example that shows how to register your own collision algorithms.
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ejcoumans
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Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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214
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/Simplex1to4Shape.h"
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#include "Dynamics/RigidBody.h"
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#include "BroadphaseCollision/AxisSweep3.h"
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#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
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#include "CollisionDispatch/CollisionDispatcher.h"
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#include "BroadphaseCollision/SimpleBroadphase.h"
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#include "CollisionShapes/TriangleMeshShape.h"
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#include "CollisionShapes/TriangleIndexVertexArray.h"
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#include "CollisionShapes/BvhTriangleMeshShape.h"
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#include "CollisionShapes/TriangleMesh.h"
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#include "IDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "PHY_Pro.h"
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#include "UserCollisionAlgorithm.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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//The user defined collision algorithm
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#include "SphereSphereCollisionAlgorithm.h"
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GLDebugDrawer debugDrawer;
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static const int NUM_VERTICES = 5;
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static const int NUM_TRIANGLES=4;
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SimdVector3 gVertices[NUM_VERTICES];
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int gIndices[NUM_TRIANGLES*3];
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const float TRIANGLE_SIZE=80.f;
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= CollisionObject::customMaterialCallback;
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inline SimdScalar calculateCombinedFriction(float friction0,float friction1)
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{
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SimdScalar friction = friction0 * friction1;
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const SimdScalar MAX_FRICTION = 10.f;
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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inline SimdScalar calculateCombinedRestitution(float restitution0,float restitution1)
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{
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return restitution0 * restitution1;
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}
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int main(int argc,char** argv)
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{
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UserCollisionAlgorithm* userCollisionAlgorithm = new UserCollisionAlgorithm;
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userCollisionAlgorithm->initPhysics();
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userCollisionAlgorithm->setCameraDistance(30.f);
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return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",userCollisionAlgorithm);
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}
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void UserCollisionAlgorithm::initPhysics()
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{
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#define TRISIZE 10.f
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int vertStride = sizeof(SimdVector3);
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int indexStride = 3*sizeof(int);
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const int NUM_VERTS_X = 50;
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const int NUM_VERTS_Y = 50;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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SimdVector3* gVertices = new SimdVector3[totalVerts];
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int* gIndices = new int[totalTriangles*3];
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int i;
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (int j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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}
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}
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int index=0;
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for ( i=0;i<NUM_VERTS_X-1;i++)
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{
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for (int j=0;j<NUM_VERTS_Y-1;j++)
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{
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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}
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}
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TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(float*) &gVertices[0].x(),vertStride);
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CollisionShape* trimeshShape = new BvhTriangleMeshShape(indexVertexArrays);
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ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
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CollisionDispatcher* dispatcher = new CollisionDispatcher();
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OverlappingPairCache* broadphase = new SimpleBroadphase();
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dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new SphereSphereCollisionAlgorithm::CreateFunc);
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m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
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bool isDynamic = false;
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float mass = 0.f;
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SimdTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(SimdVector3(0,-2,0));
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CcdPhysicsController* staticTrimesh = LocalCreatePhysicsObject(isDynamic, mass, startTransform,trimeshShape);
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//enable custom material callback
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staticTrimesh->GetRigidBody()->m_collisionFlags |= CollisionObject::customMaterialCallback;
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{
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for (int i=0;i<10;i++)
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{
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CollisionShape* sphereShape = new SphereShape(1);
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startTransform.setOrigin(SimdVector3(1,2*i,1));
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CcdPhysicsController* boxRigidBody = LocalCreatePhysicsObject(true, 1, startTransform,sphereShape);
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}
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}
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m_physicsEnvironmentPtr->setGravity(-1,-10,1);
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m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
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}
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void UserCollisionAlgorithm::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float deltaTime = 1.f/60.f;
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m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void UserCollisionAlgorithm::clientResetScene()
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{
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int numObj = m_physicsEnvironmentPtr->GetNumControllers();
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//skip ground
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for (int i=1;i<numObj;i++)
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{
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CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
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ctrl->setPosition(1,2*i,1);
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ctrl->setOrientation(0,0,0,1);
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ctrl->SetLinearVelocity(0,0,0,0);
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ctrl->SetAngularVelocity(0,0,0,0);
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}
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}
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void UserCollisionAlgorithm::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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