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add FractureDemo to AllBulletDemos

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improvements in CCD handling
some cleanup of CcdPhysicsDemo and BasicDemo
This commit is contained in:
erwin.coumans
2011-04-09 01:14:21 +00:00
parent 2291a6a9d3
commit cdddf9d25a
29 changed files with 550 additions and 867 deletions
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62
Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
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@@ -20,22 +20,7 @@ subject to the following restrictions:
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
//#define BATCH_RAYCASTER
#ifdef BATCH_RAYCASTER
#include "BulletMultiThreaded/SpuBatchRaycaster.h"
static SpuBatchRaycaster* gBatchRaycaster = NULL;
#ifdef USE_LIBSPE2
#include "BulletMultiThreaded/SpuLibspe2Support.h"
#elif defined (_WIN32)
#include "BulletMultiThreaded/Win32ThreadSupport.h"
#else
//other platforms run the parallel code sequentially (until pthread support or other parallel implementation is added)
#include "BulletMultiThreaded/SequentialThreadSupport.h"
#endif //USE_LIBSPE2
#endif //BATCH_RAYCASTER
static GLDebugDrawer sDebugDraw;
static btVector3* gVertices=0;
static int* gIndices=0;
@@ -290,6 +275,7 @@ void ConcaveRaycastDemo::keyboardCallback(unsigned char key, int x, int y)
void ConcaveRaycastDemo::initPhysics()
{
m_ShootBoxInitialSpeed = 1000;
#define TRISIZE 10.f
@@ -346,7 +332,8 @@ void ConcaveRaycastDemo::initPhysics()
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getSolverInfo().m_splitImpulse=true;
m_dynamicsWorld->setDebugDrawer(&sDebugDraw);
float mass = 0.f;
btTransform startTransform;
@@ -387,6 +374,41 @@ int maxNumOutstandingTasks = 4;
raycastBar = btRaycastBar (4000.0, 0.0);
//raycastBar = btRaycastBar (true, 40.0, -50.0, 50.0);
{
btVector3 camPos(0.000000,10.260604,-28.190779);
btVector3 destination(6958.333333,-8539.096384,7501.875480);
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.9f);
printf("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
printf("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
printf("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
}
}
void ConcaveRaycastDemo::clientMoveAndDisplay()
@@ -411,7 +433,7 @@ void ConcaveRaycastDemo::clientMoveAndDisplay()
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
}
m_dynamicsWorld->stepSimulation(dt);
m_dynamicsWorld->stepSimulation(1./60.,0);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
@@ -432,6 +454,10 @@ void ConcaveRaycastDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
renderme();
raycastBar.draw ();
glFlush();