prepare to add ForkLiftDemo in App_AllBullet2Demos
rename Ewert/Catto to World/Body for implicit coriolis forces
This commit is contained in:
erwin coumans
469
Demos/ForkLiftDemo/ForkLiftPhysicsSetup.cpp
Normal file
469
Demos/ForkLiftDemo/ForkLiftPhysicsSetup.cpp
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#include "ForkLiftPhysicsSetup.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
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btScalar maxMotorImpulse = 1400.f;
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btScalar loadMass = 350.f;//
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#ifdef FORCE_ZAXIS_UP
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int rightIndex = 0;
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int upIndex = 2;
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int forwardIndex = 1;
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btVector3 wheelDirectionCS0(0,0,-1);
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btVector3 wheelAxleCS(1,0,0);
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#else
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int rightIndex = 0;
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int upIndex = 1;
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int forwardIndex = 2;
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btVector3 wheelDirectionCS0(0,-1,0);
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btVector3 wheelAxleCS(-1,0,0);
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#endif
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float defaultBreakingForce = 10.f;
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float gBreakingForce = 100.f;
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float gEngineForce = 0.f;
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float gVehicleSteering = 0.f;
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float steeringIncrement = 0.04f;
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float steeringClamp = 0.3f;
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float wheelRadius = 0.5f;
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float wheelWidth = 0.4f;
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btScalar suspensionRestLength(0.6);
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#define CUBE_HALF_EXTENTS 1
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float suspensionStiffness = 20.f;
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float suspensionDamping = 2.3f;
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float suspensionCompression = 4.4f;
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float rollInfluence = 0.1f;//1.0f;
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float wheelFriction = 1000;//BT_LARGE_FLOAT;
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struct ForkLiftInternalData
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{
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btRigidBody* m_carChassis;
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//----------------------------
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btRigidBody* m_liftBody;
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btVector3 m_liftStartPos;
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btHingeConstraint* m_liftHinge;
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btRigidBody* m_forkBody;
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btVector3 m_forkStartPos;
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btSliderConstraint* m_forkSlider;
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btRigidBody* m_loadBody;
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btVector3 m_loadStartPos;
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bool m_useDefaultCamera;
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class btTriangleIndexVertexArray* m_indexVertexArrays;
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btVector3* m_vertices;
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btRaycastVehicle::btVehicleTuning m_tuning;
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btVehicleRaycaster* m_vehicleRayCaster;
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btRaycastVehicle* m_vehicle;
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btCollisionShape* m_wheelShape;
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float m_cameraHeight;
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float m_minCameraDistance;
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float m_maxCameraDistance;
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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class btBroadphaseInterface* m_overlappingPairCache;
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class btCollisionDispatcher* m_dispatcher;
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class btConstraintSolver* m_constraintSolver;
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class btDefaultCollisionConfiguration* m_collisionConfiguration;
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class btDiscreteDynamicsWorld* m_dynamicsWorld;
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bool useMCLPSolver;
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ForkLiftInternalData()
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:m_carChassis(0),
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m_liftBody(0),
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m_forkBody(0),
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m_loadBody(0),
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m_indexVertexArrays(0),
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m_vertices(0),
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m_cameraHeight(4.f),
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m_minCameraDistance(3.f),
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m_maxCameraDistance(10.f),
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m_overlappingPairCache(0),
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m_dispatcher(0),
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m_constraintSolver(0),
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m_collisionConfiguration(0),
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m_dynamicsWorld(0),
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useMCLPSolver(false)
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{
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m_vehicle = 0;
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m_wheelShape = 0;
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m_useDefaultCamera = false;
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}
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};
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ForkLiftPhysicsSetup::ForkLiftPhysicsSetup()
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{
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m_data = new ForkLiftInternalData;
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}
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ForkLiftPhysicsSetup::~ForkLiftPhysicsSetup()
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{
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delete m_data;
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}
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void ForkLiftPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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#ifdef FORCE_ZAXIS_UP
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m_cameraUp = btVector3(0,0,1);
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m_forwardAxis = 1;
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#endif
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btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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m_data->m_collisionShapes.push_back(groundShape);
