Create InclinedPlane,Newton's Cradle and Multi-Pendulum examples for the Bullet Example Browser.
This commit is contained in:
Benjamin Ellenberger
@@ -114,7 +114,10 @@ SET(ExtendedTutorialsSources
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../ExtendedTutorials/SimpleCloth.cpp
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../ExtendedTutorials/Chain.cpp
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../ExtendedTutorials/Bridge.cpp
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../ExtendedTutorials/RigidBodyFromObj.cpp
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../ExtendedTutorials/RigidBodyFromObj.cpp
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../ExtendedTutorials/InclinedPlane.cpp
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../ExtendedTutorials/InclinedPlane.h
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../ExtendedTutorials/NewtonsCradle.cpp
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)
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SET(BulletExampleBrowser_SRCS
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@@ -166,8 +169,8 @@ SET(BulletExampleBrowser_SRCS
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../ExtendedTutorials/SimpleCloth.h
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../ExtendedTutorials/SimpleJoint.cpp
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../ExtendedTutorials/SimpleJoint.h
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../ExtendedTutorials/NewtonianPendulum.cpp
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../ExtendedTutorials/NewtonianPendulum.h
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../ExtendedTutorials/NewtonsCradle.cpp
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../ExtendedTutorials/NewtonsCradle.h
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../ExtendedTutorials/InclinedPlane.cpp
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../ExtendedTutorials/InclinedPlane.h
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../ExtendedTutorials/MultiPendulum.cpp
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@@ -56,7 +56,7 @@
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#endif
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#endif //B3_USE_CLEW
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//Extended Tutorial Includes Added by Mobeen
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//Extended Tutorial Includes Added by Mobeen and Benelot
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#include "../ExtendedTutorials/SimpleBox.h"
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#include "../ExtendedTutorials/MultipleBoxes.h"
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#include "../ExtendedTutorials/SimpleJoint.h"
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@@ -64,6 +64,9 @@
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#include "../ExtendedTutorials/Chain.h"
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#include "../ExtendedTutorials/Bridge.h"
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#include "../ExtendedTutorials/RigidBodyFromObj.h"
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#include "../ExtendedTutorials/InclinedPlane.h"
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#include "../ExtendedTutorials/NewtonsCradle.h"
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#include "../ExtendedTutorials/MultiPendulum.h"
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struct ExampleEntry
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{
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@@ -269,11 +272,15 @@ static ExampleEntry gDefaultExamples[]=
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//Extended Tutorials Added by Mobeen
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ExampleEntry(0,"Extended Tutorials"),
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ExampleEntry(1,"Simple Box", "Simplest possible demo creating a single box rigid body that falls under gravity", ET_SimpleBoxCreateFunc),
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ExampleEntry(1,"Multiple Boxes", "Adding multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc),
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ExampleEntry(1,"Simple Joint", "Creating a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc),
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ExampleEntry(1,"Simple Cloth", "Creating a simple piece of cloth", ET_SimpleClothCreateFunc),
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ExampleEntry(1,"Simple Chain", "Creating a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),
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ExampleEntry(1,"Simple Bridge", "Creating a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
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ExampleEntry(1,"Multiple Boxes", "Add multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc),
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ExampleEntry(1,"Simple Joint", "Create a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc),
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ExampleEntry(1,"Simple Cloth", "Create a simple piece of cloth", ET_SimpleClothCreateFunc),
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ExampleEntry(1,"Simple Chain", "Create a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),
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ExampleEntry(1,"Simple Bridge", "Create a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
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ExampleEntry(1,"Inclined Plane", "Create an inclined plane to show restitution and different types of friction. Use the sliders to vary restitution and friction and press space to reset the scene.", ET_InclinedPlaneCreateFunc),
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ExampleEntry(1,"Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.", ET_NewtonsCradleCreateFunc),
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ExampleEntry(1,"Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.",ET_MultiPendulumCreateFunc),
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//todo: create a category/tutorial about advanced topics, such as optimizations, using different collision detection algorithm, different constraint solvers etc.
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//ExampleEntry(0,"Advanced"),
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372
examples/ExtendedTutorials/InclinedPlane.cpp
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372
examples/ExtendedTutorials/InclinedPlane.cpp
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@@ -0,0 +1,372 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "InclinedPlane.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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static btScalar gTilt = 20.0f/180.0f*SIMD_PI; // tilt the ramp 20 degrees
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static btScalar gRampFriction = 1; // set ramp friction to 1
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static btScalar gRampRestitution = 0; // set ramp restitution to 0 (no restitution)
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static btScalar gBoxFriction = 1; // set box friction to 1
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static btScalar gBoxRestitution = 0; // set box restitution to 0
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static btScalar gSphereFriction = 1; // set sphere friction to 1
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static btScalar gSphereRollingFriction = 1; // set sphere rolling friction to 1
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static btScalar gSphereRestitution = 0; // set sphere restitution to 0
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// handles for changes
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static btRigidBody* ramp = NULL;
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static btRigidBody* gBox = NULL;
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static btRigidBody* gSphere = NULL;
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struct InclinedPlaneExample : public CommonRigidBodyBase
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{
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InclinedPlaneExample(struct GUIHelperInterface* helper)
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:CommonRigidBodyBase(helper)
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{
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}
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virtual ~InclinedPlaneExample(){}
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virtual void initPhysics();
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virtual void resetScene();
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virtual void renderScene();
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virtual void stepSimulation(float deltaTime);
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virtual bool keyboardCallback(int key, int state);
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void resetCamera()
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{
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float dist = 41;
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float pitch = 52;
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float yaw = 35;
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float targetPos[3]={0,0.46,0};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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void onBoxFrictionChanged(float friction);
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void onBoxRestitutionChanged(float restitution);
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void onSphereFrictionChanged(float friction);
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void onSphereRestitutionChanged(float restitution);
