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Code-style consistency improvement:

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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
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215
examples/Raycast/RaytestDemo.cpp
View File

@@ -13,16 +13,13 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "RaytestDemo.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
#include <stdio.h> //printf debugging
#include <stdio.h> //printf debugging
#include "LinearMath/btAlignedObjectArray.h"
@@ -30,138 +27,122 @@ subject to the following restrictions:
#include "../CommonInterfaces/CommonRigidBodyBase.h"
class RaytestDemo : public CommonRigidBodyBase
{
public:
RaytestDemo(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper)
: CommonRigidBodyBase(helper)
{
}
virtual ~RaytestDemo()
{
}
virtual void initPhysics();
virtual void exitPhysics();
void castRays();
virtual void initPhysics();
virtual void exitPhysics();
void castRays();
virtual void stepSimulation(float deltaTime);
virtual void resetCamera()
{
float dist = 18;
float pitch = -30;
float yaw = 129;
float targetPos[3]={-4.6,-4.7,-5.75};
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
float targetPos[3] = {-4.6, -4.7, -5.75};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
};
void RaytestDemo::castRays()
void RaytestDemo::castRays()
{
static float up = 0.f;
static float dir = 1.f;
//add some simple animation
//if (!m_idle)
{
up+=0.01*dir;
up += 0.01 * dir;
if (btFabs(up)>2)
if (btFabs(up) > 2)
{
dir*=-1.f;
dir *= -1.f;
}
btTransform tr = m_dynamicsWorld->getCollisionObjectArray()[1]->getWorldTransform();
static float angle = 0.f;
angle+=0.01f;
tr.setRotation(btQuaternion(btVector3(0,1,0),angle));
angle += 0.01f;
tr.setRotation(btQuaternion(btVector3(0, 1, 0), angle));
m_dynamicsWorld->getCollisionObjectArray()[1]->setWorldTransform(tr);
}
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->updateAabbs();
m_dynamicsWorld->computeOverlappingPairs();
btVector3 red(1,0,0);
btVector3 blue(0,0,1);
btVector3 red(1, 0, 0);
btVector3 blue(0, 0, 1);
///all hits
{
btVector3 from(-30,1+up,0);
btVector3 to(30,1,0);
m_dynamicsWorld->getDebugDrawer()->drawLine(from,to,btVector4(0,0,0,1));
btCollisionWorld::AllHitsRayResultCallback allResults(from,to);
btVector3 from(-30, 1 + up, 0);
btVector3 to(30, 1, 0);
m_dynamicsWorld->getDebugDrawer()->drawLine(from, to, btVector4(0, 0, 0, 1));
btCollisionWorld::AllHitsRayResultCallback allResults(from, to);
allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal;
//kF_UseGjkConvexRaytest flag is now enabled by default, use the faster but more approximate algorithm
//allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
m_dynamicsWorld->rayTest(from,to,allResults);
for (int i=0;i<allResults.m_hitFractions.size();i++)
m_dynamicsWorld->rayTest(from, to, allResults);
for (int i = 0; i < allResults.m_hitFractions.size(); i++)
{
btVector3 p = from.lerp(to,allResults.m_hitFractions[i]);
m_dynamicsWorld->getDebugDrawer()->drawSphere(p,0.1,red);
m_dynamicsWorld->getDebugDrawer()->drawLine(p,p+allResults.m_hitNormalWorld[i],red);
btVector3 p = from.lerp(to, allResults.m_hitFractions[i]);
m_dynamicsWorld->getDebugDrawer()->drawSphere(p, 0.1, red);
m_dynamicsWorld->getDebugDrawer()->drawLine(p, p + allResults.m_hitNormalWorld[i], red);
}
}
///first hit
{
btVector3 from(-30,1.2,0);
btVector3 to(30,1.2,0);
m_dynamicsWorld->getDebugDrawer()->drawLine(from,to,btVector4(0,0,1,1));
btVector3 from(-30, 1.2, 0);
btVector3 to(30, 1.2, 0);
m_dynamicsWorld->getDebugDrawer()->drawLine(from, to, btVector4(0, 0, 1, 1));
btCollisionWorld::ClosestRayResultCallback closestResults(from,to);
btCollisionWorld::ClosestRayResultCallback closestResults(from, to);
closestResults.m_flags |= btTriangleRaycastCallback::kF_FilterBackfaces;
m_dynamicsWorld->rayTest(from,to,closestResults);
m_dynamicsWorld->rayTest(from, to, closestResults);
if (closestResults.hasHit())
{
btVector3 p = from.lerp(to,closestResults.m_closestHitFraction);
m_dynamicsWorld->getDebugDrawer()->drawSphere(p,0.1,blue);
m_dynamicsWorld->getDebugDrawer()->drawLine(p,p+closestResults.m_hitNormalWorld,blue);
btVector3 p = from.lerp(to, closestResults.m_closestHitFraction);
m_dynamicsWorld->getDebugDrawer()->drawSphere(p, 0.1, blue);
m_dynamicsWorld->getDebugDrawer()->drawLine(p, p + closestResults.m_hitNormalWorld, blue);
}
}
}
}
void RaytestDemo::stepSimulation(float deltaTime)
void RaytestDemo::stepSimulation(float deltaTime)
{
castRays();
CommonRigidBodyBase::stepSimulation(deltaTime);
}
void RaytestDemo::initPhysics()
