
temp = objects[i].getWorldTransform();
|
||||
temp.setOrigin(temp.getOrigin() - m_cameraPosition);
|
||||
temp.getOpenGLMatrix( m );
|
||||
m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
}
|
||||
|
||||
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
|
||||
objects[0].getWorldTransform().setOrigin(objects[0].getWorldTransform().getOrigin()+btVector3(VERY_SMALL_INCREMENT,VERY_SMALL_INCREMENT,0));
|
||||
|
||||
float yStart = 20.f;
|
||||
float yIncr = 20.f;
|
||||
char buf[124];
|
||||
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
setOrthographicProjection();
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
GLDebugDrawString(10.f,yStart,"Double Precision Mode");
|
||||
#else
|
||||
GLDebugDrawString(10.f,yStart,"Single Precision Mode");
|
||||
#endif
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
|
||||
|
||||
GLDebugDrawString(10.f,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
btScalar xValue = objects[0].getWorldTransform().getOrigin().x();
|
||||
btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
|
||||
btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
|
||||
sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
|
||||
GLDebugDrawString(10.f,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
xValue = objects[1].getWorldTransform().getOrigin().x();
|
||||
yValue = objects[1].getWorldTransform().getOrigin().y();
|
||||
zValue = objects[1].getWorldTransform().getOrigin().z();
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
|
||||
GLDebugDrawString(10.f,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
GLDebugDrawString(10.f,yStart,"w=toggle wireframe/solid");
|
||||
|
||||
resetPerspectiveProjection();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void DoublePrecisionDemo::clientResetScene()
|
||||
{
|
||||
objects[0].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN));
|
||||
objects[1].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN));
|
||||
}
|
||||
|
||||
|
||||
|
||||
void DoublePrecisionDemo::updateCamera()
|
||||
{
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
|
||||
// look at the stationary cube
|
||||
m_cameraTargetPosition = objects[0].getWorldTransform().getOrigin();
|
||||
|
||||
m_cameraPosition = m_cameraTargetPosition;
|
||||
m_cameraPosition[2] = m_cameraTargetPosition[2] - m_cameraDistance;
|
||||
|
||||
//update OpenGL camera settings
|
||||
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
|
||||
|
||||
// To not loose precision in the rendering process, we shift the object to the origin
|
||||
gluLookAt(0.0, 0.0, 0.0,
|
||||
m_cameraTargetPosition[0]-m_cameraPosition[0],m_cameraTargetPosition[1]-m_cameraPosition[1], m_cameraTargetPosition[2]-m_cameraPosition[2],
|
||||
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
}
|
||||
|
||||
void DoublePrecisionDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
if (key == 'w')
|
||||
{
|
||||
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
|
||||
{
|
||||
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,49 +1,49 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppMotorDemo
|
||||
MotorDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppMotorDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppMotorDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppMotorDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppMotorDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppMotorDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppMotorDemo
|
||||
MotorDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppMotorDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppMotorDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppMotorDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppMotorDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppMotorDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,468 +1,468 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
|
||||
Motor Demo
|
||||
|
||||
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 "GlutStuff.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "MotorDemo.h"
|
||||
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI 3.14159265358979323846
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_2
|
||||
#define M_PI_2 1.57079632679489661923
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_4
|
||||
#define M_PI_4 0.785398163397448309616
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_8
|
||||
#define M_PI_8 0.5 * M_PI_4
|
||||
#endif
|
||||
|
||||
|
||||
// LOCAL FUNCTIONS
|
||||
|
||||
void vertex(btVector3 &v)
|
||||
{
|
||||
glVertex3d(v.getX(), v.getY(), v.getZ());
|
||||
}
|
||||
|
||||
void drawFrame(btTransform &tr)
|
||||
{
|
||||
const float fSize = 1.f;
|
||||
|
||||
glBegin(GL_LINES);
|
||||
|
||||
// x
|
||||
glColor3f(255.f,0,0);
|
||||
btVector3 vX = tr*btVector3(fSize,0,0);
|
||||
vertex(tr.getOrigin()); vertex(vX);
|
||||
|
||||
// y
|
||||
glColor3f(0,255.f,0);
|
||||
btVector3 vY = tr*btVector3(0,fSize,0);
|
||||
vertex(tr.getOrigin()); vertex(vY);
|
||||
|
||||
// z
|
||||
glColor3f(0,0,255.f);
|
||||
btVector3 vZ = tr*btVector3(0,0,fSize);
|
||||
vertex(tr.getOrigin()); vertex(vZ);
|
||||
|
||||
glEnd();
|
||||
}
|
||||
|
||||
// /LOCAL FUNCTIONS
|
||||
|
||||
|
||||
|
||||
#define NUM_LEGS 6
|
||||
#define BODYPART_COUNT 2 * NUM_LEGS + 1
|
||||
#define JOINT_COUNT BODYPART_COUNT - 1
|
||||
|
||||
class TestRig
|
||||
{
|
||||
btDynamicsWorld* m_ownerWorld;
|
||||
btCollisionShape* m_shapes[BODYPART_COUNT];
|
||||
btRigidBody* m_bodies[BODYPART_COUNT];
|
||||
btTypedConstraint* m_joints[JOINT_COUNT];
|
||||
|
||||
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
||||
{
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_ownerWorld->addRigidBody(body);
|
||||
|
||||
return body;
|
||||
}
|
||||
|
||||
|
||||
public:
|
||||
TestRig (btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
|
||||
: m_ownerWorld (ownerWorld)
|
||||
{
|
||||
btVector3 vUp(0, 1, 0);
|
||||
|
||||
//
|
||||
// Setup geometry
|
||||
//
|
||||
float fBodySize = 0.25f;
|
||||
float fLegLength = 0.45f;
|
||||
float fForeLegLength = 0.75f;
|
||||
m_shapes[0] = new btCapsuleShape(btScalar(fBodySize), btScalar(0.10));
|
||||
int i;
|
||||
for ( i=0; i<NUM_LEGS; i++)
|
||||
{
|
||||
m_shapes[1 + 2*i] = new btCapsuleShape(btScalar(0.10), btScalar(fLegLength));
|
||||
m_shapes[2 + 2*i] = new btCapsuleShape(btScalar(0.08), btScalar(fForeLegLength));
|
||||
}
|
||||
|
||||
//
|
||||
// Setup rigid bodies
|
||||
//
|
||||
float fHeight = 0.5;
|
||||
btTransform offset; offset.setIdentity();
|
||||
offset.setOrigin(positionOffset);
|
||||
|
||||
// root
|
||||
btVector3 vRoot = btVector3(btScalar(0.), btScalar(fHeight), btScalar(0.));
|
||||
btTransform transform;
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(vRoot);
|
||||
if (bFixed)
|
||||
{
|
||||
m_bodies[0] = localCreateRigidBody(btScalar(0.), offset*transform, m_shapes[0]);
|
||||
} else
|
||||
{
|
||||
m_bodies[0] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[0]);
|
||||
}
|
||||
// legs
|
||||
for ( i=0; i<NUM_LEGS; i++)
|
||||
{
|
||||
float fAngle = 2 * M_PI * i / NUM_LEGS;
|
||||
float fSin = sin(fAngle);
|
||||
float fCos = cos(fAngle);
|
||||
|
||||
transform.setIdentity();
|
||||
btVector3 vBoneOrigin = btVector3(btScalar(fCos*(fBodySize+0.5*fLegLength)), btScalar(fHeight), btScalar(fSin*(fBodySize+0.5*fLegLength)));
|
||||
transform.setOrigin(vBoneOrigin);
|
||||
|
||||
// thigh
|
||||
btVector3 vToBone = (vBoneOrigin - vRoot).normalize();
|
||||
btVector3 vAxis = vToBone.cross(vUp);
|
||||
transform.setRotation(btQuaternion(vAxis, M_PI_2));
|
||||
m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[1+2*i]);
|
||||
|
||||
// shin
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(fHeight-0.5*fForeLegLength), btScalar(fSin*(fBodySize+fLegLength))));
|
||||
m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[2+2*i]);
|
||||
}
|
||||
|
||||
// Setup some damping on the m_bodies
|
||||
for (i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_bodies[i]->setDamping(0.05, 0.85);
|
||||
m_bodies[i]->setDeactivationTime(0.8);
|
||||
//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
|
||||
m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
|
||||
}
|
||||
|
||||
|
||||
//
|
||||
// Setup the constraints
|
||||
//
|
||||
btHingeConstraint* hingeC;
|
||||
//btConeTwistConstraint* coneC;
|
||||
|
||||
btTransform localA, localB, localC;
|
||||
|
||||
for ( i=0; i<NUM_LEGS; i++)
|
||||
{
|
||||
float fAngle = 2 * M_PI * i / NUM_LEGS;
|
||||
float fSin = sin(fAngle);
|
||||
float fCos = cos(fAngle);
|
||||
|
||||
// hip joints
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
localA.getBasis().setEulerZYX(0,-fAngle,0); localA.setOrigin(btVector3(btScalar(fCos*fBodySize), btScalar(0.), btScalar(fSin*fBodySize)));
|
||||
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
|
||||
hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
|
||||
hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8));
|
||||
//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
|
||||
m_joints[2*i] = hingeC;
|
||||
m_ownerWorld->addConstraint(m_joints[2*i], true);
|
||||
|
||||
// knee joints
|
||||
localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
|
||||
localA.getBasis().setEulerZYX(0,-fAngle,0); localA.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(0.), btScalar(fSin*(fBodySize+fLegLength))));
|
||||
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
|
||||
localC = m_bodies[2+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
|
||||
hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC);
|
||||
//hingeC->setLimit(btScalar(-0.01), btScalar(0.01));
|
||||
hingeC->setLimit(btScalar(-M_PI_8), btScalar(0.2));
|
||||
m_joints[1+2*i] = hingeC;
|
||||
m_ownerWorld->addConstraint(m_joints[1+2*i], true);
|
||||
}
|
||||
}
|
||||
|
||||
virtual ~TestRig ()
|
||||
{
|
||||
int i;
|
||||
|
||||
// Remove all constraints
|
||||
for ( i = 0; i < JOINT_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeConstraint(m_joints[i]);
|
||||
delete m_joints[i]; m_joints[i] = 0;
|
||||
}
|
||||
|
||||
// Remove all bodies and shapes
|
||||
for ( i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeRigidBody(m_bodies[i]);
|
||||
|
||||
delete m_bodies[i]->getMotionState();
|
||||
|
||||
delete m_bodies[i]; m_bodies[i] = 0;
|
||||
delete m_shapes[i]; m_shapes[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
btTypedConstraint** GetJoints() {return &m_joints[0];}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
void motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
|
||||
{
|
||||
MotorDemo* motorDemo = (MotorDemo*)world->getWorldUserInfo();
|
||||
|
||||
motorDemo->setMotorTargets(timeStep);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MotorDemo::initPhysics()
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(true);
|
||||
|
||||
// Setup the basic world
|
||||
|
||||
m_Time = 0;
|
||||
m_fCyclePeriod = 2000.f; // in milliseconds
|
||||
|
||||
// m_fMuscleStrength = 0.05f;
|
||||
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
|
||||
// should be (numberOfsolverIterations * oldLimits)
|
||||
// currently solver uses 10 iterations, so:
|
||||
m_fMuscleStrength = 0.5f;
|
||||
|
||||
setCameraDistance(btScalar(5.));
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
btVector3 worldAabbMin(-10000,-10000,-10000);
|
||||
btVector3 worldAabbMax(10000,10000,10000);
|
||||
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
||||
|
||||
m_solver = new btSequentialImpulseConstraintSolver;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true);
|
||||
|
||||
|
||||
// Setup a big ground box
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-10,0));
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
}
|
||||
|
||||
// Spawn one ragdoll
|
||||
btVector3 startOffset(1,0.5,0);
|
||||
spawnTestRig(startOffset, false);
|
||||
startOffset.setValue(-2,0.5,0);
|
||||
spawnTestRig(startOffset, true);
|
||||
|
||||
clientResetScene();
|
||||
}
|
||||
|
||||
|
||||
void MotorDemo::spawnTestRig(const btVector3& startOffset, bool bFixed)
|
||||
{
|
||||
TestRig* rig = new TestRig(m_dynamicsWorld, startOffset, bFixed);
|
||||
m_rigs.push_back(rig);
|
||||
}
|
||||
|
||||
void PreStep()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void MotorDemo::setMotorTargets(btScalar deltaTime)
|
||||
{
|
||||
|
||||
float ms = deltaTime*1000000.;
|
||||
float minFPS = 1000000.f/60.f;
|
||||
if (ms > minFPS)
|
||||
ms = minFPS;
|
||||
|
||||
m_Time += ms;
|
||||
|
||||
//
|
||||
// set per-frame sinusoidal position targets using angular motor (hacky?)
|
||||
//
|
||||
for (int r=0; r<m_rigs.size(); r++)
|
||||
{
|
||||
for (int i=0; i<2*NUM_LEGS; i++)
|
||||
{
|
||||
btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_rigs[r]->GetJoints()[i]);
|
||||
btScalar fCurAngle = hingeC->getHingeAngle();
|
||||
|
||||
btScalar fTargetPercent = (int(m_Time / 1000) % int(m_fCyclePeriod)) / m_fCyclePeriod;
|
||||
btScalar fTargetAngle = 0.5 * (1 + sin(2 * M_PI * fTargetPercent));
|
||||
btScalar fTargetLimitAngle = hingeC->getLowerLimit() + fTargetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
|
||||
btScalar fAngleError = fTargetLimitAngle - fCurAngle;
|
||||
btScalar fDesiredAngularVel = 1000000.f * fAngleError/ms;
|
||||
hingeC->enableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void MotorDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float deltaTime = getDeltaTimeMicroseconds()/1000000.f;
|
||||
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
for (int i=2; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
drawFrame(body->getWorldTransform());
|
||||
}
|
||||
|
||||
glFlush();
|
||||
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void MotorDemo::displayCallback()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void MotorDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case '+': case '=':
|
||||
m_fCyclePeriod /= 1.1f;
|
||||
if (m_fCyclePeriod < 1.f)
|
||||
m_fCyclePeriod = 1.f;
|
||||
break;
|
||||
case '-': case '_':
|
||||
m_fCyclePeriod *= 1.1f;
|
||||
break;
|
||||
case '[':
|
||||
m_fMuscleStrength /= 1.1f;
|
||||
break;
|
||||
case ']':
|
||||
m_fMuscleStrength *= 1.1f;
|
||||
break;
|
||||
default:
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MotorDemo::exitPhysics()
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
for (i=0;i<m_rigs.size();i++)
|
||||
{
|
||||
TestRig* rig = m_rigs[i];
|
||||
delete rig;
|
||||
}
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
|
||||
Motor Demo
|
||||
|
||||
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 "GlutStuff.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "MotorDemo.h"
|
||||
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI 3.14159265358979323846
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_2
|
||||
#define M_PI_2 1.57079632679489661923
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_4
|
||||
#define M_PI_4 0.785398163397448309616
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_8
|
||||
#define M_PI_8 0.5 * M_PI_4
|
||||
#endif
|
||||
|
||||
|
||||
// LOCAL FUNCTIONS
|
||||
|
||||
void vertex(btVector3 &v)
|
||||
{
|
||||
glVertex3d(v.getX(), v.getY(), v.getZ());
|
||||
}
|
||||
|
||||
void drawFrame(btTransform &tr)
|
||||
{
|
||||
const float fSize = 1.f;
|
||||
|
||||
glBegin(GL_LINES);
|
||||
|
||||
// x
|
||||
glColor3f(255.f,0,0);
|
||||
btVector3 vX = tr*btVector3(fSize,0,0);
|
||||
vertex(tr.getOrigin()); vertex(vX);
|
||||
|
||||
// y
|
||||
glColor3f(0,255.f,0);
|
||||
btVector3 vY = tr*btVector3(0,fSize,0);
|
||||
vertex(tr.getOrigin()); vertex(vY);
|
||||
|
||||
// z
|
||||
glColor3f(0,0,255.f);
|
||||
btVector3 vZ = tr*btVector3(0,0,fSize);
|
||||
vertex(tr.getOrigin()); vertex(vZ);
|
||||
|
||||
glEnd();
|
||||
}
|
||||
|
||||
// /LOCAL FUNCTIONS
|
||||
|
||||
|
||||
|
||||
#define NUM_LEGS 6
|
||||
#define BODYPART_COUNT 2 * NUM_LEGS + 1
|
||||
#define JOINT_COUNT BODYPART_COUNT - 1
|
||||
|
||||
class TestRig
|
||||
{
|
||||
btDynamicsWorld* m_ownerWorld;
|
||||
btCollisionShape* m_shapes[BODYPART_COUNT];
|
||||
btRigidBody* m_bodies[BODYPART_COUNT];
|
||||
btTypedConstraint* m_joints[JOINT_COUNT];
|
||||
|
||||
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
||||
{
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_ownerWorld->addRigidBody(body);
|
||||
|
||||
return body;
|
||||
}
|
||||
|
||||
|
||||
public:
|
||||
TestRig (btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
|
||||
: m_ownerWorld (ownerWorld)
|
||||
{
|
||||
btVector3 vUp(0, 1, 0);
|
||||
|
||||
//
|
||||
// Setup geometry
|
||||
//
|
||||
float fBodySize = 0.25f;
|
||||
float fLegLength = 0.45f;
|
||||
float fForeLegLength = 0.75f;
|
||||
m_shapes[0] = new btCapsuleShape(btScalar(fBodySize), btScalar(0.10));
|
||||
int i;
|
||||
for ( i=0; i<NUM_LEGS; i++)
|
||||
{
|
||||
m_shapes[1 + 2*i] = new btCapsuleShape(btScalar(0.10), btScalar(fLegLength));
|
||||
m_shapes[2 + 2*i] = new btCapsuleShape(btScalar(0.08), btScalar(fForeLegLength));
|
||||
}
|
||||
|
||||
//
|
||||
// Setup rigid bodies
|
||||
//
|
||||
float fHeight = 0.5;
|
||||
btTransform offset; offset.setIdentity();
|
||||
offset.setOrigin(positionOffset);
|
||||
|
||||
// root
|
||||
btVector3 vRoot = btVector3(btScalar(0.), btScalar(fHeight), btScalar(0.));
|
||||
btTransform transform;
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(vRoot);
|
||||
if (bFixed)
|
||||
{
|
||||
m_bodies[0] = localCreateRigidBody(btScalar(0.), offset*transform, m_shapes[0]);
|
||||
} else
|
||||
{
|
||||
m_bodies[0] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[0]);
|
||||
}
|
||||
// legs
|
||||
for ( i=0; i<NUM_LEGS; i++)
|
||||
{
|
||||
float fAngle = 2 * M_PI * i / NUM_LEGS;
|
||||
float fSin = sin(fAngle);
|
||||
float fCos = cos(fAngle);
|
||||
|
||||
transform.setIdentity();
|
||||
btVector3 vBoneOrigin = btVector3(btScalar(fCos*(fBodySize+0.5*fLegLength)), btScalar(fHeight), btScalar(fSin*(fBodySize+0.5*fLegLength)));
|
||||
transform.setOrigin(vBoneOrigin);
|
||||
|
||||
// thigh
|
||||
btVector3 vToBone = (vBoneOrigin - vRoot).normalize();
|
||||
btVector3 vAxis = vToBone.cross(vUp);
|
||||
transform.setRotation(btQuaternion(vAxis, M_PI_2));
|
||||
m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[1+2*i]);
|
||||
|
||||
// shin
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(fHeight-0.5*fForeLegLength), btScalar(fSin*(fBodySize+fLegLength))));
|
||||
m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[2+2*i]);
|
||||
}
|
||||
|
||||
// Setup some damping on the m_bodies
|
||||
for (i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_bodies[i]->setDamping(0.05, 0.85);
|
||||
m_bodies[i]->setDeactivationTime(0.8);
|
||||
//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
|
||||
m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
|
||||
}
|
||||
|
||||
|
||||
//
|
||||
// Setup the constraints
|
||||
//
|
||||
btHingeConstraint* hingeC;
|
||||
//btConeTwistConstraint* coneC;
|
||||
|
||||
btTransform localA, localB, localC;
|
||||
|
||||
for ( i=0; i<NUM_LEGS; i++)
|
||||
{
|
||||
float fAngle = 2 * M_PI * i / NUM_LEGS;
|
||||
float fSin = sin(fAngle);
|
||||
float fCos = cos(fAngle);
|
||||
|
||||
// hip joints
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
localA.getBasis().setEulerZYX(0,-fAngle,0); localA.setOrigin(btVector3(btScalar(fCos*fBodySize), btScalar(0.), btScalar(fSin*fBodySize)));
|
||||
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
|
||||
hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
|
||||
hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8));
|
||||
//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
|
||||
m_joints[2*i] = hingeC;
|
||||
m_ownerWorld->addConstraint(m_joints[2*i], true);
|
||||
|
||||
// knee joints
|
||||
localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
|
||||
localA.getBasis().setEulerZYX(0,-fAngle,0); localA.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(0.), btScalar(fSin*(fBodySize+fLegLength))));
|
||||
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
|
||||
localC = m_bodies[2+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
|
||||
hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC);
|
||||
//hingeC->setLimit(btScalar(-0.01), btScalar(0.01));
|
||||
hingeC->setLimit(btScalar(-M_PI_8), btScalar(0.2));
|
||||
m_joints[1+2*i] = hingeC;
|
||||
m_ownerWorld->addConstraint(m_joints[1+2*i], true);
|
||||
}
|
||||
}
|
||||
|
||||
virtual ~TestRig ()
|
||||
{
|
||||
int i;
|
||||
|
||||
// Remove all constraints
|
||||
for ( i = 0; i < JOINT_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeConstraint(m_joints[i]);
|
||||
delete m_joints[i]; m_joints[i] = 0;
|
||||
}
|
||||
|
||||
// Remove all bodies and shapes
|
||||
for ( i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeRigidBody(m_bodies[i]);
|
||||
|
||||
delete m_bodies[i]->getMotionState();
|
||||
|
||||
delete m_bodies[i]; m_bodies[i] = 0;
|
||||
delete m_shapes[i]; m_shapes[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
btTypedConstraint** GetJoints() {return &m_joints[0];}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
void motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
|
||||
{
|
||||
MotorDemo* motorDemo = (MotorDemo*)world->getWorldUserInfo();
|
||||
|
||||
motorDemo->setMotorTargets(timeStep);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MotorDemo::initPhysics()
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(true);
|
||||
|
||||
// Setup the basic world
|
||||
|
||||
m_Time = 0;
|
||||
m_fCyclePeriod = 2000.f; // in milliseconds
|
||||
|
||||
// m_fMuscleStrength = 0.05f;
|
||||
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
|
||||
// should be (numberOfsolverIterations * oldLimits)
|
||||
// currently solver uses 10 iterations, so:
|
||||
m_fMuscleStrength = 0.5f;
|
||||
|
||||
setCameraDistance(btScalar(5.));
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
btVector3 worldAabbMin(-10000,-10000,-10000);
|
||||
btVector3 worldAabbMax(10000,10000,10000);
|
||||
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
||||
|
||||
m_solver = new btSequentialImpulseConstraintSolver;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true);
|
||||
|
||||
|
||||
// Setup a big ground box
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-10,0));
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
}
|
||||
|
||||
// Spawn one ragdoll
|
||||
btVector3 startOffset(1,0.5,0);
|
||||
spawnTestRig(startOffset, false);
|
||||
startOffset.setValue(-2,0.5,0);
|
||||
spawnTestRig(startOffset, true);
|
||||
|
||||
clientResetScene();
|
||||
}
|
||||
|
||||
|
||||
void MotorDemo::spawnTestRig(const btVector3& startOffset, bool bFixed)
|
||||
{
|
||||
TestRig* rig = new TestRig(m_dynamicsWorld, startOffset, bFixed);
|
||||
m_rigs.push_back(rig);
|
||||
}
|
||||
|
||||
void PreStep()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void MotorDemo::setMotorTargets(btScalar deltaTime)
|
||||
{
|
||||
|
||||
float ms = deltaTime*1000000.;
|
||||
float minFPS = 1000000.f/60.f;
|
||||
if (ms > minFPS)
|
||||
ms = minFPS;
|
||||
|
||||
m_Time += ms;
|
||||
|
||||
//
|
||||
// set per-frame sinusoidal position targets using angular motor (hacky?)
|
||||
//
|
||||
for (int r=0; r<m_rigs.size(); r++)
|
||||
{
|
||||
for (int i=0; i<2*NUM_LEGS; i++)
|
||||
{
|
||||
btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_rigs[r]->GetJoints()[i]);
|
||||
btScalar fCurAngle = hingeC->getHingeAngle();
|
||||
|
||||
btScalar fTargetPercent = (int(m_Time / 1000) % int(m_fCyclePeriod)) / m_fCyclePeriod;
|
||||
btScalar fTargetAngle = 0.5 * (1 + sin(2 * M_PI * fTargetPercent));
|
||||
btScalar fTargetLimitAngle = hingeC->getLowerLimit() + fTargetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
|
||||
btScalar fAngleError = fTargetLimitAngle - fCurAngle;
|
||||
btScalar fDesiredAngularVel = 1000000.f * fAngleError/ms;
|
||||
hingeC->enableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void MotorDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float deltaTime = getDeltaTimeMicroseconds()/1000000.f;
|
||||
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
for (int i=2; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
drawFrame(body->getWorldTransform());
|
||||
}
|
||||
|
||||
glFlush();
|
||||
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void MotorDemo::displayCallback()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void MotorDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case '+': case '=':
|
||||
m_fCyclePeriod /= 1.1f;
|
||||
if (m_fCyclePeriod < 1.f)
|
||||
m_fCyclePeriod = 1.f;
|
||||
break;
|
||||
case '-': case '_':
|
||||
m_fCyclePeriod *= 1.1f;
|
||||
break;
|
||||
case '[':
|
||||
m_fMuscleStrength /= 1.1f;
|
||||
break;
|
||||
case ']':
|
||||
m_fMuscleStrength *= 1.1f;
|
||||
break;
|
||||
default:
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MotorDemo::exitPhysics()
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
for (i=0;i<m_rigs.size();i++)
|
||||
{
|
||||
TestRig* rig = m_rigs[i];
|
||||
delete rig;
|
||||
}
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
@@ -1,80 +1,80 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
|
||||
Motor Demo
|
||||
|
||||
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 MOTORDEMO_H
|
||||
#define MOTORDEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
class MotorDemo : public GlutDemoApplication
|
||||
{
|
||||
float m_Time;
|
||||
float m_fCyclePeriod; // in milliseconds
|
||||
float m_fMuscleStrength;
|
||||
|
||||
btAlignedObjectArray<class TestRig*> m_rigs;
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
public:
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~MotorDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
void spawnTestRig(const btVector3& startOffset, bool bFixed);
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
MotorDemo* demo = new MotorDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
void setMotorTargets(btScalar deltaTime);
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
|
||||
Motor Demo
|
||||
|
||||
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 MOTORDEMO_H
|
||||
#define MOTORDEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
class MotorDemo : public GlutDemoApplication
|
||||
{
|
||||
float m_Time;
|
||||
float m_fCyclePeriod; // in milliseconds
|
||||
float m_fMuscleStrength;
|
||||
|
||||
btAlignedObjectArray<class TestRig*> m_rigs;
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
public:
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~MotorDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
void spawnTestRig(const btVector3& startOffset, bool bFixed);
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
MotorDemo* demo = new MotorDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
void setMotorTargets(btScalar deltaTime);
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,59 +1,59 @@
|
||||
# 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.
|
||||
|
||||
|
||||
# This is the variable for Windows. I use this to define the root of my directory structure.
|
||||
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
|
||||
|
||||
# You shouldn't have to modify anything below this line
|
||||
########################################################
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppForkLiftDemo
|
||||
ForkLiftDemo.cpp
|
||||
main.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppForkLiftDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppForkLiftDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppForkLiftDemo
|
||||
ForkLiftDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppForkLiftDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppForkLiftDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppForkLiftDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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.