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void onRampInclinationChanged(float inclination);
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void onRampFrictionChanged(float friction);
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void onRampRestitutionChanged(float restitution);
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void InclinedPlaneExample::initPhysics()
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{
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{ // create slider to change the ramp tilt
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SliderParams slider("Ramp Tilt",&gTilt);
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slider.m_minVal=0;
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slider.m_maxVal=M_PI/2.0f;
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slider.m_clampToNotches = false;
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slider.m_callback = onRampInclinationChanged;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{ // create slider to change the ramp friction
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SliderParams slider("Ramp Friction",&gRampFriction);
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slider.m_minVal=0;
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slider.m_maxVal=10;
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slider.m_clampToNotches = false;
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slider.m_callback = onRampFrictionChanged;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{ // create slider to change the ramp restitution
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SliderParams slider("Ramp Restitution",&gRampRestitution);
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slider.m_minVal=0;
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slider.m_maxVal=1;
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slider.m_clampToNotches = false;
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slider.m_callback = onRampRestitutionChanged;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{ // create slider to change the box friction
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SliderParams slider("Box Friction",&gBoxFriction);
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slider.m_minVal=0;
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slider.m_maxVal=10;
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slider.m_clampToNotches = false;
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slider.m_callback = onBoxFrictionChanged;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{ // create slider to change the box restitution
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SliderParams slider("Box Restitution",&gBoxRestitution);
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slider.m_minVal=0;
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slider.m_maxVal=1;
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slider.m_clampToNotches = false;
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slider.m_callback = onBoxRestitutionChanged;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{ // create slider to change the sphere friction
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SliderParams slider("Sphere Friction",&gSphereFriction);
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slider.m_minVal=0;
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slider.m_maxVal=10;
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slider.m_clampToNotches = false;
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slider.m_callback = onSphereFrictionChanged;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{ // create slider to change the sphere rolling friction
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SliderParams slider("Sphere Rolling Friction",&gSphereRollingFriction);
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slider.m_minVal=0;
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slider.m_maxVal=10;
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slider.m_clampToNotches = false;
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slider.m_callback = onSphereRestitutionChanged;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{ // create slider to change the sphere restitution
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SliderParams slider("Sphere Restitution",&gSphereRestitution);
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slider.m_minVal=0;
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slider.m_maxVal=1;
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slider.m_clampToNotches = false;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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m_guiHelper->setUpAxis(1); // set Y axis as up axis
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createEmptyDynamicsWorld();
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// create debug drawer
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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if (m_dynamicsWorld->getDebugDrawer())
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
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{ // create a static ground
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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btScalar mass(0.);
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createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
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}
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{ //create a static inclined plane
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btBoxShape* inclinedPlaneShape = createBoxShape(btVector3(btScalar(20.),btScalar(1.),btScalar(10.)));
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m_collisionShapes.push_back(inclinedPlaneShape);
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btTransform startTransform;
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startTransform.setIdentity();
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// position the inclined plane above ground
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startTransform.setOrigin(btVector3(
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btScalar(0),
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btScalar(15),
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btScalar(0)));
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btQuaternion incline;
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incline.setRotation(btVector3(0,0,1),gTilt);
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startTransform.setRotation(incline);
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btScalar mass(0.);
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ramp = createRigidBody(mass,startTransform,inclinedPlaneShape);
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ramp->setFriction(gRampFriction);
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ramp->setRestitution(gRampRestitution);
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}
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{ //create a cube above the inclined plane
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btBoxShape* boxShape = createBoxShape(btVector3(1,1,1));
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m_collisionShapes.push_back(boxShape);
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar boxMass(1.f);
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startTransform.setOrigin(
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btVector3(btScalar(0), btScalar(20), btScalar(2)));
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gBox = createRigidBody(boxMass, startTransform, boxShape);
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gBox->forceActivationState(DISABLE_DEACTIVATION); // to prevent the box on the ramp from disabling
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gBox->setFriction(gBoxFriction);
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gBox->setRestitution(gBoxRestitution);
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}
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{ //create a sphere above the inclined plane
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btSphereShape* sphereShape = new btSphereShape(btScalar(1));
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m_collisionShapes.push_back(sphereShape);
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar sphereMass(1.f);
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startTransform.setOrigin(
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btVector3(btScalar(0), btScalar(20), btScalar(4)));
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gSphere = createRigidBody(sphereMass, startTransform, sphereShape);
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gSphere->forceActivationState(DISABLE_DEACTIVATION); // to prevent the sphere on the ramp from disabling
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gSphere->setFriction(gSphereFriction);
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gSphere->setRestitution(gSphereRestitution);
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gSphere->setRollingFriction(gSphereRollingFriction);
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void InclinedPlaneExample::resetScene() {
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{ //reset a cube above the inclined plane
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(
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btVector3(btScalar(0), btScalar(20), btScalar(2)));
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gBox->setWorldTransform(startTransform);
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btVector3 zero(0, 0, 0);
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gBox->setAngularVelocity(zero);
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gBox->setLinearVelocity(zero);
