example that shows how to register your own collision algorithms.
This commit is contained in:
ejcoumans
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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 "SphereSphereCollisionAlgorithm.h"
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#include "CollisionDispatch/CollisionDispatcher.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionDispatch/CollisionObject.h"
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SphereSphereCollisionAlgorithm::SphereSphereCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
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: CollisionAlgorithm(ci),
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m_ownManifold(false),
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m_manifoldPtr(mf)
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{
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if (!m_manifoldPtr && m_dispatcher->NeedsCollision(*proxy0,*proxy1))
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{
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m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
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m_ownManifold = true;
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}
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}
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SphereSphereCollisionAlgorithm::~SphereSphereCollisionAlgorithm()
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{
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if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->ReleaseManifold(m_manifoldPtr);
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}
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}
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void SphereSphereCollisionAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
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{
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if (!m_manifoldPtr)
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return;
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CollisionObject* col0 = static_cast<CollisionObject*>(proxy0->m_clientObject);
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CollisionObject* col1 = static_cast<CollisionObject*>(proxy1->m_clientObject);
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SphereShape* sphere0 = (SphereShape*)col0->m_collisionShape;
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SphereShape* sphere1 = (SphereShape*)col1->m_collisionShape;
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SimdVector3 diff = col0->m_worldTransform.getOrigin()- col1->m_worldTransform.getOrigin();
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float len = diff.length();
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SimdScalar radius0 = sphere0->GetRadius();
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SimdScalar radius1 = sphere1->GetRadius();
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///iff distance positive, don't generate a new contact
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if ( len > (radius0+radius1))
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return;
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///distance (negative means penetration)
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SimdScalar dist = len - (radius0+radius1);
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SimdVector3 normalOnSurfaceB = diff / len;
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///point on A (worldspace)
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SimdVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB;
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///point on B (worldspace)
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SimdVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB;
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/// report a contact. internally this will be kept persistent, and contact reduction is done
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ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
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resultOut->AddContactPoint(normalOnSurfaceB,pos1,dist);
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m_dispatcher->ReleaseManifoldResult(resultOut);
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}
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float SphereSphereCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
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{
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//not yet
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return 1.f;
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}
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@@ -0,0 +1,54 @@
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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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#ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H
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#define SPHERE_SPHERE_COLLISION_ALGORITHM_H
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#include "BroadphaseCollision/CollisionAlgorithm.h"
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#include "BroadphaseCollision/BroadphaseProxy.h"
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#include "CollisionDispatch/CollisionCreateFunc.h"
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class PersistentManifold;
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/// SphereSphereCollisionAlgorithm provides sphere-sphere collision detection.
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/// Other features are frame-coherency (persistent data) and collision response.
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/// Also provides the most basic sample for custom/user CollisionAlgorithm
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class SphereSphereCollisionAlgorithm : public CollisionAlgorithm
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{
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bool m_ownManifold;
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PersistentManifold* m_manifoldPtr;
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public:
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SphereSphereCollisionAlgorithm(const CollisionAlgorithmConstructionInfo& ci)
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: CollisionAlgorithm(ci) {}
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virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
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virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
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SphereSphereCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
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virtual ~SphereSphereCollisionAlgorithm();
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struct CreateFunc :public CollisionAlgorithmCreateFunc
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{
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virtual CollisionAlgorithm* CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo& ci, BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
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{
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return new SphereSphereCollisionAlgorithm(0,ci,proxy0,proxy1);
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}
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};
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};
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#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H
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214
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
Normal file
214
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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@@ -0,0 +1,214 @@
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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.
|
||||
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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35
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.h
Normal file
35
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.h
Normal file
@@ -0,0 +1,35 @@
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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/
|
||||
|
||||
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.
|
||||
*/
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#ifndef USER_COLLISION_ALGORITHM_DEMO_H
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#define USER_COLLISION_ALGORITHM_DEMO_H
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#include "DemoApplication.h"
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///UserCollisionAlgorithmDemo shows how to register and use your own collision algorithm for a certain shape pair type
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class UserCollisionAlgorithm : public DemoApplication
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{
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public:
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void initPhysics();
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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virtual void clientResetScene();
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};
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#endif //USER_COLLISION_ALGORITHM_DEMO_H
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