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m_data->m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_data->m_dispatcher = new btCollisionDispatcher(m_data->m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_data->m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
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if (m_data->useMCLPSolver)
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{
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btDantzigSolver* mlcp = new btDantzigSolver();
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//btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel;
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btMLCPSolver* sol = new btMLCPSolver(mlcp);
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m_data->m_constraintSolver = sol;
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} else
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{
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m_data->m_constraintSolver = new btSequentialImpulseConstraintSolver();
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}
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m_data->m_dynamicsWorld = new btDiscreteDynamicsWorld(m_data->m_dispatcher,m_data->m_overlappingPairCache,m_data->m_constraintSolver,m_data->m_collisionConfiguration);
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if (m_data->useMCLPSolver)
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{
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m_data->m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 1;//for direct solver it is better to have a small A matrix
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} else
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{
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m_data->m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 128;//for direct solver, it is better to solve multiple objects together, small batches have high overhead
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}
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#ifdef FORCE_ZAXIS_UP
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m_dynamicsWorld->setGravity(btVector3(0,0,-10));
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#endif
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//m_dynamicsWorld->setGravity(btVector3(0,0,0));
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(0,-3,0));
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//either use heightfield or triangle mesh
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//create ground object
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localCreateRigidBody(0,tr,groundShape);
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#ifdef FORCE_ZAXIS_UP
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// indexRightAxis = 0;
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// indexUpAxis = 2;
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// indexForwardAxis = 1;
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btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
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btCompoundShape* compound = new btCompoundShape();
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btTransform localTrans;
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localTrans.setIdentity();
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//localTrans effectively shifts the center of mass with respect to the chassis
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localTrans.setOrigin(btVector3(0,0,1));
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#else
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btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
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m_data->m_collisionShapes.push_back(chassisShape);
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btCompoundShape* compound = new btCompoundShape();
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m_data->m_collisionShapes.push_back(compound);
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btTransform localTrans;
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localTrans.setIdentity();
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//localTrans effectively shifts the center of mass with respect to the chassis
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localTrans.setOrigin(btVector3(0,1,0));
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#endif
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compound->addChildShape(localTrans,chassisShape);
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{
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btCollisionShape* suppShape = new btBoxShape(btVector3(0.5f,0.1f,0.5f));
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btTransform suppLocalTrans;
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suppLocalTrans.setIdentity();
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//localTrans effectively shifts the center of mass with respect to the chassis
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suppLocalTrans.setOrigin(btVector3(0,1.0,2.5));
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compound->addChildShape(suppLocalTrans, suppShape);
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}
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tr.setOrigin(btVector3(0,0.f,0));
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m_data->m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
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//m_carChassis->setDamping(0.2,0.2);
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m_data->m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
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{
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btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f));
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m_data->m_collisionShapes.push_back(liftShape);
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btTransform liftTrans;
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m_data->m_liftStartPos = btVector3(0.0f, 2.5f, 3.05f);
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liftTrans.setIdentity();
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liftTrans.setOrigin(m_data->m_liftStartPos);
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m_data->m_liftBody = localCreateRigidBody(10,liftTrans, liftShape);
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btTransform localA, localB;
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localA.setIdentity();
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localB.setIdentity();
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localA.getBasis().setEulerZYX(0, SIMD_HALF_PI, 0);
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localA.setOrigin(btVector3(0.0, 1.0, 3.05));
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localB.getBasis().setEulerZYX(0, SIMD_HALF_PI, 0);
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localB.setOrigin(btVector3(0.0, -1.5, -0.05));
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m_data->m_liftHinge = new btHingeConstraint(*m_data->m_carChassis,*m_data->m_liftBody, localA, localB);
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// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
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m_data->m_liftHinge->setLimit(0.0f, 0.0f);
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m_data->m_dynamicsWorld->addConstraint(m_data->m_liftHinge, true);
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btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f));
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m_data->m_collisionShapes.push_back(forkShapeA);
