rename ObsoleteDemos back to Demos
fix some relative path issues for loading assets
This commit is contained in:
Erwin Coumans
39
Demos/CollisionDemo/CMakeLists.txt
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39
Demos/CollisionDemo/CMakeLists.txt
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@@ -0,0 +1,39 @@
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
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# For every executable you have with a main method you should have an add_executable line below.
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# For every add executable line you should list every .cpp and .h file you have associated with that executable.
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# You shouldn't have to modify anything below this line
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########################################################
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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../OpenGL
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${GLUT_INCLUDE_DIR}
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)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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IF (WIN32)
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ADD_EXECUTABLE(AppCollisionDemo
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CollisionDemo.cpp
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${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
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)
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ELSE()
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ADD_EXECUTABLE(AppCollisionDemo
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CollisionDemo.cpp
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)
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ENDIF()
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppCollisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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380
Demos/CollisionDemo/CollisionDemo.cpp
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380
Demos/CollisionDemo/CollisionDemo.cpp
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@@ -0,0 +1,380 @@
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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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///
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/// Collision Demo shows a degenerate case, where the Simplex solver has to deal with near-affine dependent cases
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/// See the define CATCH_DEGENERATE_TETRAHEDRON in Bullet's btVoronoiSimplexSolver.cpp
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///
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//#define CHECK_GENSHER_TRIANGLE_CASE 1
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///This low-level internal demo does intentionally NOT use the btBulletCollisionCommon.h header
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///It needs internal access
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#include "GL_Simplex1to4.h"
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#include "LinearMath/btQuaternion.h"
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#include "LinearMath/btTransform.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
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#include "LinearMath/btTransformUtil.h"
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#include "CollisionDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "../OpenGL/GLDebugDrawer.h"
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GLDebugDrawer debugDrawer;
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float yaw=0.f,pitch=0.f,roll=0.f;
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const int maxNumObjects = 4;
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const int numObjects = 2;
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GL_Simplex1to4 simplex;
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btPolyhedralConvexShape* shapePtr[maxNumObjects];
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btTransform tr[numObjects];
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int screenWidth = 640;
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int screenHeight = 480;
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void DrawRasterizerLine(float const* , float const*, int)
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{
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}
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int main(int argc,char** argv)
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{
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CollisionDemo* colDemo = new CollisionDemo();
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#ifdef CHECK_GENSHER_TRIANGLE_CASE
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colDemo->setCameraDistance(8.f);
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#else
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colDemo->setCameraDistance(4.f);
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#endif //
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colDemo->initPhysics();
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return glutmain(argc, argv,screenWidth,screenHeight,"Collision Demo",colDemo);
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}
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void CollisionDemo::initPhysics()
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{
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setTexturing(false);
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setShadows(false);
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//m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
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#ifdef CHECK_GENSHER_TRIANGLE_CASE
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m_azi = 140.f;
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#else
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m_azi = 250.f;
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#endif
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m_ele = 25.f;
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m_azi = 0;
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m_ele = 0;
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m_cameraTargetPosition.setValue(8.12,0.39,0);
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tr[0].setIdentity();
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tr[0].setOrigin(btVector3(10,0,0));
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tr[1].setIdentity();
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tr[1].setOrigin(btVector3(0,0,0));
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#ifdef CHECK_GENSHER_TRIANGLE_CASE
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tr[0].setIdentity();
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tr[1].setIdentity();
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#endif //CHECK_GENSHER_TRIANGLE_CASE
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btVector3 boxHalfExtentsA(1,1,1);//1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
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btVector3 boxHalfExtentsB(4,4,4);//3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
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#ifndef CHECK_GENSHER_TRIANGLE_CASE
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btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
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btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
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#endif
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#ifdef CHECK_GENSHER_TRIANGLE_CASE
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shapePtr[0] = trishapeA;
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shapePtr[1] = trishapeB;
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#else
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shapePtr[0] = boxA;
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shapePtr[1] = boxB;
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#endif
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}
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void CollisionDemo::clientMoveAndDisplay()
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{
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displayCallback();
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}
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static btVoronoiSimplexSolver sGjkSimplexSolver;
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btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
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static btScalar gContactBreakingThreshold=.02f;
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int myiter = 1;
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int mystate = 2;
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int checkPerturbation = 1;
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int numPerturbationIterations = 20;
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void CollisionDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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btVoronoiSimplexSolver sGjkSimplexSolver;
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btGjkEpaPenetrationDepthSolver epaSolver;
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btPointCollector gjkOutput;
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btVector3 worldBoundsMin(-1000,-1000,-1000);
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btVector3 worldBoundsMax(1000,1000,1000);
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{
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btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,&epaSolver);
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btGjkPairDetector::ClosestPointInput input;
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input.m_transformA = tr[0];
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input.m_transformB = tr[1];
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convexConvex.getClosestPoints(input, gjkOutput, 0);
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}
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ATTRIBUTE_ALIGNED16(btScalar) m[16];