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gBox->clearForces();
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}
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{ //reset a sphere above the inclined plane
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(
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btVector3(btScalar(0), btScalar(20), btScalar(4)));
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gSphere->setWorldTransform(startTransform);
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btVector3 zero(0, 0, 0);
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gSphere->setAngularVelocity(zero);
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gSphere->setLinearVelocity(zero);
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gSphere->clearForces();
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}
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}
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void InclinedPlaneExample::stepSimulation(float deltaTime)
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{
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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}
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void InclinedPlaneExample::renderScene()
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{
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CommonRigidBodyBase::renderScene();
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}
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bool InclinedPlaneExample::keyboardCallback(int key, int state) {
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// b3Printf("Key pressed: %d in state %d \n",key,state);
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switch (key) {
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case 32 /*ASCII for space*/: {
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resetScene();
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break;
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}
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}
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return false;
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}
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// GUI parameter modifiers
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void onBoxFrictionChanged(float friction){
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if(gBox){
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gBox->setFriction(friction);
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// b3Printf("Friction of box changed to %f",friction );
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}
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}
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void onBoxRestitutionChanged(float restitution){
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if(gBox){
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gBox->setRestitution(restitution);
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//b3Printf("Restitution of box changed to %f",restitution);
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}
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}
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void onSphereFrictionChanged(float friction){
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if(gSphere){
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gSphere->setFriction(friction);
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//b3Printf("Friction of sphere changed to %f",friction );
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}
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}
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void onSphereRestitutionChanged(float restitution){
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if(gSphere){
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gSphere->setRestitution(restitution);
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//b3Printf("Restitution of sphere changed to %f",restitution);
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}
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}
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void onRampInclinationChanged(float inclination){
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if(ramp){
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btTransform startTransform;
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startTransform.setIdentity();
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// position the inclined plane above ground
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startTransform.setOrigin(
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btVector3(btScalar(0), btScalar(15), btScalar(0)));
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btQuaternion incline;
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incline.setRotation(btVector3(0,0,1),gTilt);
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startTransform.setRotation(incline);
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ramp->setWorldTransform(startTransform);
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//b3Printf("Inclination of ramp changed to %f",inclination );
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}
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}
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void onRampFrictionChanged(float friction){
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if(ramp){
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ramp->setFriction(friction);
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//b3Printf("Friction of ramp changed to %f \n",friction );
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}
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}
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void onRampRestitutionChanged(float restitution){
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if(ramp){
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ramp->setRestitution(restitution);
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//b3Printf("Restitution of ramp changed to %f \n",restitution);
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}
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}
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CommonExampleInterface* ET_InclinedPlaneCreateFunc(CommonExampleOptions& options)
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{
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return new InclinedPlaneExample(options.m_guiHelper);
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}
|
||||
22
examples/ExtendedTutorials/InclinedPlane.h
Normal file
22
examples/ExtendedTutorials/InclinedPlane.h
Normal file
@@ -0,0 +1,22 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2015 Google Inc. 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.
|
||||
*/
|
||||
|
||||
#ifndef ET_INCLINED_PLANE_EXAMPLE_H
|
||||
#define ET_INCLINED_PLANE_EXAMPLE_H
|
||||
|
||||
class CommonExampleInterface* ET_InclinedPlaneCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif //ET_INCLINED_PLANE_EXAMPLE_H
|
||||
418
examples/ExtendedTutorials/MultiPendulum.cpp
Normal file
418
examples/ExtendedTutorials/MultiPendulum.cpp
Normal file
@@ -0,0 +1,418 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2015 Google Inc. 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 "MultiPendulum.h"
|
||||
|
||||
#include <vector> // TODO: Should I use another data structure?
|
||||
#include <iterator>
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
|
||||
static btScalar gPendulaQty = 2; //TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed
|
||||
|
||||
static btScalar gDisplacedPendula = 1; //TODO: This is an int as well
|
||||
|
||||
static btScalar gPendulaRestitution = 1; // Default pendulum restitution is 1 to restore all force
|
||||
|
||||
static btScalar gSphereRadius = 1; // The sphere radius
|
||||
|
||||
static btScalar gCurrentPendulumLength = 8;
|
||||
|
||||
static btScalar gInitialPendulumLength = 8; // Default pendulum length (distance between two spheres)
|
||||
|
||||
static btScalar gDisplacementForce = 30; // The default force with which we move the pendulum
|
||||
|
||||
struct MultiPendulumExample: public CommonRigidBodyBase {
|
||||
MultiPendulumExample(struct GUIHelperInterface* helper) :
|
||||
CommonRigidBodyBase(helper) {
|
||||
}
|
||||
|
||||
virtual ~MultiPendulumExample() {
|
||||
}
|
||||
|
||||
virtual void initPhysics(); // build a multi pendulum
|
||||
|
||||
virtual void renderScene(); // render the scene to screen
|
||||
|
||||
virtual void createMultiPendulum(btSphereShape* colShape,
|
||||
btScalar pendulaQty, btScalar xPosition, btScalar yPosition,btScalar zPosition,
|
||||
btScalar length, btScalar mass); // create a multi pendulum at the indicated x and y position, the specified number of pendula formed into a chain, each with indicated length and mass
|
||||
|
||||
virtual void changePendulaLength(btScalar length); // change the pendulum length
|
||||
|
||||
virtual void changePendulaRestitution(btScalar restitution); // change the pendula restitution
|
||||
|
||||
virtual void stepSimulation(float deltaTime); // step the simulation
|
||||
|
||||
virtual bool keyboardCallback(int key, int state); // handle keyboard callbacks
|
||||
|
||||
void resetCamera() {
|
||||
float dist = 41;
|
||||
float pitch = 52;
|
||||
float yaw = 35;
|
||||
float targetPos[3] = { 0, 0.46, 0 };
|
||||
m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
|
||||
targetPos[2]);
|
||||
}
|
||||
|
||||
std::vector<btSliderConstraint*> constraints; // keep a handle to the slider constraints
|
||||
|
||||
std::vector<btRigidBody*> pendula; // keep a handle to the pendula
|
||||
};
|
||||
|
||||
static MultiPendulumExample* mex = NULL; // Handle to the example to access it via functions. Do not use this in your simulation!
