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add a btFixedConstraint with toggle between btGeneric6DofConsraint and btFixedConstraint in VoronoiFractureDemo

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This commit is contained in:
erwin.coumans@gmail.com
2013-10-02 21:50:50 +00:00
parent 75f17509cc
commit 88b8ae552b
7 changed files with 232 additions and 10 deletions
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58
Demos/VoronoiFractureDemo/VoronoiFractureDemo.cpp
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@@ -37,6 +37,8 @@ Voronoi fracture and shatter code and demo copyright (c) 2011 Alain Ducharme
#include "GLDebugDrawer.h"
static GLDebugDrawer sDebugDraw;
static bool useGenericConstraint = false;
void VoronoiFractureDemo::attachFixedConstraints()
{
@@ -91,17 +93,29 @@ void VoronoiFractureDemo::attachFixedConstraints()
trA = body0->getWorldTransform().inverse()*globalFrame;
trB = body1->getWorldTransform().inverse()*globalFrame;
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body0,*body1,trA,trB,true);
dof6->setOverrideNumSolverIterations(100);
float totalMass = 1.f/body0->getInvMass() + 1.f/body1->getInvMass();
dof6->setBreakingImpulseThreshold(BREAKING_THRESHOLD*totalMass);
if (useGenericConstraint)
{
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body0,*body1,trA,trB,true);
dof6->setOverrideNumSolverIterations(30);
for (int i=0;i<6;i++)
dof6->setLimit(i,0,0);
getDynamicsWorld()->addConstraint(dof6,true);
dof6->setBreakingImpulseThreshold(BREAKING_THRESHOLD*totalMass);
for (int i=0;i<6;i++)
dof6->setLimit(i,0,0);
getDynamicsWorld()->addConstraint(dof6,true);
} else
{
btFixedConstraint* fixed = new btFixedConstraint(*body0,*body1,trA,trB);
fixed->setBreakingImpulseThreshold(BREAKING_THRESHOLD*totalMass);
fixed ->setOverrideNumSolverIterations(30);
getDynamicsWorld()->addConstraint(fixed,true);
}
}
}
@@ -509,6 +523,10 @@ void VoronoiFractureDemo::displayCallback(void) {
void VoronoiFractureDemo::initPhysics()
{
useGenericConstraint = !useGenericConstraint;
printf("useGenericConstraint = %d\n", useGenericConstraint);
setTexturing(true);
setShadows(true);
@@ -563,13 +581,33 @@ void VoronoiFractureDemo::initPhysics()
m_dynamicsWorld->addRigidBody(body);
}
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.),btScalar(8.),btScalar(1.)));
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);
groundTransform.setOrigin(btVector3(0,0,0));
//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);
}
// ==> Voronoi Shatter Basic Demo: Random Cuboid
// Random size cuboid (defined by bounding box max and min)
btVector3 bbmax(btScalar(rand() / btScalar(RAND_MAX)) * 6. +0.5, btScalar(rand() / btScalar(RAND_MAX)) * 6. +0.5, btScalar(rand() / btScalar(RAND_MAX)) * 6. +0.5);
btVector3 bbmax(btScalar(rand() / btScalar(RAND_MAX)) * 12. +0.5, btScalar(rand() / btScalar(RAND_MAX)) * 1. +0.5, btScalar(rand() / btScalar(RAND_MAX)) * 1. +0.5);
btVector3 bbmin = -bbmax;
// Place it 10 units above ground
btVector3 bbt(0,10,0);
btVector3 bbt(0,15,0);
// Use an arbitrary material density for shards (should be consitent/relative with/to rest of RBs in world)
btScalar matDensity = 1;
// Using random rotation