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upgrade to GIMPACT 0.2

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This commit is contained in:
ejcoumans
2007-06-22 17:32:28 +00:00
parent 55258a8a72
commit 980f03dc3d
282 changed files with 47221 additions and 54 deletions
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95
Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -20,13 +20,8 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btDefaultMotionState.h"
#include "../Extras/GIMPACTBullet/btGIMPACTMeshShape.h"
#include "../Extras/GIMPACTBullet/btConcaveConcaveCollisionAlgorithm.h"
//#define USE_PARALLEL_DISPATCHER 1
#ifdef USE_PARALLEL_DISPATCHER
#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#endif//USE_PARALLEL_DISPATCHER
#include "GIMPACT/Bullet/btGImpactShape.h"
#include "GIMPACT/Bullet/btGImpactCollisionAlgorithm.h"
@@ -1409,11 +1404,12 @@ int gIndices[NUM_TRIANGLES][3] = {
{452,450,449}
};
//TRIMESH GLOBAL
btGIMPACTMeshData * g_trimeshData;
//***************************THE END OF FAMOUS BUNNY TRIMESH********************************************//
//****GLOBALS
//****GLOBALS
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(float friction0,float friction1)
@@ -1615,7 +1611,7 @@ void ConcaveDemo::renderme()
sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
resetPerspectiveProjection();
@@ -1624,26 +1620,33 @@ void ConcaveDemo::renderme()
}
void ConcaveDemo::initPhysics()
{
void ConcaveDemo::initGImpactCollision()
{
// create trimesh
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(NUM_TRIANGLES,
&gIndices[0][0],
3*sizeof(int),
NUM_VERTICES,(REAL*) &gVertices[0],sizeof(REAL)*3);
NUM_VERTICES,(REAL*) &gVertices[0],sizeof(REAL)*3);
btGImpactMeshShape * trimesh = new btGImpactMeshShape(indexVertexArrays);
trimesh->setLocalScaling(btVector3(4.f,4.f,4.f));
trimesh->updateBound();
m_trimeshShape = trimesh;
//register algorithm
btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
}
void ConcaveDemo::initPhysics()
{
g_trimeshData = new btGIMPACTMeshData(indexVertexArrays);
//btConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
#ifdef USE_PARALLEL_DISPATCHER
btCollisionDispatcher* dispatcher = new SpuGatheringCollisionDispatcher();
#else
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
#endif//USE_PARALLEL_DISPATCHER
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
btOverlappingPairCache* broadphase = new btSimpleBroadphase();
@@ -1651,12 +1654,10 @@ void ConcaveDemo::initPhysics()
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver);
m_gimpactCollisionCreateFunc = new btConcaveConcaveCollisionAlgorithm::CreateFunc;
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
dispatcher->registerCollisionCreateFunc(STATIC_PLANE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,STATIC_PLANE_PROXYTYPE,m_gimpactCollisionCreateFunc);
//create trimesh model and shape
initGImpactCollision();
float mass = 0.f;
btTransform startTransform;
@@ -1685,19 +1686,33 @@ void ConcaveDemo::initPhysics()
btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,staticScenario);
staticBody->setCollisionFlags(staticBody->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
//enable custom material callback
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
staticBody->setCollisionFlags(staticBody->getCollisionFlags()|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
//static plane
btVector3 normal(0.4,1.5,-0.4);
normal.normalize();
btCollisionShape* staticplaneShape6 = new btStaticPlaneShape(normal,0.0);// A plane
startTransform.setOrigin(btVector3(0,0,0));
btRigidBody* staticBody2 = localCreateRigidBody(mass, startTransform,staticplaneShape6 );
staticBody2->setCollisionFlags(staticBody2->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
{
for (int i=0;i<10;i++)
for (int i=0;i<9;i++)
{
btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
startTransform.setOrigin(btVector3(2*i,2,1));
startTransform.setOrigin(btVector3(2*i-5,2,-3));
localCreateRigidBody(1, startTransform,boxShape);
}
}
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
//m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
}
@@ -1842,17 +1857,9 @@ void ConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
}
btGIMPACTMeshShape * createMesh()
{
btGIMPACTMeshShape * newtrimeshShape = new btGIMPACTMeshShape(g_trimeshData );
newtrimeshShape->setLocalScaling(btVector3(4.f,4.f,4.f));
// OGL_displaylist_register_shape(newtrimeshShape);
return newtrimeshShape;
}
void ConcaveDemo::shootTrimesh(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 4.f;
@@ -1861,9 +1868,7 @@ void ConcaveDemo::shootTrimesh(const btVector3& destination)
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
btGIMPACTMeshShape * newtrimeshShape = createMesh();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,newtrimeshShape);
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_trimeshShape);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();