|
||||
|
||||
void onMultiPendulaLengthChanged(float pendulaLength); // Change the pendula length
|
||||
|
||||
void onMultiPendulaRestitutionChanged(float pendulaRestitution); // change the pendula restitution
|
||||
|
||||
void floorMSliderValue(float notUsed); // floor the slider values which should be integers
|
||||
|
||||
void MultiPendulumExample::initPhysics() { // Setup your physics scene
|
||||
|
||||
{ // create a slider to change the number of pendula
|
||||
SliderParams slider("Number of Pendula", &gPendulaQty);
|
||||
slider.m_minVal = 1;
|
||||
slider.m_maxVal = 50;
|
||||
slider.m_callback = floorMSliderValue; // hack to get integer values
|
||||
slider.m_clampToNotches = false;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
{ // create a slider to change the number of displaced pendula
|
||||
SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 49;
|
||||
slider.m_callback = floorMSliderValue; // hack to get integer values
|
||||
slider.m_clampToNotches = false;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
{ // create a slider to change the pendula restitution
|
||||
SliderParams slider("Pendula Restitution", &gPendulaRestitution);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 1;
|
||||
slider.m_clampToNotches = false;
|
||||
slider.m_callback = onMultiPendulaRestitutionChanged;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
{ // create a slider to change the pendulum length
|
||||
SliderParams slider("Pendula Length", &gCurrentPendulumLength);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 49;
|
||||
slider.m_clampToNotches = false;
|
||||
slider.m_callback = onMultiPendulaLengthChanged;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
{ // create a slider to change the force to displace the lowest pendulum
|
||||
SliderParams slider("Displacement force", &gDisplacementForce);
|
||||
slider.m_minVal = 0.1;
|
||||
slider.m_maxVal = 200;
|
||||
slider.m_clampToNotches = false;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
createEmptyDynamicsWorld();
|
||||
|
||||
// create a debug drawer
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
if (m_dynamicsWorld->getDebugDrawer())
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
|
||||
btIDebugDraw::DBG_DrawWireframe
|
||||
+ btIDebugDraw::DBG_DrawContactPoints
|
||||
+ btIDebugDraw::DBG_DrawConstraints
|
||||
+ btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
|
||||
{ // create the multipendulum starting at the indicated position below and where each pendulum has the following mass
|
||||
btScalar pendulumMass(1.f);
|
||||
|
||||
btScalar xPosition(0.0f); // initial top-most pendulum position
|
||||
btScalar yPosition(15.0f);
|
||||
btScalar zPosition(0.0f);
|
||||
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
|
||||
m_collisionShapes.push_back(pendulumShape);
|
||||
|
||||
// create multi-pendulum
|
||||
createMultiPendulum(pendulumShape, floor(gPendulaQty), xPosition, yPosition,zPosition,
|
||||
gInitialPendulumLength, pendulumMass);
|
||||
}
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void MultiPendulumExample::stepSimulation(float deltaTime) {
|
||||
if (m_dynamicsWorld) {
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
|
||||
btScalar pendulaQty, btScalar xPosition, btScalar yPosition, btScalar zPosition,
|
||||
btScalar length, btScalar mass) {
|
||||
|
||||
// The multi-pendulum looks like this (names when built):
|
||||
//..........0......./.......1...../.......2......./..etc...:pendulum build iterations
|
||||
// O parentSphere
|
||||
// |
|
||||
// O childSphere / parentSphere
|
||||
// |
|
||||
// O ............./ childSphere / parentSphere
|
||||
// |
|
||||
// O .........................../ childSphere
|
||||
// etc.
|
||||
|
||||
//create the top element of the pendulum
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
// position the top sphere
|
||||
startTransform.setOrigin(
|
||||
btVector3(btScalar(xPosition), btScalar(yPosition), btScalar(zPosition)));
|
||||
|
||||
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
|
||||
|
||||
btRigidBody* topSphere = createRigidBody(mass, startTransform, colShape);
|
||||
|
||||
// disable the deactivation when object does not move anymore
|
||||
topSphere->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
//make top sphere position "fixed" in the world by attaching it to a the world with a point to point constraint
|
||||
// The pivot is defined in the reference frame of topSphere, so the attachment should be exactly at the center of topSphere
|
||||
btVector3 constraintPivot(0.0f, 0.0f, 0.0f);
|
||||
btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(
|
||||
*topSphere, constraintPivot);
|
||||
|
||||
p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
|
||||
|
||||
// add the constraint to the world
|
||||
m_dynamicsWorld->addConstraint(p2pconst, true);
|
||||
|
||||
btRigidBody* parentSphere = topSphere; // set the top sphere as the parent sphere for the next sphere to be created
|
||||
|
||||
for (int i = 0; i < pendulaQty; i++) { // produce the number of pendula
|
||||
|
||||
// create joint element to make the pendulum rotate it
|
||||
|
||||
// position the joint sphere at the same position as the top sphere
|
||||
startTransform.setOrigin(
|
||||
btVector3(btScalar(xPosition), btScalar(yPosition - length*(i)),
|
||||
btScalar(0)));
|
||||
|
||||
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
