diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 66048cd51..4cbd0c47d 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -33,7 +33,8 @@ SET(App_ExampleBrowser_SRCS ../Benchmarks/BenchmarkDemo.h ../Benchmarks/landscapeData.h ../Benchmarks/TaruData - ../Importers/ImportBsp/BspConverter.h + ../Raycast/RaytestDemo.cpp + ../Importers/ImportBsp/BspConverter.h ../Importers/ImportBullet/SerializeSetup.cpp ../Importers/ImportBullet/SerializeSetup.h diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index e2859589a..3cc36badb 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -27,6 +27,7 @@ #include "../Vehicles/Hinge2Vehicle.h" #include "../Experiments/ImplicitCloth/ImplicitClothExample.h" #include "../Importers/ImportBullet/SerializeSetup.h" +#include "../Raycast/RaytestDemo.h" struct ExampleEntry @@ -58,7 +59,7 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"Gyroscopic", "Show the Dzhanibekov effect using various settings of the gyroscopic term. You can select the gyroscopic term computation using btRigidBody::setFlags, with arguments BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT (using explicit integration, which adds energy and can lead to explosions), BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD, BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY. If you don't set any of these flags, there is no gyroscopic term used.", GyroscopicCreateFunc), - ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation.",Planar2DCreateFunc), + ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.",Planar2DCreateFunc), ExampleEntry(1,"Constraints","Use of a btHingeConstraint. You can adjust the first slider to change the target velocity, and the second slider to adjust the maximum impulse applied to reach the target velocity. Note that the hinge angle can reach beyond -360 and 360 degrees.", ConstraintCreateFunc), ExampleEntry(1,"6DofSpring2","Show the use of the btGeneric6DofSpring2Constraint.", Dof6Spring2CreateFunc), @@ -68,8 +69,8 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(0,"MultiBody"), - ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody.", MultiDofCreateFunc), - ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody.", TestJointTorqueCreateFunc), + ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc), + ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers).", TestJointTorqueCreateFunc), #ifdef INCLUDE_CLOTH_DEMOS @@ -148,7 +149,11 @@ static ExampleEntry gDefaultExamples[]= "The demo implementation allows to choose various MLCP constraint solvers.", ForkLiftCreateFunc), - + ExampleEntry(0,"Raycast"), + ExampleEntry(1,"Raytest", "Cast rays using the btCollisionWorld::rayTest method. The example shows how to receive the hit position and normal along the ray against the first object. Also it shows how to receive all the hits along a ray.", RaytestCreateFunc), + ExampleEntry(1,"Raytracer","Implement an extremely simple ray tracer using the ray trace functionality in btCollisionWorld.", + RayTracerCreateFunc), + ExampleEntry(0,"Experiments"), @@ -162,8 +167,6 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(0,"Rendering"), ExampleEntry(1,"Instanced Rendering", "Simple example of fast instanced rendering, only active when using OpenGL3+.",RenderInstancingCreateFunc), ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc), - ExampleEntry(1,"Raytracer","Implement an extremely simple ray tracer using the ray trace functionality in btCollisionWorld.", - RayTracerCreateFunc), }; diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index bab36760f..9d3192813 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -34,6 +34,7 @@ "../SoftDemo/*", "../Constraints/*", "../Vehicles/*", + "../Raycast/*", "../MultiBody/MultiDofDemo.cpp", "../MultiBody/TestJointTorqueSetup.cpp", "../ThirdPartyLibs/Wavefront/tiny_obj_loader.*", diff --git a/examples/Raycast/RaytestDemo.cpp b/examples/Raycast/RaytestDemo.cpp new file mode 100644 index 000000000..ad27bc3d0 --- /dev/null +++ b/examples/Raycast/RaytestDemo.cpp @@ -0,0 +1,326 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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. +*/ + + + +#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 //printf debugging + + +#include "LinearMath/btAlignedObjectArray.h" + +///RaytestDemo shows how to use the btCollisionWorld::rayTest feature + +#include "../CommonInterfaces/CommonRigidBodyBase.h" + + +class RaytestDemo : public CommonRigidBodyBase +{ + + +public: + + RaytestDemo(struct GUIHelperInterface* helper) + :CommonRigidBodyBase(helper) + { + } + virtual ~RaytestDemo() + { + } + virtual void initPhysics(); + + virtual void exitPhysics(); + + void castRays(); + + virtual void stepSimulation(float deltaTime); + + + +}; + +void RaytestDemo::castRays() +{ + + static float up = 0.f; + static float dir = 1.f; + //add some simple animation + //if (!m_idle) + { + up+=0.01*dir; + + if (btFabs(up)>2) + { + 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)); + 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); + + ///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); + 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;igetDebugDrawer()->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)); + + btCollisionWorld::ClosestRayResultCallback closestResults(from,to); + closestResults.m_flags |= btTriangleRaycastCallback::kF_FilterBackfaces; + + + + 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); + + } + } + } + +} + + + void RaytestDemo::stepSimulation(float deltaTime) +{ + castRays(); + CommonRigidBodyBase::stepSimulation(deltaTime); +} + + + + + +void RaytestDemo::initPhysics() +{ + + ///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_broadphase = new btDbvtBroadphase(); + + ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) + btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; + m_solver = sol; + + m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + + + 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); + + m_collisionShapes.push_back(groundShape); + + btTransform groundTransform; + groundTransform.setIdentity(); + groundTransform.setOrigin(btVector3(0,-50,0)); + + //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here: + { + btScalar mass(0.); + + //rigidbody is dynamic if and only if mass is non zero, otherwise static + bool isDynamic = (mass != 0.f); + + btVector3 localInertia(0,0,0); + if (isDynamic) + 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* body = new btRigidBody(rbInfo); + body->setRollingFriction(1); + 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 quad[] = { + 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); + + 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)) + }; + + for (int i=0;icalculateLocalInertia(mass,localInertia); + + btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape,localInertia); + rbInfo.m_startWorldTransform = startTransform; + btRigidBody* body = new btRigidBody(rbInfo); + body->setRollingFriction(0.03); + body->setFriction(1); + body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + + m_dynamicsWorld->addRigidBody(body); + + } + + } + + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); +} + + +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--) + { + btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; + btRigidBody* body = btRigidBody::upcast(obj); + if (body && body->getMotionState()) + { + delete body->getMotionState(); + } + m_dynamicsWorld->removeCollisionObject( obj ); + delete obj; + } + + //delete collision shapes + for (int j=0;j