|
||||
|
||||
|
||||
# This is the variable for Windows. I use this to define the root of my directory structure.
|
||||
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
|
||||
|
||||
# You shouldn't have to modify anything below this line
|
||||
########################################################
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
ADD_EXECUTABLE(AppForkLiftDemo
|
||||
ForkLiftDemo.cpp
|
||||
main.cpp
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppForkLiftDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppForkLiftDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
ELSE()
|
||||
ADD_EXECUTABLE(AppForkLiftDemo
|
||||
ForkLiftDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppForkLiftDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppForkLiftDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppForkLiftDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,113 +1,113 @@
|
||||
/*
|
||||
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 FORKLIFT_DEMO_H
|
||||
#define FORKLIFT_DEMO_H
|
||||
|
||||
class btVehicleTuning;
|
||||
struct btVehicleRaycaster;
|
||||
class btCollisionShape;
|
||||
|
||||
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///VehicleDemo shows how to setup and use the built-in raycast vehicle
|
||||
class ForkLiftDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
btRigidBody* m_carChassis;
|
||||
|
||||
//----------------------------
|
||||
btRigidBody* m_liftBody;
|
||||
btVector3 m_liftStartPos;
|
||||
btHingeConstraint* m_liftHinge;
|
||||
|
||||
btRigidBody* m_forkBody;
|
||||
btVector3 m_forkStartPos;
|
||||
btSliderConstraint* m_forkSlider;
|
||||
|
||||
btRigidBody* m_loadBody;
|
||||
btVector3 m_loadStartPos;
|
||||
|
||||
void lockLiftHinge(void);
|
||||
void lockForkSlider(void);
|
||||
|
||||
bool m_useDefaultCamera;
|
||||
//----------------------------
|
||||
|
||||
|
||||
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;
|
||||
|
||||
|
||||
ForkLiftDemo();
|
||||
|
||||
virtual ~ForkLiftDemo();
|
||||
|
||||
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();
|
||||
void termPhysics();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ForkLiftDemo* demo = new ForkLiftDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
#endif // FORKLIFT_DEMO_H
|
||||
|
||||
|
||||
/*
|
||||
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 FORKLIFT_DEMO_H
|
||||
#define FORKLIFT_DEMO_H
|
||||
|
||||
class btVehicleTuning;
|
||||
struct btVehicleRaycaster;
|
||||
class btCollisionShape;
|
||||
|
||||
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///VehicleDemo shows how to setup and use the built-in raycast vehicle
|
||||
class ForkLiftDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
btRigidBody* m_carChassis;
|
||||
|
||||
//----------------------------
|
||||
btRigidBody* m_liftBody;
|
||||
btVector3 m_liftStartPos;
|
||||
btHingeConstraint* m_liftHinge;
|
||||
|
||||
btRigidBody* m_forkBody;
|
||||
btVector3 m_forkStartPos;
|
||||
btSliderConstraint* m_forkSlider;
|
||||
|
||||
btRigidBody* m_loadBody;
|
||||
btVector3 m_loadStartPos;
|
||||
|
||||
void lockLiftHinge(void);
|
||||
void lockForkSlider(void);
|
||||
|
||||
bool m_useDefaultCamera;
|
||||
//----------------------------
|
||||
|
||||
|
||||
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;
|
||||
|
||||
|
||||
ForkLiftDemo();
|
||||
|
||||
virtual ~ForkLiftDemo();
|
||||
|
||||
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();
|
||||
void termPhysics();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
ForkLiftDemo* demo = new ForkLiftDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
#endif // FORKLIFT_DEMO_H
|
||||
|
||||
|
||||
|
||||
@@ -1,135 +1,135 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Ragdoll Demo
|
||||
Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
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.
|
||||
|
||||
Originally Written by: Marten Svanfeldt
|
||||
ReWritten by: Francisco Le<4C>n
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "GenericJointDemo.h"
|
||||
|
||||
|
||||
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void GenericJointDemo::initPhysics()
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(true);
|
||||
|
||||
// Setup the basic world
|
||||
|
||||
btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
|
||||
|
||||
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
|
||||
|
||||
btVector3 worldAabbMin(-10000,-10000,-10000);
|
||||
btVector3 worldAabbMax(10000,10000,10000);
|
||||
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
||||
|
||||
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
|
||||
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-30,0));
|
||||
|
||||
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
|
||||
|
||||
// Setup a big ground box
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-15,0));
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
}
|
||||
|
||||
// Spawn one ragdoll
|
||||
spawnRagdoll();
|
||||
|
||||
clientResetScene();
|
||||
}
|
||||
|
||||
void GenericJointDemo::spawnRagdoll(bool random)
|
||||
{
|
||||
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
|
||||
m_ragdolls.push_back(ragDoll);
|
||||
}
|
||||
|
||||
void GenericJointDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = getDeltaTimeMicroseconds();
|
||||
|
||||
float minFPS = 1000000.f/60.f;
|
||||
if (ms > minFPS)
|
||||
ms = minFPS;
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
void GenericJointDemo::displayCallback()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case 'e':
|
||||
spawnRagdoll(true);
|
||||
break;
|
||||
default:
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Ragdoll Demo
|
||||
Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
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.
|
||||
|
||||
Originally Written by: Marten Svanfeldt
|
||||
ReWritten by: Francisco Le<4C>n
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "GenericJointDemo.h"
|
||||
|
||||
|
||||
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void GenericJointDemo::initPhysics()
|
||||
{
|
||||
setTexturing(true);
|
||||
setShadows(true);
|
||||
|
||||
// Setup the basic world
|
||||
|
||||
btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
|
||||
|
||||
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
|
||||
|
||||
btVector3 worldAabbMin(-10000,-10000,-10000);
|
||||
btVector3 worldAabbMax(10000,10000,10000);
|
||||
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
||||
|
||||
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
|
||||
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-30,0));
|
||||
|
||||
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
|
||||
|
||||
// Setup a big ground box
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-15,0));
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
}
|
||||
|
||||
// Spawn one ragdoll
|
||||
spawnRagdoll();
|
||||
|
||||
clientResetScene();
|
||||
}
|
||||
|
||||
void GenericJointDemo::spawnRagdoll(bool random)
|
||||
{
|
||||
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
|
||||
m_ragdolls.push_back(ragDoll);
|
||||
}
|
||||
|
||||
void GenericJointDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = getDeltaTimeMicroseconds();
|
||||
|
||||
float minFPS = 1000000.f/60.f;
|
||||
if (ms > minFPS)
|
||||
ms = minFPS;
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
void GenericJointDemo::displayCallback()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case 'e':
|
||||
spawnRagdoll(true);
|
||||
break;
|
||||
default:
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -1,51 +1,51 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
GenericJointDemo
|
||||
Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
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.
|
||||
|
||||
Written by: Marten Svanfeldt
|
||||
*/
|
||||
|
||||
#ifndef GENERIGJOINTDEMO_H
|
||||
#define GENERIGJOINTDEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "Ragdoll.h"
|
||||
|
||||
class GenericJointDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
btAlignedObjectArray<class RagDoll*> m_ragdolls;
|
||||
|
||||
public:
|
||||
void initPhysics();
|
||||
|
||||
void spawnRagdoll(bool random = false);
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
GenericJointDemo
|
||||
Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
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.
|
||||
|
||||
Written by: Marten Svanfeldt
|
||||
*/
|
||||
|
||||
#ifndef GENERIGJOINTDEMO_H
|
||||
#define GENERIGJOINTDEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "Ragdoll.h"
|
||||
|
||||
class GenericJointDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
btAlignedObjectArray<class RagDoll*> m_ragdolls;
|
||||
|
||||
public:
|
||||
void initPhysics();
|
||||
|
||||
void spawnRagdoll(bool random = false);
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,373 +1,373 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Ragdoll Demo
|
||||
Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
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.
|
||||
|
||||
Written by: Marten Svanfeldt
|
||||
*/
|
||||
|
||||
#include "Ragdoll.h"
|
||||
|
||||
//#define RIGID 1
|
||||
|
||||
RagDoll::RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,
|
||||
btScalar scale_ragdoll) : m_ownerWorld (ownerWorld)
|
||||
{
|
||||
|
||||
|
||||
// Setup the geometry
|
||||
m_shapes[BODYPART_PELVIS] = new btCapsuleShape(
|
||||
btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.20));
|
||||
m_shapes[BODYPART_SPINE] = new btCapsuleShape(
|
||||
btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.28));
|
||||
m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(scale_ragdoll*0.10), btScalar(scale_ragdoll*0.05));
|
||||
m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
|
||||
m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
|
||||
m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
|
||||
m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
|
||||
m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
|
||||
m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
|
||||
m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
|
||||
m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
|
||||
|
||||
// Setup all the rigid bodies
|
||||
btTransform offset; offset.setIdentity();
|
||||
offset.setOrigin(positionOffset);
|
||||
|
||||
btTransform transform;
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.), btScalar(0.)));
|
||||
m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.2), btScalar(0.)));
|
||||
m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.6), btScalar(0.)));
|
||||
m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(0.65*scale_ragdoll),
|
||||
btScalar(0.)));
|
||||
m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(0.2*scale_ragdoll), btScalar(0.)));
|
||||
m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(0.65*scale_ragdoll), btScalar(0.)));
|
||||
m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(0.2*scale_ragdoll), btScalar(0.)));
|
||||
m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(-0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
|
||||
transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
|
||||
m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(-0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
|
||||
transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
|
||||
m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
|
||||
transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
|
||||
m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
|
||||
transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
|
||||
m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
|
||||
|
||||
// Setup some damping on the m_bodies
|
||||
for (int i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_bodies[i]->setDamping(0.05f, 0.85f);
|
||||
m_bodies[i]->setDeactivationTime(0.8f);
|
||||
m_bodies[i]->setSleepingThresholds(1.6f, 2.5f);
|
||||
}
|
||||
|
||||
///////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777
|
||||
// Now setup the constraints
|
||||
btGeneric6DofConstraint * joint6DOF;
|
||||
btTransform localA, localB;
|
||||
bool useLinearReferenceFrameA = true;
|
||||
/// ******* SPINE HEAD ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.3f,-SIMD_EPSILON,-SIMD_PI*0.3f));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.5f,SIMD_EPSILON,SIMD_PI*0.3f));
|
||||
#endif
|
||||
m_joints[JOINT_SPINE_HEAD] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
|
||||
|
||||
/// ******* LEFT SHOULDER ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(-0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
localB.getBasis().setEulerZYX(SIMD_HALF_PI,0,-SIMD_HALF_PI);
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
|
||||
#endif
|
||||
m_joints[JOINT_LEFT_SHOULDER] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
/// ******* RIGHT SHOULDER ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
|
||||
localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
|
||||
#endif
|
||||
m_joints[JOINT_RIGHT_SHOULDER] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
/// ******* LEFT ELBOW ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
m_joints[JOINT_LEFT_ELBOW] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
/// ******* RIGHT ELBOW ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
|
||||
m_joints[JOINT_RIGHT_ELBOW] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
/// ******* PELVIS ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15*scale_ragdoll), btScalar(0.)));
|
||||
localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.2,-SIMD_EPSILON,-SIMD_PI*0.3));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.2,SIMD_EPSILON,SIMD_PI*0.6));
|
||||
#endif
|
||||
m_joints[JOINT_PELVIS_SPINE] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
/// ******* LEFT HIP ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_HALF_PI*0.6f));
|
||||
#endif
|
||||
m_joints[JOINT_LEFT_HIP] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
/// ******* RIGHT HIP ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_HALF_PI*0.6f));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
m_joints[JOINT_RIGHT_HIP] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
/// ******* LEFT KNEE ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB,useLinearReferenceFrameA);
|
||||
//
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
m_joints[JOINT_LEFT_KNEE] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
/// ******* RIGHT KNEE ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
m_joints[JOINT_RIGHT_KNEE] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
}
|
||||
|
||||
|
||||
RagDoll::~RagDoll()
|
||||
{
|
||||
int i;
|
||||
|
||||
// Remove all constraints
|
||||
for (i = 0; i < JOINT_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeConstraint(m_joints[i]);
|
||||
delete m_joints[i]; m_joints[i] = 0;
|
||||
}
|
||||
|
||||
// Remove all bodies and shapes
|
||||
for (i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeRigidBody(m_bodies[i]);
|
||||
|
||||
delete m_bodies[i]->getMotionState();
|
||||
|
||||
delete m_bodies[i]; m_bodies[i] = 0;
|
||||
delete m_shapes[i]; m_shapes[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
btRigidBody* RagDoll::localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
||||
{
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
|
||||
rbInfo.m_additionalDamping = true;
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_ownerWorld->addRigidBody(body);
|
||||
|
||||
return body;
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Ragdoll Demo
|
||||
Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
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.
|
||||
|
||||
Written by: Marten Svanfeldt
|
||||
*/
|
||||
|
||||
#include "Ragdoll.h"
|
||||
|
||||
//#define RIGID 1
|
||||
|
||||
RagDoll::RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,
|
||||
btScalar scale_ragdoll) : m_ownerWorld (ownerWorld)
|
||||
{
|
||||
|
||||
|
||||
// Setup the geometry
|
||||
m_shapes[BODYPART_PELVIS] = new btCapsuleShape(
|
||||
btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.20));
|
||||
m_shapes[BODYPART_SPINE] = new btCapsuleShape(
|
||||
btScalar(scale_ragdoll*0.15), btScalar(scale_ragdoll*0.28));
|
||||
m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(scale_ragdoll*0.10), btScalar(scale_ragdoll*0.05));
|
||||
m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
|
||||
m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
|
||||
m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.07), btScalar(scale_ragdoll*0.45));
|
||||
m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.37));
|
||||
m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
|
||||
m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
|
||||
m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.05), btScalar(scale_ragdoll*0.33));
|
||||
m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(scale_ragdoll*0.04), btScalar(scale_ragdoll*0.25));
|
||||
|
||||
// Setup all the rigid bodies
|
||||
btTransform offset; offset.setIdentity();
|
||||
offset.setOrigin(positionOffset);
|
||||
|
||||
btTransform transform;
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.), btScalar(0.)));
|
||||
m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.2), btScalar(0.)));
|
||||
m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.), btScalar(scale_ragdoll*1.6), btScalar(0.)));
|
||||
m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(0.65*scale_ragdoll),
|
||||
btScalar(0.)));
|
||||
m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(0.2*scale_ragdoll), btScalar(0.)));
|
||||
m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(0.65*scale_ragdoll), btScalar(0.)));
|
||||
m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(0.2*scale_ragdoll), btScalar(0.)));
|
||||
m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(-0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
|
||||
transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
|
||||
m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(-0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
|
||||
transform.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
|
||||
m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.35*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
|
||||
transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
|
||||
m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
|
||||
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(0.7*scale_ragdoll), btScalar(1.45*scale_ragdoll), btScalar(0.)));
|
||||
transform.getBasis().setEulerZYX(0,0,-SIMD_HALF_PI);
|
||||
m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
|
||||
|
||||
// Setup some damping on the m_bodies
|
||||
for (int i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_bodies[i]->setDamping(0.05f, 0.85f);
|
||||
m_bodies[i]->setDeactivationTime(0.8f);
|
||||
m_bodies[i]->setSleepingThresholds(1.6f, 2.5f);
|
||||
}
|
||||
|
||||
///////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777
|
||||
// Now setup the constraints
|
||||
btGeneric6DofConstraint * joint6DOF;
|
||||
btTransform localA, localB;
|
||||
bool useLinearReferenceFrameA = true;
|
||||
/// ******* SPINE HEAD ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.3f,-SIMD_EPSILON,-SIMD_PI*0.3f));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.5f,SIMD_EPSILON,SIMD_PI*0.3f));
|
||||
#endif
|
||||
m_joints[JOINT_SPINE_HEAD] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
|
||||
|
||||
/// ******* LEFT SHOULDER ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(-0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
localB.getBasis().setEulerZYX(SIMD_HALF_PI,0,-SIMD_HALF_PI);
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
|
||||
#endif
|
||||
m_joints[JOINT_LEFT_SHOULDER] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
/// ******* RIGHT SHOULDER ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.2*scale_ragdoll), btScalar(0.15*scale_ragdoll), btScalar(0.)));
|
||||
localB.getBasis().setEulerZYX(0,0,SIMD_HALF_PI);
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.18*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.8f,-SIMD_EPSILON,-SIMD_PI*0.5f));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.8f,SIMD_EPSILON,SIMD_PI*0.5f));
|
||||
#endif
|
||||
m_joints[JOINT_RIGHT_SHOULDER] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
/// ******* LEFT ELBOW ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
m_joints[JOINT_LEFT_ELBOW] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
/// ******* RIGHT ELBOW ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.18*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
|
||||
m_joints[JOINT_RIGHT_ELBOW] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
/// ******* PELVIS ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15*scale_ragdoll), btScalar(0.)));
|
||||
localB.getBasis().setEulerZYX(0,SIMD_HALF_PI,0);
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.2,-SIMD_EPSILON,-SIMD_PI*0.3));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.2,SIMD_EPSILON,SIMD_PI*0.6));
|
||||
#endif
|
||||
m_joints[JOINT_PELVIS_SPINE] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
/// ******* LEFT HIP ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(-0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_HALF_PI*0.6f));
|
||||
#endif
|
||||
m_joints[JOINT_LEFT_HIP] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
/// ******* RIGHT HIP ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.18*scale_ragdoll), btScalar(-0.10*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.225*scale_ragdoll), btScalar(0.)));
|
||||
|
||||
joint6DOF = new btGeneric6DofConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI*0.5,-SIMD_EPSILON,-SIMD_HALF_PI*0.6f));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI*0.8,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
m_joints[JOINT_RIGHT_HIP] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
|
||||
/// ******* LEFT KNEE ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB,useLinearReferenceFrameA);
|
||||
//
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
m_joints[JOINT_LEFT_KNEE] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
/// ******* RIGHT KNEE ******** ///
|
||||
{
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
|
||||
localA.setOrigin(btVector3(btScalar(0.), btScalar(-0.225*scale_ragdoll), btScalar(0.)));
|
||||
localB.setOrigin(btVector3(btScalar(0.), btScalar(0.185*scale_ragdoll), btScalar(0.)));
|
||||
joint6DOF = new btGeneric6DofConstraint (*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB,useLinearReferenceFrameA);
|
||||
|
||||
#ifdef RIGID
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#else
|
||||
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
|
||||
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
|
||||
#endif
|
||||
m_joints[JOINT_RIGHT_KNEE] = joint6DOF;
|
||||
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
|
||||
}
|
||||
/// *************************** ///
|
||||
|
||||
}
|
||||
|
||||
|
||||
RagDoll::~RagDoll()
|
||||
{
|
||||
int i;
|
||||
|
||||
// Remove all constraints
|
||||
for (i = 0; i < JOINT_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeConstraint(m_joints[i]);
|
||||
delete m_joints[i]; m_joints[i] = 0;
|
||||
}
|
||||
|
||||
// Remove all bodies and shapes
|
||||
for (i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeRigidBody(m_bodies[i]);
|
||||
|
||||
delete m_bodies[i]->getMotionState();
|
||||
|
||||
delete m_bodies[i]; m_bodies[i] = 0;
|
||||
delete m_shapes[i]; m_shapes[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
btRigidBody* RagDoll::localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
||||
{
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
|
||||
rbInfo.m_additionalDamping = true;
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_ownerWorld->addRigidBody(body);
|
||||
|
||||
return body;
|
||||
}
|
||||
|
||||
@@ -1,71 +1,71 @@
|
||||
#ifndef RAGDOLL_H_INCLUDED
|
||||
#define RAGDOLL_H_INCLUDED
|
||||
|
||||
#include "DemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
|
||||
|
||||
|
||||
class RagDoll
|
||||
{
|
||||
enum
|
||||
{
|
||||
BODYPART_PELVIS = 0,
|
||||
BODYPART_SPINE,
|
||||
BODYPART_HEAD,
|
||||
|
||||
BODYPART_LEFT_UPPER_LEG,
|
||||
BODYPART_LEFT_LOWER_LEG,
|
||||
|
||||
BODYPART_RIGHT_UPPER_LEG,
|
||||
BODYPART_RIGHT_LOWER_LEG,
|
||||
|
||||
BODYPART_LEFT_UPPER_ARM,
|
||||
BODYPART_LEFT_LOWER_ARM,
|
||||
|
||||
BODYPART_RIGHT_UPPER_ARM,
|
||||
BODYPART_RIGHT_LOWER_ARM,
|
||||
|
||||
BODYPART_COUNT
|
||||
};
|
||||
|
||||
enum
|
||||
{
|
||||
JOINT_PELVIS_SPINE = 0,
|
||||
JOINT_SPINE_HEAD,
|
||||
|
||||
JOINT_LEFT_HIP,
|
||||
JOINT_LEFT_KNEE,
|
||||
|
||||
JOINT_RIGHT_HIP,
|
||||
JOINT_RIGHT_KNEE,
|
||||
|
||||
JOINT_LEFT_SHOULDER,
|
||||
JOINT_LEFT_ELBOW,
|
||||
|
||||
JOINT_RIGHT_SHOULDER,
|
||||
JOINT_RIGHT_ELBOW,
|
||||
|
||||
JOINT_COUNT
|
||||
};
|
||||
|
||||
btDynamicsWorld* m_ownerWorld;
|
||||
btCollisionShape* m_shapes[BODYPART_COUNT];
|
||||
btRigidBody* m_bodies[BODYPART_COUNT];
|
||||
btTypedConstraint* m_joints[JOINT_COUNT];
|
||||
|
||||
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape);
|
||||
|
||||
public:
|
||||
RagDoll (btDynamicsWorld* ownerWorld,
|
||||
const btVector3& positionOffset,
|
||||
btScalar scale_ragdoll = btScalar(1.0));
|
||||
|
||||
~RagDoll ();
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif // RAGDOLL_H_INCLUDED
|
||||
#ifndef RAGDOLL_H_INCLUDED
|
||||
#define RAGDOLL_H_INCLUDED
|
||||
|
||||
#include "DemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
|
||||
|
||||
|
||||
class RagDoll
|
||||
{
|
||||
enum
|
||||
{
|
||||
BODYPART_PELVIS = 0,
|
||||
BODYPART_SPINE,
|
||||
BODYPART_HEAD,
|
||||
|
||||
BODYPART_LEFT_UPPER_LEG,
|
||||
BODYPART_LEFT_LOWER_LEG,
|
||||
|
||||
BODYPART_RIGHT_UPPER_LEG,
|
||||
BODYPART_RIGHT_LOWER_LEG,
|
||||
|
||||
BODYPART_LEFT_UPPER_ARM,
|
||||
BODYPART_LEFT_LOWER_ARM,
|
||||
|
||||
BODYPART_RIGHT_UPPER_ARM,
|
||||
BODYPART_RIGHT_LOWER_ARM,
|
||||
|
||||
BODYPART_COUNT
|
||||
};
|
||||
|
||||
enum
|
||||
{
|
||||
JOINT_PELVIS_SPINE = 0,
|
||||
JOINT_SPINE_HEAD,
|
||||
|
||||
JOINT_LEFT_HIP,
|
||||
JOINT_LEFT_KNEE,
|
||||
|
||||
JOINT_RIGHT_HIP,
|
||||
JOINT_RIGHT_KNEE,
|
||||
|
||||
JOINT_LEFT_SHOULDER,
|
||||
JOINT_LEFT_ELBOW,
|
||||
|
||||
JOINT_RIGHT_SHOULDER,
|
||||
JOINT_RIGHT_ELBOW,
|
||||
|
||||
JOINT_COUNT
|
||||
};
|
||||
|
||||
btDynamicsWorld* m_ownerWorld;
|
||||
btCollisionShape* m_shapes[BODYPART_COUNT];
|
||||
btRigidBody* m_bodies[BODYPART_COUNT];
|
||||
btTypedConstraint* m_joints[JOINT_COUNT];
|
||||
|
||||
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape);
|
||||
|
||||
public:
|
||||
RagDoll (btDynamicsWorld* ownerWorld,
|
||||
const btVector3& positionOffset,
|
||||
btScalar scale_ragdoll = btScalar(1.0));
|
||||
|
||||
~RagDoll ();
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif // RAGDOLL_H_INCLUDED
|
||||
|
||||
@@ -1,25 +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 "GenericJointDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new GenericJointDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
#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 "GenericJointDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new GenericJointDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,28 +1,28 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2010 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 "GenericJointDemo.h"
|
||||
|
||||
int main(int argc,char* argv[])
|
||||
{
|
||||
GenericJointDemo demoApp;
|
||||
// demoApp.configDebugDrawer(&debugDrawer);
|
||||
|
||||
demoApp.initPhysics();
|
||||
demoApp.setCameraDistance(btScalar(10.));
|
||||
|
||||
return glutmain(argc, argv,640,480,"Joint 6DOF - Sequencial Impulse Solver",&demoApp);
|
||||
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2010 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 "GenericJointDemo.h"
|
||||
|
||||
int main(int argc,char* argv[])
|
||||
{
|
||||
GenericJointDemo demoApp;
|
||||
// demoApp.configDebugDrawer(&debugDrawer);
|
||||
|
||||
demoApp.initPhysics();
|
||||
demoApp.setCameraDistance(btScalar(10.));
|
||||
|
||||
return glutmain(argc, argv,640,480,"Joint 6DOF - Sequencial Impulse Solver",&demoApp);
|
||||
|
||||
}
|
||||
|
||||
@@ -1,25 +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 "GimpactTestDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new GimpactConcaveDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
#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 "GimpactTestDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new GimpactConcaveDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,48 +1,48 @@
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppLinearConvexCastDemo
|
||||
LinearConvexCastDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppLinearConvexCastDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppLinearConvexCastDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppLinearConvexCastDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppLinearConvexCastDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppLinearConvexCastDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
# 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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppLinearConvexCastDemo
|
||||
LinearConvexCastDemo.cpp
|
||||
main.cpp
|
||||
)
|
||||
|
||||
IF (WIN32)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppLinearConvexCastDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ELSE(CMAKE_CL_64)
|
||||
ADD_CUSTOM_COMMAND(
|
||||
TARGET AppLinearConvexCastDemo
|
||||
POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
|
||||
)
|
||||
ENDIF(CMAKE_CL_64)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppLinearConvexCastDemo PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppLinearConvexCastDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppLinearConvexCastDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
@@ -1,44 +1,44 @@
|
||||
/*
|
||||
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 LINEAR_CONVEX_CAST_DEMO_H
|
||||
#define LINEAR_CONVEX_CAST_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///LinearConvexCastDemo shows the working of the object sweep / pure-linear continuous collision detection query
|
||||
class LinearConvexCastDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
virtual ~LinearConvexCastDemo();
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
LinearConvexCastDemo* demo = new LinearConvexCastDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //LINEAR_CONVEX_CAST_DEMO_H
|
||||
|
||||
/*
|
||||
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 LINEAR_CONVEX_CAST_DEMO_H
|
||||
#define LINEAR_CONVEX_CAST_DEMO_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///LinearConvexCastDemo shows the working of the object sweep / pure-linear continuous collision detection query
|
||||
class LinearConvexCastDemo : public GlutDemoApplication
|
||||
{
|
||||
public:
|
||||
|
||||
virtual ~LinearConvexCastDemo();
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
LinearConvexCastDemo* demo = new LinearConvexCastDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //LINEAR_CONVEX_CAST_DEMO_H
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,99 +1,99 @@
|
||||
/*
|
||||
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 BASIC_DEMO_H
|
||||
#define BASIC_DEMO_H
|
||||
|
||||
#include "DemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
//#include "btCudaDemoPairCache.h"
|
||||
//#include <vector_types.h>
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///BasicDemo is good starting point for learning the code base and porting.
