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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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22
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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@@ -13,12 +13,9 @@ 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 "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "PHY_Pro.h"
#include "UserCollisionAlgorithm.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
@@ -129,7 +126,7 @@ void UserCollisionAlgorithm::initPhysics()
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase);
bool isDynamic = false;
float mass = 0.f;
@@ -137,21 +134,23 @@ void UserCollisionAlgorithm::initPhysics()
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
CcdPhysicsController* staticTrimesh = localCreatePhysicsObject(isDynamic, mass, startTransform,trimeshShape);
btRigidBody* staticBody= localCreateRigidBody(isDynamic, mass, startTransform,trimeshShape);
getDynamicsWorld()->addCollisionObject(staticBody);
//enable custom material callback
staticTrimesh->getRigidBody()->m_collisionFlags |= btCollisionObject::customMaterialCallback;
staticBody->m_collisionFlags |= btCollisionObject::customMaterialCallback;
{
for (int i=0;i<10;i++)
{
btCollisionShape* sphereShape = new btSphereShape(1);
startTransform.setOrigin(btVector3(1,2*i,1));
localCreatePhysicsObject(true, 1, startTransform,sphereShape);
btRigidBody* body = localCreateRigidBody(true, 1, startTransform,sphereShape);
getDynamicsWorld()->addCollisionObject(body);
}
}
m_physicsEnvironmentPtr->setGravity(-1,-10,1);
m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
}
void UserCollisionAlgorithm::clientMoveAndDisplay()
@@ -160,7 +159,7 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
float deltaTime = 1.f/60.f;
m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
m_dynamicsWorld->stepSimulation(deltaTime);
renderme();
@@ -171,6 +170,7 @@ void UserCollisionAlgorithm::clientMoveAndDisplay()
void UserCollisionAlgorithm::clientResetScene()
{
/*
int numObj = m_physicsEnvironmentPtr->GetNumControllers();
//skip ground
@@ -182,6 +182,8 @@ void UserCollisionAlgorithm::clientResetScene()
ctrl->SetLinearVelocity(0,0,0,0);
ctrl->SetAngularVelocity(0,0,0,0);
}
*/
}