more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.
removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact) committed fixes that make the code adhere to 'who creates it, also destroys it'
This commit is contained in:
ejcoumans
@@ -13,13 +13,9 @@ subject to the following restrictions:
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "MyMotionState.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "PHY_Pro.h"
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#include "ConcaveDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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@@ -159,30 +155,31 @@ void ConcaveDemo::initPhysics()
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btOverlappingPairCache* broadphase = new btSimpleBroadphase();
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m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
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m_dynamicsWorld = new btDiscreteDynamicsWorld();
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bool isDynamic = false;
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bool isDynamic = false;
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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startTransform.setOrigin(btVector3(0,0,0));
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CcdPhysicsController* staticTrimesh = localCreatePhysicsObject(isDynamic, mass, startTransform,trimeshShape);
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btRigidBody* staticBody = localCreateRigidBody(isDynamic, mass, startTransform,trimeshShape);
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staticBody->m_collisionFlags |=btCollisionObject::isStatic;
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getDynamicsWorld()->addCollisionObject(staticBody);
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//enable custom material callback
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staticTrimesh->getRigidBody()->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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staticBody->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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{
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for (int i=0;i<10;i++)
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{
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btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
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startTransform.setOrigin(btVector3(2*i,1,1));
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localCreatePhysicsObject(true, 1, startTransform,boxShape);
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getDynamicsWorld()->addCollisionObject(localCreateRigidBody(true, 1, startTransform,boxShape));
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}
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}
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m_physicsEnvironmentPtr->setGravity(-1,-10,1);
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m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
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}
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void ConcaveDemo::clientMoveAndDisplay()
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@@ -191,7 +188,7 @@ void ConcaveDemo::clientMoveAndDisplay()
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float deltaTime = 1.f/60.f;
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m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
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m_dynamicsWorld->stepSimulation(deltaTime);
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renderme();
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@@ -202,7 +199,7 @@ void ConcaveDemo::clientMoveAndDisplay()
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void ConcaveDemo::clientResetScene()
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{
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int numObj = m_physicsEnvironmentPtr->GetNumControllers();
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/*int numObj = m_physicsEnvironmentPtr->GetNumControllers();
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//skip ground
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for (int i=1;i<numObj;i++)
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@@ -213,6 +210,8 @@ void ConcaveDemo::clientResetScene()
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ctrl->SetLinearVelocity(0,0,0,0);
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ctrl->SetAngularVelocity(0,0,0,0);
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}
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*/
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}
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@@ -1,67 +0,0 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "MyMotionState.h"
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#include "LinearMath/btPoint3.h"
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MyMotionState::MyMotionState()
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{
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m_worldTransform.setIdentity();
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}
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MyMotionState::~MyMotionState()
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{
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}
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void MyMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
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{
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posX = m_worldTransform.getOrigin().x();
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posY = m_worldTransform.getOrigin().y();
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posZ = m_worldTransform.getOrigin().z();
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}
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void MyMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
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{
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scaleX = 1.;
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scaleY = 1.;
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scaleZ = 1.;
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}
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void MyMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
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{
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quatIma0 = m_worldTransform.getRotation().x();
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quatIma1 = m_worldTransform.getRotation().y();
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quatIma2 = m_worldTransform.getRotation().z();
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quatReal = m_worldTransform.getRotation()[3];
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}
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void MyMotionState::setWorldPosition(float posX,float posY,float posZ)
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{
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btPoint3 pos(posX,posY,posZ);
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m_worldTransform.setOrigin( pos );
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}
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void MyMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
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{
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btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
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m_worldTransform.setRotation( orn );
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}
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void MyMotionState::calculateWorldTransformations()
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{
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}
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@@ -1,44 +0,0 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef MY_MOTIONSTATE_H
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#define MY_MOTIONSTATE_H
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#include "PHY_IMotionState.h"
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#include <LinearMath/btTransform.h>
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class MyMotionState : public PHY_IMotionState
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{
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public:
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MyMotionState();
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virtual ~MyMotionState();
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virtual void getWorldPosition(float& posX,float& posY,float& posZ);
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virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
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virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
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virtual void setWorldPosition(float posX,float posY,float posZ);
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virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
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virtual void calculateWorldTransformations();
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btTransform m_worldTransform;
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};
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#endif //MY_MOTIONSTATE_H
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