|
||||
class BasicDemo : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
int m_mouseButtons;
|
||||
int m_mouseOldX;
|
||||
int m_mouseOldY;
|
||||
|
||||
public:
|
||||
|
||||
BasicDemo()
|
||||
{
|
||||
}
|
||||
virtual ~BasicDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
///don't shoot a box in this demo ;-)
|
||||
virtual void shootBox(const btVector3& dest) {}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BasicDemo* demo = new BasicDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
demo->m_mouseButtons = 0;
|
||||
demo->m_mouseOldX = 0;
|
||||
demo->m_mouseOldY = 0;
|
||||
return demo;
|
||||
}
|
||||
|
||||
void DrawConstraintInfo();
|
||||
void outputDebugInfo(int & xOffset,int & yStart, int yIncr);
|
||||
virtual void renderme();
|
||||
void addCollisionShape(btCollisionShape* pShape) { m_collisionShapes.push_back(pShape); }
|
||||
};
|
||||
|
||||
|
||||
#endif //BASIC_DEMO_H
|
||||
|
||||
/*
|
||||
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 BASIC_DEMO_H
|
||||
#define BASIC_DEMO_H
|
||||
|
||||
#include "DemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
//#include "btCudaDemoPairCache.h"
|
||||
//#include <vector_types.h>
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
///BasicDemo is good starting point for learning the code base and porting.
|
||||
class BasicDemo : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
int m_mouseButtons;
|
||||
int m_mouseOldX;
|
||||
int m_mouseOldY;
|
||||
|
||||
public:
|
||||
|
||||
BasicDemo()
|
||||
{
|
||||
}
|
||||
virtual ~BasicDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
///don't shoot a box in this demo ;-)
|
||||
virtual void shootBox(const btVector3& dest) {}
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BasicDemo* demo = new BasicDemo;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
demo->m_mouseButtons = 0;
|
||||
demo->m_mouseOldX = 0;
|
||||
demo->m_mouseOldY = 0;
|
||||
return demo;
|
||||
}
|
||||
|
||||
void DrawConstraintInfo();
|
||||
void outputDebugInfo(int & xOffset,int & yStart, int yIncr);
|
||||
virtual void renderme();
|
||||
void addCollisionShape(btCollisionShape* pShape) { m_collisionShapes.push_back(pShape); }
|
||||
};
|
||||
|
||||
|
||||
#endif //BASIC_DEMO_H
|
||||
|
||||
|
||||
@@ -1,30 +1,30 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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 "LinearMath/btQuickprof.h"
|
||||
|
||||
|
||||
#include "LinearMath/btScalar.h"
|
||||
|
||||
#include "btGpuDemo2dSharedTypes.h"
|
||||
|
||||
|
||||
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#include "btGpuDemo2dSharedCode.h"
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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 "LinearMath/btQuickprof.h"
|
||||
|
||||
|
||||
#include "LinearMath/btScalar.h"
|
||||
|
||||
#include "btGpuDemo2dSharedTypes.h"
|
||||
|
||||
|
||||
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#include "btGpuDemo2dSharedCode.h"
|
||||
|
||||
|
||||
@@ -1,497 +1,497 @@
|
||||
/*
|
||||
Impulse based Rigid body simulation using CUDA
|
||||
Copyright (c) 2007 Takahiro Harada http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#define USE_FRICTION 1
|
||||
#define FRICTION_BOX_GROUND_FACT 0.05f
|
||||
#define FRICTION_BOX_BOX_FACT 0.05f
|
||||
#define USE_CENTERS 1
|
||||
//#include "LinearMath/btMinMax.h"
|
||||
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
|
||||
#define MAX_VTX_PER_OBJ 8
|
||||
|
||||
/*
|
||||
BT_GPU___device__ void kill_me()
|
||||
{
|
||||
char* badPtr = (char*)0xFFFFFFFF;
|
||||
*badPtr = 10;
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
BT_GPU___global__ void clearAccumulationOfLambdaDtD(float* lambdaDtBox, int numConstraints, int numContPoints)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index < numConstraints)
|
||||
{
|
||||
for(int i=0; i < numContPoints; i++)
|
||||
lambdaDtBox[numContPoints * index + i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
#define SPHERE_FACT 1.0f
|
||||
|
||||
BT_GPU___device__ void testSphSph(float3 aPos, float3 bPos, float radA, float radB, float4* pOut)
|
||||
{
|
||||
float3 del = bPos - aPos;
|
||||
float dist = BT_GPU_dot(del, del);
|
||||
dist = sqrtf(dist);
|
||||
float maxD = radA + radB;
|
||||
|
||||
if(dist > maxD)
|
||||
{
|
||||
return;
|
||||
}
|
||||
float penetration = (radA + radB - dist) * SPHERE_FACT;
|
||||
// float penetration = (dist - radA - radB) * SPHERE_FACT;
|
||||
float3 normal;
|
||||
if(dist > 0.f)
|
||||
{
|
||||
float fact = -1.0f/dist;
|
||||
// float fact = 1.0f/dist;
|
||||
normal = del * fact;
|
||||
}
|
||||
else
|
||||
{
|
||||
normal = BT_GPU_make_float3(1.f, 0.f, 0.f);
|
||||
}
|
||||
// float3 contact = (bPos + aPos + normal * (radB - radA)) * 0.5f;
|
||||
float3 tmp = (normal * radA);
|
||||
float3 contact = aPos - tmp;
|
||||
|
||||
// now add point
|
||||
int numPoints = 0;
|
||||
for(int i = 0; i < MAX_VTX_PER_OBJ; i++)
|
||||
{
|
||||
if(pOut[i*2].w >= 0.f)
|
||||
{
|
||||
numPoints++;
|
||||
}
|
||||
}
|
||||
if(numPoints < MAX_VTX_PER_OBJ)
|
||||
{
|
||||
pOut[numPoints * 2] = BT_GPU_make_float42(contact, penetration);
|
||||
pOut[numPoints * 2 + 1] = BT_GPU_make_float42(normal, 0.f);
|
||||
}
|
||||
} // testSphSph()
|
||||
|
||||
|
||||
|
||||
BT_GPU___global__ void setConstraintDataD(int2 *constraints,
|
||||
int numConstraints,
|
||||
float4 *pos,
|
||||
float *rotation,
|
||||
char* shapes,
|
||||
int2* shapeIds,
|
||||
btCudaPartProps pProp,
|
||||
float4 *contact)
|
||||
{
|
||||
int idx = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
int aId,bId;
|
||||
float3 aPos,bPos;
|
||||
// float positionConstraint;
|
||||
// float3 normal;
|
||||
float aRot,bRot;
|
||||
float sideLength2 = pProp.m_diameter*0.5f/sqrt(2.0f);
|
||||
|
||||
if(idx < numConstraints)
|
||||
{
|
||||
aId=constraints[idx].x;
|
||||
bId=constraints[idx].y;
|
||||
|
||||
aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,aId));
|
||||
bPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,bId));
|
||||
aRot= rotation[aId];
|
||||
bRot= rotation[bId];
|
||||
float cosA = cosf(aRot);
|
||||
float sinA = sinf(aRot);
|
||||
float cosB = cosf(bRot);
|
||||
float sinB = sinf(bRot);
|
||||
float4* shapeA = (float4*)(shapes + shapeIds[aId].x);
|
||||
int numSphA = shapeIds[aId].y;
|
||||
float4* shapeB = (float4*)(shapes + shapeIds[bId].x);
|
||||
int numSphB = shapeIds[bId].y;
|
||||
int i, j;
|
||||
float3 ai = BT_GPU_make_float3(cosA, sinA, 0.f);
|
||||
float3 aj = BT_GPU_make_float3(-sinA, cosA, 0.f);
|
||||
float3 bi = BT_GPU_make_float3(cosB, sinB, 0.f);
|
||||
float3 bj = BT_GPU_make_float3(-sinB, cosB, 0.f);
|
||||
float4* pOut = contact + idx * MAX_VTX_PER_OBJ * 2;
|
||||
for(i = 0; i < MAX_VTX_PER_OBJ; i++)
|
||||
{
|
||||
pOut[i * 2].w = -1.f;
|
||||
pOut[i * 2 + 1].w = 0.f;
|
||||
}
|
||||
for(i = 0; i < numSphA; i++)
|
||||
{
|
||||
float3 va = aPos;
|
||||
float3 tmp = ai * shapeA[i].x;
|
||||
float3 tmp2 = aj * shapeA[i].y;
|
||||
|
||||
va += tmp;
|
||||
va += tmp2;
|
||||
|
||||
float radA = shapeA[i].w;
|
||||
for(j = 0; j < numSphB; j++)
|
||||
{
|
||||
float3 vb = bPos;
|
||||
float3 tmp =bi * shapeB[j].x;
|
||||
float3 tmp2 = bj * shapeB[j].y;
|
||||
vb += tmp;
|
||||
vb += tmp2;
|
||||
float radB = shapeB[j].w;
|
||||
testSphSph(va, vb, radA, radB, pOut);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
BT_GPU___device__ float computeImpulse1(float3 rVel,
|
||||
float positionConstraint,
|
||||
float3 cNormal,
|
||||
float dt)
|
||||
{
|
||||
// const float collisionConstant = 0.1f;
|
||||
// const float baumgarteConstant = 0.5f;
|
||||
// const float penetrationError = 0.02f;
|
||||
const float collisionConstant = -0.1f;
|
||||
const float baumgarteConstant = 0.3f;
|
||||
const float penetrationError = 0.02f;
|
||||
|
||||
float lambdaDt=0;
|
||||
float3 impulse=BT_GPU_make_float3(0.f,0.f,0.f);
|
||||
|
||||
if(positionConstraint > 0)
|
||||
return lambdaDt;
|
||||
|
||||
// positionConstraint = btMin(0.0f,positionConstraint+penetrationError);
|
||||
positionConstraint = (positionConstraint+penetrationError) < 0.f ? (positionConstraint+penetrationError) : 0.0f;
|
||||
|
||||
lambdaDt = -(BT_GPU_dot(cNormal,rVel)*(1+collisionConstant));
|
||||
lambdaDt -= (baumgarteConstant/dt*positionConstraint);
|
||||
|
||||
return lambdaDt;
|
||||
}
|
||||
|
||||
|
||||
BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
|
||||
float4 *vel,
|
||||
float *rotation,
|
||||
float *angVel,
|
||||
char* shapes,
|
||||
int2* shapeIds,
|
||||
float* invMass,
|
||||
btCudaPartProps pProp,
|
||||
btCudaBoxProps gProp,
|
||||
int nParticles,
|
||||
float dt)
|
||||
{
|
||||
int idx = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
float3 aPos;
|
||||
float aRot;
|
||||
float positionConstraint;
|
||||
float3 impulse;
|
||||
|
||||
|
||||
if((idx > 0) && (idx < nParticles))
|
||||
{
|
||||
float inv_mass = invMass[idx];
|
||||
if(inv_mass <= 0.f)
|
||||
{
|
||||
return;
|
||||
}
|
||||
aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,idx));
|
||||
aRot=rotation[idx];
|
||||
float4* shape = (float4*)(shapes + shapeIds[idx].x);
|
||||
int numSph = shapeIds[idx].y;
|
||||
float cosA = cosf(aRot);
|
||||
float sinA = sinf(aRot);
|
||||
float3 ai = BT_GPU_make_float3(cosA, sinA, 0.f);
|
||||
float3 aj = BT_GPU_make_float3(-sinA, cosA, 0.f);
|
||||
|
||||
for(int iVtx=0;iVtx < numSph; iVtx++){
|
||||
float3 aVel = BT_GPU_make_float3(vel[idx].x, vel[idx].y, vel[idx].z);
|
||||
float aAngVel = angVel[idx];
|
||||
float3 rerVertex = ai * shape[iVtx].x;
|
||||
float3 tmp = aj * shape[iVtx].y;
|
||||
rerVertex += tmp;
|
||||
float3 vPos = aPos + rerVertex;
|
||||
float rad = shape[iVtx].w;
|
||||
float3 vVel =aVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,aAngVel),rerVertex);
|
||||
// float restitution=1.0;
|
||||
float restitution=0.3f;
|
||||
{
|
||||
positionConstraint =vPos.y - rad - gProp.minY;
|
||||
impulse =BT_GPU_make_float31(0.0f);
|
||||
|
||||
if(positionConstraint < 0)
|
||||
{
|
||||
float3 groundNormal;
|
||||
groundNormal = BT_GPU_make_float3(0.0f,1.0f,0.0f);
|
||||
impulse =groundNormal*
|
||||
restitution * computeImpulse1(vVel,positionConstraint,
|
||||
groundNormal,
|
||||
dt);
|
||||
#if USE_FRICTION // only with ground for now
|
||||
float3 lat_vel = vVel - groundNormal * BT_GPU_dot(groundNormal,vVel);
|
||||
float lat_vel_len = BT_GPU_dot(lat_vel, lat_vel);
|
||||
if (lat_vel_len > 0)
|
||||
{
|
||||
lat_vel_len = sqrtf(lat_vel_len);
|
||||
lat_vel *= 1.f/lat_vel_len;
|
||||
float3 tmp = lat_vel * BT_GPU_dot(lat_vel, vVel) * FRICTION_BOX_GROUND_FACT;
|
||||
impulse -= tmp;
|
||||
}
|
||||
#endif //USE_FRICTION
|
||||
float4 tmp = BT_GPU_make_float42(impulse,0.0f);
|
||||
vel[idx] += tmp;
|
||||
float tmp2 = BT_GPU_cross(rerVertex,impulse).z;
|
||||
angVel[idx] += tmp2;
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
positionConstraint =vPos.x - rad - gProp.minX;
|
||||
impulse =BT_GPU_make_float31(0.0f);
|
||||
|
||||
if(positionConstraint < 0){
|
||||
impulse =BT_GPU_make_float3(1.0f,0.0f,0.0f)* restitution *
|
||||
computeImpulse1(vVel,positionConstraint,
|
||||
BT_GPU_make_float3(1.0f,0.0f,0.0f),
|
||||
dt);
|
||||
|
||||
float4 tmp = BT_GPU_make_float42(impulse,0.0f);
|
||||
vel[idx] += tmp;
|
||||
angVel[idx] += BT_GPU_cross(rerVertex,impulse).z;
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
positionConstraint = gProp.maxX - vPos.x - rad;
|
||||
impulse =BT_GPU_make_float31(0.0f);
|
||||
|
||||
if(positionConstraint < 0){
|
||||
impulse =BT_GPU_make_float3(-1.0f,0.0f,0.0f)* restitution *
|
||||
computeImpulse1(vVel,positionConstraint,
|
||||
BT_GPU_make_float3(-1.0f,0.0f,0.0f),
|
||||
dt);
|
||||
|
||||
float4 tmp = BT_GPU_make_float42(impulse,0.0f);
|
||||
vel[idx] += tmp;
|
||||
angVel[idx] += BT_GPU_cross(rerVertex,impulse).z;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BT_GPU___device__ void collisionResolutionBox( int constrId,
|
||||
int2* constraints,
|
||||
float4 *pos,
|
||||
float4 *vel,
|
||||
float *rotation,
|
||||
float *angularVel,
|
||||
float *lambdaDtBox,
|
||||
float4* contact,
|
||||
float* invMass,
|
||||
btCudaPartProps pProp,
|
||||
float dt)
|
||||
{
|
||||
#if 1
|
||||
float3 relVel;
|
||||
float3 impulse;
|
||||
float lambdaDt;
|
||||
float positionConstraint;
|
||||
int aId=constraints[constrId].x;
|
||||
int bId=constraints[constrId].y;
|
||||
float3 aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,aId));
|
||||
float3 bPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,bId));
|
||||
float3 aVel=BT_GPU_make_float34(vel[aId]);
|
||||
float3 bVel=BT_GPU_make_float34(vel[bId]);
|
||||
float aAngVel=angularVel[aId];
|
||||
float bAngVel=angularVel[bId];
|
||||
float4* pCont = contact + constrId * MAX_VTX_PER_OBJ * 2;
|
||||
// test Vertices in A to Box B
|
||||
for(int iVtx=0;iVtx<MAX_VTX_PER_OBJ;iVtx++){
|
||||
float3 contactPoint = BT_GPU_make_float34(pCont[iVtx * 2]);
|
||||
contactPoint = contactPoint - aPos;
|
||||
positionConstraint = pCont[iVtx * 2].w;
|
||||
if(positionConstraint >= 0)
|
||||
{
|
||||
float3 contactNormal = BT_GPU_make_float34(pCont[iVtx * 2 + 1]);
|
||||
relVel=(aVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,aAngVel),
|
||||
contactPoint))
|
||||
-(bVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,bAngVel),
|
||||
contactPoint+aPos-bPos));
|
||||
|
||||
lambdaDt= computeImpulse1(relVel,-positionConstraint,
|
||||
contactNormal,dt);
|
||||
|
||||
{
|
||||
float rLambdaDt=lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx];
|
||||
float pLambdaDt=rLambdaDt;
|
||||
// rLambdaDt=btMax(pLambdaDt+lambdaDt,0.0f);
|
||||
rLambdaDt=(pLambdaDt+lambdaDt) > 0.0f ? (pLambdaDt+lambdaDt) : 0.0f;
|
||||
lambdaDt=rLambdaDt-pLambdaDt;
|
||||
lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx]=rLambdaDt;
|
||||
}
|
||||
impulse= contactNormal*lambdaDt*0.5;
|
||||
#if USE_FRICTION
|
||||
if(pCont[iVtx * 2 + 1].w <= 0)
|
||||
{
|
||||
float3 lat_vel = relVel - contactNormal * BT_GPU_dot(contactNormal, relVel);
|
||||
float lat_vel_len = BT_GPU_dot(lat_vel, lat_vel);
|
||||
if (lat_vel_len > 0)
|
||||
{
|
||||
lat_vel_len = sqrtf(lat_vel_len);
|
||||
lat_vel *= 1.f/lat_vel_len;
|
||||
float3 tmp = lat_vel * BT_GPU_dot(lat_vel , relVel) * FRICTION_BOX_BOX_FACT;
|
||||
impulse -= tmp;
|
||||
}
|
||||
}
|
||||
#endif //USE_FRICTION
|
||||
if(aId && (invMass[aId] > 0.f))
|
||||
{
|
||||
aVel+= impulse;
|
||||
aAngVel+= BT_GPU_cross(contactPoint, impulse).z;
|
||||
}
|
||||
if(bId && (invMass[bId] > 0.f))
|
||||
{
|
||||
bVel-= impulse;
|
||||
bAngVel-= BT_GPU_cross(contactPoint+aPos-bPos, impulse).z;
|
||||
}
|
||||
}
|
||||
}
|
||||
vel[aId]=BT_GPU_make_float42(aVel,0.0f);
|
||||
vel[bId]=BT_GPU_make_float42(bVel,0.0f);
|
||||
angularVel[aId]=aAngVel;
|
||||
angularVel[bId]=bAngVel;
|
||||
#endif
|
||||
}
|
||||
|
||||
BT_GPU___global__ void collisionBatchResolutionBoxD(int2 *constraints,
|
||||
int *batch,
|
||||
int nConstraints,
|
||||
float4 *pos,
|
||||
float4 *vel,
|
||||
float *rotation,
|
||||
float *angularVel,
|
||||
float *lambdaDtBox,
|
||||
float4* contact,
|
||||
float* invMass,
|
||||
btCudaPartProps pProp,
|
||||
int iBatch,
|
||||
float dt)
|
||||
{
|
||||
int k_idx = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(k_idx < nConstraints)
|
||||
{
|
||||
int idx = batch[k_idx];
|
||||
collisionResolutionBox( idx, constraints, pos, vel, rotation, angularVel, lambdaDtBox,
|
||||
contact, invMass, pProp, dt);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints))
|
||||
{
|
||||
if(!numConstraints)
|
||||
{
|
||||
return;
|
||||
}
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numConstraints, 256, numBlocks, numThreads);
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, clearAccumulationOfLambdaDtD, (lambdaDtBox, numConstraints, numContPoints));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("clearAccumulationOfLambdaDtD kernel execution failed");
|
||||
|
||||
}
|
||||
|
||||
void BT_GPU_PREF(setConstraintData(void* constraints,int numConstraints,int numObjs,void* pos,float *rotation,char* shapes,void* shapeIds,btCudaPartProps pProp,void* contact))
|
||||
{
|
||||
if(!numConstraints)
|
||||
{
|
||||
return;
|
||||
}
|
||||
int2* pConst = (int2*)constraints;
|
||||
float4* pPos = (float4*)pos;
|
||||
float4* pCont = (float4*)contact;
|
||||
int2* pShapeIds = (int2*)shapeIds;
|
||||
|
||||
BT_GPU_SAFE_CALL(BT_GPU_BindTexture(0, posTex, pPos, numObjs * sizeof(float4)));
|
||||
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numConstraints, 256, numBlocks, numThreads);
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, setConstraintDataD, (pConst,numConstraints,pPos,rotation,shapes,pShapeIds,pProp,pCont));
|
||||
BT_GPU_SAFE_CALL(BT_GPU_UnbindTexture(posTex));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("setConstraintDataD kernel execution failed");
|
||||
}
|
||||
|
||||
void BT_GPU_PREF(collisionWithWallBox(void* pos,void* vel,float *rotation,float *angVel,char* shapes,void* shapeIds,void* invMass,btCudaPartProps pProp, btCudaBoxProps gProp,int numObjs,float dt))
|
||||
{
|
||||
if(!numObjs)
|
||||
{
|
||||
return;
|
||||
}
|
||||
float4* pPos = (float4*)pos;
|
||||
float4* pVel = (float4*)vel;
|
||||
int2* pShapeIds = (int2*)shapeIds;
|
||||
float* pInvMass = (float*)invMass;
|
||||
BT_GPU_SAFE_CALL(BT_GPU_BindTexture(0, posTex, pPos, numObjs * sizeof(float4)));
|
||||
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numObjs, 256, numBlocks, numThreads);
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, collisionWithWallBoxD, (pPos,pVel,rotation,angVel,shapes, pShapeIds,pInvMass,pProp,gProp,numObjs,dt));
|
||||
|
||||
BT_GPU_SAFE_CALL(BT_GPU_UnbindTexture(posTex));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("collisionWithWallBoxD kernel execution failed");
|
||||
}
|
||||
|
||||
void BT_GPU_PREF(collisionBatchResolutionBox(void* constraints,int *batch,int numConstraints,int numObjs,void *pos,void *vel,float *rotation,float *angularVel,float *lambdaDtBox,void* contact,void* invMass,btCudaPartProps pProp,int iBatch,float dt))
|
||||
{
|
||||
if(!numConstraints)
|
||||
{
|
||||
return;
|
||||
}
|
||||
int2* pConstr = (int2*)constraints;
|
||||
float4* pPos = (float4*)pos;
|
||||
float4* pVel = (float4*)vel;
|
||||
float4* pCont = (float4*)contact;
|
||||
float* pInvMass = (float*)invMass;
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numConstraints, 128, numBlocks, numThreads);
|
||||
BT_GPU_SAFE_CALL(BT_GPU_BindTexture(0, posTex, pPos, numObjs * sizeof(float4)));
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, collisionBatchResolutionBoxD, (pConstr,batch,numConstraints,pPos,pVel,rotation,angularVel,lambdaDtBox,pCont,pInvMass,pProp,iBatch,dt));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("collisionBatchResolutionBox2D kernel execution failed");
|
||||
BT_GPU_SAFE_CALL(BT_GPU_UnbindTexture(posTex));
|
||||
|
||||
}
|
||||
|
||||
|
||||
} // extern "C"
|
||||
/*
|
||||
Impulse based Rigid body simulation using CUDA
|
||||
Copyright (c) 2007 Takahiro Harada http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#define USE_FRICTION 1
|
||||
#define FRICTION_BOX_GROUND_FACT 0.05f
|
||||
#define FRICTION_BOX_BOX_FACT 0.05f
|
||||
#define USE_CENTERS 1
|
||||
//#include "LinearMath/btMinMax.h"
|
||||
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
|
||||
#define MAX_VTX_PER_OBJ 8
|
||||
|
||||
/*
|
||||
BT_GPU___device__ void kill_me()
|
||||
{
|
||||
char* badPtr = (char*)0xFFFFFFFF;
|
||||
*badPtr = 10;
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
BT_GPU___global__ void clearAccumulationOfLambdaDtD(float* lambdaDtBox, int numConstraints, int numContPoints)
|
||||
{
|
||||
int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(index < numConstraints)
|
||||
{
|
||||
for(int i=0; i < numContPoints; i++)
|
||||
lambdaDtBox[numContPoints * index + i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
#define SPHERE_FACT 1.0f
|
||||
|
||||
BT_GPU___device__ void testSphSph(float3 aPos, float3 bPos, float radA, float radB, float4* pOut)
|
||||
{
|
||||
float3 del = bPos - aPos;
|
||||
float dist = BT_GPU_dot(del, del);
|
||||
dist = sqrtf(dist);
|
||||
float maxD = radA + radB;
|
||||
|
||||
if(dist > maxD)
|
||||
{
|
||||
return;
|
||||
}
|
||||
float penetration = (radA + radB - dist) * SPHERE_FACT;
|
||||
// float penetration = (dist - radA - radB) * SPHERE_FACT;
|
||||
float3 normal;
|
||||
if(dist > 0.f)
|
||||
{
|
||||
float fact = -1.0f/dist;
|
||||
// float fact = 1.0f/dist;
|
||||
normal = del * fact;
|
||||
}
|
||||
else
|
||||
{
|
||||
normal = BT_GPU_make_float3(1.f, 0.f, 0.f);
|
||||
}
|
||||
// float3 contact = (bPos + aPos + normal * (radB - radA)) * 0.5f;
|
||||
float3 tmp = (normal * radA);
|
||||
float3 contact = aPos - tmp;
|
||||
|
||||
// now add point
|
||||
int numPoints = 0;
|
||||
for(int i = 0; i < MAX_VTX_PER_OBJ; i++)
|
||||
{
|
||||
if(pOut[i*2].w >= 0.f)
|
||||
{
|
||||
numPoints++;
|
||||
}
|
||||
}
|
||||
if(numPoints < MAX_VTX_PER_OBJ)
|
||||
{
|
||||
pOut[numPoints * 2] = BT_GPU_make_float42(contact, penetration);
|
||||
pOut[numPoints * 2 + 1] = BT_GPU_make_float42(normal, 0.f);
|
||||
}
|
||||
} // testSphSph()
|
||||
|
||||
|
||||
|
||||
BT_GPU___global__ void setConstraintDataD(int2 *constraints,
|
||||
int numConstraints,
|
||||
float4 *pos,
|
||||
float *rotation,
|
||||
char* shapes,
|
||||
int2* shapeIds,
|
||||
btCudaPartProps pProp,
|
||||
float4 *contact)
|
||||
{
|
||||
int idx = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
int aId,bId;
|
||||
float3 aPos,bPos;
|
||||
// float positionConstraint;
|
||||
// float3 normal;
|
||||
float aRot,bRot;
|
||||
float sideLength2 = pProp.m_diameter*0.5f/sqrt(2.0f);
|
||||
|
||||
if(idx < numConstraints)
|
||||
{
|
||||
aId=constraints[idx].x;
|
||||
bId=constraints[idx].y;
|
||||
|
||||
aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,aId));
|
||||
bPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,bId));
|
||||
aRot= rotation[aId];
|
||||
bRot= rotation[bId];
|
||||
float cosA = cosf(aRot);
|
||||
float sinA = sinf(aRot);
|
||||
float cosB = cosf(bRot);
|
||||
float sinB = sinf(bRot);
|
||||
float4* shapeA = (float4*)(shapes + shapeIds[aId].x);
|
||||
int numSphA = shapeIds[aId].y;
|
||||
float4* shapeB = (float4*)(shapes + shapeIds[bId].x);
|
||||
int numSphB = shapeIds[bId].y;
|
||||
int i, j;
|
||||
float3 ai = BT_GPU_make_float3(cosA, sinA, 0.f);
|
||||
float3 aj = BT_GPU_make_float3(-sinA, cosA, 0.f);
|
||||
float3 bi = BT_GPU_make_float3(cosB, sinB, 0.f);
|
||||
float3 bj = BT_GPU_make_float3(-sinB, cosB, 0.f);
|
||||
float4* pOut = contact + idx * MAX_VTX_PER_OBJ * 2;
|
||||
for(i = 0; i < MAX_VTX_PER_OBJ; i++)
|
||||
{
|
||||
pOut[i * 2].w = -1.f;
|
||||
pOut[i * 2 + 1].w = 0.f;
|
||||
}
|
||||
for(i = 0; i < numSphA; i++)
|
||||
{
|
||||
float3 va = aPos;
|
||||
float3 tmp = ai * shapeA[i].x;
|
||||
float3 tmp2 = aj * shapeA[i].y;
|
||||
|
||||
va += tmp;
|
||||
va += tmp2;
|
||||
|
||||
float radA = shapeA[i].w;
|
||||
for(j = 0; j < numSphB; j++)
|
||||
{
|
||||
float3 vb = bPos;
|
||||
float3 tmp =bi * shapeB[j].x;
|
||||
float3 tmp2 = bj * shapeB[j].y;
|