void RaytestDemo::initPhysics()
{
m_guiHelper->setUpAxis(1);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
@@ -169,21 +150,20 @@ void RaytestDemo::initPhysics()
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
groundTransform.setOrigin(btVector3(0, -50, 0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
@@ -192,104 +172,94 @@ void RaytestDemo::initPhysics()
//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)
groundShape->calculateLocalInertia(mass,localInertia);
groundShape->calculateLocalInertia(mass, localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(1);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
btVector3 convexPoints[]={ btVector3(-1,-1,-1),btVector3(-1,-1,1),btVector3(-1,1,1),btVector3(-1,1,-1),
btVector3(2,0,0)};
btVector3 convexPoints[] = {btVector3(-1, -1, -1), btVector3(-1, -1, 1), btVector3(-1, 1, 1), btVector3(-1, 1, -1),
btVector3(2, 0, 0)};
btVector3 quad[] = {
btVector3(0,1,-1),
btVector3(0,1,1),
btVector3(0,-1,1),
btVector3(0,-1,-1)};
btVector3(0, 1, -1),
btVector3(0, 1, 1),
btVector3(0, -1, 1),
btVector3(0, -1, -1)};
btTriangleMesh* mesh = new btTriangleMesh();
mesh->addTriangle(quad[0],quad[1],quad[2],true);
mesh->addTriangle(quad[0],quad[2],quad[3],true);
mesh->addTriangle(quad[0], quad[1], quad[2], true);
mesh->addTriangle(quad[0], quad[2], quad[3], true);
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(mesh,true,true);
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(mesh, true, true);
//btGImpactMeshShape * trimesh = new btGImpactMeshShape(mesh);
//trimesh->updateBound();
#define NUM_SHAPES 6
btCollisionShape* colShapes[NUM_SHAPES] = {
trimesh,
new btConvexHullShape(&convexPoints[0].getX(),sizeof(convexPoints)/sizeof(btVector3),sizeof(btVector3)),
new btSphereShape(1),
new btCapsuleShape(0.2,1),
new btCylinderShape(btVector3(0.2,1,0.2)),
new btBoxShape(btVector3(1,1,1))
};
btCollisionShape* colShapes[NUM_SHAPES] = {
trimesh,
new btConvexHullShape(&convexPoints[0].getX(), sizeof(convexPoints) / sizeof(btVector3), sizeof(btVector3)),
new btSphereShape(1),
new btCapsuleShape(0.2, 1),
new btCylinderShape(btVector3(0.2, 1, 0.2)),
new btBoxShape(btVector3(1, 1, 1))};
for (int i=0;i<NUM_SHAPES;i++)
for (int i = 0; i < NUM_SHAPES; i++)
m_collisionShapes.push_back(colShapes[i]);
for (int i=0;i<6;i++)
for (int i = 0; i < 6; i++)
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3((i-3)*5,1,0));
startTransform.setOrigin(btVector3((i - 3) * 5, 1, 0));
btScalar mass(1.f);
btScalar mass(1.f);
if (!i)
mass=0.f;
mass = 0.f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
btCollisionShape* colShape = colShapes[i%NUM_SHAPES];
btVector3 localInertia(0, 0, 0);
btCollisionShape* colShape = colShapes[i % NUM_SHAPES];
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
colShape->calculateLocalInertia(mass, localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, 0, colShape, localInertia);
rbInfo.m_startWorldTransform = startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
body->setRollingFriction(0.03);
body->setSpinningFriction(0.03);
body->setFriction(1);
body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
m_dynamicsWorld->addRigidBody(body);
}
body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(), btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
m_dynamicsWorld->addRigidBody(body);
}
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void RaytestDemo::exitPhysics()
void RaytestDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
@@ -297,12 +267,12 @@ void RaytestDemo::exitPhysics()
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
for (int j = 0; j < m_collisionShapes.size(); j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
@@ -311,24 +281,21 @@ void RaytestDemo::exitPhysics()
delete m_dynamicsWorld;
m_dynamicsWorld = 0;
delete m_solver;
m_solver = 0;
delete m_broadphase;
m_broadphase = 0;
delete m_dispatcher;
m_dispatcher = 0;
delete m_collisionConfiguration;
m_collisionConfiguration = 0;
}
class CommonExampleInterface* RaytestCreateFunc(struct CommonExampleOptions& options)
class CommonExampleInterface* RaytestCreateFunc(struct CommonExampleOptions& options)
{
return new RaytestDemo(options.m_guiHelper);
}

6
examples/Raycast/RaytestDemo.h
View File

@@ -15,8 +15,6 @@ subject to the following restrictions:
#ifndef BT_RAYTEST_DEMO_H
#define BT_RAYTEST_DEMO_H
class CommonExampleInterface* RaytestCreateFunc(struct CommonExampleOptions& options);
#endif //BT_RAYTEST_DEMO_H
class CommonExampleInterface* RaytestCreateFunc(struct CommonExampleOptions& options);
#endif //BT_RAYTEST_DEMO_H