|
||||
|
||||
btRigidBody* jointSphere = createRigidBody(mass, startTransform,
|
||||
colShape);
|
||||
jointSphere->setFriction(0); // we do not need friction here
|
||||
|
||||
// disable the deactivation when object does not move anymore
|
||||
jointSphere->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
//create constraint between parentSphere and jointSphere
|
||||
// this is represented by the constraint pivot in the local frames of reference of both constrained spheres
|
||||
btTransform constraintPivotInParentSphereRF, constraintPivotInJointSphereRF;
|
||||
|
||||
constraintPivotInParentSphereRF.setIdentity();
|
||||
constraintPivotInJointSphereRF.setIdentity();
|
||||
|
||||
// the orientation of a point-to-point constraint does not matter, as is has no rotational limits
|
||||
|
||||
//Obtain the position of parentSphere in local reference frame of the jointSphere (the pivot is therefore in the center of parentSphere)
|
||||
btVector3 parentSphereInJointSphereRF =
|
||||
(jointSphere->getWorldTransform().inverse()(
|
||||
parentSphere->getWorldTransform().getOrigin()));
|
||||
constraintPivotInJointSphereRF.setOrigin(parentSphereInJointSphereRF);
|
||||
|
||||
btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(
|
||||
*parentSphere,*jointSphere,constraintPivotInParentSphereRF.getOrigin(), constraintPivotInJointSphereRF.getOrigin());
|
||||
|
||||
p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
|
||||
|
||||
// add the constraint to the world
|
||||
m_dynamicsWorld->addConstraint(p2pconst, true);
|
||||
|
||||
// create a slider constraint to change the length of the pendula while it swings
|
||||
|
||||
startTransform.setIdentity(); // reset start transform
|
||||
|
||||
// position the child sphere below the joint sphere
|
||||
startTransform.setOrigin(
|
||||
btVector3(btScalar(xPosition), btScalar(yPosition - length*(i+1)),
|
||||
btScalar(0)));
|
||||
|
||||
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
|
||||
|
||||
btRigidBody* childSphere = createRigidBody(mass, startTransform,
|
||||
colShape);
|
||||
childSphere->setFriction(0); // we do not need friction here
|
||||
pendula.push_back(childSphere);
|
||||
|
||||
// disable the deactivation when object does not move anymore
|
||||
childSphere->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
//create slider constraint between jointSphere and childSphere
|
||||
// this is represented by the constraint pivot in the local frames of reference of both constrained spheres
|
||||
// furthermore we need to rotate the constraint appropriately to orient it correctly in space
|
||||
btTransform constraintPivotInChildSphereRF;
|
||||
|
||||
constraintPivotInJointSphereRF.setIdentity();
|
||||
constraintPivotInChildSphereRF.setIdentity();
|
||||
|
||||
// the orientation of a point-to-point constraint does not matter, as is has no rotational limits
|
||||
|
||||
//Obtain the position of jointSphere in local reference frame of the childSphere (the pivot is therefore in the center of jointSphere)
|
||||
btVector3 jointSphereInChildSphereRF =
|
||||
(childSphere->getWorldTransform().inverse()(
|
||||
jointSphere->getWorldTransform().getOrigin()));
|
||||
constraintPivotInChildSphereRF.setOrigin(jointSphereInChildSphereRF);
|
||||
|
||||
// the slider constraint is x aligned per default, but we want it to be y aligned, therefore we rotate it
|
||||
btQuaternion qt;
|
||||
qt.setEuler(0, 0, -SIMD_HALF_PI);
|
||||
constraintPivotInJointSphereRF.setRotation(qt); //we use Y like up Axis
|
||||
constraintPivotInChildSphereRF.setRotation(qt); //we use Y like up Axis
|
||||
|
||||
btSliderConstraint* sliderConst = new btSliderConstraint(*jointSphere,
|
||||
*childSphere, constraintPivotInJointSphereRF, constraintPivotInChildSphereRF, true);
|
||||
|
||||
sliderConst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
|
||||
|
||||
// set limits
|
||||
// the initial setup of the constraint defines the origins of the limit dimensions,
|
||||
// therefore we set both limits directly to the current position of the parentSphere
|
||||
sliderConst->setLowerLinLimit(btScalar(0));
|
||||
sliderConst->setUpperLinLimit(btScalar(0));
|
||||
sliderConst->setLowerAngLimit(btScalar(0));
|
||||
sliderConst->setUpperAngLimit(btScalar(0));
|
||||
constraints.push_back(sliderConst);
|
||||
|
||||
// add the constraint to the world
|
||||
m_dynamicsWorld->addConstraint(sliderConst, true);
|
||||
parentSphere = childSphere;
|
||||
}
|
||||
}
|
||||
|
||||
void MultiPendulumExample::changePendulaLength(btScalar length) {
|
||||
btScalar lowerLimit = -gInitialPendulumLength;
|
||||
for (std::vector<btSliderConstraint*>::iterator sit = constraints.begin();
|
||||
sit != constraints.end(); sit++) {
|
||||
btAssert((*sit) && "Null constraint");
|
||||
|
||||
// if the pendulum is being shortened beyond it's own length, we don't let the lower sphere to go past the upper one
|
||||
if (lowerLimit <= length) {
|
||||
(*sit)->setLowerLinLimit(length + lowerLimit);
|
||||
(*sit)->setUpperLinLimit(length + lowerLimit);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void MultiPendulumExample::changePendulaRestitution(btScalar restitution) {
|
||||
for (std::vector<btRigidBody*>::iterator rit = pendula.begin();
|
||||
rit != pendula.end(); rit++) {
|
||||
btAssert((*rit) && "Null constraint");
|
||||
|
||||
(*rit)->setRestitution(restitution);
|