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btCompoundShape* forkCompound = new btCompoundShape();
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m_data->m_collisionShapes.push_back(forkCompound);
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btTransform forkLocalTrans;
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forkLocalTrans.setIdentity();
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forkCompound->addChildShape(forkLocalTrans, forkShapeA);
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btCollisionShape* forkShapeB = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
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m_data->m_collisionShapes.push_back(forkShapeB);
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forkLocalTrans.setIdentity();
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forkLocalTrans.setOrigin(btVector3(-0.9f, -0.08f, 0.7f));
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forkCompound->addChildShape(forkLocalTrans, forkShapeB);
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btCollisionShape* forkShapeC = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
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m_data->m_collisionShapes.push_back(forkShapeC);
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forkLocalTrans.setIdentity();
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forkLocalTrans.setOrigin(btVector3(0.9f, -0.08f, 0.7f));
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forkCompound->addChildShape(forkLocalTrans, forkShapeC);
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btTransform forkTrans;
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m_data->m_forkStartPos = btVector3(0.0f, 0.6f, 3.2f);
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forkTrans.setIdentity();
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forkTrans.setOrigin(m_data->m_forkStartPos);
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m_data->m_forkBody = localCreateRigidBody(5, forkTrans, forkCompound);
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localA.setIdentity();
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localB.setIdentity();
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localA.getBasis().setEulerZYX(0, 0, SIMD_HALF_PI);
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localA.setOrigin(btVector3(0.0f, -1.9f, 0.05f));
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localB.getBasis().setEulerZYX(0, 0, SIMD_HALF_PI);
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localB.setOrigin(btVector3(0.0, 0.0, -0.1));
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m_data->m_forkSlider = new btSliderConstraint(*m_data->m_liftBody, *m_data->m_forkBody, localA, localB, true);
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m_data->m_forkSlider->setLowerLinLimit(0.1f);
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m_data->m_forkSlider->setUpperLinLimit(0.1f);
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// m_forkSlider->setLowerAngLimit(-LIFT_EPS);
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// m_forkSlider->setUpperAngLimit(LIFT_EPS);
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m_data->m_forkSlider->setLowerAngLimit(0.0f);
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m_data->m_forkSlider->setUpperAngLimit(0.0f);
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m_data->m_dynamicsWorld->addConstraint(m_data->m_forkSlider, true);
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btCompoundShape* loadCompound = new btCompoundShape();
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m_data->m_collisionShapes.push_back(loadCompound);
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btCollisionShape* loadShapeA = new btBoxShape(btVector3(2.0f,0.5f,0.5f));
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m_data->m_collisionShapes.push_back(loadShapeA);
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btTransform loadTrans;
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loadTrans.setIdentity();
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loadCompound->addChildShape(loadTrans, loadShapeA);
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btCollisionShape* loadShapeB = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
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m_data->m_collisionShapes.push_back(loadShapeB);
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loadTrans.setIdentity();
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loadTrans.setOrigin(btVector3(2.1f, 0.0f, 0.0f));
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loadCompound->addChildShape(loadTrans, loadShapeB);
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btCollisionShape* loadShapeC = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
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m_data->m_collisionShapes.push_back(loadShapeC);
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loadTrans.setIdentity();
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loadTrans.setOrigin(btVector3(-2.1f, 0.0f, 0.0f));
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loadCompound->addChildShape(loadTrans, loadShapeC);
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loadTrans.setIdentity();
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m_data->m_loadStartPos = btVector3(0.0f, 3.5f, 7.0f);
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loadTrans.setOrigin(m_data->m_loadStartPos);
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m_data->m_loadBody = localCreateRigidBody(loadMass, loadTrans, loadCompound);
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}
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/// create vehicle
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{
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m_data->m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_data->m_dynamicsWorld);
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m_data->m_vehicle = new btRaycastVehicle(m_data->m_tuning,m_data->m_carChassis,m_data->m_vehicleRayCaster);
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///never deactivate the vehicle
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m_data->m_carChassis->setActivationState(DISABLE_DEACTIVATION);
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m_data->m_dynamicsWorld->addVehicle(m_data->m_vehicle);
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float connectionHeight = 1.2f;
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bool isFrontWheel=true;
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//choose coordinate system
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m_data->m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
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#ifdef FORCE_ZAXIS_UP
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btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
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#else
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btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
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#endif
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m_data->m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_data->m_tuning,isFrontWheel);
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#ifdef FORCE_ZAXIS_UP
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connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
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#else
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connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
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#endif
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m_data->m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_data->m_tuning,isFrontWheel);
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#ifdef FORCE_ZAXIS_UP
