Code-style consistency improvement:
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
@@ -23,33 +23,28 @@
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#include "../CommonInterfaces/CommonMultiBodyBase.h"
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class MultiDofDemo : public CommonMultiBodyBase
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{
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public:
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MultiDofDemo(GUIHelperInterface* helper);
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virtual ~MultiDofDemo();
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virtual void initPhysics();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 1;
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float pitch = -35;
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float yaw = 50;
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float targetPos[3]={-3,2.8,-2.5};
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m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
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float targetPos[3] = {-3, 2.8, -2.5};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical = false, bool floating = false);
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void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
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btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical = false, bool floating = false);
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void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
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void addBoxes_testMultiDof();
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};
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static bool g_floatingBase = false;
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@@ -62,18 +57,15 @@ static int g_constraintSolverType = 0;
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#define ARRAY_SIZE_Z 5
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//maximum number of objects (and allow user to shoot additional boxes)
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#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
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#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
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#define START_POS_X -5
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//#define START_POS_Y 12
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#define START_POS_Y 2
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#define START_POS_Z -3
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MultiDofDemo::MultiDofDemo(GUIHelperInterface* helper)
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:CommonMultiBodyBase(helper)
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: CommonMultiBodyBase(helper)
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{
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m_guiHelper->setUpAxis(1);
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}
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@@ -81,31 +73,28 @@ MultiDofDemo::~MultiDofDemo()
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{
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}
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void MultiDofDemo::stepSimulation(float deltaTime)
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void MultiDofDemo::stepSimulation(float deltaTime)
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{
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//use a smaller internal timestep, there are stability issues
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float internalTimeStep = 1./240.f;
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m_dynamicsWorld->stepSimulation(deltaTime,10,internalTimeStep);
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float internalTimeStep = 1. / 240.f;
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m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
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}
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void MultiDofDemo::initPhysics()
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{
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void MultiDofDemo::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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if(g_firstInit)
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if (g_firstInit)
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{
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10.*scaling));
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(btScalar(10. * scaling));
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(50);
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g_firstInit = false;
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}
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}
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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@@ -143,62 +132,64 @@ void MultiDofDemo::initPhysics()
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m_solver = sol;
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//use btMultiBodyDynamicsWorld for Featherstone btMultiBody support
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btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher,m_broadphase,sol,m_collisionConfiguration);
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btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration);
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m_dynamicsWorld = world;
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// m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
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// m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
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m_dynamicsWorld->getSolverInfo().m_globalCfm = 1e-3;
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///create a few basic rigid bodies
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btVector3 groundHalfExtents(50,50,50);
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btVector3 groundHalfExtents(50, 50, 50);
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btCollisionShape* groundShape = new btBoxShape(groundHalfExtents);
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//groundShape->initializePolyhedralFeatures();
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),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,-50,00));
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groundTransform.setOrigin(btVector3(0, -50, 00));
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/////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////
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bool damping = true;
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bool gyro = true;
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int numLinks = 5;
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bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
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bool multibodyOnly = false;
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bool canSleep = false;
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bool selfCollide = true;
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bool multibodyConstraint = false;
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bool multibodyConstraint = false;
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btVector3 linkHalfExtents(0.05, 0.37, 0.1);
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btVector3 baseHalfExtents(0.05, 0.37, 0.1);
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btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
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//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
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btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
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//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
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mbC->setCanSleep(canSleep);
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mbC->setCanSleep(canSleep);
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mbC->setHasSelfCollision(selfCollide);
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mbC->setUseGyroTerm(gyro);
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//
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if(!damping)
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if (!damping)
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{
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mbC->setLinearDamping(0.f);
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mbC->setAngularDamping(0.f);
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}else
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{ mbC->setLinearDamping(0.1f);
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}
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else
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{
