Create InclinedPlane,Newton's Cradle and Multi-Pendulum examples for the Bullet Example Browser.
This commit is contained in:
Benjamin Ellenberger
372
examples/ExtendedTutorials/InclinedPlane.cpp
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372
examples/ExtendedTutorials/InclinedPlane.cpp
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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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}
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