||||
}
|
||||
}
|
||||
|
||||
void MultiPendulumExample::renderScene() {
|
||||
CommonRigidBodyBase::renderScene();
|
||||
}
|
||||
|
||||
bool MultiPendulumExample::keyboardCallback(int key, int state) {
|
||||
|
||||
//b3Printf("Key pressed: %d in state %d \n",key,state);
|
||||
|
||||
//key 1, key 2, key 3
|
||||
switch (key) {
|
||||
case 49 /*ASCII for 1*/: {
|
||||
|
||||
//assumption: Sphere are aligned in Z axis
|
||||
btScalar newLimit = gCurrentPendulumLength + 0.1;
|
||||
|
||||
changePendulaLength(newLimit);
|
||||
gCurrentPendulumLength = newLimit;
|
||||
|
||||
b3Printf("Increase pendulum length to %f", gCurrentPendulumLength);
|
||||
return true;
|
||||
}
|
||||
case 50 /*ASCII for 2*/: {
|
||||
|
||||
//assumption: Sphere are aligned in Z axis
|
||||
btScalar newLimit = gCurrentPendulumLength - 0.1;
|
||||
|
||||
//is being shortened beyond it's own length, we don't let the lower sphere to go over the upper one
|
||||
if (0 <= newLimit) {
|
||||
changePendulaLength(newLimit);
|
||||
gCurrentPendulumLength = newLimit;
|
||||
}
|
||||
|
||||
b3Printf("Decrease pendulum length to %f", gCurrentPendulumLength);
|
||||
return true;
|
||||
}
|
||||
case 51 /*ASCII for 3*/: {
|
||||
for (int i = gPendulaQty-1; i >= gPendulaQty-gDisplacedPendula; i--) {
|
||||
if (gDisplacedPendula >= 0 && gDisplacedPendula < gPendulaQty)
|
||||
pendula[i]->applyCentralForce(btVector3(gDisplacementForce, 0, 0));
|
||||
}
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// GUI parameter modifiers
|
||||
|
||||
void onMultiPendulaLengthChanged(float pendulaLength) { // Change the pendula length
|
||||
if (mex){
|
||||
mex->changePendulaLength(pendulaLength);
|
||||
}
|
||||
//b3Printf("Pendula length changed to %f \n",sliderValue );
|
||||
|
||||
}
|
||||
|
||||
void onMultiPendulaRestitutionChanged(float pendulaRestitution) { // change the pendula restitution
|
||||
if (mex){
|
||||
mex->changePendulaRestitution(pendulaRestitution);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void floorMSliderValue(float notUsed) { // floor the slider values which should be integers
|
||||
gPendulaQty = floor(gPendulaQty);
|
||||
gDisplacedPendula = floor(gDisplacedPendula);
|
||||
}
|
||||
|
||||
CommonExampleInterface* ET_MultiPendulumCreateFunc(
|
||||
CommonExampleOptions& options) {
|
||||
mex = new MultiPendulumExample(options.m_guiHelper);
|
||||
return mex;
|
||||
}
|
||||
22
examples/ExtendedTutorials/MultiPendulum.h
Normal file
22
examples/ExtendedTutorials/MultiPendulum.h
Normal file
@@ -0,0 +1,22 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2015 Google Inc. 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.
|
||||
*/
|
||||
|
||||
#ifndef ET_MULTI_PENDULUM_EXAMPLE_H
|
||||
#define ET_MULTI_PENDULUM_EXAMPLE_H
|
||||
|
||||
class CommonExampleInterface* ET_MultiPendulumCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif //ET_MULTI_PENDULUM_EXAMPLE_H
|
||||
350
examples/ExtendedTutorials/NewtonsCradle.cpp
Normal file
350
examples/ExtendedTutorials/NewtonsCradle.cpp
Normal file
@@ -0,0 +1,350 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2015 Google Inc. 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 "NewtonsCradle.h"
|
||||
|
||||
#include <vector> // TODO: Should I use another data structure?
|
||||
#include <iterator>
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
|
||||
static btScalar gPendulaQty = 5; // Number of pendula in newton's cradle
|
||||
//TODO: This would actually be an Integer, but the Slider does not like integers, so I floor it when changed
|
||||
|
||||
static btScalar gDisplacedPendula = 1; // number of displaced pendula
|
||||
//TODO: This is an int as well
|
||||
|
||||
static btScalar gPendulaRestitution = 1; // pendula restition when hitting against each other
|
||||
|
||||
static btScalar gSphereRadius = 1; // pendula radius
|
||||
|
||||
static btScalar gCurrentPendulumLength = 8; // current pendula length
|
||||
|
||||
static btScalar gInitialPendulumLength = 8; // default pendula length
|
||||
|
||||
static btScalar gForcingForce = 30; // default force to displace the pendula
|
||||
|
||||
struct NewtonsCradleExample: public CommonRigidBodyBase {
|
||||
NewtonsCradleExample(struct GUIHelperInterface* helper) :
|
||||
CommonRigidBodyBase(helper) {
|
||||
}
|
||||
virtual ~NewtonsCradleExample() {
|
||||
}
|
||||
virtual void initPhysics();
|
||||
virtual void renderScene();
|
||||
virtual void createPendulum(btSphereShape* colShape, btScalar xPosition,
|
||||
btScalar yPosition, btScalar zPosition, btScalar length, btScalar mass);
|
||||
virtual void changePendulaLength(btScalar length);
|
||||
virtual void changePendulaRestitution(btScalar restitution);
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
virtual bool keyboardCallback(int key, int state);
|
||||
void resetCamera() {
|
||||
float dist = 41;
|
||||
float pitch = 52;
|
||||
float yaw = 35;
|
||||
float targetPos[3] = { 0, 0.46, 0 };
|
||||
m_guiHelper->resetCamera(dist, pitch, yaw, targetPos[0], targetPos[1],
|
||||
targetPos[2]);
|
||||
}
|
||||
|
||||
std::vector<btSliderConstraint*> constraints;
|
||||
std::vector<btRigidBody*> pendula;
|
||||
};
|
||||
|
||||
static NewtonsCradleExample* nex = NULL;
|
||||
|
||||
void onPendulaLengthChanged(float pendulaLength);
|
||||
|
||||
void onPendulaRestitutionChanged(float pendulaRestitution);
|
||||
|
||||
void floorSliderValue(float notUsed);