||||
vb += tmp;
|
||||
vb += tmp2;
|
||||
float radB = shapeB[j].w;
|
||||
testSphSph(va, vb, radA, radB, pOut);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
BT_GPU___device__ float computeImpulse1(float3 rVel,
|
||||
float positionConstraint,
|
||||
float3 cNormal,
|
||||
float dt)
|
||||
{
|
||||
// const float collisionConstant = 0.1f;
|
||||
// const float baumgarteConstant = 0.5f;
|
||||
// const float penetrationError = 0.02f;
|
||||
const float collisionConstant = -0.1f;
|
||||
const float baumgarteConstant = 0.3f;
|
||||
const float penetrationError = 0.02f;
|
||||
|
||||
float lambdaDt=0;
|
||||
float3 impulse=BT_GPU_make_float3(0.f,0.f,0.f);
|
||||
|
||||
if(positionConstraint > 0)
|
||||
return lambdaDt;
|
||||
|
||||
// positionConstraint = btMin(0.0f,positionConstraint+penetrationError);
|
||||
positionConstraint = (positionConstraint+penetrationError) < 0.f ? (positionConstraint+penetrationError) : 0.0f;
|
||||
|
||||
lambdaDt = -(BT_GPU_dot(cNormal,rVel)*(1+collisionConstant));
|
||||
lambdaDt -= (baumgarteConstant/dt*positionConstraint);
|
||||
|
||||
return lambdaDt;
|
||||
}
|
||||
|
||||
|
||||
BT_GPU___global__ void collisionWithWallBoxD(float4 *pos,
|
||||
float4 *vel,
|
||||
float *rotation,
|
||||
float *angVel,
|
||||
char* shapes,
|
||||
int2* shapeIds,
|
||||
float* invMass,
|
||||
btCudaPartProps pProp,
|
||||
btCudaBoxProps gProp,
|
||||
int nParticles,
|
||||
float dt)
|
||||
{
|
||||
int idx = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
float3 aPos;
|
||||
float aRot;
|
||||
float positionConstraint;
|
||||
float3 impulse;
|
||||
|
||||
|
||||
if((idx > 0) && (idx < nParticles))
|
||||
{
|
||||
float inv_mass = invMass[idx];
|
||||
if(inv_mass <= 0.f)
|
||||
{
|
||||
return;
|
||||
}
|
||||
aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,idx));
|
||||
aRot=rotation[idx];
|
||||
float4* shape = (float4*)(shapes + shapeIds[idx].x);
|
||||
int numSph = shapeIds[idx].y;
|
||||
float cosA = cosf(aRot);
|
||||
float sinA = sinf(aRot);
|
||||
float3 ai = BT_GPU_make_float3(cosA, sinA, 0.f);
|
||||
float3 aj = BT_GPU_make_float3(-sinA, cosA, 0.f);
|
||||
|
||||
for(int iVtx=0;iVtx < numSph; iVtx++){
|
||||
float3 aVel = BT_GPU_make_float3(vel[idx].x, vel[idx].y, vel[idx].z);
|
||||
float aAngVel = angVel[idx];
|
||||
float3 rerVertex = ai * shape[iVtx].x;
|
||||
float3 tmp = aj * shape[iVtx].y;
|
||||
rerVertex += tmp;
|
||||
float3 vPos = aPos + rerVertex;
|
||||
float rad = shape[iVtx].w;
|
||||
float3 vVel =aVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,aAngVel),rerVertex);
|
||||
// float restitution=1.0;
|
||||
float restitution=0.3f;
|
||||
{
|
||||
positionConstraint =vPos.y - rad - gProp.minY;
|
||||
impulse =BT_GPU_make_float31(0.0f);
|
||||
|
||||
if(positionConstraint < 0)
|
||||
{
|
||||
float3 groundNormal;
|
||||
groundNormal = BT_GPU_make_float3(0.0f,1.0f,0.0f);
|
||||
impulse =groundNormal*
|
||||
restitution * computeImpulse1(vVel,positionConstraint,
|
||||
groundNormal,
|
||||
dt);
|
||||
#if USE_FRICTION // only with ground for now
|
||||
float3 lat_vel = vVel - groundNormal * BT_GPU_dot(groundNormal,vVel);
|
||||
float lat_vel_len = BT_GPU_dot(lat_vel, lat_vel);
|
||||
if (lat_vel_len > 0)
|
||||
{
|
||||
lat_vel_len = sqrtf(lat_vel_len);
|
||||
lat_vel *= 1.f/lat_vel_len;
|
||||
float3 tmp = lat_vel * BT_GPU_dot(lat_vel, vVel) * FRICTION_BOX_GROUND_FACT;
|
||||
impulse -= tmp;
|
||||
}
|
||||
#endif //USE_FRICTION
|
||||
float4 tmp = BT_GPU_make_float42(impulse,0.0f);
|
||||
vel[idx] += tmp;
|
||||
float tmp2 = BT_GPU_cross(rerVertex,impulse).z;
|
||||
angVel[idx] += tmp2;
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
positionConstraint =vPos.x - rad - gProp.minX;
|
||||
impulse =BT_GPU_make_float31(0.0f);
|
||||
|
||||
if(positionConstraint < 0){
|
||||
impulse =BT_GPU_make_float3(1.0f,0.0f,0.0f)* restitution *
|
||||
computeImpulse1(vVel,positionConstraint,
|
||||
BT_GPU_make_float3(1.0f,0.0f,0.0f),
|
||||
dt);
|
||||
|
||||
float4 tmp = BT_GPU_make_float42(impulse,0.0f);
|
||||
vel[idx] += tmp;
|
||||
angVel[idx] += BT_GPU_cross(rerVertex,impulse).z;
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
positionConstraint = gProp.maxX - vPos.x - rad;
|
||||
impulse =BT_GPU_make_float31(0.0f);
|
||||
|
||||
if(positionConstraint < 0){
|
||||
impulse =BT_GPU_make_float3(-1.0f,0.0f,0.0f)* restitution *
|
||||
computeImpulse1(vVel,positionConstraint,
|
||||
BT_GPU_make_float3(-1.0f,0.0f,0.0f),
|
||||
dt);
|
||||
|
||||
float4 tmp = BT_GPU_make_float42(impulse,0.0f);
|
||||
vel[idx] += tmp;
|
||||
angVel[idx] += BT_GPU_cross(rerVertex,impulse).z;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
BT_GPU___device__ void collisionResolutionBox( int constrId,
|
||||
int2* constraints,
|
||||
float4 *pos,
|
||||
float4 *vel,
|
||||
float *rotation,
|
||||
float *angularVel,
|
||||
float *lambdaDtBox,
|
||||
float4* contact,
|
||||
float* invMass,
|
||||
btCudaPartProps pProp,
|
||||
float dt)
|
||||
{
|
||||
#if 1
|
||||
float3 relVel;
|
||||
float3 impulse;
|
||||
float lambdaDt;
|
||||
float positionConstraint;
|
||||
int aId=constraints[constrId].x;
|
||||
int bId=constraints[constrId].y;
|
||||
float3 aPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,aId));
|
||||
float3 bPos=BT_GPU_make_float34(BT_GPU_FETCH4(pos,bId));
|
||||
float3 aVel=BT_GPU_make_float34(vel[aId]);
|
||||
float3 bVel=BT_GPU_make_float34(vel[bId]);
|
||||
float aAngVel=angularVel[aId];
|
||||
float bAngVel=angularVel[bId];
|
||||
float4* pCont = contact + constrId * MAX_VTX_PER_OBJ * 2;
|
||||
// test Vertices in A to Box B
|
||||
for(int iVtx=0;iVtx<MAX_VTX_PER_OBJ;iVtx++){
|
||||
float3 contactPoint = BT_GPU_make_float34(pCont[iVtx * 2]);
|
||||
contactPoint = contactPoint - aPos;
|
||||
positionConstraint = pCont[iVtx * 2].w;
|
||||
if(positionConstraint >= 0)
|
||||
{
|
||||
float3 contactNormal = BT_GPU_make_float34(pCont[iVtx * 2 + 1]);
|
||||
relVel=(aVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,aAngVel),
|
||||
contactPoint))
|
||||
-(bVel+BT_GPU_cross(BT_GPU_make_float3(0.0f,0.0f,bAngVel),
|
||||
contactPoint+aPos-bPos));
|
||||
|
||||
lambdaDt= computeImpulse1(relVel,-positionConstraint,
|
||||
contactNormal,dt);
|
||||
|
||||
{
|
||||
float rLambdaDt=lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx];
|
||||
float pLambdaDt=rLambdaDt;
|
||||
// rLambdaDt=btMax(pLambdaDt+lambdaDt,0.0f);
|
||||
rLambdaDt=(pLambdaDt+lambdaDt) > 0.0f ? (pLambdaDt+lambdaDt) : 0.0f;
|
||||
lambdaDt=rLambdaDt-pLambdaDt;
|
||||
lambdaDtBox[(MAX_VTX_PER_OBJ)*(2*constrId)+iVtx]=rLambdaDt;
|
||||
}
|
||||
impulse= contactNormal*lambdaDt*0.5;
|
||||
#if USE_FRICTION
|
||||
if(pCont[iVtx * 2 + 1].w <= 0)
|
||||
{
|
||||
float3 lat_vel = relVel - contactNormal * BT_GPU_dot(contactNormal, relVel);
|
||||
float lat_vel_len = BT_GPU_dot(lat_vel, lat_vel);
|
||||
if (lat_vel_len > 0)
|
||||
{
|
||||
lat_vel_len = sqrtf(lat_vel_len);
|
||||
lat_vel *= 1.f/lat_vel_len;
|
||||
float3 tmp = lat_vel * BT_GPU_dot(lat_vel , relVel) * FRICTION_BOX_BOX_FACT;
|
||||
impulse -= tmp;
|
||||
}
|
||||
}
|
||||
#endif //USE_FRICTION
|
||||
if(aId && (invMass[aId] > 0.f))
|
||||
{
|
||||
aVel+= impulse;
|
||||
aAngVel+= BT_GPU_cross(contactPoint, impulse).z;
|
||||
}
|
||||
if(bId && (invMass[bId] > 0.f))
|
||||
{
|
||||
bVel-= impulse;
|
||||
bAngVel-= BT_GPU_cross(contactPoint+aPos-bPos, impulse).z;
|
||||
}
|
||||
}
|
||||
}
|
||||
vel[aId]=BT_GPU_make_float42(aVel,0.0f);
|
||||
vel[bId]=BT_GPU_make_float42(bVel,0.0f);
|
||||
angularVel[aId]=aAngVel;
|
||||
angularVel[bId]=bAngVel;
|
||||
#endif
|
||||
}
|
||||
|
||||
BT_GPU___global__ void collisionBatchResolutionBoxD(int2 *constraints,
|
||||
int *batch,
|
||||
int nConstraints,
|
||||
float4 *pos,
|
||||
float4 *vel,
|
||||
float *rotation,
|
||||
float *angularVel,
|
||||
float *lambdaDtBox,
|
||||
float4* contact,
|
||||
float* invMass,
|
||||
btCudaPartProps pProp,
|
||||
int iBatch,
|
||||
float dt)
|
||||
{
|
||||
int k_idx = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
|
||||
if(k_idx < nConstraints)
|
||||
{
|
||||
int idx = batch[k_idx];
|
||||
collisionResolutionBox( idx, constraints, pos, vel, rotation, angularVel, lambdaDtBox,
|
||||
contact, invMass, pProp, dt);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints))
|
||||
{
|
||||
if(!numConstraints)
|
||||
{
|
||||
return;
|
||||
}
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numConstraints, 256, numBlocks, numThreads);
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, clearAccumulationOfLambdaDtD, (lambdaDtBox, numConstraints, numContPoints));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("clearAccumulationOfLambdaDtD kernel execution failed");
|
||||
|
||||
}
|
||||
|
||||
void BT_GPU_PREF(setConstraintData(void* constraints,int numConstraints,int numObjs,void* pos,float *rotation,char* shapes,void* shapeIds,btCudaPartProps pProp,void* contact))
|
||||
{
|
||||
if(!numConstraints)
|
||||
{
|
||||
return;
|
||||
}
|
||||
int2* pConst = (int2*)constraints;
|
||||
float4* pPos = (float4*)pos;
|
||||
float4* pCont = (float4*)contact;
|
||||
int2* pShapeIds = (int2*)shapeIds;
|
||||
|
||||
BT_GPU_SAFE_CALL(BT_GPU_BindTexture(0, posTex, pPos, numObjs * sizeof(float4)));
|
||||
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numConstraints, 256, numBlocks, numThreads);
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, setConstraintDataD, (pConst,numConstraints,pPos,rotation,shapes,pShapeIds,pProp,pCont));
|
||||
BT_GPU_SAFE_CALL(BT_GPU_UnbindTexture(posTex));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("setConstraintDataD kernel execution failed");
|
||||
}
|
||||
|
||||
void BT_GPU_PREF(collisionWithWallBox(void* pos,void* vel,float *rotation,float *angVel,char* shapes,void* shapeIds,void* invMass,btCudaPartProps pProp, btCudaBoxProps gProp,int numObjs,float dt))
|
||||
{
|
||||
if(!numObjs)
|
||||
{
|
||||
return;
|
||||
}
|
||||
float4* pPos = (float4*)pos;
|
||||
float4* pVel = (float4*)vel;
|
||||
int2* pShapeIds = (int2*)shapeIds;
|
||||
float* pInvMass = (float*)invMass;
|
||||
BT_GPU_SAFE_CALL(BT_GPU_BindTexture(0, posTex, pPos, numObjs * sizeof(float4)));
|
||||
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numObjs, 256, numBlocks, numThreads);
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, collisionWithWallBoxD, (pPos,pVel,rotation,angVel,shapes, pShapeIds,pInvMass,pProp,gProp,numObjs,dt));
|
||||
|
||||
BT_GPU_SAFE_CALL(BT_GPU_UnbindTexture(posTex));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("collisionWithWallBoxD kernel execution failed");
|
||||
}
|
||||
|
||||
void BT_GPU_PREF(collisionBatchResolutionBox(void* constraints,int *batch,int numConstraints,int numObjs,void *pos,void *vel,float *rotation,float *angularVel,float *lambdaDtBox,void* contact,void* invMass,btCudaPartProps pProp,int iBatch,float dt))
|
||||
{
|
||||
if(!numConstraints)
|
||||
{
|
||||
return;
|
||||
}
|
||||
int2* pConstr = (int2*)constraints;
|
||||
float4* pPos = (float4*)pos;
|
||||
float4* pVel = (float4*)vel;
|
||||
float4* pCont = (float4*)contact;
|
||||
float* pInvMass = (float*)invMass;
|
||||
int numThreads, numBlocks;
|
||||
BT_GPU_PREF(computeGridSize)(numConstraints, 128, numBlocks, numThreads);
|
||||
BT_GPU_SAFE_CALL(BT_GPU_BindTexture(0, posTex, pPos, numObjs * sizeof(float4)));
|
||||
// execute the kernel
|
||||
BT_GPU_EXECKERNEL(numBlocks, numThreads, collisionBatchResolutionBoxD, (pConstr,batch,numConstraints,pPos,pVel,rotation,angularVel,lambdaDtBox,pCont,pInvMass,pProp,iBatch,dt));
|
||||
// check if kernel invocation generated an error
|
||||
BT_GPU_CHECK_ERROR("collisionBatchResolutionBox2D kernel execution failed");
|
||||
BT_GPU_SAFE_CALL(BT_GPU_UnbindTexture(posTex));
|
||||
|
||||
}
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
||||
@@ -1,33 +1,33 @@
|
||||
/*
|
||||
Impulse based Rigid body simulation using CUDA
|
||||
Copyright (c) 2007 Takahiro Harada http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
|
||||
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints));
|
||||
void BT_GPU_PREF(setConstraintData(void* constraints,int numConstraints,int numObjs,void* pos,float *rotation,char* shapes,void* shapeIds,btCudaPartProps pProp,void* oContact));
|
||||
void BT_GPU_PREF(collisionWithWallBox(void* pos,void* vel,float *rotation,float *angVel,char* shapes,void* shapeIds,void* invMass,btCudaPartProps pProp,btCudaBoxProps gProp,int numObjs,float dt));
|
||||
void BT_GPU_PREF(collisionBatchResolutionBox(void* constraints,int *batch,int numConstraints,int numObjs,void *pos,void *vel,float *rotation,float *angularVel,float *lambdaDtBox,void* contact,void* invMass,btCudaPartProps pProp,int iBatch,float dt));
|
||||
|
||||
} // extern "C"
|
||||
|
||||
|
||||
/*
|
||||
Impulse based Rigid body simulation using CUDA
|
||||
Copyright (c) 2007 Takahiro Harada http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
|
||||
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints));
|
||||
void BT_GPU_PREF(setConstraintData(void* constraints,int numConstraints,int numObjs,void* pos,float *rotation,char* shapes,void* shapeIds,btCudaPartProps pProp,void* oContact));
|
||||
void BT_GPU_PREF(collisionWithWallBox(void* pos,void* vel,float *rotation,float *angVel,char* shapes,void* shapeIds,void* invMass,btCudaPartProps pProp,btCudaBoxProps gProp,int numObjs,float dt));
|
||||
void BT_GPU_PREF(collisionBatchResolutionBox(void* constraints,int *batch,int numConstraints,int numObjs,void *pos,void *vel,float *rotation,float *angularVel,float *lambdaDtBox,void* contact,void* invMass,btCudaPartProps pProp,int iBatch,float dt));
|
||||
|
||||
} // extern "C"
|
||||
|
||||
|
||||
|
||||
@@ -1,35 +1,35 @@
|
||||
/*
|
||||
Impulse based Rigid body simulation using CUDA
|
||||
Copyright (c) 2007 Takahiro Harada http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
|
||||
struct btCudaPartProps
|
||||
{
|
||||
float m_mass;
|
||||
float m_diameter;
|
||||
float m_restCoeff;
|
||||
};
|
||||
|
||||
struct btCudaBoxProps
|
||||
{
|
||||
float minX;
|
||||
float maxX;
|
||||
float minY;
|
||||
float maxY;
|
||||
float minZ;
|
||||
float maxZ;
|
||||
};
|
||||
|
||||
|
||||
/*
|
||||
Impulse based Rigid body simulation using CUDA
|
||||
Copyright (c) 2007 Takahiro Harada http://www.iii.u-tokyo.ac.jp/~takahiroharada/projects/impulseCUDA.html
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
|
||||
struct btCudaPartProps
|
||||
{
|
||||
float m_mass;
|
||||
float m_diameter;
|
||||
float m_restCoeff;
|
||||
};
|
||||
|
||||
struct btCudaBoxProps
|
||||
{
|
||||
float minX;
|
||||
float maxX;
|
||||
float minY;
|
||||
float maxY;
|
||||
float minZ;
|
||||
float maxZ;
|
||||
};
|
||||
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,291 +1,291 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
#define BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
|
||||
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
|
||||
|
||||
|
||||
//#define BT_USE_CUDA 1
|
||||
// To enable CUDA :
|
||||
// 1. Uncomment //#define BT_USE_CUDA 1
|
||||
// 2. Build and add libbulletcuda (Extras/CUDA) to project
|
||||
// 3. Add $(CUDA_LIB_PATH) and cudart.lib to linker properties
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
// #include "btCudaDemoPairCache.h"
|
||||
// #include <vector_types.h>
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#undef BT_GPU_PREF
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#else
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#endif
|
||||
|
||||
#undef BT_GPU_PREF
|
||||
|
||||
|
||||
#include "btGpuDemo2dSharedTypes.h"
|
||||
|
||||
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES 20
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS 1024
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS 24
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ 8
|
||||
|
||||
class btGpuDemoDynamicsWorld;
|
||||
|
||||
extern btGpuDemoDynamicsWorld* gpCudaDemoDynamicsWorld; // to access world members from pair cache
|
||||
|
||||
class btGpuDemoDynamicsWorld : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
int m_maxObjs;
|
||||
int m_maxNeighbors;
|
||||
|
||||
int m_numObj;
|
||||
int m_numSimStep;
|
||||
bool m_useCPUSolver;
|
||||
bool m_useBulletNarrowphase;
|
||||
|
||||
float4* m_hPos;
|
||||
float* m_hRot;
|
||||
float4* m_hVel;
|
||||
float* m_hAngVel;
|
||||
|
||||
float* m_hInvMass;
|
||||
float* m_dInvMass;
|
||||
bool m_copyMassDataToGPU;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
float4* m_dPos;
|
||||
float* m_dRot;
|
||||
float4* m_dVel;
|
||||
float* m_dAngVel;
|
||||
float4* m_dpPos;
|
||||
float* m_dpRot;
|
||||
float4* m_dpVel;
|
||||
float* m_dpAngVel;
|
||||
|
||||
float4* m_dcPos;
|
||||
float* m_dcRot;
|
||||
float4* m_dcVel;
|
||||
float* m_dcAngVel;
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
|
||||
btOverlappingPairCache* m_pairCache;
|
||||
int* m_hConstraintBuffer;
|
||||
int* m_hConstraintCounter;
|
||||
int m_maxBatches;
|
||||
int m_numBatches;
|
||||
int m_totalNumConstraints;
|
||||
int2* m_hIds;
|
||||
int* m_hBatchIds;
|
||||
|
||||
int m_maxVtxPerObj;
|
||||
|
||||
int2* m_dIds;
|
||||
int* m_dBatchIds;
|
||||
|
||||
float* m_dLambdaDtBox;
|
||||
float4* m_dContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
|
||||
|
||||
// ------------- these are only needed for CPU version and for debugging
|
||||
float* m_hLambdaDtBox;
|
||||
float4* m_hContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
|
||||
// -------------
|
||||
|
||||
btScalar m_objRad;
|
||||
btVector3 m_worldMin;
|
||||
btVector3 m_worldMax;
|
||||
|
||||
|
||||
int* m_hConstraintUsed;
|
||||
|
||||
|
||||
// shape buffer
|
||||
int m_maxShapeBufferSize;
|
||||
int m_firstFreeShapeBufferOffset;
|
||||
char* m_hShapeBuffer; // (pos.x, pos.y, pos.z, radius)
|
||||
char* m_dShapeBuffer;//pointer in device memory
|
||||
int2* m_hShapeIds;
|
||||
int2* m_dShapeIds;
|
||||
bool m_copyShapeDataToGPU;
|
||||
void initShapeBuffer(int maxShapeBufferSize);
|
||||
void freeShapeBuffer();
|
||||
void sendShapeDataToGpu();
|
||||
|
||||
|
||||
int m_numNonContactConstraints;
|
||||
void grabNonContactConstraintData();
|
||||
void grabP2PConstraintData(btPoint2PointConstraint* ct);
|
||||
|
||||
public:
|
||||
int m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES];
|
||||
void addSphere(btVector3& pos, btScalar rad);
|
||||
void addMultiShereObject(int numSpheres, int objIndex);
|
||||
|
||||
|
||||
btGpuDemoDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration,
|
||||
int maxObjs = CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS, int maxNeighbors = CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
m_maxObjs = maxObjs;
|
||||
m_maxNeighbors = maxNeighbors;
|
||||
m_useCPUSolver = false;
|
||||
m_pairCache = pairCache->getOverlappingPairCache();
|
||||
int sz = m_maxObjs * m_maxNeighbors;
|
||||
m_hConstraintBuffer = new int[sz];
|
||||
m_hConstraintCounter = new int[m_maxObjs];
|
||||
m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES;
|
||||
m_hIds = new int2[sz];
|
||||
m_hBatchIds = new int[sz];
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hBatchIds[i] = -1;
|
||||
}
|
||||
m_hPos = new float4[m_maxObjs];
|
||||
m_hVel = new float4[m_maxObjs];
|
||||
m_hRot = new float[m_maxObjs];
|
||||
m_hAngVel = new float[m_maxObjs];
|
||||
|
||||
m_hInvMass = new float[m_maxObjs];
|
||||
|
||||
m_maxVtxPerObj = 8;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_allocateArray((void**)&m_dPos, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dRot, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dAngVel, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpPos, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpRot, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpVel, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpAngVel, sizeof(float) * m_maxObjs);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dInvMass, sizeof(float) * m_maxObjs);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
|
||||
btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxVtxPerObj);
|
||||
btCuda_allocateArray((void**)&m_dContact, sizeof(float) * sz * m_maxVtxPerObj * 8);
|
||||
// btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxVtxPerObj * 2);
|
||||
// btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxVtxPerObj * 2);
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
|
||||
m_hLambdaDtBox = new float[sz * m_maxVtxPerObj];
|
||||
m_hContact = new float4[sz * m_maxVtxPerObj * 2];
|
||||
// m_hPositionConstraint = new float[sz * m_maxVtxPerObj * 2];
|
||||
// m_hNormal = new float3[sz * m_maxVtxPerObj * 2];
|
||||
|
||||
m_numSimStep = 0;
|
||||
|
||||
m_objRad = 1.0f;
|
||||
|
||||
m_hConstraintUsed = new int[sz];
|
||||
|
||||
|
||||
gpCudaDemoDynamicsWorld = this;
|
||||
m_totalNumConstraints = 0;
|
||||
|
||||
initShapeBuffer(m_maxObjs * CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ * sizeof(float) * 4);
|
||||
|
||||
m_copyMassDataToGPU = true;
|
||||
|
||||
}
|
||||
virtual ~btGpuDemoDynamicsWorld()
|
||||
{
|
||||
delete [] m_hConstraintBuffer;
|
||||
delete [] m_hConstraintCounter;
|
||||
delete [] m_hIds;
|
||||
delete [] m_hBatchIds;
|
||||
delete [] m_hPos;
|
||||
delete [] m_hRot;
|
||||
delete [] m_hVel;
|
||||
delete [] m_hAngVel;
|
||||
delete [] m_hInvMass;
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_freeArray(m_dPos);
|
||||
btCuda_freeArray(m_dRot);
|
||||
btCuda_freeArray(m_dVel);
|
||||
btCuda_freeArray(m_dAngVel);
|
||||
btCuda_freeArray(m_dpPos);
|
||||
btCuda_freeArray(m_dpRot);
|
||||
btCuda_freeArray(m_dpVel);
|
||||
btCuda_freeArray(m_dpAngVel);
|
||||
btCuda_freeArray(m_dInvMass);
|
||||
|
||||
btCuda_freeArray(m_dIds);
|
||||
btCuda_freeArray(m_dBatchIds);
|
||||
btCuda_freeArray(m_dLambdaDtBox);
|
||||
btCuda_freeArray(m_dContact);
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
delete [] m_hLambdaDtBox;
|
||||
delete [] m_hContact;
|
||||
delete [] m_hConstraintUsed;
|
||||
|
||||
gpCudaDemoDynamicsWorld = NULL;
|
||||
|
||||
freeShapeBuffer();
|
||||
}
|
||||
|
||||
virtual void calculateSimulationIslands()
|
||||
{
|
||||
}
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
void solveConstraints2(btContactSolverInfo& solverInfo);
|
||||
void solveConstraintsCPU2(btContactSolverInfo& solverInfo);
|
||||
|
||||
void debugDrawConstraints(int selectedBatch, const float* pColorTab);
|
||||
|
||||
void setObjRad(btScalar rad) { m_objRad = rad; }
|
||||
void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
|
||||
void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
|
||||
|
||||
void grabData();
|
||||
void grabContactData();
|
||||
void copyDataToGPU();
|
||||
void setConstraintData(btCudaPartProps& partProps);
|
||||
void copyDataFromGPU();
|
||||
void writebackData();
|
||||
void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
|
||||
void setUseBulletNarrowphase(bool useBulletNarrowphase) {m_useBulletNarrowphase = useBulletNarrowphase; }
|
||||
|
||||
void createBatches2();
|
||||
|
||||
int2* getIdsPtr() { return m_hIds; }
|
||||
void setTotalNumConstraints(int totalNumConstraints) { m_totalNumConstraints = totalNumConstraints; }
