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prepared to add BulletDino, and made ForkLiftDemo compile (no functionality yet)

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ejcoumans
2006-10-29 06:34:58 +00:00
parent d6c6cbaee6
commit 82b310c9cd
6 changed files with 1006 additions and 146 deletions
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190
Demos/ForkLiftDemo/ForkLiftDemo.cpp
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@@ -13,32 +13,16 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//Ignore this USE_PARALLEL_DISPATCHER define, it is for future optimizations
//#define USE_PARALLEL_DISPATCHER 1
/// September 2006: ForkLiftDemo is work in progress, this file is mostly just a placeholder
/// This ForkLiftDemo file is very early in development, please check it later
#include "CcdPhysicsEnvironment.h"
#include "ParallelPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#include "PHY_IVehicle.h"
#include "ParallelIslandDispatcher.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "PHY_Pro.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
float deltaTime = 1.f/60.f;
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
@@ -48,14 +32,9 @@ const int maxProxies = 32766;
const int maxOverlap = 65535;
DefaultMotionState wheelMotionState[4];
///PHY_IVehicle is the interface behind the constraint that implements the raycast vehicle (WrapperVehicle which holds a btRaycastVehicle)
///notice that for higher-quality slow-moving vehicles, another approach might be better
///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
PHY_IVehicle* gVehicleConstraint=0;
float gEngineForce = 0.f;
float maxEngineForce = 1000.f;
float maxEngineForce = 100.f;
float gVehicleSteering = 0.f;
float steeringIncrement = 0.1f;
float steeringClamp = 0.3f;
@@ -103,32 +82,15 @@ m_maxCameraDistance(10.f)
void ForkLiftDemo::setupPhysics()
{
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
//ParallelIslandDispatcher* dispatcher2 = new ParallelIslandDispatcher();
btVector3 worldAabbMin(-30000,-30000,-30000);
btVector3 worldAabbMax(30000,30000,30000);
btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
//OverlappingPairCache* broadphase = new btSimpleBroadphase(maxProxies,maxOverlap);
#ifdef USE_PARALLEL_DISPATCHER
m_physicsEnvironmentPtr = new ParallelPhysicsEnvironment(dispatcher2,broadphase);
#else
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
#endif
m_physicsEnvironmentPtr->setDeactivationTime(2.f);
m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
m_physicsEnvironmentPtr->setGravity(0,-10,0);//0,0);//-10,0);
int i;
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_dynamicsWorld = new btDiscreteDynamicsWorld();
#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
int i;
const float TRIANGLE_SIZE=20.f;
@@ -151,7 +113,7 @@ const float TRIANGLE_SIZE=20.f;
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j)+10.f,(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
@@ -182,86 +144,32 @@ const float TRIANGLE_SIZE=20.f;
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-20.f,0));
tr.setOrigin(btVector3(0,-4.5f,0));
//create ground object
localCreatePhysicsObject(false,0,tr,groundShape);
localCreateRigidBody(0,tr,groundShape);
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
tr.setOrigin(btVector3(0,0.f,0));
m_carChassis = localCreatePhysicsObject(true,800,tr,chassisShape);
m_carChassis = localCreateRigidBody(800,tr,chassisShape);
clientResetScene();
m_physicsEnvironmentPtr->SyncMotionStates(0.f);
/// create vehicle
{
int constraintId;
constraintId =m_physicsEnvironmentPtr->createConstraint(
m_carChassis,0,
PHY_VEHICLE_CONSTRAINT,
0,0,0,
0,0,0);
///never deactivate the vehicle
m_carChassis->getRigidBody()->SetActivationState(DISABLE_DEACTIVATION);
gVehicleConstraint = m_physicsEnvironmentPtr->getVehicleConstraint(constraintId);
///never deactivate the vehicle
m_carChassis->SetActivationState(DISABLE_DEACTIVATION);
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
btRaycastVehicle::btVehicleTuning tuning;
bool isFrontWheel=true;
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
gVehicleConstraint->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
