Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Code-style consistency improvement:

Browse Source 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
Download Patch File Download Diff File Expand all files Collapse all files

254
examples/ExtendedTutorials/MultiPendulum.cpp
View File

@@ -15,7 +15,7 @@
#include "MultiPendulum.h"
#include <vector> // TODO: Should I use another data structure?
#include <vector> // TODO: Should I use another data structure?
#include <iterator>
#include "btBulletDynamicsCommon.h"
@@ -24,80 +24,84 @@
#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 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 gDisplacedPendula = 1; //TODO: This is an int as well
static btScalar gPendulaRestitution = 1; // Default pendulum restitution is 1 to restore all force
static btScalar gPendulaRestitution = 1; // Default pendulum restitution is 1 to restore all force
static btScalar gSphereRadius = 1; // The sphere radius
static btScalar gSphereRadius = 1; // The sphere radius
static btScalar gCurrentPendulumLength = 8;
static btScalar gInitialPendulumLength = 8; // Default pendulum length (distance between two spheres)
static btScalar gInitialPendulumLength = 8; // Default pendulum length (distance between two spheres)
static btScalar gDisplacementForce = 30; // The default force with which we move the pendulum
static btScalar gDisplacementForce = 30; // The default force with which we move the pendulum
static btScalar gForceScalar = 0; // default force scalar to apply a displacement
static btScalar gForceScalar = 0; // default force scalar to apply a displacement
struct MultiPendulumExample: public CommonRigidBodyBase {
MultiPendulumExample(struct GUIHelperInterface* helper) :
CommonRigidBodyBase(helper) {
struct MultiPendulumExample : public CommonRigidBodyBase
{
MultiPendulumExample(struct GUIHelperInterface* helper) : CommonRigidBodyBase(helper)
{
}
virtual ~MultiPendulumExample() {
virtual ~MultiPendulumExample()
{
}
virtual void initPhysics(); // build a multi pendulum
virtual void renderScene(); // render the scene to screen
virtual void createMultiPendulum(btSphereShape* colShape, btScalar pendulaQty, const btVector3& position, 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
virtual void initPhysics(); // build a multi pendulum
virtual void renderScene(); // render the scene to screen
virtual void createMultiPendulum(btSphereShape* colShape, btScalar pendulaQty, const btVector3& position, 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
virtual void applyPendulumForce(btScalar pendulumForce);
void resetCamera() {
void resetCamera()
{
float dist = 41;
float pitch = -35;
float yaw = 52;
float targetPos[3] = { 0, 0.46, 0 };
float targetPos[3] = {0, 0.46, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1],
targetPos[2]);
targetPos[2]);
}
std::vector<btSliderConstraint*> constraints; // keep a handle to the slider constraints
std::vector<btRigidBody*> pendula; // keep a handle to the pendula
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!
static MultiPendulumExample* mex = NULL; // Handle to the example to access it via functions. Do not use this in your simulation!