|
||||
int getTotalNumConstraints() { return m_totalNumConstraints; }
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
#define BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
|
||||
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
|
||||
|
||||
|
||||
//#define BT_USE_CUDA 1
|
||||
// To enable CUDA :
|
||||
// 1. Uncomment //#define BT_USE_CUDA 1
|
||||
// 2. Build and add libbulletcuda (Extras/CUDA) to project
|
||||
// 3. Add $(CUDA_LIB_PATH) and cudart.lib to linker properties
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
// #include "btCudaDemoPairCache.h"
|
||||
// #include <vector_types.h>
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#undef BT_GPU_PREF
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#else
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#endif
|
||||
|
||||
#undef BT_GPU_PREF
|
||||
|
||||
|
||||
#include "btGpuDemo2dSharedTypes.h"
|
||||
|
||||
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES 20
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS 1024
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS 24
|
||||
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ 8
|
||||
|
||||
class btGpuDemoDynamicsWorld;
|
||||
|
||||
extern btGpuDemoDynamicsWorld* gpCudaDemoDynamicsWorld; // to access world members from pair cache
|
||||
|
||||
class btGpuDemoDynamicsWorld : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
int m_maxObjs;
|
||||
int m_maxNeighbors;
|
||||
|
||||
int m_numObj;
|
||||
int m_numSimStep;
|
||||
bool m_useCPUSolver;
|
||||
bool m_useBulletNarrowphase;
|
||||
|
||||
float4* m_hPos;
|
||||
float* m_hRot;
|
||||
float4* m_hVel;
|
||||
float* m_hAngVel;
|
||||
|
||||
float* m_hInvMass;
|
||||
float* m_dInvMass;
|
||||
bool m_copyMassDataToGPU;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
float4* m_dPos;
|
||||
float* m_dRot;
|
||||
float4* m_dVel;
|
||||
float* m_dAngVel;
|
||||
float4* m_dpPos;
|
||||
float* m_dpRot;
|
||||
float4* m_dpVel;
|
||||
float* m_dpAngVel;
|
||||
|
||||
float4* m_dcPos;
|
||||
float* m_dcRot;
|
||||
float4* m_dcVel;
|
||||
float* m_dcAngVel;
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
|
||||
btOverlappingPairCache* m_pairCache;
|
||||
int* m_hConstraintBuffer;
|
||||
int* m_hConstraintCounter;
|
||||
int m_maxBatches;
|
||||
int m_numBatches;
|
||||
int m_totalNumConstraints;
|
||||
int2* m_hIds;
|
||||
int* m_hBatchIds;
|
||||
|
||||
int m_maxVtxPerObj;
|
||||
|
||||
int2* m_dIds;
|
||||
int* m_dBatchIds;
|
||||
|
||||
float* m_dLambdaDtBox;
|
||||
float4* m_dContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
|
||||
|
||||
// ------------- these are only needed for CPU version and for debugging
|
||||
float* m_hLambdaDtBox;
|
||||
float4* m_hContact; // 8 floats : pos.x, pos.y, pos.z, penetration, norm.x, norm.y, norm.z, reserved
|
||||
// -------------
|
||||
|
||||
btScalar m_objRad;
|
||||
btVector3 m_worldMin;
|
||||
btVector3 m_worldMax;
|
||||
|
||||
|
||||
int* m_hConstraintUsed;
|
||||
|
||||
|
||||
// shape buffer
|
||||
int m_maxShapeBufferSize;
|
||||
int m_firstFreeShapeBufferOffset;
|
||||
char* m_hShapeBuffer; // (pos.x, pos.y, pos.z, radius)
|
||||
char* m_dShapeBuffer;//pointer in device memory
|
||||
int2* m_hShapeIds;
|
||||
int2* m_dShapeIds;
|
||||
bool m_copyShapeDataToGPU;
|
||||
void initShapeBuffer(int maxShapeBufferSize);
|
||||
void freeShapeBuffer();
|
||||
void sendShapeDataToGpu();
|
||||
|
||||
|
||||
int m_numNonContactConstraints;
|
||||
void grabNonContactConstraintData();
|
||||
void grabP2PConstraintData(btPoint2PointConstraint* ct);
|
||||
|
||||
public:
|
||||
int m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES];
|
||||
void addSphere(btVector3& pos, btScalar rad);
|
||||
void addMultiShereObject(int numSpheres, int objIndex);
|
||||
|
||||
|
||||
btGpuDemoDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration,
|
||||
int maxObjs = CUDA_DEMO_DYNAMICS_WORLD_MAX_OBJS, int maxNeighbors = CUDA_DEMO_DYNAMICS_WORLD_MAX_NEIGHBORS)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
m_maxObjs = maxObjs;
|
||||
m_maxNeighbors = maxNeighbors;
|
||||
m_useCPUSolver = false;
|
||||
m_pairCache = pairCache->getOverlappingPairCache();
|
||||
int sz = m_maxObjs * m_maxNeighbors;
|
||||
m_hConstraintBuffer = new int[sz];
|
||||
m_hConstraintCounter = new int[m_maxObjs];
|
||||
m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES;
|
||||
m_hIds = new int2[sz];
|
||||
m_hBatchIds = new int[sz];
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hBatchIds[i] = -1;
|
||||
}
|
||||
m_hPos = new float4[m_maxObjs];
|
||||
m_hVel = new float4[m_maxObjs];
|
||||
m_hRot = new float[m_maxObjs];
|
||||
m_hAngVel = new float[m_maxObjs];
|
||||
|
||||
m_hInvMass = new float[m_maxObjs];
|
||||
|
||||
m_maxVtxPerObj = 8;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_allocateArray((void**)&m_dPos, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dRot, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dAngVel, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpPos, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpRot, sizeof(float) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpVel, sizeof(float4) * m_maxObjs);
|
||||
btCuda_allocateArray((void**)&m_dpAngVel, sizeof(float) * m_maxObjs);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dInvMass, sizeof(float) * m_maxObjs);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
|
||||
btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxVtxPerObj);
|
||||
btCuda_allocateArray((void**)&m_dContact, sizeof(float) * sz * m_maxVtxPerObj * 8);
|
||||
// btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxVtxPerObj * 2);
|
||||
// btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxVtxPerObj * 2);
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
|
||||
m_hLambdaDtBox = new float[sz * m_maxVtxPerObj];
|
||||
m_hContact = new float4[sz * m_maxVtxPerObj * 2];
|
||||
// m_hPositionConstraint = new float[sz * m_maxVtxPerObj * 2];
|
||||
// m_hNormal = new float3[sz * m_maxVtxPerObj * 2];
|
||||
|
||||
m_numSimStep = 0;
|
||||
|
||||
m_objRad = 1.0f;
|
||||
|
||||
m_hConstraintUsed = new int[sz];
|
||||
|
||||
|
||||
gpCudaDemoDynamicsWorld = this;
|
||||
m_totalNumConstraints = 0;
|
||||
|
||||
initShapeBuffer(m_maxObjs * CUDA_DEMO_DYNAMICS_WORLD_MAX_SPHERES_PER_OBJ * sizeof(float) * 4);
|
||||
|
||||
m_copyMassDataToGPU = true;
|
||||
|
||||
}
|
||||
virtual ~btGpuDemoDynamicsWorld()
|
||||
{
|
||||
delete [] m_hConstraintBuffer;
|
||||
delete [] m_hConstraintCounter;
|
||||
delete [] m_hIds;
|
||||
delete [] m_hBatchIds;
|
||||
delete [] m_hPos;
|
||||
delete [] m_hRot;
|
||||
delete [] m_hVel;
|
||||
delete [] m_hAngVel;
|
||||
delete [] m_hInvMass;
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_freeArray(m_dPos);
|
||||
btCuda_freeArray(m_dRot);
|
||||
btCuda_freeArray(m_dVel);
|
||||
btCuda_freeArray(m_dAngVel);
|
||||
btCuda_freeArray(m_dpPos);
|
||||
btCuda_freeArray(m_dpRot);
|
||||
btCuda_freeArray(m_dpVel);
|
||||
btCuda_freeArray(m_dpAngVel);
|
||||
btCuda_freeArray(m_dInvMass);
|
||||
|
||||
btCuda_freeArray(m_dIds);
|
||||
btCuda_freeArray(m_dBatchIds);
|
||||
btCuda_freeArray(m_dLambdaDtBox);
|
||||
btCuda_freeArray(m_dContact);
|
||||
#endif //BT_USE_CUDA
|
||||
|
||||
delete [] m_hLambdaDtBox;
|
||||
delete [] m_hContact;
|
||||
delete [] m_hConstraintUsed;
|
||||
|
||||
gpCudaDemoDynamicsWorld = NULL;
|
||||
|
||||
freeShapeBuffer();
|
||||
}
|
||||
|
||||
virtual void calculateSimulationIslands()
|
||||
{
|
||||
}
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
void solveConstraints2(btContactSolverInfo& solverInfo);
|
||||
void solveConstraintsCPU2(btContactSolverInfo& solverInfo);
|
||||
|
||||
void debugDrawConstraints(int selectedBatch, const float* pColorTab);
|
||||
|
||||
void setObjRad(btScalar rad) { m_objRad = rad; }
|
||||
void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
|
||||
void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
|
||||
|
||||
void grabData();
|
||||
void grabContactData();
|
||||
void copyDataToGPU();
|
||||
void setConstraintData(btCudaPartProps& partProps);
|
||||
void copyDataFromGPU();
|
||||
void writebackData();
|
||||
void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
|
||||
void setUseBulletNarrowphase(bool useBulletNarrowphase) {m_useBulletNarrowphase = useBulletNarrowphase; }
|
||||
|
||||
void createBatches2();
|
||||
|
||||
int2* getIdsPtr() { return m_hIds; }
|
||||
void setTotalNumConstraints(int totalNumConstraints) { m_totalNumConstraints = totalNumConstraints; }
|
||||
int getTotalNumConstraints() { return m_totalNumConstraints; }
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CUDA_DEMO_DYNAMICS_WORLD_H
|
||||
|
||||
@@ -1,76 +1,76 @@
|
||||
/*
|
||||
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 "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
|
||||
#include "btGpuDemoPairCache.h"
|
||||
|
||||
#include "btGpuDemoDynamicsWorld.h"
|
||||
|
||||
|
||||
|
||||
void btGpuDemoPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
|
||||
{
|
||||
int sz = m_maxProxies * m_maxNeighbors;
|
||||
int numContConstraints = 0;
|
||||
int2* pIds = gpCudaDemoDynamicsWorld->getIdsPtr();
|
||||
for(int idx = 0; idx < sz; idx++)
|
||||
{
|
||||
int neigh = m_hNeighbors[idx];
|
||||
if(neigh >= 0)
|
||||
{
|
||||
int i=idx / m_maxNeighbors;
|
||||
int j=idx % m_maxNeighbors;
|
||||
pIds[numContConstraints].x = i;
|
||||
pIds[numContConstraints].y = m_hNeighbors[i * m_maxNeighbors + j];
|
||||
numContConstraints++;
|
||||
}
|
||||
}
|
||||
gpCudaDemoDynamicsWorld->setTotalNumConstraints(numContConstraints);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// this will be called for each overlapping pair if collision detection uses pairCache other than btGpuDemoPairCache
|
||||
// IMPORTANT : m_numConstraints in gpCudaDemoDynamicsWorld is set to 0 at start of simulation step
|
||||
// IMPORTANT : companionIds for all objects should be properly set at start of simulation step
|
||||
void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
|
||||
{
|
||||
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
|
||||
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
|
||||
if (dispatcher.needsCollision(colObj0,colObj1))
|
||||
{
|
||||
// int id0 = collisionPair.m_pProxy0->m_uniqueId - 2;
|
||||
// int id1 = collisionPair.m_pProxy1->m_uniqueId - 2;
|
||||
// cannot use m_uniqueId : it may be altered by broadphase code
|
||||
// so we'll use companionIds set on the initialization stage
|
||||
unsigned int id0 = colObj0->getCompanionId();
|
||||
unsigned int id1 = colObj1->getCompanionId();
|
||||
if(id0 > id1)
|
||||
{
|
||||
int tmp = id0; id0 = id1; id1 = tmp;
|
||||
}
|
||||
int totalNumConstraints = gpCudaDemoDynamicsWorld->getTotalNumConstraints();
|
||||
int2* pIds = gpCudaDemoDynamicsWorld->getIdsPtr();
|
||||
pIds += totalNumConstraints;
|
||||
pIds->x = id0;
|
||||
pIds->y = id1;
|
||||
totalNumConstraints++;
|
||||
gpCudaDemoDynamicsWorld->setTotalNumConstraints(totalNumConstraints);
|
||||
}
|
||||
} // cudaDemoNearCallback()
|
||||
|
||||
/*
|
||||
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 "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
|
||||
#include "btGpuDemoPairCache.h"
|
||||
|
||||
#include "btGpuDemoDynamicsWorld.h"
|
||||
|
||||
|
||||
|
||||
void btGpuDemoPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
|
||||
{
|
||||
int sz = m_maxProxies * m_maxNeighbors;
|
||||
int numContConstraints = 0;
|
||||
int2* pIds = gpCudaDemoDynamicsWorld->getIdsPtr();
|
||||
for(int idx = 0; idx < sz; idx++)
|
||||
{
|
||||
int neigh = m_hNeighbors[idx];
|
||||
if(neigh >= 0)
|
||||
{
|
||||
int i=idx / m_maxNeighbors;
|
||||
int j=idx % m_maxNeighbors;
|
||||
pIds[numContConstraints].x = i;
|
||||
pIds[numContConstraints].y = m_hNeighbors[i * m_maxNeighbors + j];
|
||||
numContConstraints++;
|
||||
}
|
||||
}
|
||||
gpCudaDemoDynamicsWorld->setTotalNumConstraints(numContConstraints);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// this will be called for each overlapping pair if collision detection uses pairCache other than btGpuDemoPairCache
|
||||
// IMPORTANT : m_numConstraints in gpCudaDemoDynamicsWorld is set to 0 at start of simulation step
|
||||
// IMPORTANT : companionIds for all objects should be properly set at start of simulation step
|
||||
void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
|
||||
{
|
||||
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
|
||||
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
|
||||
if (dispatcher.needsCollision(colObj0,colObj1))
|
||||
{
|
||||
// int id0 = collisionPair.m_pProxy0->m_uniqueId - 2;
|
||||
// int id1 = collisionPair.m_pProxy1->m_uniqueId - 2;
|
||||
// cannot use m_uniqueId : it may be altered by broadphase code
|
||||
// so we'll use companionIds set on the initialization stage
|
||||
unsigned int id0 = colObj0->getCompanionId();
|
||||
unsigned int id1 = colObj1->getCompanionId();
|
||||
if(id0 > id1)
|
||||
{
|
||||
int tmp = id0; id0 = id1; id1 = tmp;
|
||||
}
|
||||
int totalNumConstraints = gpCudaDemoDynamicsWorld->getTotalNumConstraints();
|
||||
int2* pIds = gpCudaDemoDynamicsWorld->getIdsPtr();
|
||||
pIds += totalNumConstraints;
|
||||
pIds->x = id0;
|
||||
pIds->y = id1;
|
||||
totalNumConstraints++;
|
||||
gpCudaDemoDynamicsWorld->setTotalNumConstraints(totalNumConstraints);
|
||||
}
|
||||
} // cudaDemoNearCallback()
|
||||
|
||||
|
||||
@@ -1,136 +1,136 @@
|
||||
/*
|
||||
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 CUDA_DEMO_PAIR_CACHE_H
|
||||
#define CUDA_DEMO_PAIR_CACHE_H
|
||||
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btGpuDemoPairCache : public btNullPairCache
|
||||
{
|
||||
public:
|
||||
int m_maxProxies;
|
||||
int m_maxNeighbors;
|
||||
int* m_hNeighbors;
|
||||
int m_numPairs;
|
||||
int m_numSmallProxies;
|
||||
int m_maxSmallProxies;
|
||||
|
||||
btGpuDemoPairCache(int maxProxies, int maxNeighbors, int maxSmallProxies)
|
||||
{
|
||||
m_maxProxies = maxProxies;
|
||||
m_maxNeighbors = maxNeighbors;
|
||||
m_maxSmallProxies = maxSmallProxies;
|
||||
int sz = maxProxies * maxNeighbors;
|
||||
m_hNeighbors = new int [sz];
|
||||
reset();
|
||||
}
|
||||
|
||||
~btGpuDemoPairCache()
|
||||
{
|
||||
delete [] m_hNeighbors;
|
||||
}
|
||||
|
||||
void reset(void)
|
||||
{
|
||||
int sz = m_maxProxies * m_maxNeighbors;
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hNeighbors[i] = -1;
|
||||
}
|
||||
m_numPairs = 0;
|
||||
}
|
||||
|
||||
virtual int getNumOverlappingPairs() const
|
||||
{
|
||||
return m_numPairs;
|
||||
//return 0; // to skip btSimulationIslandManager::findUnions()
|
||||
}
|
||||
|
||||
virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher);
|
||||
|
||||
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
|
||||
{
|
||||
int id0 = proxy0->m_uniqueId - 2;
|
||||
int id1 = proxy1->m_uniqueId - 2;
|
||||
if(id0 >= m_maxSmallProxies)
|
||||
{
|
||||
id0 -= m_maxSmallProxies - m_numSmallProxies;
|
||||
}
|
||||
if(id1 >= m_maxSmallProxies)
|
||||
{
|
||||
id1 -= m_maxSmallProxies - m_numSmallProxies;
|
||||
}
|
||||
if(id0 > id1)
|
||||
{
|
||||
int tmp = id0; id0 = id1; id1 = tmp;
|
||||
}
|
||||
int offs = id0 * m_maxNeighbors;
|
||||
int i;
|
||||
for(i = 0; i < m_maxNeighbors; i++)
|
||||
{
|
||||
if(m_hNeighbors[offs + i] < 0)
|
||||
{
|
||||
m_hNeighbors[offs + i] = id1;
|
||||
m_numPairs++;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// btAssert(i < m_maxNeighbors);
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* /*dispatcher*/)
|
||||
{
|
||||
int id0 = proxy0->m_uniqueId - 2;
|
||||
int id1 = proxy1->m_uniqueId - 2;
|
||||
if(id0 >= m_maxSmallProxies)
|
||||
{
|
||||
id0 -= m_maxSmallProxies - m_numSmallProxies;
|
||||
}
|
||||
if(id1 >= m_maxSmallProxies)
|
||||
{
|
||||
id1 -= m_maxSmallProxies - m_numSmallProxies;
|
||||
}
|
||||
if(id0 > id1)
|
||||
{
|
||||
int tmp = id0; id0 = id1; id1 = tmp;
|
||||
}
|
||||
int offs = id0 * m_maxNeighbors;
|
||||
int i;
|
||||
for(i = 0; i < m_maxNeighbors; i++)
|
||||
{
|
||||
if(m_hNeighbors[offs + i] == id1)
|
||||
{
|
||||
m_hNeighbors[offs + i] = -1;
|
||||
m_numPairs--;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// btAssert(i < m_maxNeighbors);
|
||||
return 0;
|
||||
}
|
||||
};
|
||||
|
||||
extern void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
|
||||
|
||||
#endif //CUDA_DEMO_PAIR_CACHE_H
|
||||
|
||||
|
||||
/*
|
||||
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 CUDA_DEMO_PAIR_CACHE_H
|
||||
#define CUDA_DEMO_PAIR_CACHE_H
|
||||
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btGpuDemoPairCache : public btNullPairCache
|
||||
{
|
||||
public:
|
||||
int m_maxProxies;
|
||||
int m_maxNeighbors;
|
||||
int* m_hNeighbors;
|
||||
int m_numPairs;
|
||||
int m_numSmallProxies;
|
||||
int m_maxSmallProxies;
|
||||
|
||||
btGpuDemoPairCache(int maxProxies, int maxNeighbors, int maxSmallProxies)
|
||||
{
|
||||
m_maxProxies = maxProxies;
|
||||
m_maxNeighbors = maxNeighbors;
|
||||
m_maxSmallProxies = maxSmallProxies;
|
||||
int sz = maxProxies * maxNeighbors;
|
||||
m_hNeighbors = new int [sz];
|
||||
reset();
|
||||
}
|
||||
|
||||
~btGpuDemoPairCache()
|
||||
{
|
||||
delete [] m_hNeighbors;
|
||||
}
|
||||
|
||||
void reset(void)
|
||||
{
|
||||
int sz = m_maxProxies * m_maxNeighbors;
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hNeighbors[i] = -1;
|
||||
}
|
||||
m_numPairs = 0;
|
||||
}
|
||||
|
||||
virtual int getNumOverlappingPairs() const
|
||||
{
|
||||
return m_numPairs;
|
||||
//return 0; // to skip btSimulationIslandManager::findUnions()
|
||||
}
|
||||
|
||||
virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher);
|
||||
|
||||
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
|
||||
{
|
||||
int id0 = proxy0->m_uniqueId - 2;
|
||||
int id1 = proxy1->m_uniqueId - 2;
|
||||
if(id0 >= m_maxSmallProxies)
|
||||
{
|
||||
id0 -= m_maxSmallProxies - m_numSmallProxies;
|
||||
}
|
||||
if(id1 >= m_maxSmallProxies)
|
||||
{
|
||||
id1 -= m_maxSmallProxies - m_numSmallProxies;
|
||||
}
|
||||
if(id0 > id1)
|
||||
{
|
||||
int tmp = id0; id0 = id1; id1 = tmp;
|
||||
}
|
||||
int offs = id0 * m_maxNeighbors;
|
||||
int i;
|
||||
for(i = 0; i < m_maxNeighbors; i++)
|
||||
{
|
||||
if(m_hNeighbors[offs + i] < 0)
|
||||
{
|
||||
m_hNeighbors[offs + i] = id1;
|
||||
m_numPairs++;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// btAssert(i < m_maxNeighbors);
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* /*dispatcher*/)
|
||||
{
|
||||
int id0 = proxy0->m_uniqueId - 2;
|
||||
int id1 = proxy1->m_uniqueId - 2;
|
||||
if(id0 >= m_maxSmallProxies)
|
||||
{
|
||||
id0 -= m_maxSmallProxies - m_numSmallProxies;
|
||||
}
|
||||
if(id1 >= m_maxSmallProxies)
|
||||
{
|
||||
id1 -= m_maxSmallProxies - m_numSmallProxies;
|
||||
}
|
||||
if(id0 > id1)
|
||||
{
|
||||
int tmp = id0; id0 = id1; id1 = tmp;
|
||||
}
|
||||
int offs = id0 * m_maxNeighbors;
|
||||
int i;
|
||||
for(i = 0; i < m_maxNeighbors; i++)
|
||||
{
|
||||
if(m_hNeighbors[offs + i] == id1)
|
||||
{
|
||||
m_hNeighbors[offs + i] = -1;
|
||||
m_numPairs--;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// btAssert(i < m_maxNeighbors);
|
||||
return 0;
|
||||
}
|
||||
};
|
||||
|
||||
extern void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
|
||||
|
||||
#endif //CUDA_DEMO_PAIR_CACHE_H
|
||||
|
||||
|
||||
|
||||
@@ -1,62 +1,62 @@
|
||||
/*
|
||||
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 "BasicDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
class OurValue
|
||||
{
|
||||
int m_uid;
|
||||
|
||||
public:
|
||||
OurValue(const btVector3& initialPos)
|
||||
:m_position(initialPos)
|
||||
{
|
||||
static int gUid=0;
|
||||
m_uid=gUid;
|
||||
gUid++;
|
||||
}
|
||||
|
||||
btVector3 m_position;
|
||||
int getUid() const
|
||||
{
|
||||
return m_uid;
|
||||
}
|
||||
};
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
|
||||
BasicDemo ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
/*
|
||||
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 "BasicDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
class OurValue
|
||||
{
|
||||
int m_uid;
|
||||
|
||||
public:
|
||||
OurValue(const btVector3& initialPos)
|
||||
:m_position(initialPos)
|
||||
{
|
||||
static int gUid=0;
|
||||
m_uid=gUid;
|
||||
gUid++;
|
||||
}
|
||||
|
||||
btVector3 m_position;
|
||||
int getUid() const
|
||||
{
|
||||
return m_uid;
|
||||
}
|
||||
};
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
|
||||
BasicDemo ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
@@ -1,264 +1,264 @@
|
||||
#include "oecakeLoader.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
#include <stdlib.h>
|
||||
|
||||
|
||||
|
||||
|
||||
btCompoundShape* shiftTransform(btCompoundShape* boxCompound,btScalar mass,btTransform& shift)
|
||||
{
|
||||
btTransform principal;
|
||||
btVector3 principalInertia;
|
||||
btScalar* masses = new btScalar[boxCompound->getNumChildShapes()];
|
||||
for (int j=0;j<boxCompound->getNumChildShapes();j++)
|
||||
{
|
||||
//evenly distribute mass
|
||||
masses[j]=mass/boxCompound->getNumChildShapes();
|
||||
}
|
||||
|
||||
|
||||
boxCompound->calculatePrincipalAxisTransform(masses,principal,principalInertia);
|
||||
|
||||
|
||||
///create a new compound with world transform/center of mass properly aligned with the principal axis
|
||||
|
||||
///non-recursive compound shapes perform better
|
||||
//#define USE_RECURSIVE_COMPOUND 1
|
||||
#ifdef USE_RECURSIVE_COMPOUND
|
||||
|
||||
btCompoundShape* newCompound = new btCompoundShape();
|
||||
newCompound->addChildShape(principal.inverse(),boxCompound);
|
||||
m_collisionShapes.push_back(newCompound);
|
||||
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,newCompound,principalInertia);
|
||||
|
||||
#else
|
||||
#ifdef CHANGE_COMPOUND_INPLACE
|
||||
for (int i=0;i<boxCompound->getNumChildShapes();i++)
|
||||
{
|
||||
btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i);
|
||||
///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update
|
||||
boxCompound->updateChildTransform(i,newChildTransform);
|
||||
}
|
||||
if (isDynamic)
|
||||
boxCompound->calculateLocalInertia(mass,localInertia);
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,boxCompound,localInertia);
|
||||
#else
|
||||
///creation is faster using a new compound to store the shifted children
|
||||
btCompoundShape* newBoxCompound = new btCompoundShape();
|
||||
for (int i=0;i<boxCompound->getNumChildShapes();i++)
|
||||
{
|
||||
btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i);
|
||||
///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update
|
||||
newBoxCompound->addChildShape(newChildTransform,boxCompound->getChildShape(i));
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
#endif//USE_RECURSIVE_COMPOUND
|
||||
|
||||
shift = principal;
|
||||
return newBoxCompound;
|
||||
}
|
||||
|
||||
|
||||
void BasicOECakeReader::addParticle(int materialType, int pIndex, int pColor, float pPosX, float pPosY,float radius)
|
||||
{
|
||||
//determine that we have a new shape?