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mbC->setLinearDamping(0.1f);
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mbC->setAngularDamping(0.9f);
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}
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//
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m_dynamicsWorld->setGravity(btVector3(0, -9.81 ,0));
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m_dynamicsWorld->setGravity(btVector3(0, -9.81, 0));
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//m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
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//////////////////////////////////////////////
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if(numLinks > 0)
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{
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btScalar q0 = 45.f * SIMD_PI/ 180.f;
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if(!spherical)
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if (numLinks > 0)
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{
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btScalar q0 = 45.f * SIMD_PI / 180.f;
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if (!spherical)
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{
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mbC->setJointPosMultiDof(0, &q0);
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}
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@@ -206,14 +197,13 @@ void MultiDofDemo::initPhysics()
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{
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btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
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quat0.normalize();
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mbC->setJointPosMultiDof(0, quat0);
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}
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}
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mbC->setJointPosMultiDof(0, quat0);
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}
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}
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///
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addColliders_testMultiDof(mbC, world, baseHalfExtents, linkHalfExtents);
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addColliders_testMultiDof(mbC, world, baseHalfExtents, linkHalfExtents);
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/////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////
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btScalar groundHeight = -51.55;
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if (!multibodyOnly)
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{
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@@ -222,28 +212,24 @@ void MultiDofDemo::initPhysics()
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,groundHeight,0));
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groundTransform.setOrigin(btVector3(0, groundHeight, 0));
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body,1,1+2);//,1,1+2);
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m_dynamicsWorld->addRigidBody(body, 1, 1 + 2); //,1,1+2);
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}
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/////////////////////////////////////////////////////////////////
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if(!multibodyOnly)
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if (!multibodyOnly)
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{
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btVector3 halfExtents(.5,.5,.5);
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btVector3 halfExtents(.5, .5, .5);
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btBoxShape* colShape = new btBoxShape(halfExtents);
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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@@ -252,41 +238,41 @@ void MultiDofDemo::initPhysics()
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass,localInertia);
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colShape->calculateLocalInertia(mass, localInertia);
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startTransform.setOrigin(btVector3(
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btScalar(0.0),
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0.0,
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btScalar(0.0)));
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btScalar(0.0),
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0.0,
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btScalar(0.0)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, colShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body);//,1,1+2);
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if (multibodyConstraint) {
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btVector3 pointInA = -linkHalfExtents;
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// btVector3 pointInB = halfExtents;
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btMatrix3x3 frameInA;
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btMatrix3x3 frameInB;
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frameInA.setIdentity();
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frameInB.setIdentity();
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btVector3 jointAxis(1.0,0.0,0.0);
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//btMultiBodySliderConstraint* p2p = new btMultiBodySliderConstraint(mbC,numLinks-1,body,pointInA,pointInB,frameInA,frameInB,jointAxis);
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btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC,numLinks-1,mbC,numLinks-4,pointInA,pointInA,frameInA,frameInB);
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p2p->setMaxAppliedImpulse(2.0);
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m_dynamicsWorld->addMultiBodyConstraint(p2p);
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}
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m_dynamicsWorld->addRigidBody(body); //,1,1+2);
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if (multibodyConstraint)
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{
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btVector3 pointInA = -linkHalfExtents;
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// btVector3 pointInB = halfExtents;
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btMatrix3x3 frameInA;
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btMatrix3x3 frameInB;
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frameInA.setIdentity();
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frameInB.setIdentity();
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btVector3 jointAxis(1.0, 0.0, 0.0);
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//btMultiBodySliderConstraint* p2p = new btMultiBodySliderConstraint(mbC,numLinks-1,body,pointInA,pointInB,frameInA,frameInB,jointAxis);
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btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC, numLinks - 1, mbC, numLinks - 4, pointInA, pointInA, frameInA, frameInB);
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p2p->setMaxAppliedImpulse(2.0);
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m_dynamicsWorld->addMultiBodyConstraint(p2p);
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}
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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@@ -294,53 +280,52 @@ void MultiDofDemo::initPhysics()
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/////////////////////////////////////////////////////////////////
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}
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btMultiBody* MultiDofDemo::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld *pWorld, int numLinks, const btVector3 &basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical, bool floating)
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btMultiBody* MultiDofDemo::createFeatherstoneMultiBody_testMultiDof(btMultiBodyDynamicsWorld* pWorld, int numLinks, const btVector3& basePosition, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents, bool spherical, bool floating)
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{
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//init the base
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//init the base
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btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
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float baseMass = 1.f;
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if(baseMass)
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if (baseMass)
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{
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btCollisionShape *pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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btCollisionShape* pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