|
||||
|
||||
void NewtonsCradleExample::initPhysics() {
|
||||
|
||||
{ // create a slider to change the number of pendula
|
||||
SliderParams slider("Number of Pendula", &gPendulaQty);
|
||||
slider.m_minVal = 1;
|
||||
slider.m_maxVal = 50;
|
||||
slider.m_callback = floorSliderValue; // hack to get integer values
|
||||
slider.m_clampToNotches = false;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
{ // create a slider to change the number of displaced pendula
|
||||
SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 49;
|
||||
slider.m_callback = floorSliderValue; // hack to get integer values
|
||||
slider.m_clampToNotches = false;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
{ // create a slider to change the pendula restitution
|
||||
SliderParams slider("Pendula Restitution", &gPendulaRestitution);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 1;
|
||||
slider.m_clampToNotches = false;
|
||||
slider.m_callback = onPendulaRestitutionChanged;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
{ // create a slider to change the pendulum length
|
||||
SliderParams slider("Pendula Length", &gCurrentPendulumLength);
|
||||
slider.m_minVal = 0;
|
||||
slider.m_maxVal = 49;
|
||||
slider.m_clampToNotches = false;
|
||||
slider.m_callback = onPendulaLengthChanged;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
{ // create a slider to change the force to displace the lowest pendulum
|
||||
SliderParams slider("Displacement force", &gForcingForce);
|
||||
slider.m_minVal = 0.1;
|
||||
slider.m_maxVal = 200;
|
||||
slider.m_clampToNotches = false;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
|
||||
slider);
|
||||
}
|
||||
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
createEmptyDynamicsWorld();
|
||||
|
||||
// create a debug drawer
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
if (m_dynamicsWorld->getDebugDrawer())
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
|
||||
btIDebugDraw::DBG_DrawWireframe
|
||||
+ btIDebugDraw::DBG_DrawContactPoints
|
||||
+ btIDebugDraw::DBG_DrawConstraints
|
||||
+ btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
|
||||
{ // create the pendulum starting at the indicated position below and where each pendulum has the following mass
|
||||
btScalar pendulumMass(1.f);
|
||||
|
||||
btScalar xPosition(0.0f); // initial left-most pendulum position
|
||||
btScalar yPosition(15.0f);
|
||||
btScalar zPosition(0.0f);
|
||||
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
|
||||
m_collisionShapes.push_back(pendulumShape);
|
||||
|
||||
for (int i = 0; i < floor(gPendulaQty); i++) {
|
||||
|
||||
// create pendulum
|
||||
createPendulum(pendulumShape, xPosition, yPosition,zPosition,
|
||||
gInitialPendulumLength, pendulumMass);
|
||||
|
||||
// displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between
|
||||
xPosition -= 2.1f * gSphereRadius;
|
||||
}
|
||||
}
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
void NewtonsCradleExample::stepSimulation(float deltaTime) {
|
||||
if (m_dynamicsWorld) {
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void NewtonsCradleExample::createPendulum(btSphereShape* colShape,
|
||||
btScalar xPosition, btScalar yPosition, btScalar zPosition, btScalar length, btScalar mass) {
|
||||
|
||||
// The pendulum looks like this (names when built):
|
||||
// O topSphere
|
||||
// |
|
||||
// O bottomSphere
|
||||
|
||||
//create a dynamic pendulum
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
// position the top sphere above ground with a moving x position
|
||||
startTransform.setOrigin(
|
||||
btVector3(btScalar(xPosition), btScalar(yPosition), btScalar(zPosition)));
|
||||
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
|
||||
btRigidBody* topSphere = createRigidBody(mass, startTransform, colShape);
|
||||
|
||||
// position the bottom sphere below the top sphere
|
||||
startTransform.setOrigin(
|
||||
btVector3(btScalar(xPosition), btScalar(yPosition - length),
|
||||
btScalar(zPosition)));
|
||||
|
||||
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
|
||||
btRigidBody* bottomSphere = createRigidBody(mass, startTransform, colShape);
|
||||
bottomSphere->setFriction(0); // we do not need friction here
|
||||
pendula.push_back(bottomSphere);
|
||||
|
||||
// disable the deactivation when objects do not move anymore
|
||||
topSphere->setActivationState(DISABLE_DEACTIVATION);
|
||||
bottomSphere->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
bottomSphere->setRestitution(gPendulaRestitution); // set pendula restitution
|
||||
|
||||
//make the top sphere position "fixed" to the world by attaching with a point to point constraint
|
||||
// The pivot is defined in the reference frame of topSphere, so the attachment is exactly at the center of the topSphere
|
||||
btVector3 constraintPivot(btVector3(0.0f, 0.0f, 0.0f));
|
||||
btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(*topSphere,
|
||||
constraintPivot);
|
||||
|
||||
p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
|
||||
|
||||
// add the constraint to the world
|
||||
m_dynamicsWorld->addConstraint(p2pconst, true);
|
||||
|
||||
//create constraint between spheres
|
||||
// this is represented by the constraint pivot in the local frames of reference of both constrained spheres
|
||||
// furthermore we need to rotate the constraint appropriately to orient it correctly in space
|