|
||||
if (m_particlePositions.size())
|
||||
{
|
||||
if (
|
||||
(materialType != m_materialType)
|
||||
||
|
||||
(pIndex != m_particleObjectIndex)
|
||||
)
|
||||
{
|
||||
convertParticleGroup();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//add to array
|
||||
m_materialType = materialType;
|
||||
m_particleObjectIndex = pIndex;
|
||||
m_particleColor = pColor;
|
||||
m_particlePositions.push_back(btVector3(pPosX,pPosY,0.));
|
||||
m_particleRadii.push_back(radius);
|
||||
|
||||
}
|
||||
|
||||
void BasicOECakeReader::convertParticleGroup()
|
||||
{
|
||||
printf("found a particle group of %d particles\n",m_particlePositions.size());
|
||||
if (m_particlePositions.size()>0)
|
||||
{
|
||||
addNewCollisionShape(m_particlePositions.size(),&m_particlePositions[0],&m_particleRadii[0],m_materialType,m_particleObjectIndex,m_particleColor);
|
||||
m_particlePositions.clear();
|
||||
m_particleRadii.clear();
|
||||
}
|
||||
}
|
||||
|
||||
void BasicOECakeReader::addNewCollisionShape(int numParticles, btVector3* particlePositions, btScalar* radii, int materialType, int objectIndex,int color )
|
||||
{
|
||||
//create Bullet stuff
|
||||
btCompoundShape* colShape = 0;
|
||||
btScalar mass;
|
||||
|
||||
bool addConstraint = false;
|
||||
|
||||
|
||||
if (materialType&0x800000)
|
||||
{
|
||||
addConstraint = true;
|
||||
}
|
||||
|
||||
if ((materialType & 0x20000) ||(materialType & 0x12))
|
||||
{
|
||||
mass = 1.f;
|
||||
} else
|
||||
{
|
||||
mass = 0.f;
|
||||
}
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
int numCurSpheres = 0;
|
||||
|
||||
{
|
||||
|
||||
|
||||
btTransform localTrans;
|
||||
localTrans.setIdentity();
|
||||
|
||||
//static
|
||||
btCompoundShape* compound = new btCompoundShape();
|
||||
|
||||
for (int i=0;i<numParticles;i++)
|
||||
{
|
||||
numCurSpheres++;
|
||||
localTrans.setOrigin(particlePositions[i]);
|
||||
btSphereShape* particle = new btSphereShape(radii[i]);
|
||||
compound->addChildShape(localTrans,particle);
|
||||
if (mass==0.f && (numCurSpheres>=7))
|
||||
{
|
||||
createBodyForCompoundShape(compound,false,startTransform,mass);
|
||||
compound = new btCompoundShape();
|
||||
numCurSpheres = 0;
|
||||
}
|
||||
}
|
||||
if (mass)
|
||||
{
|
||||
//shift the center of mass, based on all spheres
|
||||
btCompoundShape* newCompound = shiftTransform(compound,mass,startTransform);
|
||||
colShape = newCompound;
|
||||
} else
|
||||
{
|
||||
//use unmodified
|
||||
colShape = compound;
|
||||
}
|
||||
}
|
||||
|
||||
btDefaultMotionState* myMotionState = 0;
|
||||
|
||||
if (colShape && numCurSpheres)
|
||||
{
|
||||
createBodyForCompoundShape(colShape,addConstraint,startTransform,mass);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
int BasicOECakeReader::processLine(char * buffer, int size)
|
||||
{
|
||||
int numBytesRead = 0;
|
||||
|
||||
if (buffer[0] == 'p')
|
||||
{
|
||||
int materialType;
|
||||
int particleObjectIndex;
|
||||
int particleColor;
|
||||
int dummy1;
|
||||
float particlePosX;
|
||||
float particlePosY;
|
||||
|
||||
if (sscanf (buffer, "p %x %x %x %x %f %f", &materialType,&particleObjectIndex,&dummy1, &particleColor, &particlePosX, &particlePosY) == 6)
|
||||
{
|
||||
addParticle(materialType,particleObjectIndex,particleColor,particlePosX,particlePosY);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("ERROR: invalid line (%s)\n", buffer);
|
||||
}
|
||||
}
|
||||
|
||||
while (*buffer != '\n' && size != 0)
|
||||
{
|
||||
buffer++;
|
||||
numBytesRead++;
|
||||
}
|
||||
|
||||
|
||||
if (buffer[0]==0x0a)
|
||||
{
|
||||
buffer++;
|
||||
numBytesRead++;
|
||||
}
|
||||
|
||||
|
||||
return numBytesRead;
|
||||
}
|
||||
|
||||
bool BasicOECakeReader::processFile(char * fileName)
|
||||
{
|
||||
FILE * fp = fopen(fileName, "rb");
|
||||
if (fp == NULL)
|
||||
{
|
||||
printf("ERROR: file(%s) not found", fileName);
|
||||
return false;
|
||||
}
|
||||
|
||||
int size;
|
||||
if (fseek(fp, 0, SEEK_END) || (size = ftell(fp)) == EOF || fseek(fp, 0, SEEK_SET))
|
||||
{
|
||||
printf("ERROR: problem reading file(%s)", fileName);
|
||||
fclose(fp);
|
||||
return false;
|
||||
}
|
||||
else
|
||||
{
|
||||
rewind (fp);
|
||||
char * buffer = (char *) malloc(size+1);
|
||||
memset(buffer,0,size);
|
||||
|
||||
if (fread(buffer,1,size,fp) != size)
|
||||
{
|
||||
printf("Error reading file %s!\n",fileName);
|
||||
fclose(fp);
|
||||
return false;
|
||||
}
|
||||
|
||||
int totalBytesRead = 0;
|
||||
|
||||
while(totalBytesRead<size)
|
||||
{
|
||||
int remainingSize = size-totalBytesRead;
|
||||
if (remainingSize<1229)
|
||||
|
||||
{
|
||||
printf("..");
|
||||
}
|
||||
|
||||
|
||||
totalBytesRead +=processLine(&buffer[totalBytesRead],remainingSize);
|
||||
}
|
||||
}
|
||||
|
||||
convertParticleGroup();
|
||||
|
||||
fclose(fp);
|
||||
return false;
|
||||
}
|
||||
#include "oecakeLoader.h"
|
||||
#include <stdio.h> //printf debugging
|
||||
#include <stdlib.h>
|
||||
|
||||
|
||||
|
||||
|
||||
btCompoundShape* shiftTransform(btCompoundShape* boxCompound,btScalar mass,btTransform& shift)
|
||||
{
|
||||
btTransform principal;
|
||||
btVector3 principalInertia;
|
||||
btScalar* masses = new btScalar[boxCompound->getNumChildShapes()];
|
||||
for (int j=0;j<boxCompound->getNumChildShapes();j++)
|
||||
{
|
||||
//evenly distribute mass
|
||||
masses[j]=mass/boxCompound->getNumChildShapes();
|
||||
}
|
||||
|
||||
|
||||
boxCompound->calculatePrincipalAxisTransform(masses,principal,principalInertia);
|
||||
|
||||
|
||||
///create a new compound with world transform/center of mass properly aligned with the principal axis
|
||||
|
||||
///non-recursive compound shapes perform better
|
||||
//#define USE_RECURSIVE_COMPOUND 1
|
||||
#ifdef USE_RECURSIVE_COMPOUND
|
||||
|
||||
btCompoundShape* newCompound = new btCompoundShape();
|
||||
newCompound->addChildShape(principal.inverse(),boxCompound);
|
||||
m_collisionShapes.push_back(newCompound);
|
||||
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,newCompound,principalInertia);
|
||||
|
||||
#else
|
||||
#ifdef CHANGE_COMPOUND_INPLACE
|
||||
for (int i=0;i<boxCompound->getNumChildShapes();i++)
|
||||
{
|
||||
btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i);
|
||||
///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update
|
||||
boxCompound->updateChildTransform(i,newChildTransform);
|
||||
}
|
||||
if (isDynamic)
|
||||
boxCompound->calculateLocalInertia(mass,localInertia);
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,boxCompound,localInertia);
|
||||
#else
|
||||
///creation is faster using a new compound to store the shifted children
|
||||
btCompoundShape* newBoxCompound = new btCompoundShape();
|
||||
for (int i=0;i<boxCompound->getNumChildShapes();i++)
|
||||
{
|
||||
btTransform newChildTransform = principal.inverse()*boxCompound->getChildTransform(i);
|
||||
///updateChildTransform is really slow, because it re-calculates the AABB each time. todo: add option to disable this update
|
||||
newBoxCompound->addChildShape(newChildTransform,boxCompound->getChildShape(i));
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
#endif//USE_RECURSIVE_COMPOUND
|
||||
|
||||
shift = principal;
|
||||
return newBoxCompound;
|
||||
}
|
||||
|
||||
|
||||
void BasicOECakeReader::addParticle(int materialType, int pIndex, int pColor, float pPosX, float pPosY,float radius)
|
||||
{
|
||||
//determine that we have a new shape?
|
||||
if (m_particlePositions.size())
|
||||
{
|
||||
if (
|
||||
(materialType != m_materialType)
|
||||
||
|
||||
(pIndex != m_particleObjectIndex)
|
||||
)
|
||||
{
|
||||
convertParticleGroup();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//add to array
|
||||
m_materialType = materialType;
|
||||
m_particleObjectIndex = pIndex;
|
||||
m_particleColor = pColor;
|
||||
m_particlePositions.push_back(btVector3(pPosX,pPosY,0.));
|
||||
m_particleRadii.push_back(radius);
|
||||
|
||||
}
|
||||
|
||||
void BasicOECakeReader::convertParticleGroup()
|
||||
{
|
||||
printf("found a particle group of %d particles\n",m_particlePositions.size());
|
||||
if (m_particlePositions.size()>0)
|
||||
{
|
||||
addNewCollisionShape(m_particlePositions.size(),&m_particlePositions[0],&m_particleRadii[0],m_materialType,m_particleObjectIndex,m_particleColor);
|
||||
m_particlePositions.clear();
|
||||
m_particleRadii.clear();
|
||||
}
|
||||
}
|
||||
|
||||
void BasicOECakeReader::addNewCollisionShape(int numParticles, btVector3* particlePositions, btScalar* radii, int materialType, int objectIndex,int color )
|
||||
{
|
||||
//create Bullet stuff
|
||||
btCompoundShape* colShape = 0;
|
||||
btScalar mass;
|
||||
|
||||
bool addConstraint = false;
|
||||
|
||||
|
||||
if (materialType&0x800000)
|
||||
{
|
||||
addConstraint = true;
|
||||
}
|
||||
|
||||
if ((materialType & 0x20000) ||(materialType & 0x12))
|
||||
{
|
||||
mass = 1.f;
|
||||
} else
|
||||
{
|
||||
mass = 0.f;
|
||||
}
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
int numCurSpheres = 0;
|
||||
|
||||
{
|
||||
|
||||
|
||||
btTransform localTrans;
|
||||
localTrans.setIdentity();
|
||||
|
||||
//static
|
||||
btCompoundShape* compound = new btCompoundShape();
|
||||
|
||||
for (int i=0;i<numParticles;i++)
|
||||
{
|
||||
numCurSpheres++;
|
||||
localTrans.setOrigin(particlePositions[i]);
|
||||
btSphereShape* particle = new btSphereShape(radii[i]);
|
||||
compound->addChildShape(localTrans,particle);
|
||||
if (mass==0.f && (numCurSpheres>=7))
|
||||
{
|
||||
createBodyForCompoundShape(compound,false,startTransform,mass);
|
||||
compound = new btCompoundShape();
|
||||
numCurSpheres = 0;
|
||||
}
|
||||
}
|
||||
if (mass)
|
||||
{
|
||||
//shift the center of mass, based on all spheres
|
||||
btCompoundShape* newCompound = shiftTransform(compound,mass,startTransform);
|
||||
colShape = newCompound;
|
||||
} else
|
||||
{
|
||||
//use unmodified
|
||||
colShape = compound;
|
||||
}
|
||||
}
|
||||
|
||||
btDefaultMotionState* myMotionState = 0;
|
||||
|
||||
if (colShape && numCurSpheres)
|
||||
{
|
||||
createBodyForCompoundShape(colShape,addConstraint,startTransform,mass);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
int BasicOECakeReader::processLine(char * buffer, int size)
|
||||
{
|
||||
int numBytesRead = 0;
|
||||
|
||||
if (buffer[0] == 'p')
|
||||
{
|
||||
int materialType;
|
||||
int particleObjectIndex;
|
||||
int particleColor;
|
||||
int dummy1;
|
||||
float particlePosX;
|
||||
float particlePosY;
|
||||
|
||||
if (sscanf (buffer, "p %x %x %x %x %f %f", &materialType,&particleObjectIndex,&dummy1, &particleColor, &particlePosX, &particlePosY) == 6)
|
||||
{
|
||||
addParticle(materialType,particleObjectIndex,particleColor,particlePosX,particlePosY);
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("ERROR: invalid line (%s)\n", buffer);
|
||||
}
|
||||
}
|
||||
|
||||
while (*buffer != '\n' && size != 0)
|
||||
{
|
||||
buffer++;
|
||||
numBytesRead++;
|
||||
}
|
||||
|
||||
|
||||
if (buffer[0]==0x0a)
|
||||
{
|
||||
buffer++;
|
||||
numBytesRead++;
|
||||
}
|
||||
|
||||
|
||||
return numBytesRead;
|
||||
}
|
||||
|
||||
bool BasicOECakeReader::processFile(char * fileName)
|
||||
{
|
||||
FILE * fp = fopen(fileName, "rb");
|
||||
if (fp == NULL)
|
||||
{
|
||||
printf("ERROR: file(%s) not found", fileName);
|
||||
return false;
|
||||
}
|
||||
|
||||
int size;
|
||||
if (fseek(fp, 0, SEEK_END) || (size = ftell(fp)) == EOF || fseek(fp, 0, SEEK_SET))
|
||||
{
|
||||
printf("ERROR: problem reading file(%s)", fileName);
|
||||
fclose(fp);
|
||||
return false;
|
||||
}
|
||||
else
|
||||
{
|
||||
rewind (fp);
|
||||
char * buffer = (char *) malloc(size+1);
|
||||
memset(buffer,0,size);
|
||||
|
||||
if (fread(buffer,1,size,fp) != size)
|
||||
{
|
||||
printf("Error reading file %s!\n",fileName);
|
||||
fclose(fp);
|
||||
return false;
|
||||
}
|
||||
|
||||
int totalBytesRead = 0;
|
||||
|
||||
while(totalBytesRead<size)
|
||||
{
|
||||
int remainingSize = size-totalBytesRead;
|
||||
if (remainingSize<1229)
|
||||
|
||||
{
|
||||
printf("..");
|
||||
}
|
||||
|
||||
|
||||
totalBytesRead +=processLine(&buffer[totalBytesRead],remainingSize);
|
||||
}
|
||||
}
|
||||
|
||||
convertParticleGroup();
|
||||
|
||||
fclose(fp);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -1,35 +1,35 @@
|
||||
|
||||
#ifndef OE_CAKE_LOADER_H
|
||||
#define OE_CAKE_LOADER_H
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
|
||||
class BasicOECakeReader
|
||||
{
|
||||
int m_materialType;
|
||||
int m_particleObjectIndex;
|
||||
int m_particleColor;
|
||||
btAlignedObjectArray<btVector3> m_particlePositions;
|
||||
btAlignedObjectArray<btScalar> m_particleRadii;
|
||||
|
||||
void addParticle(int materialType, int pIndex, int pColor, float pPosX, float pPosY, float radius=1);
|
||||
|
||||
virtual void addNewCollisionShape(int numParticles, btVector3* particlePositions, btScalar* radii, int materialType, int objectIndex,int color );
|
||||
|
||||
int processLine(char * buffer, int size);
|
||||
|
||||
void convertParticleGroup();
|
||||
|
||||
public:
|
||||
|
||||
BasicOECakeReader()
|
||||
{
|
||||
}
|
||||
|
||||
bool processFile(char * fileName);
|
||||
|
||||
virtual void createBodyForCompoundShape(btCompoundShape* compound,bool addConstraint,const btTransform& worldTransform, btScalar mass) = 0;
|
||||
|
||||
};
|
||||
#endif //OE_CAKE_LOADER_H
|
||||
|
||||
#ifndef OE_CAKE_LOADER_H
|
||||
#define OE_CAKE_LOADER_H
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
|
||||
class BasicOECakeReader
|
||||
{
|
||||
int m_materialType;
|
||||
int m_particleObjectIndex;
|
||||
int m_particleColor;
|
||||
btAlignedObjectArray<btVector3> m_particlePositions;
|
||||
btAlignedObjectArray<btScalar> m_particleRadii;
|
||||
|
||||
void addParticle(int materialType, int pIndex, int pColor, float pPosX, float pPosY, float radius=1);
|
||||
|
||||
virtual void addNewCollisionShape(int numParticles, btVector3* particlePositions, btScalar* radii, int materialType, int objectIndex,int color );
|
||||
|
||||
int processLine(char * buffer, int size);
|
||||
|
||||
void convertParticleGroup();
|
||||
|
||||
public:
|
||||
|
||||
BasicOECakeReader()
|
||||
{
|
||||
}
|
||||
|
||||
bool processFile(char * fileName);
|
||||
|
||||
virtual void createBodyForCompoundShape(btCompoundShape* compound,bool addConstraint,const btTransform& worldTransform, btScalar mass) = 0;
|
||||
|
||||
};
|
||||
#endif //OE_CAKE_LOADER_H
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,93 +1,93 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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 BASIC_DEMO3D_H
|
||||
#define BASIC_DEMO3D_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
///BasicDemo is good starting point for learning the code base and porting.
|
||||
class BasicDemo3D : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
int m_mouseButtons;
|
||||
int m_mouseOldX;
|
||||
int m_mouseOldY;
|
||||
|
||||
public:
|
||||
|
||||
BasicDemo3D()
|
||||
{
|
||||
}
|
||||
virtual ~BasicDemo3D()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
virtual void mouseFunc(int button, int state, int x, int y);
|
||||
virtual void mouseMotionFunc(int x,int y);
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BasicDemo3D* demo = new BasicDemo3D;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
demo->m_mouseButtons = 0;
|
||||
demo->m_mouseOldX = 0;
|
||||
demo->m_mouseOldY = 0;
|
||||
return demo;
|
||||
}
|
||||
|
||||
void DrawConstraintInfo();
|
||||
void outputDebugInfo(int & xOffset,int & yStart, int yIncr);
|
||||
virtual void renderme();
|
||||
|
||||
void setWireMode(bool wireOnOff);
|
||||
};
|
||||
|
||||
|
||||
#endif //BASIC_DEMO3D_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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 BASIC_DEMO3D_H
|
||||
#define BASIC_DEMO3D_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
///BasicDemo is good starting point for learning the code base and porting.