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pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
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delete pTempBox;
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}
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bool canSleep = false;
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btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
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btMultiBody* pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
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btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
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pMultiBody->setBasePos(basePosition);
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pMultiBody->setWorldToBaseRot(baseOriQuat);
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btVector3 vel(0, 0, 0);
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// pMultiBody->setBaseVel(vel);
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// pMultiBody->setBaseVel(vel);
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//init the links
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//init the links
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btVector3 hingeJointAxis(1, 0, 0);
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float linkMass = 1.f;
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btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
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btCollisionShape *pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
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btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
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pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
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delete pTempBox;
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//y-axis assumed up
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btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
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btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
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btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
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//////
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btScalar q0 = 0.f * SIMD_PI/ 180.f;
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btScalar q0 = 0.f * SIMD_PI / 180.f;
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btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
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quat0.normalize();
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quat0.normalize();
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/////
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for(int i = 0; i < numLinks; ++i)
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for (int i = 0; i < numLinks; ++i)
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{
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if(!spherical)
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if (!spherical)
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pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, true);
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else
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//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
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@@ -355,9 +340,8 @@ btMultiBody* MultiDofDemo::createFeatherstoneMultiBody_testMultiDof(btMultiBodyD
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return pMultiBody;
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}
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void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents)
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{
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void MultiDofDemo::addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents)
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{
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btAlignedObjectArray<btQuaternion> world_to_local;
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world_to_local.resize(pMultiBody->getNumLinks() + 1);
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||||
@@ -365,51 +349,43 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
|
||||
local_origin.resize(pMultiBody->getNumLinks() + 1);
|
||||
world_to_local[0] = pMultiBody->getWorldToBaseRot();
|
||||
local_origin[0] = pMultiBody->getBasePos();
|
||||
|
||||
{
|
||||
|
||||
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
|
||||
btScalar quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
|
||||
|
||||
|
||||
{
|
||||
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
|
||||
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
|
||||
|
||||
if (1)
|
||||
{
|
||||
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
||||
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
btCollisionShape* box = new btBoxShape(baseHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
|
||||
col->setCollisionShape(box);
|
||||
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(local_origin[0]);
|
||||
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
|
||||
pWorld->addCollisionObject(col, 2,1+2);
|
||||
|
||||
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
col->setFriction(friction);
|
||||
pMultiBody->setBaseCollider(col);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
const int parent = pMultiBody->getParent(i);
|
||||
world_to_local[i+1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent+1];
|
||||
local_origin[i+1] = local_origin[parent+1] + (quatRotate(world_to_local[i+1].inverse() , pMultiBody->getRVector(i)));
|
||||
world_to_local[i + 1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent + 1];
|
||||
local_origin[i + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[i + 1].inverse(), pMultiBody->getRVector(i)));
|
||||
}
|
||||
|
||||
|
||||
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
|
||||
for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
|
||||
{
|
||||
|
||||
btVector3 posr = local_origin[i+1];
|
||||
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
|
||||
|
||||
btScalar quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
|
||||
btVector3 posr = local_origin[i + 1];
|
||||
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
|
||||
|
||||
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
|
||||
|
||||
btCollisionShape* box = new btBoxShape(linkHalfExtents);
|
||||
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
|
||||
@@ -418,13 +394,12 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(posr);
|
||||
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
|
||||
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
|
||||
col->setWorldTransform(tr);
|
||||
col->setFriction(friction);
|
||||
pWorld->addCollisionObject(col,2,1+2);
|
||||
|
||||
|
||||
pMultiBody->getLink(i).m_collider=col;
|
||||
pWorld->addCollisionObject(col, 2, 1 + 2);
|
||||
|
||||
pMultiBody->getLink(i).m_collider = col;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -433,7 +408,7 @@ void MultiDofDemo::addBoxes_testMultiDof()
|
||||
//create a few dynamic rigidbodies
|
||||
// Re-using the same collision is better for memory usage and performance
|
||||
|
||||
btBoxShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
btBoxShape* colShape = new btBoxShape(btVector3(1, 1, 1));
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
@@ -441,43 +416,42 @@ void MultiDofDemo::addBoxes_testMultiDof()
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
btScalar mass(1.f);
|
||||
btScalar mass(1.f);
|
||||
|
||||
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
btVector3 localInertia(0, 0, 0);
|
||||
if (isDynamic)
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
colShape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
float start_x = START_POS_X - ARRAY_SIZE_X/2;
|
||||
float start_x = START_POS_X - ARRAY_SIZE_X / 2;
|
||||
float start_y = START_POS_Y;
|
||||
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
|
||||
float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
|
||||
|
||||
for (int k=0;k<ARRAY_SIZE_Y;k++)
|
||||
for (int k = 0; k < ARRAY_SIZE_Y; k++)
|
||||
{
|
||||
for (int i=0;i<ARRAY_SIZE_X;i++)
|
||||
for (int i = 0; i < ARRAY_SIZE_X; i++)
|
||||
{
|
||||
for(int j = 0;j<ARRAY_SIZE_Z;j++)
|
||||
for (int j = 0; j < ARRAY_SIZE_Z; j++)
|
||||
{
|
||||
startTransform.setOrigin(btVector3(
|
||||
btScalar(3.0*i + start_x),
|
||||
btScalar(3.0*k + start_y),
|
||||
btScalar(3.0*j + start_z)));
|
||||
btScalar(3.0 * i + start_x),
|
||||
btScalar(3.0 * k + start_y),
|
||||
btScalar(3.0 * j + start_z)));
|
||||
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, colShape, localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body); //,1,1+2);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
class CommonExampleInterface* MultiDofCreateFunc(struct CommonExampleOptions& options)
|
||||
class CommonExampleInterface* MultiDofCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new MultiDofDemo(options.m_guiHelper);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user