||||
btTransform constraintPivotInTopSphereRF, constraintPivotInBottomSphereRF;
|
||||
|
||||
constraintPivotInTopSphereRF.setIdentity();
|
||||
constraintPivotInBottomSphereRF.setIdentity();
|
||||
|
||||
// the slider constraint is x aligned per default, but we want it to be y aligned, therefore we rotate it
|
||||
btQuaternion qt;
|
||||
qt.setEuler(0, 0, -SIMD_HALF_PI);
|
||||
constraintPivotInTopSphereRF.setRotation(qt); //we use Y like up Axis
|
||||
constraintPivotInBottomSphereRF.setRotation(qt); //we use Y like up Axis
|
||||
|
||||
//Obtain the position of topSphere in local reference frame of bottomSphere (the pivot is therefore in the center of topSphere)
|
||||
btVector3 topSphereInBottomSphereRF =
|
||||
(bottomSphere->getWorldTransform().inverse()(
|
||||
topSphere->getWorldTransform().getOrigin()));
|
||||
constraintPivotInBottomSphereRF.setOrigin(topSphereInBottomSphereRF);
|
||||
|
||||
btSliderConstraint* sliderConst = new btSliderConstraint(*topSphere,
|
||||
*bottomSphere, constraintPivotInTopSphereRF, constraintPivotInBottomSphereRF, true);
|
||||
|
||||
sliderConst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
|
||||
|
||||
// set limits
|
||||
// the initial setup of the constraint defines the origins of the limit dimensions,
|
||||
// therefore we set both limits directly to the current position of the topSphere
|
||||
sliderConst->setLowerLinLimit(btScalar(0));
|
||||
sliderConst->setUpperLinLimit(btScalar(0));
|
||||
sliderConst->setLowerAngLimit(btScalar(0));
|
||||
sliderConst->setUpperAngLimit(btScalar(0));
|
||||
constraints.push_back(sliderConst);
|
||||
|
||||
// add the constraint to the world
|
||||
m_dynamicsWorld->addConstraint(sliderConst, true);
|
||||
}
|
||||
|
||||
void NewtonsCradleExample::changePendulaLength(btScalar length) {
|
||||
btScalar lowerLimit = -gInitialPendulumLength;
|
||||
for (std::vector<btSliderConstraint*>::iterator sit = constraints.begin();
|
||||
sit != constraints.end(); sit++) {
|
||||
btAssert((*sit) && "Null constraint");
|
||||
|
||||
//if the pendulum is being shortened beyond it's own length, we don't let the lower sphere to go past the upper one
|
||||
if (lowerLimit <= length) {
|
||||
(*sit)->setLowerLinLimit(length + lowerLimit);
|
||||
(*sit)->setUpperLinLimit(length + lowerLimit);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void NewtonsCradleExample::changePendulaRestitution(btScalar restitution) {
|
||||
for (std::vector<btRigidBody*>::iterator rit = pendula.begin();
|
||||
rit != pendula.end(); rit++) {
|
||||
btAssert((*rit) && "Null constraint");
|
||||
|
||||
(*rit)->setRestitution(restitution);
|
||||
}
|
||||
}
|
||||
|
||||
void NewtonsCradleExample::renderScene() {
|
||||
CommonRigidBodyBase::renderScene();
|
||||
}
|
||||
|
||||
bool NewtonsCradleExample::keyboardCallback(int key, int state) {
|
||||
//b3Printf("Key pressed: %d in state %d \n",key,state);
|
||||
|
||||
//key 1, key 2, key 3
|
||||
switch (key) {
|
||||
case 49 /*ASCII for 1*/: {
|
||||
|
||||
//assumption: Sphere are aligned in Z axis
|
||||
btScalar newLimit = gCurrentPendulumLength + 0.1;
|
||||
|
||||
changePendulaLength(newLimit);
|
||||
gCurrentPendulumLength = newLimit;
|
||||
|
||||
b3Printf("Increase pendulum length to %f", gCurrentPendulumLength);
|
||||
return true;
|
||||
}
|
||||
case 50 /*ASCII for 2*/: {
|
||||
|
||||
//assumption: Sphere are aligned in Z axis
|
||||
btScalar newLimit = gCurrentPendulumLength - 0.1;
|
||||
|
||||
//is being shortened beyond it's own length, we don't let the lower sphere to go over the upper one
|
||||
if (0 <= newLimit) {
|
||||
changePendulaLength(newLimit);
|
||||
gCurrentPendulumLength = newLimit;
|
||||
}
|
||||
|
||||
b3Printf("Decrease pendulum length to %f", gCurrentPendulumLength);
|
||||
return true;
|
||||
}
|
||||
case 51 /*ASCII for 3*/: {
|
||||
for (int i = 0; i < gDisplacedPendula; i++) {
|
||||
if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
|
||||
pendula[i]->applyCentralForce(btVector3(gForcingForce, 0, 0));
|
||||
}
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// GUI parameter modifiers
|
||||
|
||||
void onPendulaLengthChanged(float pendulaLength) {
|
||||
if (nex){
|
||||
nex->changePendulaLength(pendulaLength);
|
||||
//b3Printf("Pendula length changed to %f \n",sliderValue );
|
||||
}
|
||||
}
|
||||
|
||||
void onPendulaRestitutionChanged(float pendulaRestitution) {
|
||||
if (nex){
|
||||
nex->changePendulaRestitution(pendulaRestitution);
|
||||
}
|
||||
}
|
||||
|
||||
void floorSliderValue(float notUsed) {
|
||||
gPendulaQty = floor(gPendulaQty);
|
||||
gDisplacedPendula = floor(gDisplacedPendula);
|
||||
}
|
||||
|
||||
CommonExampleInterface* ET_NewtonsCradleCreateFunc(
|
||||
CommonExampleOptions& options) {
|
||||
nex = new NewtonsCradleExample(options.m_guiHelper);
|
||||
return nex;
|
||||
}
|
||||
22
examples/ExtendedTutorials/NewtonsCradle.h
Normal file
22
examples/ExtendedTutorials/NewtonsCradle.h
Normal file
@@ -0,0 +1,22 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2015 Google Inc. 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.
|
||||
*/
|
||||
|
||||
#ifndef ET_NEWTONIAN_PENDULUM_EXAMPLE_H
|
||||
#define ET_NEWTONIAN_PENDULUM_EXAMPLE_H
|
||||
|
||||
class CommonExampleInterface* ET_NewtonsCradleCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif //ET_NEWTONIAN_PENDULUM_EXAMPLE_H
|
||||
Reference in New Issue
Block a user