|
||||
class BasicDemo3D : public GlutDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
int m_mouseButtons;
|
||||
int m_mouseOldX;
|
||||
int m_mouseOldY;
|
||||
|
||||
public:
|
||||
|
||||
BasicDemo3D()
|
||||
{
|
||||
}
|
||||
virtual ~BasicDemo3D()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
virtual void mouseFunc(int button, int state, int x, int y);
|
||||
virtual void mouseMotionFunc(int x,int y);
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
BasicDemo3D* demo = new BasicDemo3D;
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
demo->m_mouseButtons = 0;
|
||||
demo->m_mouseOldX = 0;
|
||||
demo->m_mouseOldY = 0;
|
||||
return demo;
|
||||
}
|
||||
|
||||
void DrawConstraintInfo();
|
||||
void outputDebugInfo(int & xOffset,int & yStart, int yIncr);
|
||||
virtual void renderme();
|
||||
|
||||
void setWireMode(bool wireOnOff);
|
||||
};
|
||||
|
||||
|
||||
#endif //BASIC_DEMO3D_H
|
||||
|
||||
|
||||
@@ -1,32 +1,32 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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 "LinearMath/btQuickprof.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "btGpuDemo3dSharedTypes.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#include "btGpuDemo3dSharedCode.h"
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
//--------------------------------------------------------------------------
|
||||
//--------------------------------------------------------------------------
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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 "LinearMath/btQuickprof.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "btGpuDemo3dSharedTypes.h"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#include "btGpuDemo3dSharedCode.h"
|
||||
|
||||
//--------------------------------------------------------------------------
|
||||
//--------------------------------------------------------------------------
|
||||
//--------------------------------------------------------------------------
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,38 +1,38 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints));
|
||||
void BT_GPU_PREF(collisionWithWallBox3D(void* trans,void* vel,void* angVel,btCudaPartProps pProp, btCudaBoxProps gProp,int numObjs,float dt));
|
||||
void BT_GPU_PREF(collisionBatchResolutionBox3D(void* constraints,int *batch,int numConstraints,void *trans,void *vel,
|
||||
void *angularVel,float *lambdaDtBox,float *positionConstraint,void* normal,void* contact,
|
||||
btCudaPartProps pProp,int iBatch,float dt));
|
||||
|
||||
void BT_GPU_PREF(integrVel(float* pForceTorqueDamp, float* pInvInertiaMass, void* pVel, void* pAngVel, float timeStep, unsigned int numBodies));
|
||||
void BT_GPU_PREF(integrTrans(void* trans, void* vel, void* angVel, float timeStep, int numBodies));
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
|
||||
extern "C"
|
||||
{
|
||||
|
||||
void BT_GPU_PREF(clearAccumulationOfLambdaDt(float* lambdaDtBox, int numConstraints, int numContPoints));
|
||||
void BT_GPU_PREF(collisionWithWallBox3D(void* trans,void* vel,void* angVel,btCudaPartProps pProp, btCudaBoxProps gProp,int numObjs,float dt));
|
||||
void BT_GPU_PREF(collisionBatchResolutionBox3D(void* constraints,int *batch,int numConstraints,void *trans,void *vel,
|
||||
void *angularVel,float *lambdaDtBox,float *positionConstraint,void* normal,void* contact,
|
||||
btCudaPartProps pProp,int iBatch,float dt));
|
||||
|
||||
void BT_GPU_PREF(integrVel(float* pForceTorqueDamp, float* pInvInertiaMass, void* pVel, void* pAngVel, float timeStep, unsigned int numBodies));
|
||||
void BT_GPU_PREF(integrTrans(void* trans, void* vel, void* angVel, float timeStep, int numBodies));
|
||||
|
||||
|
||||
} // extern "C"
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
@@ -1,39 +1,39 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
struct btCudaPartProps
|
||||
{
|
||||
float m_mass;
|
||||
float m_diameter;
|
||||
float m_restCoeff;
|
||||
};
|
||||
|
||||
struct btCudaBoxProps
|
||||
{
|
||||
float minX;
|
||||
float maxX;
|
||||
float minY;
|
||||
float maxY;
|
||||
float minZ;
|
||||
float maxZ;
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//---------- C o n s t r a i n t s o l v e r d e m o ----------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
struct btCudaPartProps
|
||||
{
|
||||
float m_mass;
|
||||
float m_diameter;
|
||||
float m_restCoeff;
|
||||
};
|
||||
|
||||
struct btCudaBoxProps
|
||||
{
|
||||
float minX;
|
||||
float maxX;
|
||||
float minY;
|
||||
float maxY;
|
||||
float minZ;
|
||||
float maxZ;
|
||||
};
|
||||
|
||||
//----------------------------------------------------------------------------------------
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,252 +1,252 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
#define BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
//#define BT_USE_CUDA 1
|
||||
// To enable CUDA :
|
||||
// 1. Uncomment //#define BT_USE_CUDA 1
|
||||
// 2. Build and add libbulletcuda (Extras/CUDA) to project
|
||||
// 3. Add $(CUDA_LIB_PATH) and cudart.lib to linker properties
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#undef BT_GPU_PREF
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#else
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#endif
|
||||
|
||||
#undef BT_GPU_PREF
|
||||
|
||||
|
||||
#if 0 // ###
|
||||
#include <vector_types.h>
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#undef BT_GPU_PREF
|
||||
#endif
|
||||
|
||||
#include "btGpuDemo3dSharedTypes.h"
|
||||
|
||||
//#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 20
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 15
|
||||
|
||||
class btCudaDemoDynamicsWorld3D : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
int m_maxObj;
|
||||
int m_maxNeihbors;
|
||||
int m_maxConstr;
|
||||
int m_maxPointsPerConstr;
|
||||
|
||||
int m_numObj;
|
||||
int m_numSimStep;
|
||||
bool m_useCPUSolver;
|
||||
bool m_useSeqImpSolver;
|
||||
bool m_useCudaMotIntegr;
|
||||
bool m_copyIntegrDataToGPU;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
float4* m_dTrans;
|
||||
float4* m_dVel;
|
||||
float4* m_dAngVel;
|
||||
int2* m_dIds;
|
||||
int* m_dBatchIds;
|
||||
float* m_dLambdaDtBox;
|
||||
float* m_dPositionConstraint;
|
||||
float3* m_dNormal;
|
||||
float3* m_dContact;
|
||||
float* m_dForceTorqueDamp;
|
||||
float* m_dInvInertiaMass;
|
||||
#endif
|
||||
|
||||
float4* m_hTrans;
|
||||
float4* m_hVel;
|
||||
float4* m_hAngVel;
|
||||
int* m_hConstraintBuffer;
|
||||
int* m_hConstraintCounter;
|
||||
int m_maxBatches;
|
||||
int m_numBatches;
|
||||
int m_numConstraints;
|
||||
int2* m_hIds;
|
||||
int* m_hBatchIds;
|
||||
|
||||
int m_maxVtxPerObj;
|
||||
|
||||
|
||||
// ------------- these are only needed for CPU version and for debugging
|
||||
float* m_hLambdaDtBox;
|
||||
float* m_hPositionConstraint;
|
||||
float3* m_hNormal;
|
||||
float3* m_hContact;
|
||||
// -------------
|
||||
|
||||
btScalar m_objRad;
|
||||
btVector3 m_worldMin;
|
||||
btVector3 m_worldMax;
|
||||
|
||||
//-------------------------------
|
||||
int* m_hConstraintUsed;
|
||||
|
||||
//-------------------------------
|
||||
|
||||
float* m_hForceTorqueDamp;
|
||||
float* m_hInvInertiaMass;
|
||||
|
||||
public:
|
||||
int m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES];
|
||||
|
||||
|
||||
btCudaDemoDynamicsWorld3D(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration, int maxPointsPerConstr = 4)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
m_useCPUSolver = false;
|
||||
m_useSeqImpSolver = false;
|
||||
m_useCudaMotIntegr = true;
|
||||
m_copyIntegrDataToGPU = true;
|
||||
m_maxObj = 32768;
|
||||
m_maxNeihbors = 26;
|
||||
m_maxConstr = m_maxObj * m_maxNeihbors;
|
||||
int sz = m_maxConstr;
|
||||
m_hConstraintBuffer = new int[sz];
|
||||
m_hConstraintCounter = new int[m_maxObj];
|
||||
m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES;
|
||||
m_hIds = new int2[sz];
|
||||
m_hBatchIds = new int[sz];
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hBatchIds[i] = -1;
|
||||
}
|
||||
m_hTrans = new float4[m_maxObj * 4];
|
||||
m_hVel = new float4[m_maxObj];
|
||||
m_hAngVel = new float4[m_maxObj];
|
||||
|
||||
m_maxPointsPerConstr = maxPointsPerConstr;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_allocateArray((void**)&m_dTrans, sizeof(float4) * m_maxObj * 4);
|
||||
btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObj);
|
||||
btCuda_allocateArray((void**)&m_dAngVel, sizeof(float4) * m_maxObj);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
|
||||
btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
|
||||
|
||||
|
||||
btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dContact, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dForceTorqueDamp, sizeof(float) * m_maxObj * 4 * 2);
|
||||
btCuda_allocateArray((void**)&m_dInvInertiaMass, sizeof(float) * m_maxObj * 4 * 3);
|
||||
#endif
|
||||
|
||||
m_hLambdaDtBox = new float[sz * m_maxPointsPerConstr];
|
||||
m_hPositionConstraint = new float[sz * m_maxPointsPerConstr];
|
||||
m_hNormal = new float3[sz * m_maxPointsPerConstr];
|
||||
m_hContact = new float3[sz * m_maxPointsPerConstr];
|
||||
|
||||
m_numSimStep = 0;
|
||||
|
||||
m_objRad = 1.0f;
|
||||
|
||||
m_hConstraintUsed = new int[sz];
|
||||
|
||||
m_hForceTorqueDamp = new float[m_maxObj * 4 * 2];
|
||||
m_hInvInertiaMass = new float[4 * m_maxObj * 3];
|
||||
|
||||
}
|
||||
virtual ~btCudaDemoDynamicsWorld3D()
|
||||
{
|
||||
delete [] m_hConstraintBuffer;
|
||||
delete [] m_hConstraintCounter;
|
||||
delete [] m_hIds;
|
||||
delete [] m_hBatchIds;
|
||||
delete [] m_hTrans;
|
||||
delete [] m_hVel;
|
||||
delete [] m_hAngVel;
|
||||
|
||||
delete [] m_hLambdaDtBox;
|
||||
delete [] m_hPositionConstraint;
|
||||
delete [] m_hNormal;
|
||||
delete [] m_hContact;
|
||||
delete [] m_hConstraintUsed;
|
||||
|
||||
delete [] m_hForceTorqueDamp;
|
||||
delete [] m_hInvInertiaMass;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_freeArray(m_dTrans);
|
||||
btCuda_freeArray(m_dVel);
|
||||
btCuda_freeArray(m_dAngVel);
|
||||
|
||||
btCuda_freeArray(m_dIds);
|
||||
btCuda_freeArray(m_dBatchIds);
|
||||
btCuda_freeArray(m_dLambdaDtBox);
|
||||
btCuda_freeArray(m_dPositionConstraint);
|
||||
btCuda_freeArray(m_dNormal);
|
||||
btCuda_freeArray(m_dContact);
|
||||
btCuda_freeArray(m_dForceTorqueDamp);
|
||||
btCuda_freeArray(m_dInvInertiaMass);
|
||||
#endif
|
||||
|
||||
}
|
||||
virtual void calculateSimulationIslands()
|
||||
{
|
||||
if(m_useSeqImpSolver)
|
||||
{
|
||||
btDiscreteDynamicsWorld::calculateSimulationIslands();
|
||||
}
|
||||
}
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
virtual void integrateTransforms(btScalar timeStep);
|
||||
|
||||
|
||||
|
||||
|
||||
void solveConstraintsCPU(btContactSolverInfo& solverInfo);
|
||||
|
||||
void debugDrawConstraints(int selectedBatch, const float* pColorTab);
|
||||
|
||||
void setObjRad(btScalar rad) { m_objRad = rad; }
|
||||
void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
|
||||
void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
|
||||
|
||||
void grabData();
|
||||
void grabObjData();
|
||||
void grabConstrData();
|
||||
void createBatches();
|
||||
void copyDataToGPU();
|
||||
void copyDataFromGPU();
|
||||
void writebackData();
|
||||
void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
|
||||
void setUseSeqImpSolver(bool useSeqImpSolver) { m_useSeqImpSolver = useSeqImpSolver; }
|
||||
void setUseCudaMotIntegr(bool useCudaMotIntegr) { m_useCudaMotIntegr = useCudaMotIntegr; }
|
||||
void resetScene(void) { m_copyIntegrDataToGPU = true; }
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
|
||||
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_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
#define BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
//#define BT_USE_CUDA 1
|
||||
// To enable CUDA :
|
||||
// 1. Uncomment //#define BT_USE_CUDA 1
|
||||
// 2. Build and add libbulletcuda (Extras/CUDA) to project
|
||||
// 3. Add $(CUDA_LIB_PATH) and cudart.lib to linker properties
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#undef BT_GPU_PREF
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#else
|
||||
#include "BulletMultiThreaded/btGpuDefines.h"
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#endif
|
||||
|
||||
#undef BT_GPU_PREF
|
||||
|
||||
|
||||
#if 0 // ###
|
||||
#include <vector_types.h>
|
||||
#define BT_GPU_PREF(func) btCuda_##func
|
||||
#include "../../src/BulletMultiThreaded/btGpuUtilsSharedDefs.h"
|
||||
#undef BT_GPU_PREF
|
||||
#endif
|
||||
|
||||
#include "btGpuDemo3dSharedTypes.h"
|
||||
|
||||
//#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 20
|
||||
#define CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES 15
|
||||
|
||||
class btCudaDemoDynamicsWorld3D : public btDiscreteDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
int m_maxObj;
|
||||
int m_maxNeihbors;
|
||||
int m_maxConstr;
|
||||
int m_maxPointsPerConstr;
|
||||
|
||||
int m_numObj;
|
||||
int m_numSimStep;
|
||||
bool m_useCPUSolver;
|
||||
bool m_useSeqImpSolver;
|
||||
bool m_useCudaMotIntegr;
|
||||
bool m_copyIntegrDataToGPU;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
float4* m_dTrans;
|
||||
float4* m_dVel;
|
||||
float4* m_dAngVel;
|
||||
int2* m_dIds;
|
||||
int* m_dBatchIds;
|
||||
float* m_dLambdaDtBox;
|
||||
float* m_dPositionConstraint;
|
||||
float3* m_dNormal;
|
||||
float3* m_dContact;
|
||||
float* m_dForceTorqueDamp;
|
||||
float* m_dInvInertiaMass;
|
||||
#endif
|
||||
|
||||
float4* m_hTrans;
|
||||
float4* m_hVel;
|
||||
float4* m_hAngVel;
|
||||
int* m_hConstraintBuffer;
|
||||
int* m_hConstraintCounter;
|
||||
int m_maxBatches;
|
||||
int m_numBatches;
|
||||
int m_numConstraints;
|
||||
int2* m_hIds;
|
||||
int* m_hBatchIds;
|
||||
|
||||
int m_maxVtxPerObj;
|
||||
|
||||
|
||||
// ------------- these are only needed for CPU version and for debugging
|
||||
float* m_hLambdaDtBox;
|
||||
float* m_hPositionConstraint;
|
||||
float3* m_hNormal;
|
||||
float3* m_hContact;
|
||||
// -------------
|
||||
|
||||
btScalar m_objRad;
|
||||
btVector3 m_worldMin;
|
||||
btVector3 m_worldMax;
|
||||
|
||||
//-------------------------------
|
||||
int* m_hConstraintUsed;
|
||||
|
||||
//-------------------------------
|
||||
|
||||
float* m_hForceTorqueDamp;
|
||||
float* m_hInvInertiaMass;
|
||||
|
||||
public:
|
||||
int m_numInBatches[CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES];
|
||||
|
||||
|
||||
btCudaDemoDynamicsWorld3D(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration, int maxPointsPerConstr = 4)
|
||||
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration)
|
||||
{
|
||||
m_useCPUSolver = false;
|
||||
m_useSeqImpSolver = false;
|
||||
m_useCudaMotIntegr = true;
|
||||
m_copyIntegrDataToGPU = true;
|
||||
m_maxObj = 32768;
|
||||
m_maxNeihbors = 26;
|
||||
m_maxConstr = m_maxObj * m_maxNeihbors;
|
||||
int sz = m_maxConstr;
|
||||
m_hConstraintBuffer = new int[sz];
|
||||
m_hConstraintCounter = new int[m_maxObj];
|
||||
m_maxBatches = CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES;
|
||||
m_hIds = new int2[sz];
|
||||
m_hBatchIds = new int[sz];
|
||||
for(int i = 0; i < sz; i++)
|
||||
{
|
||||
m_hBatchIds[i] = -1;
|
||||
}
|
||||
m_hTrans = new float4[m_maxObj * 4];
|
||||
m_hVel = new float4[m_maxObj];
|
||||
m_hAngVel = new float4[m_maxObj];
|
||||
|
||||
m_maxPointsPerConstr = maxPointsPerConstr;
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_allocateArray((void**)&m_dTrans, sizeof(float4) * m_maxObj * 4);
|
||||
btCuda_allocateArray((void**)&m_dVel, sizeof(float4) * m_maxObj);
|
||||
btCuda_allocateArray((void**)&m_dAngVel, sizeof(float4) * m_maxObj);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dIds, sizeof(int2) * sz);
|
||||
btCuda_allocateArray((void**)&m_dBatchIds, sizeof(int) * sz);
|
||||
|
||||
|
||||
btCuda_allocateArray((void**)&m_dLambdaDtBox, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dPositionConstraint, sizeof(float) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dNormal, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
btCuda_allocateArray((void**)&m_dContact, sizeof(float3) * sz * m_maxPointsPerConstr);
|
||||
|
||||
btCuda_allocateArray((void**)&m_dForceTorqueDamp, sizeof(float) * m_maxObj * 4 * 2);
|
||||
btCuda_allocateArray((void**)&m_dInvInertiaMass, sizeof(float) * m_maxObj * 4 * 3);
|
||||
#endif
|
||||
|
||||
m_hLambdaDtBox = new float[sz * m_maxPointsPerConstr];
|
||||
m_hPositionConstraint = new float[sz * m_maxPointsPerConstr];
|
||||
m_hNormal = new float3[sz * m_maxPointsPerConstr];
|
||||
m_hContact = new float3[sz * m_maxPointsPerConstr];
|
||||
|
||||
m_numSimStep = 0;
|
||||
|
||||
m_objRad = 1.0f;
|
||||
|
||||
m_hConstraintUsed = new int[sz];
|
||||
|
||||
m_hForceTorqueDamp = new float[m_maxObj * 4 * 2];
|
||||
m_hInvInertiaMass = new float[4 * m_maxObj * 3];
|
||||
|
||||
}
|
||||
virtual ~btCudaDemoDynamicsWorld3D()
|
||||
{
|
||||
delete [] m_hConstraintBuffer;
|
||||
delete [] m_hConstraintCounter;
|
||||
delete [] m_hIds;
|
||||
delete [] m_hBatchIds;
|
||||
delete [] m_hTrans;
|
||||
delete [] m_hVel;
|
||||
delete [] m_hAngVel;
|
||||
|
||||
delete [] m_hLambdaDtBox;
|
||||
delete [] m_hPositionConstraint;
|
||||
delete [] m_hNormal;
|
||||
delete [] m_hContact;
|
||||
delete [] m_hConstraintUsed;
|
||||
|
||||
delete [] m_hForceTorqueDamp;
|
||||
delete [] m_hInvInertiaMass;
|
||||
|
||||
|
||||
#ifdef BT_USE_CUDA
|
||||
btCuda_freeArray(m_dTrans);
|
||||
btCuda_freeArray(m_dVel);
|
||||
btCuda_freeArray(m_dAngVel);
|
||||
|
||||
btCuda_freeArray(m_dIds);
|
||||
btCuda_freeArray(m_dBatchIds);
|
||||
btCuda_freeArray(m_dLambdaDtBox);
|
||||
btCuda_freeArray(m_dPositionConstraint);
|
||||
btCuda_freeArray(m_dNormal);
|
||||
btCuda_freeArray(m_dContact);
|
||||
btCuda_freeArray(m_dForceTorqueDamp);
|
||||
btCuda_freeArray(m_dInvInertiaMass);
|
||||
#endif
|
||||
|
||||
}
|
||||
virtual void calculateSimulationIslands()
|
||||
{
|
||||
if(m_useSeqImpSolver)
|
||||
{
|
||||
btDiscreteDynamicsWorld::calculateSimulationIslands();
|
||||
}
|
||||
}
|
||||
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
virtual void integrateTransforms(btScalar timeStep);
|
||||
|
||||
|
||||
|
||||
|
||||
void solveConstraintsCPU(btContactSolverInfo& solverInfo);
|
||||
|
||||
void debugDrawConstraints(int selectedBatch, const float* pColorTab);
|
||||
|
||||
void setObjRad(btScalar rad) { m_objRad = rad; }
|
||||
void setWorldMin(const btVector3& worldMin) { m_worldMin = worldMin; }
|
||||
void setWorldMax(const btVector3& worldMax) { m_worldMax = worldMax; }
|
||||
|
||||
void grabData();
|
||||
void grabObjData();
|
||||
void grabConstrData();
|
||||
void createBatches();
|
||||
void copyDataToGPU();
|
||||
void copyDataFromGPU();
|
||||
void writebackData();
|
||||
void setUseCPUSolver(bool useCPU) { m_useCPUSolver = useCPU; }
|
||||
void setUseSeqImpSolver(bool useSeqImpSolver) { m_useSeqImpSolver = useSeqImpSolver; }
|
||||
void setUseCudaMotIntegr(bool useCudaMotIntegr) { m_useCudaMotIntegr = useCudaMotIntegr; }
|
||||
void resetScene(void) { m_copyIntegrDataToGPU = true; }
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_CUDA_DEMO_DYNAMICS_WORLD3D_H
|
||||
|
||||
@@ -1,61 +1,61 @@
|
||||
/*
|
||||
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 "BasicDemo3d.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
class OurValue
|
||||
{
|
||||
int m_uid;
|
||||
|
||||
public:
|
||||
OurValue(const btVector3& initialPos)
|
||||
:m_position(initialPos)
|
||||
{
|
||||
static int gUid=0;
|
||||
m_uid=gUid;
|
||||
gUid++;
|
||||
}
|
||||
|
||||
btVector3 m_position;
|
||||
int getUid() const
|
||||
{
|
||||
return m_uid;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
BasicDemo3D ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
ccdDemo.setWireMode(false);
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
/*
|
||||
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 "BasicDemo3d.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
class OurValue
|
||||
{
|
||||
int m_uid;
|
||||
|
||||
public:
|
||||
OurValue(const btVector3& initialPos)
|
||||
:m_position(initialPos)
|
||||
{
|
||||
static int gUid=0;
|
||||
m_uid=gUid;
|
||||
gUid++;
|
||||
}
|
||||
|
||||
btVector3 m_position;
|
||||
int getUid() const
|
||||
{
|
||||
return m_uid;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
BasicDemo3D ccdDemo;
|
||||
ccdDemo.initPhysics();
|
||||
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
ccdDemo.setWireMode(false);
|
||||
|
||||
|
||||
#ifdef CHECK_MEMORY_LEAKS
|
||||
ccdDemo.exitPhysics();
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",&ccdDemo);
|
||||
#endif
|
||||
|
||||
//default glut doesn't return from mainloop
|
||||
return 0;
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,243 +1,243 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#ifndef __HFFLUID_H
|
||||
#define __HFFLUID_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
class btManifoldResult;
|
||||
|
||||
// FIX AABB calculation for whole btHfFluid shape
|
||||
// Fix flags and fill ratio
|
||||
// -> Figure out the constants used in flags and fill ratio code
|
||||
// Fix volume removal
|
||||
// add buoyant convex vs. convex / concave
|
||||
// add buoyant concave support (try bunny model)
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
class btHfFluid : public btCollisionObject
|
||||
{
|
||||
public:
|
||||
btHfFluid (btScalar gridCellWidth, int numNodesWidth, int numNodesLength);
|
||||
|
||||
~btHfFluid ();
|
||||
|
||||
void predictMotion(btScalar dt);
|
||||
|
||||
/* Prep does some initial setup of the height field fluid.
|
||||
* You should call this at initialization time.
