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more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.

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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
2006-09-30 01:36:39 +00:00
parent 14397a2f72
commit d38549aa54
37 changed files with 317 additions and 995 deletions
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41
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -13,15 +13,12 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "MyMotionState.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "PHY_Pro.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
@@ -61,10 +58,7 @@ void ConstraintDemo::initPhysics()
btOverlappingPairCache* broadphase = new btSimpleBroadphase();
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
m_physicsEnvironmentPtr->setDeactivationTime(0.f);
m_physicsEnvironmentPtr->setGravity(0,-10,0);
m_dynamicsWorld = new btDiscreteDynamicsWorld();
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
btTransform trans;
@@ -74,10 +68,12 @@ void ConstraintDemo::initPhysics()
bool isDynamic = false;
float mass = 1.f;
CcdPhysicsController* ctrl0 = localCreatePhysicsObject( isDynamic,mass,trans,shape);
btRigidBody* body0 = localCreateRigidBody( isDynamic,mass,trans,shape);
getDynamicsWorld()->addCollisionObject(body0);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
isDynamic = true;
CcdPhysicsController* ctrl1 = localCreatePhysicsObject( isDynamic,mass,trans,shape);
btRigidBody* body1 = localCreateRigidBody( isDynamic,mass,trans,shape);
getDynamicsWorld()->addCollisionObject(body1);
clientResetScene();
@@ -85,21 +81,17 @@ void ConstraintDemo::initPhysics()
{
int constraintId;
float pivotX=CUBE_HALF_EXTENTS,
pivotY=-CUBE_HALF_EXTENTS,
pivotZ=-CUBE_HALF_EXTENTS;
float axisX=0,axisY=0,axisZ=1;
btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
btVector3 axisInA(0,0,1);
btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
btVector3 axisInB = body1?
(body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
body0->getCenterOfMassTransform().getBasis() * axisInA;
constraintId =m_physicsEnvironmentPtr->createConstraint(
ctrl0,
ctrl1,
PHY_POINT2POINT_CONSTRAINT,
//PHY_GENERIC_6DOF_CONSTRAINT,//can leave any of the 6 degree of freedom 'free' or 'locked'
//PHY_LINEHINGE_CONSTRAINT,
pivotX,pivotY,pivotZ,
axisX,axisY,axisZ
);
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
m_dynamicsWorld->addConstraint(p2p);
}
}
@@ -112,8 +104,7 @@ void ConstraintDemo::clientMoveAndDisplay()
float deltaTime = 1.f/60.f;
m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
m_dynamicsWorld->stepSimulation(deltaTime);
renderme();
glFlush();

67
Demos/ConstraintDemo/MyMotionState.cpp
View File

@@ -1,67 +0,0 @@
/*
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 "MyMotionState.h"
#include "LinearMath/btPoint3.h"
MyMotionState::MyMotionState()
{
m_worldTransform.setIdentity();
}
MyMotionState::~MyMotionState()
{
}
void MyMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
{
posX = m_worldTransform.getOrigin().x();
posY = m_worldTransform.getOrigin().y();
posZ = m_worldTransform.getOrigin().z();
}
void MyMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
{
scaleX = 1.;
scaleY = 1.;
scaleZ = 1.;
}
void MyMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
{
quatIma0 = m_worldTransform.getRotation().x();
quatIma1 = m_worldTransform.getRotation().y();
quatIma2 = m_worldTransform.getRotation().z();
quatReal = m_worldTransform.getRotation()[3];
}
void MyMotionState::setWorldPosition(float posX,float posY,float posZ)
{
btPoint3 pos(posX,posY,posZ);
m_worldTransform.setOrigin( pos );
}
void MyMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
{
btQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
m_worldTransform.setRotation( orn );
}
void MyMotionState::calculateWorldTransformations()
{
}

44
Demos/ConstraintDemo/MyMotionState.h
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@@ -1,44 +0,0 @@
/*
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.
*/
#ifndef MY_MOTIONSTATE_H
#define MY_MOTIONSTATE_H
#include "PHY_IMotionState.h"
#include <LinearMath/btTransform.h>
class MyMotionState : public PHY_IMotionState
{
public:
MyMotionState();
virtual ~MyMotionState();
virtual void getWorldPosition(float& posX,float& posY,float& posZ);
virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
virtual void setWorldPosition(float posX,float posY,float posZ);
virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
virtual void calculateWorldTransformations();
btTransform m_worldTransform;
};
#endif //MY_MOTIONSTATE_H