void onMultiPendulaLengthChanged(float pendulaLength, void*); // Change the pendula length
void onMultiPendulaLengthChanged(float pendulaLength, void*); // Change the pendula length
void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*); // change the pendula restitution
void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*); // change the pendula restitution
void applyMForceWithForceScalar(float forceScalar);
void MultiPendulumExample::initPhysics() { // Setup your physics scene
void MultiPendulumExample::initPhysics()
{ // Setup your physics scene
{ // create a slider to change the number of pendula
{ // 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_clampToIntegers = true;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
{ // create a slider to change the number of displaced pendula
{ // 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_clampToIntegers = true;
slider.m_clampToIntegers = true;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
slider);
}
{ // create a slider to change the pendula restitution
{ // create a slider to change the pendula restitution
SliderParams slider("Pendula Restitution", &gPendulaRestitution);
slider.m_minVal = 0;
slider.m_maxVal = 1;
@@ -107,7 +111,7 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene
slider);
}
{ // create a slider to change the pendulum length
{ // create a slider to change the pendulum length
SliderParams slider("Pendula Length", &gCurrentPendulumLength);
slider.m_minVal = 0;
slider.m_maxVal = 49;
@@ -117,7 +121,7 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene
slider);
}
{ // create a slider to change the force to displace the lowest pendulum
{ // 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;
@@ -126,7 +130,7 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene
slider);
}
{ // create a slider to apply the force by slider
{ // create a slider to apply the force by slider
SliderParams slider("Apply displacement force", &gForceScalar);
slider.m_minVal = -1;
slider.m_maxVal = 1;
@@ -143,15 +147,12 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene
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);
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
{ // create the multipendulum starting at the indicated position below and where each pendulum has the following mass
btScalar pendulumMass(1.f);
btVector3 position(0.0f,15.0f,0.0f); // initial top-most pendulum position
btVector3 position(0.0f, 15.0f, 0.0f); // initial top-most pendulum position
// Re-using the same collision is better for memory usage and performance
btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
@@ -159,25 +160,26 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene
// create multi-pendulum
createMultiPendulum(pendulumShape, floor(gPendulaQty), position,
gInitialPendulumLength, pendulumMass);
gInitialPendulumLength, pendulumMass);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void MultiPendulumExample::stepSimulation(float deltaTime) {
void MultiPendulumExample::stepSimulation(float deltaTime)
{
applyMForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
applyMForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
if (m_dynamicsWorld) {
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(deltaTime);
}
}
void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
btScalar pendulaQty, const btVector3& position,
btScalar length, btScalar mass) {
btScalar pendulaQty, const btVector3& position,
btScalar length, btScalar mass)
{
// The multi-pendulum looks like this (names when built):
//..........0......./.......1...../.......2......./..etc...:pendulum build iterations
// O parentSphere
@@ -196,7 +198,7 @@ void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
// position the top sphere
startTransform.setOrigin(position);
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
btRigidBody* topSphere = createRigidBody(mass, startTransform, colShape);
@@ -209,25 +211,26 @@ void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(
*topSphere, constraintPivot);
p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
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
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
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(position - btVector3(0,length*(i),0));
startTransform.setOrigin(position - btVector3(0, length * (i), 0));
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
btRigidBody* jointSphere = createRigidBody(mass, startTransform,
colShape);
jointSphere->setFriction(0); // we do not need friction here
colShape);
jointSphere->setFriction(0); // we do not need friction here
// disable the deactivation when object does not move anymore
jointSphere->setActivationState(DISABLE_DEACTIVATION);
@@ -248,25 +251,25 @@ void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
constraintPivotInJointSphereRF.setOrigin(parentSphereInJointSphereRF);
btPoint2PointConstraint* p2pconst = new btPoint2PointConstraint(
*parentSphere,*jointSphere,constraintPivotInParentSphereRF.getOrigin(), constraintPivotInJointSphereRF.getOrigin());
*parentSphere, *jointSphere, constraintPivotInParentSphereRF.getOrigin(), constraintPivotInJointSphereRF.getOrigin());