|
||||
*/
|
||||
void prep ();
|
||||
|
||||
static const btHfFluid* upcast(const btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()==CO_HF_FLUID)
|
||||
return (const btHfFluid*)colObj;
|
||||
return 0;
|
||||
}
|
||||
static btHfFluid* upcast(btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()==CO_HF_FLUID)
|
||||
return (btHfFluid*)colObj;
|
||||
return 0;
|
||||
}
|
||||
|
||||
//
|
||||
// ::btCollisionObject
|
||||
//
|
||||
|
||||
virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
aabbMin = m_aabbMin;
|
||||
aabbMax = m_aabbMax;
|
||||
}
|
||||
|
||||
int getNumNodesWidth () const { return m_numNodesWidth; }
|
||||
int getNumNodesLength () const { return m_numNodesLength; }
|
||||
|
||||
btScalar getGridCellWidth () const { return m_gridCellWidth; }
|
||||
btScalar widthPos (int i) const;
|
||||
btScalar lengthPos (int j) const;
|
||||
|
||||
int arrayIndex (int i, int j) const;
|
||||
int arrayIndex (btScalar i, btScalar j) const;
|
||||
int arrayIndex (unsigned int i, unsigned int j) const;
|
||||
const btScalar* getHeightArray () const;
|
||||
const btScalar* getGroundArray () const;
|
||||
const btScalar* getEtaArray () const;
|
||||
const btScalar* getVelocityUArray () const;
|
||||
const btScalar* getVelocityVArray () const;
|
||||
const bool* getFlagsArray () const;
|
||||
|
||||
void setFluidHeight (int x, int y, btScalar height);
|
||||
void setFluidHeight (int index, btScalar height);
|
||||
|
||||
void addFluidHeight (int x, int y, btScalar height);
|
||||
void addDisplaced (int i, int j, btScalar r);
|
||||
|
||||
void getAabbForColumn (int x, int y, btVector3& aabbMin, btVector3& aabbMax);
|
||||
|
||||
btScalar* getHeightArray ();
|
||||
btScalar* getGroundArray ();
|
||||
btScalar* getEtaArray ();
|
||||
btScalar* getVelocityUArray ();
|
||||
btScalar* getVelocityVArray ();
|
||||
bool* getFlagsArray ();
|
||||
|
||||
void foreachGroundTriangle(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax);
|
||||
class btHfFluidColumnCallback
|
||||
{
|
||||
public:
|
||||
btHfFluidColumnCallback () {}
|
||||
|
||||
virtual ~btHfFluidColumnCallback () {}
|
||||
|
||||
virtual bool processColumn (btHfFluid* fluid, int w, int l)
|
||||
{
|
||||
return true; // keep going
|
||||
}
|
||||
};
|
||||
|
||||
void foreachFluidColumn (btHfFluidColumnCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
|
||||
void foreachSurfaceTriangle (btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
protected:
|
||||
int m_numNodesWidth;
|
||||
int m_numNodesLength;
|
||||
|
||||
btScalar m_gridCellWidth;
|
||||
btScalar m_gridWidth;
|
||||
btScalar m_gridLength;
|
||||
|
||||
btScalar m_gridCellWidthInv;
|
||||
|
||||
btVector3 m_aabbMin;
|
||||
btVector3 m_aabbMax;
|
||||
|
||||
void setGridDimensions (btScalar gridCellWidth,
|
||||
int numNodesWidth, int numNodesLength);
|
||||
|
||||
btScalar bilinearInterpolate (const btScalar* array, btScalar i, btScalar j);
|
||||
|
||||
btScalar advect (const btScalar* array, btScalar i, btScalar j, btScalar di, btScalar dj, btScalar dt);
|
||||
|
||||
void advectEta (btScalar dt);
|
||||
void updateHeight (btScalar dt);
|
||||
|
||||
void advectVelocityU (btScalar dt);
|
||||
void advectVelocityV (btScalar dt);
|
||||
void updateVelocity (btScalar dt);
|
||||
|
||||
void transferDisplaced (btScalar dt);
|
||||
|
||||
void setReflectBoundaryLeft ();
|
||||
void setReflectBoundaryRight ();
|
||||
void setReflectBoundaryTop ();
|
||||
void setReflectBoundaryBottom ();
|
||||
|
||||
void setAbsorbBoundaryLeft (btScalar dt);
|
||||
void setAbsorbBoundaryRight (btScalar dt);
|
||||
void setAbsorbBoundaryTop (btScalar dt);
|
||||
void setAbsorbBoundaryBottom (btScalar dt);
|
||||
|
||||
void computeFlagsAndFillRatio ();
|
||||
btScalar computeHmin (int i, int j);
|
||||
btScalar computeHmax (int i, int j);
|
||||
btScalar computeEtaMax (int i, int j);
|
||||
|
||||
void allocateArrays ();
|
||||
|
||||
void debugTests ();
|
||||
|
||||
btScalar* m_temp; // temp
|
||||
int m_heightIndex;
|
||||
btScalar* m_height[2];
|
||||
btScalar* m_ground;
|
||||
btScalar* m_eta; // height - ground
|
||||
btScalar* m_u[2];
|
||||
btScalar* m_v[2];
|
||||
int m_rIndex;
|
||||
btScalar* m_r[2];
|
||||
int m_velocityIndex;
|
||||
bool* m_flags;
|
||||
btScalar* m_fillRatio;
|
||||
|
||||
// tweakables
|
||||
btScalar m_globalVelocityU;
|
||||
btScalar m_globalVelocityV;
|
||||
btScalar m_gravity;
|
||||
btScalar m_volumeDisplacementScale;
|
||||
btScalar m_horizontalVelocityScale;
|
||||
|
||||
btScalar m_epsHeight;
|
||||
btScalar m_epsEta;
|
||||
public:
|
||||
// You can enforce a global velocity at the surface of the fluid
|
||||
// default: 0.0 and 0.0
|
||||
void setGlobaVelocity (btScalar globalVelocityU, btScalar globalVelocityV);
|
||||
void getGlobalVelocity (btScalar& globalVelocityU, btScalar& globalVelocityV) const;
|
||||
|
||||
// Control force of gravity, should match physics world
|
||||
// default: -10.0
|
||||
void setGravity (btScalar gravity);
|
||||
btScalar getGravity () const;
|
||||
|
||||
// When a body is submerged into the fluid, the displaced fluid
|
||||
// is spread to adjacent cells. You can control the percentage of this
|
||||
// by setting this value between 0.0 and 1.0
|
||||
// default: 0.5
|
||||
void setVolumeDisplacementScale (btScalar volumeDisplacementScale);
|
||||
btScalar getVolumeDisplacementScale () const;
|
||||
|
||||
// The horizontal velocity of the fluid can influence bodies submerged
|
||||
// in the fluid. You can control how much influence by setting this
|
||||
// between 0.0 and 1.0
|
||||
// default: 0.5
|
||||
void setHorizontalVelocityScale (btScalar horizontalVelocityScale);
|
||||
btScalar getHorizontalVelocityScale () const;
|
||||
};
|
||||
|
||||
class btRigidBody;
|
||||
class btIDebugDraw;
|
||||
class btHfFluidBuoyantConvexShape;
|
||||
|
||||
class btHfFluidColumnRigidBodyCallback : public btHfFluid::btHfFluidColumnCallback
|
||||
{
|
||||
protected:
|
||||
btRigidBody* m_rigidBody;
|
||||
btHfFluidBuoyantConvexShape* m_buoyantShape;
|
||||
btIDebugDraw* m_debugDraw;
|
||||
int m_numVoxels;
|
||||
btVector3* m_voxelPositionsXformed;
|
||||
bool* m_voxelSubmerged;
|
||||
btVector3 m_aabbMin;
|
||||
btVector3 m_aabbMax;
|
||||
btScalar m_volume;
|
||||
btScalar m_density;
|
||||
btScalar m_floatyness;
|
||||
public:
|
||||
btHfFluidColumnRigidBodyCallback (btRigidBody* rigidBody, btIDebugDraw* debugDraw, btScalar density, btScalar floatyness);
|
||||
~btHfFluidColumnRigidBodyCallback ();
|
||||
bool processColumn (btHfFluid* fluid, int w, int l);
|
||||
btScalar getVolume () const { return m_volume; }
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
|
||||
#ifndef __HFFLUID_H
|
||||
#define __HFFLUID_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
class btManifoldResult;
|
||||
|
||||
// FIX AABB calculation for whole btHfFluid shape
|
||||
// Fix flags and fill ratio
|
||||
// -> Figure out the constants used in flags and fill ratio code
|
||||
// Fix volume removal
|
||||
// add buoyant convex vs. convex / concave
|
||||
// add buoyant concave support (try bunny model)
|
||||
|
||||
///experimental buyancy fluid demo
|
||||
class btHfFluid : public btCollisionObject
|
||||
{
|
||||
public:
|
||||
btHfFluid (btScalar gridCellWidth, int numNodesWidth, int numNodesLength);
|
||||
|
||||
~btHfFluid ();
|
||||
|
||||
void predictMotion(btScalar dt);
|
||||
|
||||
/* Prep does some initial setup of the height field fluid.
|
||||
* You should call this at initialization time.
|
||||
*/
|
||||
void prep ();
|
||||
|
||||
static const btHfFluid* upcast(const btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()==CO_HF_FLUID)
|
||||
return (const btHfFluid*)colObj;
|
||||
return 0;
|
||||
}
|
||||
static btHfFluid* upcast(btCollisionObject* colObj)
|
||||
{
|
||||
if (colObj->getInternalType()==CO_HF_FLUID)
|
||||
return (btHfFluid*)colObj;
|
||||
return 0;
|
||||
}
|
||||
|
||||
//
|
||||
// ::btCollisionObject
|
||||
//
|
||||
|
||||
virtual void getAabb(btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
aabbMin = m_aabbMin;
|
||||
aabbMax = m_aabbMax;
|
||||
}
|
||||
|
||||
int getNumNodesWidth () const { return m_numNodesWidth; }
|
||||
int getNumNodesLength () const { return m_numNodesLength; }
|
||||
|
||||
btScalar getGridCellWidth () const { return m_gridCellWidth; }
|
||||
btScalar widthPos (int i) const;
|
||||
btScalar lengthPos (int j) const;
|
||||
|
||||
int arrayIndex (int i, int j) const;
|
||||
int arrayIndex (btScalar i, btScalar j) const;
|
||||
int arrayIndex (unsigned int i, unsigned int j) const;
|
||||
const btScalar* getHeightArray () const;
|
||||
const btScalar* getGroundArray () const;
|
||||
const btScalar* getEtaArray () const;
|
||||
const btScalar* getVelocityUArray () const;
|
||||
const btScalar* getVelocityVArray () const;
|
||||
const bool* getFlagsArray () const;
|
||||
|
||||
void setFluidHeight (int x, int y, btScalar height);
|
||||
void setFluidHeight (int index, btScalar height);
|
||||
|
||||
void addFluidHeight (int x, int y, btScalar height);
|
||||
void addDisplaced (int i, int j, btScalar r);
|
||||
|
||||
void getAabbForColumn (int x, int y, btVector3& aabbMin, btVector3& aabbMax);
|
||||
|
||||
btScalar* getHeightArray ();
|
||||
btScalar* getGroundArray ();
|
||||
btScalar* getEtaArray ();
|
||||
btScalar* getVelocityUArray ();
|
||||
btScalar* getVelocityVArray ();
|
||||
bool* getFlagsArray ();
|
||||
|
||||
void foreachGroundTriangle(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax);
|
||||
class btHfFluidColumnCallback
|
||||
{
|
||||
public:
|
||||
btHfFluidColumnCallback () {}
|
||||
|
||||
virtual ~btHfFluidColumnCallback () {}
|
||||
|
||||
virtual bool processColumn (btHfFluid* fluid, int w, int l)
|
||||
{
|
||||
return true; // keep going
|
||||
}
|
||||
};
|
||||
|
||||
void foreachFluidColumn (btHfFluidColumnCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
|
||||
void foreachSurfaceTriangle (btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
protected:
|
||||
int m_numNodesWidth;
|
||||
int m_numNodesLength;
|
||||
|
||||
btScalar m_gridCellWidth;
|
||||
btScalar m_gridWidth;
|
||||
btScalar m_gridLength;
|
||||
|
||||
btScalar m_gridCellWidthInv;
|
||||
|
||||
btVector3 m_aabbMin;
|
||||
btVector3 m_aabbMax;
|
||||
|
||||
void setGridDimensions (btScalar gridCellWidth,
|
||||
int numNodesWidth, int numNodesLength);
|
||||
|
||||
btScalar bilinearInterpolate (const btScalar* array, btScalar i, btScalar j);
|
||||
|
||||
btScalar advect (const btScalar* array, btScalar i, btScalar j, btScalar di, btScalar dj, btScalar dt);
|
||||
|
||||
void advectEta (btScalar dt);
|
||||
void updateHeight (btScalar dt);
|
||||
|
||||
void advectVelocityU (btScalar dt);
|
||||
void advectVelocityV (btScalar dt);
|
||||
void updateVelocity (btScalar dt);
|
||||
|
||||
void transferDisplaced (btScalar dt);
|
||||
|
||||
void setReflectBoundaryLeft ();
|
||||
void setReflectBoundaryRight ();
|
||||
void setReflectBoundaryTop ();
|
||||
void setReflectBoundaryBottom ();
|
||||
|
||||
void setAbsorbBoundaryLeft (btScalar dt);
|
||||
void setAbsorbBoundaryRight (btScalar dt);
|
||||
void setAbsorbBoundaryTop (btScalar dt);
|
||||
void setAbsorbBoundaryBottom (btScalar dt);
|
||||
|
||||
void computeFlagsAndFillRatio ();
|
||||
btScalar computeHmin (int i, int j);
|
||||
btScalar computeHmax (int i, int j);
|
||||
btScalar computeEtaMax (int i, int j);
|
||||
|
||||
void allocateArrays ();
|
||||
|
||||
void debugTests ();
|
||||
|
||||
btScalar* m_temp; // temp
|
||||
int m_heightIndex;
|
||||
btScalar* m_height[2];
|
||||
btScalar* m_ground;
|
||||
btScalar* m_eta; // height - ground
|
||||
btScalar* m_u[2];
|
||||
btScalar* m_v[2];
|
||||
int m_rIndex;
|
||||
btScalar* m_r[2];
|
||||
int m_velocityIndex;
|
||||
bool* m_flags;
|
||||
btScalar* m_fillRatio;
|
||||
|
||||
// tweakables
|
||||
btScalar m_globalVelocityU;
|
||||
btScalar m_globalVelocityV;
|
||||
btScalar m_gravity;
|
||||
btScalar m_volumeDisplacementScale;
|
||||
btScalar m_horizontalVelocityScale;
|
||||
|
||||
btScalar m_epsHeight;
|
||||
btScalar m_epsEta;
|
||||
public:
|
||||
// You can enforce a global velocity at the surface of the fluid
|
||||
// default: 0.0 and 0.0
|
||||
void setGlobaVelocity (btScalar globalVelocityU, btScalar globalVelocityV);
|
||||
void getGlobalVelocity (btScalar& globalVelocityU, btScalar& globalVelocityV) const;
|
||||
|
||||
// Control force of gravity, should match physics world
|
||||
// default: -10.0
|
||||
void setGravity (btScalar gravity);
|
||||
btScalar getGravity () const;
|
||||
|
||||
// When a body is submerged into the fluid, the displaced fluid
|
||||
// is spread to adjacent cells. You can control the percentage of this
|
||||
// by setting this value between 0.0 and 1.0
|
||||
// default: 0.5
|
||||
void setVolumeDisplacementScale (btScalar volumeDisplacementScale);
|
||||
btScalar getVolumeDisplacementScale () const;
|
||||
|
||||
// The horizontal velocity of the fluid can influence bodies submerged
|
||||
// in the fluid. You can control how much influence by setting this
|
||||
// between 0.0 and 1.0
|
||||
// default: 0.5
|
||||
void setHorizontalVelocityScale (btScalar horizontalVelocityScale);
|
||||
btScalar getHorizontalVelocityScale () const;
|
||||
};
|
||||
|
||||
class btRigidBody;
|
||||
class btIDebugDraw;
|
||||
class btHfFluidBuoyantConvexShape;
|
||||
|
||||
class btHfFluidColumnRigidBodyCallback : public btHfFluid::btHfFluidColumnCallback
|
||||
{
|
||||
protected:
|
||||
btRigidBody* m_rigidBody;
|
||||
btHfFluidBuoyantConvexShape* m_buoyantShape;
|
||||
btIDebugDraw* m_debugDraw;
|
||||
int m_numVoxels;
|
||||
btVector3* m_voxelPositionsXformed;
|
||||
bool* m_voxelSubmerged;
|
||||
btVector3 m_aabbMin;
|
||||
btVector3 m_aabbMax;
|
||||
btScalar m_volume;
|
||||
btScalar m_density;
|
||||
btScalar m_floatyness;
|
||||
public:
|
||||
btHfFluidColumnRigidBodyCallback (btRigidBody* rigidBody, btIDebugDraw* debugDraw, btScalar density, btScalar floatyness);
|
||||
~btHfFluidColumnRigidBodyCallback ();
|
||||
bool processColumn (btHfFluid* fluid, int w, int l);
|
||||
btScalar getVolume () const { return m_volume; }
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
@@ -1,195 +1,195 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#include <stdio.h>
|
||||
|
||||
#include "LinearMath/btAabbUtil2.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
|
||||
btHfFluidBuoyantConvexShape::btHfFluidBuoyantConvexShape (btConvexShape* convexShape)
|
||||
{
|
||||
m_convexShape = convexShape;
|
||||
m_shapeType = HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE;
|
||||
m_radius = btScalar(0.f);
|
||||
m_numVoxels = 0;
|
||||
m_voxelPositions = NULL;
|
||||
m_totalVolume = btScalar(0.0f);
|
||||
m_floatyness = btScalar(1.5f);
|
||||
}
|
||||
|
||||
btHfFluidBuoyantConvexShape::~btHfFluidBuoyantConvexShape ()
|
||||
{
|
||||
if (m_voxelPositions)
|
||||
btAlignedFree (m_voxelPositions);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
return m_convexShape->getAabb (t, aabbMin, aabbMax);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::setMargin(btScalar margin)
|
||||
{
|
||||
m_convexShape->setMargin (margin);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_convexShape->setLocalScaling (scaling);
|
||||
}
|
||||
|
||||
const char* btHfFluidBuoyantConvexShape::getName() const
|
||||
{
|
||||
return "HF_FLUID_BUOYANT_CONVEX_SHAPE";
|
||||
}
|
||||
|
||||
const btVector3& btHfFluidBuoyantConvexShape::getLocalScaling() const
|
||||
{
|
||||
return m_convexShape->getLocalScaling();
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
||||
{
|
||||
m_convexShape->calculateLocalInertia (mass, inertia);
|
||||
}
|
||||
|
||||
btScalar btHfFluidBuoyantConvexShape::getMargin() const
|
||||
{
|
||||
return m_convexShape->getMargin();
|
||||
}
|
||||
|
||||
//must be above the machine epsilon
|
||||
#define REL_ERROR2 btScalar(1.0e-6)
|
||||
static bool intersect(btVoronoiSimplexSolver* simplexSolver,
|
||||
const btTransform& transformA,
|
||||
const btTransform& transformB,
|
||||
btConvexShape* a,
|
||||
btConvexShape* b)
|
||||
{
|
||||
|
||||
btScalar squaredDistance = SIMD_INFINITY;
|
||||
btTransform localTransA = transformA;
|
||||
btTransform localTransB = transformB;
|
||||
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
|
||||
localTransA.getOrigin() -= positionOffset;
|
||||
localTransB.getOrigin() -= positionOffset;
|
||||
btScalar delta = btScalar(0.);
|
||||
btVector3 v = btVector3(1.0f, 0.0f, 0.0f);
|
||||
simplexSolver->reset ();
|
||||
do
|
||||
{
|
||||
btVector3 seperatingAxisInA = (-v)* transformA.getBasis();
|
||||
btVector3 seperatingAxisInB = v* transformB.getBasis();
|
||||
|
||||
btVector3 pInA = a->localGetSupportVertexNonVirtual(seperatingAxisInA);
|
||||
btVector3 qInB = b->localGetSupportVertexNonVirtual(seperatingAxisInB);
|
||||
|
||||
btVector3 pWorld = localTransA(pInA);
|
||||
btVector3 qWorld = localTransB(qInB);
|
||||
|
||||
btVector3 w = pWorld - qWorld;
|
||||
delta = v.dot(w);
|
||||
|
||||
// potential exit, they don't overlap
|
||||
if ((delta > btScalar(0.0)))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (simplexSolver->inSimplex (w))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
simplexSolver->addVertex (w, pWorld, qWorld);
|
||||
|
||||
if (!simplexSolver->closest(v))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
btScalar previousSquaredDistance = squaredDistance;
|
||||
squaredDistance = v.length2();
|
||||
|
||||
if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
} while (!simplexSolver->fullSimplex() && squaredDistance > REL_ERROR2 * simplexSolver->maxVertex());
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::generateShape (btScalar radius, btScalar gap)
|
||||
{
|
||||
btTransform T;
|
||||
T.setIdentity ();
|
||||
btVector3 aabbMin, aabbMax;
|
||||
getAabb (T, aabbMin, aabbMax);
|
||||
|
||||
m_radius = radius;
|
||||
m_numVoxels = 0;
|
||||
|
||||
btVoronoiSimplexSolver simplexSolver;
|
||||
btSphereShape sphereShape(radius);
|
||||
btVector3* voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION,16);
|
||||
for (int i = 0; i < MAX_VOXEL_DIMENSION; i++)
|
||||
{
|
||||
for (int j = 0; j < MAX_VOXEL_DIMENSION; j++)
|
||||
{
|
||||
for (int k = 0; k < MAX_VOXEL_DIMENSION; k++)
|
||||
{
|
||||
btVector3 point;
|
||||
btTransform sT;
|
||||
sT.setIdentity ();
|
||||
|
||||
point.setX(aabbMin.getX() + (i * btScalar(2.0f) * radius) + (i * gap));
|
||||
point.setY(aabbMin.getY() + (j * btScalar(2.0f) * radius) + (j * gap));
|
||||
point.setZ(aabbMin.getZ() + (k * btScalar(2.0f) * radius) + (k * gap));
|
||||
|
||||
if (TestPointAgainstAabb2(aabbMin, aabbMax, point))
|
||||
{
|
||||
btTransform sT;
|
||||
sT.setIdentity ();
|
||||
sT.setOrigin (point);
|
||||
|
||||
if (intersect (&simplexSolver, T, sT, m_convexShape, &sphereShape))
|
||||
{
|
||||
voxelPositions[m_numVoxels] = point;
|
||||
m_numVoxels++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
m_voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*m_numVoxels, 16);
|
||||
for (int i = 0; i < m_numVoxels;i++)
|
||||
{
|
||||
m_voxelPositions[i] = voxelPositions[i];
|
||||
}
|
||||
btAlignedFree (voxelPositions);
|
||||
m_volumePerVoxel = btScalar(4.0f)/btScalar(3.0f)*SIMD_PI*radius*radius*radius;
|
||||
m_totalVolume = m_numVoxels * m_volumePerVoxel;
|
||||
m_radius = radius;
|
||||
}
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
|
||||
|
||||
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.
|
||||
|
||||
Experimental Buoyancy fluid demo written by John McCutchan
|
||||
*/
|
||||
#include <stdio.h>
|
||||
|
||||
#include "LinearMath/btAabbUtil2.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
|
||||
#include "btHfFluidBuoyantConvexShape.h"
|
||||
|
||||
btHfFluidBuoyantConvexShape::btHfFluidBuoyantConvexShape (btConvexShape* convexShape)
|
||||
{
|
||||
m_convexShape = convexShape;
|
||||
m_shapeType = HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE;
|
||||
m_radius = btScalar(0.f);
|
||||
m_numVoxels = 0;
|
||||
m_voxelPositions = NULL;
|
||||
m_totalVolume = btScalar(0.0f);
|
||||
m_floatyness = btScalar(1.5f);
|
||||
}
|
||||
|
||||
btHfFluidBuoyantConvexShape::~btHfFluidBuoyantConvexShape ()
|
||||
{
|
||||
if (m_voxelPositions)
|
||||
btAlignedFree (m_voxelPositions);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
return m_convexShape->getAabb (t, aabbMin, aabbMax);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::setMargin(btScalar margin)
|
||||
{
|
||||
m_convexShape->setMargin (margin);
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_convexShape->setLocalScaling (scaling);
|
||||
}
|
||||
|
||||
const char* btHfFluidBuoyantConvexShape::getName() const
|
||||
{
|
||||
return "HF_FLUID_BUOYANT_CONVEX_SHAPE";
|
||||
}
|
||||
|
||||
const btVector3& btHfFluidBuoyantConvexShape::getLocalScaling() const
|
||||
{
|
||||
return m_convexShape->getLocalScaling();
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
||||
{
|
||||
m_convexShape->calculateLocalInertia (mass, inertia);
|
||||
}
|
||||
|
||||
btScalar btHfFluidBuoyantConvexShape::getMargin() const
|
||||
{
|
||||
return m_convexShape->getMargin();
|
||||
}
|
||||
|
||||
//must be above the machine epsilon
|
||||
#define REL_ERROR2 btScalar(1.0e-6)
|
||||
static bool intersect(btVoronoiSimplexSolver* simplexSolver,
|
||||
const btTransform& transformA,
|
||||
const btTransform& transformB,
|
||||
btConvexShape* a,
|
||||
btConvexShape* b)
|
||||
{
|
||||
|
||||
btScalar squaredDistance = SIMD_INFINITY;
|
||||
btTransform localTransA = transformA;
|
||||
btTransform localTransB = transformB;
|
||||
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
|
||||
localTransA.getOrigin() -= positionOffset;
|
||||
localTransB.getOrigin() -= positionOffset;
|
||||
btScalar delta = btScalar(0.);
|
||||
btVector3 v = btVector3(1.0f, 0.0f, 0.0f);
|
||||
simplexSolver->reset ();
|
||||
do
|
||||
{
|
||||
btVector3 seperatingAxisInA = (-v)* transformA.getBasis();
|
||||
btVector3 seperatingAxisInB = v* transformB.getBasis();
|
||||
|
||||
btVector3 pInA = a->localGetSupportVertexNonVirtual(seperatingAxisInA);
|
||||
btVector3 qInB = b->localGetSupportVertexNonVirtual(seperatingAxisInB);
|
||||
|
||||
btVector3 pWorld = localTransA(pInA);
|
||||
btVector3 qWorld = localTransB(qInB);
|
||||
|
||||
btVector3 w = pWorld - qWorld;
|
||||
delta = v.dot(w);
|
||||
|
||||
// potential exit, they don't overlap
|
||||
if ((delta > btScalar(0.0)))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (simplexSolver->inSimplex (w))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
simplexSolver->addVertex (w, pWorld, qWorld);
|
||||
|
||||
if (!simplexSolver->closest(v))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
btScalar previousSquaredDistance = squaredDistance;
|
||||
squaredDistance = v.length2();
|
||||
|
||||
if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
} while (!simplexSolver->fullSimplex() && squaredDistance > REL_ERROR2 * simplexSolver->maxVertex());
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void btHfFluidBuoyantConvexShape::generateShape (btScalar radius, btScalar gap)
|
||||
{
|
||||
btTransform T;
|
||||
T.setIdentity ();
|
||||
btVector3 aabbMin, aabbMax;
|
||||
getAabb (T, aabbMin, aabbMax);
|
||||
|
||||
m_radius = radius;
|
||||
m_numVoxels = 0;
|
||||
|
||||
btVoronoiSimplexSolver simplexSolver;
|
||||
btSphereShape sphereShape(radius);
|
||||
btVector3* voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION*MAX_VOXEL_DIMENSION,16);
|
||||
for (int i = 0; i < MAX_VOXEL_DIMENSION; i++)
|
||||
{
|
||||
for (int j = 0; j < MAX_VOXEL_DIMENSION; j++)
|
||||
{
|
||||
for (int k = 0; k < MAX_VOXEL_DIMENSION; k++)
|
||||
{
|
||||
btVector3 point;
|
||||
btTransform sT;
|
||||
sT.setIdentity ();
|
||||
|
||||
point.setX(aabbMin.getX() + (i * btScalar(2.0f) * radius) + (i * gap));
|
||||
point.setY(aabbMin.getY() + (j * btScalar(2.0f) * radius) + (j * gap));
|
||||
point.setZ(aabbMin.getZ() + (k * btScalar(2.0f) * radius) + (k * gap));
|
||||
|
||||
if (TestPointAgainstAabb2(aabbMin, aabbMax, point))
|
||||
{
|
||||
btTransform sT;
|
||||
sT.setIdentity ();
|
||||
sT.setOrigin (point);
|
||||
|
||||
if (intersect (&simplexSolver, T, sT, m_convexShape, &sphereShape))
|
||||
{
|
||||
voxelPositions[m_numVoxels] = point;
|
||||
m_numVoxels++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
m_voxelPositions = (btVector3*)btAlignedAlloc (sizeof(btVector3)*m_numVoxels, 16);
|
||||
for (int i = 0; i < m_numVoxels;i++)
|
||||
{
|
||||
m_voxelPositions[i] = voxelPositions[i];
|
||||
}
|
||||
btAlignedFree (voxelPositions);
|
||||
m_volumePerVoxel = btScalar(4.0f)/btScalar(3.0f)*SIMD_PI*radius*radius*radius;
|
||||
m_totalVolume = m_numVoxels * m_volumePerVoxel;
|
||||
m_radius = radius;
|
||||
}
|
||||
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user