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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();