gVehicleConstraint->addWheel(&wheelMotionState[0],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
// m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
gVehicleConstraint->addWheel(&wheelMotionState[1],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
// m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
isFrontWheel = false;
gVehicleConstraint->addWheel(&wheelMotionState[2],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
// m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
gVehicleConstraint->addWheel(&wheelMotionState[3],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,0);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,1);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,2);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,3);
gVehicleConstraint->SetSuspensionDamping(suspensionDamping,0);
gVehicleConstraint->SetSuspensionDamping(suspensionDamping,1);
gVehicleConstraint->SetSuspensionDamping(suspensionDamping,2);
gVehicleConstraint->SetSuspensionDamping(suspensionDamping,3);
gVehicleConstraint->SetSuspensionCompression(suspensionCompression,0);
gVehicleConstraint->SetSuspensionCompression(suspensionCompression,1);
gVehicleConstraint->SetSuspensionCompression(suspensionCompression,2);
gVehicleConstraint->SetSuspensionCompression(suspensionCompression,3);
gVehicleConstraint->SetWheelFriction(wheelFriction,0);
gVehicleConstraint->SetWheelFriction(wheelFriction,1);
gVehicleConstraint->SetWheelFriction(wheelFriction,2);
gVehicleConstraint->SetWheelFriction(wheelFriction,3);
// m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
}
@@ -274,46 +182,49 @@ const float TRIANGLE_SIZE=20.f;
//to be implemented by the demo
void ForkLiftDemo::renderme()
{
updateCamera();
debugDrawer.setDebugMode(getDebugMode());
float m[16];
int i;
btCylinderShapeX wheelShape(btVector3(wheelWidth,wheelRadius,wheelRadius));
btVector3 wheelColor(1,0,0);
for (i=0;i<4;i++)
{
//draw wheels (cylinders)
wheelMotionState[i].m_worldTransform.getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,&wheelShape,wheelColor,getDebugMode());
}
DemoApplication::renderme();
}
void ForkLiftDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
m_clock.reset();
if (m_dynamicsWorld)
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
{
int steerWheelIndex = 2;
gVehicleConstraint->applyEngineForce(gEngineForce,steerWheelIndex);
steerWheelIndex = 3;
gVehicleConstraint->applyEngineForce(gEngineForce,steerWheelIndex);
steerWheelIndex = 0;
gVehicleConstraint->setSteeringValue(gVehicleSteering,steerWheelIndex);
steerWheelIndex = 1;
gVehicleConstraint->setSteeringValue(gVehicleSteering,steerWheelIndex);
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
}
m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
@@ -327,6 +238,8 @@ void ForkLiftDemo::clientMoveAndDisplay()
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
glFlush();
glutSwapBuffers();
@@ -340,9 +253,10 @@ void ForkLiftDemo::displayCallback(void)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
m_dynamicsWorld->updateAabbs();
//draw contactpoints
m_physicsEnvironmentPtr->CallbackTriggers();
//m_physicsEnvironmentPtr->CallbackTriggers();
renderme();
@@ -354,18 +268,13 @@ void ForkLiftDemo::displayCallback(void)
void ForkLiftDemo::clientResetScene()
{
gEngineForce = 0.f;
gVehicleSteering = 0.f;
m_carChassis->setPosition(0,0,0);
m_carChassis->setOrientation(0,0,0,1);
}
void ForkLiftDemo::specialKeyboard(int key, int x, int y)
{
printf("key = %i x=%i y=%i\n",key,x,y);
switch (key)
@@ -403,6 +312,7 @@ void ForkLiftDemo::specialKeyboard(int key, int x, int y)
// glutPostRedisplay();
}
@@ -413,8 +323,11 @@ void ForkLiftDemo::updateCamera()
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
btTransform chassisWorldTrans;
//look at the vehicle
m_cameraTargetPosition = m_carChassis->getRigidBody()->m_worldTransform.getOrigin();
m_carChassis->getMotionState()->getWorldTransform(chassisWorldTrans);
m_cameraTargetPosition = chassisWorldTrans.getOrigin();
//interpolate the camera height
m_cameraPosition[1] = (15.0*m_cameraPosition[1] + m_cameraTargetPosition[1] + m_cameraHeight)/16.0;
@@ -442,5 +355,6 @@ void ForkLiftDemo::updateCamera()
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
glMatrixMode(GL_MODELVIEW);
}