p2pconst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
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
startTransform.setIdentity(); // reset start transform
// position the child sphere below the joint sphere
startTransform.setOrigin(position - btVector3(0,length*(i+1),0));
startTransform.setOrigin(position - btVector3(0, length * (i + 1), 0));
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
startTransform.setRotation(btQuaternion(0, 0, 0, 1)); // zero rotation
btRigidBody* childSphere = createRigidBody(mass, startTransform,
colShape);
childSphere->setFriction(0); // we do not need friction here
colShape);
childSphere->setFriction(0); // we do not need friction here
pendula.push_back(childSphere);
// disable the deactivation when object does not move anymore
@@ -291,13 +294,13 @@ void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
// 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
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);
*childSphere, constraintPivotInJointSphereRF, constraintPivotInChildSphereRF, true);
sliderConst->setDbgDrawSize(btScalar(5.f)); // set the size of the debug drawing
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,
@@ -314,77 +317,89 @@ void MultiPendulumExample::createMultiPendulum(btSphereShape* colShape,
}
}
void MultiPendulumExample::changePendulaLength(btScalar length) {
void MultiPendulumExample::changePendulaLength(btScalar length)
{
btScalar lowerLimit = -gInitialPendulumLength;
for (std::vector<btSliderConstraint*>::iterator sit = constraints.begin();
sit != constraints.end(); sit++) {
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) {
if (lowerLimit <= length)
{
(*sit)->setLowerLinLimit(length + lowerLimit);
(*sit)->setUpperLinLimit(length + lowerLimit);
}
}
}
void MultiPendulumExample::changePendulaRestitution(btScalar restitution) {
void MultiPendulumExample::changePendulaRestitution(btScalar restitution)
{
for (std::vector<btRigidBody*>::iterator rit = pendula.begin();
rit != pendula.end(); rit++) {
rit != pendula.end(); rit++)
{
btAssert((*rit) && "Null constraint");
(*rit)->setRestitution(restitution);
}
}
void MultiPendulumExample::renderScene() {
void MultiPendulumExample::renderScene()
{
CommonRigidBodyBase::renderScene();
}
bool MultiPendulumExample::keyboardCallback(int key, int state) {
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 '1' /*ASCII for 1*/: {
switch (key)
{
case '1' /*ASCII for 1*/:
{
//assumption: Sphere are aligned in Z axis
btScalar newLimit = btScalar(gCurrentPendulumLength + 0.1);
//assumption: Sphere are aligned in Z axis
btScalar newLimit = btScalar(gCurrentPendulumLength + 0.1);
changePendulaLength(newLimit);
gCurrentPendulumLength = newLimit;
b3Printf("Increase pendulum length to %f", gCurrentPendulumLength);
return true;
}
case '2' /*ASCII for 2*/: {
//assumption: Sphere are aligned in Z axis
btScalar newLimit = btScalar(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 '3' /*ASCII for 3*/: {
applyPendulumForce(gDisplacementForce);
return true;
}
b3Printf("Increase pendulum length to %f", gCurrentPendulumLength);
return true;
}
case '2' /*ASCII for 2*/:
{
//assumption: Sphere are aligned in Z axis
btScalar newLimit = btScalar(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 '3' /*ASCII for 3*/:
{
applyPendulumForce(gDisplacementForce);
return true;
}
}
return false;
}
void MultiPendulumExample::applyPendulumForce(btScalar pendulumForce){
if(pendulumForce != 0){
b3Printf("Apply %f to pendulum",pendulumForce);
for (int i = 0; i < gDisplacedPendula; i++) {
void MultiPendulumExample::applyPendulumForce(btScalar pendulumForce)
{
if (pendulumForce != 0)
{
b3Printf("Apply %f to pendulum", pendulumForce);
for (int i = 0; i < gDisplacedPendula; i++)
{
if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
pendula[i]->applyCentralForce(btVector3(pendulumForce, 0, 0));
}
@@ -393,26 +408,30 @@ void MultiPendulumExample::applyPendulumForce(btScalar pendulumForce){
// GUI parameter modifiers
void onMultiPendulaLengthChanged(float pendulaLength, void*) { // Change the pendula length
if (mex){
void onMultiPendulaLengthChanged(float pendulaLength, void*)
{ // Change the pendula length
if (mex)
{
mex->changePendulaLength(pendulaLength);
}
//b3Printf("Pendula length changed to %f \n",sliderValue );
}
void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*) { // change the pendula restitution
if (mex){
void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*)
{ // change the pendula restitution
if (mex)
{
mex->changePendulaRestitution(pendulaRestitution);
}
}
void applyMForceWithForceScalar(float forceScalar) {
if(mex){
void applyMForceWithForceScalar(float forceScalar)
{
if (mex)
{
btScalar appliedForce = forceScalar * gDisplacementForce;
if(fabs(gForceScalar) < 0.2f)
if (fabs(gForceScalar) < 0.2f)
gForceScalar = 0;
mex->applyPendulumForce(appliedForce);
@@ -420,7 +439,8 @@ void applyMForceWithForceScalar(float forceScalar) {
}
CommonExampleInterface* ET_MultiPendulumCreateFunc(
CommonExampleOptions& options) {
CommonExampleOptions& options)
{
mex = new MultiPendulumExample(options.m_guiHelper);
return mex;
}