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connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
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#else
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connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
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#endif //FORCE_ZAXIS_UP
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isFrontWheel = false;
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m_data->m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_data->m_tuning,isFrontWheel);
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#ifdef FORCE_ZAXIS_UP
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connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
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#else
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connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
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#endif
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m_data->m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_data->m_tuning,isFrontWheel);
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for (int i=0;i<m_data->m_vehicle->getNumWheels();i++)
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{
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btWheelInfo& wheel = m_data->m_vehicle->getWheelInfo(i);
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wheel.m_suspensionStiffness = suspensionStiffness;
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wheel.m_wheelsDampingRelaxation = suspensionDamping;
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wheel.m_wheelsDampingCompression = suspensionCompression;
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wheel.m_frictionSlip = wheelFriction;
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wheel.m_rollInfluence = rollInfluence;
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}
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}
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resetForklift();
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gfxBridge.autogenerateGraphicsObjects(m_data->m_dynamicsWorld);
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// setCameraDistance(26.f);
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}
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void ForkLiftPhysicsSetup::resetForklift()
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{
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gVehicleSteering = 0.f;
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gBreakingForce = defaultBreakingForce;
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gEngineForce = 0.f;
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m_data->m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
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m_data->m_carChassis->setLinearVelocity(btVector3(0,0,0));
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m_data->m_carChassis->setAngularVelocity(btVector3(0,0,0));
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m_data->m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_data->m_carChassis->getBroadphaseHandle(),m_data->m_dynamicsWorld->getDispatcher());
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if (m_data->m_vehicle)
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{
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m_data->m_vehicle->resetSuspension();
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for (int i=0;i<m_data->m_vehicle->getNumWheels();i++)
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{
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//synchronize the wheels with the (interpolated) chassis worldtransform
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m_data->m_vehicle->updateWheelTransform(i,true);
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}
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}
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btTransform liftTrans;
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liftTrans.setIdentity();
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liftTrans.setOrigin(m_data->m_liftStartPos);
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m_data->m_liftBody->activate();
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m_data->m_liftBody->setCenterOfMassTransform(liftTrans);
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m_data->m_liftBody->setLinearVelocity(btVector3(0,0,0));
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m_data->m_liftBody->setAngularVelocity(btVector3(0,0,0));
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btTransform forkTrans;
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forkTrans.setIdentity();
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forkTrans.setOrigin(m_data->m_forkStartPos);
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m_data->m_forkBody->activate();
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m_data->m_forkBody->setCenterOfMassTransform(forkTrans);
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m_data->m_forkBody->setLinearVelocity(btVector3(0,0,0));
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m_data->m_forkBody->setAngularVelocity(btVector3(0,0,0));
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|
||||
// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
|
||||
m_data->m_liftHinge->setLimit(0.0f, 0.0f);
|
||||
m_data->m_liftHinge->enableAngularMotor(false, 0, 0);
|
||||
|
||||
|
||||
m_data->m_forkSlider->setLowerLinLimit(0.1f);
|
||||
m_data->m_forkSlider->setUpperLinLimit(0.1f);
|
||||
m_data->m_forkSlider->setPoweredLinMotor(false);
|
||||
|
||||
btTransform loadTrans;
|
||||
loadTrans.setIdentity();
|
||||
loadTrans.setOrigin(m_data->m_loadStartPos);
|
||||
m_data->m_loadBody->activate();
|
||||
m_data->m_loadBody->setCenterOfMassTransform(loadTrans);
|
||||
m_data->m_loadBody->setLinearVelocity(btVector3(0,0,0));
|
||||
m_data->m_loadBody->setAngularVelocity(btVector3(0,0,0));
|
||||
|
||||
}
|
||||
|
||||
btRigidBody* ForkLiftPhysicsSetup::localCreateRigidBody(btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
||||
{
|
||||
btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
|
||||
|
||||
//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)
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
|
||||
//#define USE_MOTIONSTATE 1
|
||||
#ifdef USE_MOTIONSTATE
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
|
||||
btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia);
|
||||
|
||||
btRigidBody* body = new btRigidBody(cInfo);
|
||||
body->setContactProcessingThreshold(BT_LARGE_FLOAT);//m_defaultContactProcessingThreshold);
|
||||
|
||||
#else
|
||||
btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
|
||||
body->setWorldTransform(startTransform);
|
||||
#endif//
|
||||
|
||||
m_data->m_dynamicsWorld->addRigidBody(body);
|
||||
return body;
|
||||
}
|
||||
|
||||
void ForkLiftPhysicsSetup::exitPhysics()
|
||||
{
|
||||
}
|
||||
void ForkLiftPhysicsSetup::stepSimulation(float deltaTime)
|
||||
{
|
||||
}
|
||||
void ForkLiftPhysicsSetup::debugDraw(int debugDrawFlags)
|
||||
{
|
||||
}
|
||||
bool ForkLiftPhysicsSetup::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
bool ForkLiftPhysicsSetup::movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
void ForkLiftPhysicsSetup::removePickingConstraint()
|
||||
{
|
||||
}
|
||||
void ForkLiftPhysicsSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
|
||||
{
|
||||
}
|
||||
|
||||
void ForkLiftPhysicsSetup::renderScene(GraphicsPhysicsBridge& gfxBridge)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void ForkLiftPhysicsSetup::lockLiftHinge()
|
||||
{
|
||||
}
|
||||
|
||||
void ForkLiftPhysicsSetup::lockForkSlider()
|
||||
{
|
||||
}
|
||||
Reference in New Issue
Block a user