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int i;
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//m_ele = 21.2;
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//m_azi = -56.6;
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for (i=0;i<numObjects;i++)
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{
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tr[i].getOpenGLMatrix( m );
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//m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(119./255.,147./255.,60./255.),btIDebugDraw::DBG_FastWireframe,worldBoundsMin,worldBoundsMax);
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m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(0.6,0.6,0.6),btIDebugDraw::DBG_FastWireframe,worldBoundsMin,worldBoundsMax);
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}
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if (gjkOutput.m_hasResult)
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{
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printf("original distance: %10.4f\n", gjkOutput.m_distance);
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btVector3 endPt = gjkOutput.m_pointInWorld +
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gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
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debugDrawer.drawLine(gjkOutput.m_pointInWorld,endPt,btVector3(0,0,0));
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debugDrawer.drawSphere(gjkOutput.m_pointInWorld,0.05,btVector3(0,0,0));
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debugDrawer.drawSphere(endPt,0.05,btVector3(0,0,0));
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bool perturbeA = false;//true;
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const btScalar angleLimit = 0.125f * SIMD_PI;
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btScalar perturbeAngle;
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btScalar radiusA = shapePtr[0]->getAngularMotionDisc();
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btScalar radiusB = shapePtr[1]->getAngularMotionDisc();
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if (radiusA < radiusB)
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{
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perturbeAngle = gContactBreakingThreshold /radiusA;
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perturbeA = true;
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} else
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{
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perturbeAngle = gContactBreakingThreshold / radiusB;
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perturbeA = false;
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}
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if ( perturbeAngle > angleLimit )
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perturbeAngle = angleLimit;
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perturbeAngle*=5;
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btVector3 v0,v1;
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btPlaneSpace1(gjkOutput.m_normalOnBInWorld,v0,v1);
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glLineWidth(5);
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int i;
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i=0;
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if (myiter>=numPerturbationIterations)
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myiter=0;
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if (mystate<2)
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{
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i= myiter;
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}
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for ( ;i<numPerturbationIterations;i++)
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{
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btGjkPairDetector::ClosestPointInput input;
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input.m_transformA = tr[0];
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input.m_transformB = tr[1];
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sGjkSimplexSolver.reset();
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btQuaternion perturbeRot(v0,perturbeAngle);
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btScalar iterationAngle = i*(SIMD_2_PI/btScalar(numPerturbationIterations));
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btQuaternion rotq(gjkOutput.m_normalOnBInWorld,iterationAngle);
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if (perturbeA)
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{
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input.m_transformA.setBasis( btMatrix3x3(rotq*perturbeRot*rotq.inverse())*tr[0].getBasis());
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} else
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{
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input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*tr[1].getBasis());
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}
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debugDrawer.drawTransform(input.m_transformA,1.0);
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btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,&epaSolver);
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input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
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gjkOutput.m_distance = BT_LARGE_FLOAT;
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convexConvex.getClosestPoints(input, gjkOutput, 0);
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if (mystate!=2 || i==myiter)
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{
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ATTRIBUTE_ALIGNED16(btScalar) m[16];
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input.m_transformA.getOpenGLMatrix( m );
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//m_shapeDrawer->drawOpenGL(m,shapePtr[0],btVector3(108./255.,131./255.,158./255),btIDebugDraw::DBG_FastWireframe,worldBoundsMin,worldBoundsMax);
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m_shapeDrawer->drawOpenGL(m,shapePtr[0],btVector3(0.3,0.3,1),btIDebugDraw::DBG_FastWireframe,worldBoundsMin,worldBoundsMax);
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}
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if (1)//gjkOutput.m_hasResult)
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{
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printf("perturbed distance: %10.4f\n", gjkOutput.m_distance);
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btVector3 startPt,endPt;
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btScalar depth = 0;
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if (perturbeA)
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{
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btVector3 endPtOrg = gjkOutput.m_pointInWorld + gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
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endPt = (tr[0]*input.m_transformA.inverse())(endPtOrg);
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depth = (endPt - gjkOutput.m_pointInWorld).dot(gjkOutput.m_normalOnBInWorld);
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startPt = endPt-gjkOutput.m_normalOnBInWorld*depth;
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} else
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{
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endPt = gjkOutput.m_pointInWorld + gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
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startPt = (tr[1]*input.m_transformB.inverse())(gjkOutput.m_pointInWorld);
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depth = (endPt - startPt).dot(gjkOutput.m_normalOnBInWorld);
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}
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printf("corrected distance: %10.4f\n", depth);
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debugDrawer.drawLine(startPt,endPt,btVector3(1,0,0));
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debugDrawer.drawSphere(startPt,0.05,btVector3(0,1,0));
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debugDrawer.drawSphere(endPt,0.05,btVector3(0,0,1));
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}
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if (mystate<2)
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break;
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if (mystate==2 && i>myiter)
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break;
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}
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}
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static int looper = 0;
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if (looper++>10)
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{
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looper =0;
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checkPerturbation++;
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if (checkPerturbation>numPerturbationIterations)
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checkPerturbation=0;
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}
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GL_ShapeDrawer::drawCoordSystem();
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if (mystate==1 || mystate==2)
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{
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static int count = 10;
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count--;
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if (count<0)
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{
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count=10;
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myiter++;
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}
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}
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btQuaternion orn;
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orn.setEuler(yaw,pitch,roll);
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//let it rotate
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//tr[0].setRotation(orn);
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pitch += 0.005f;
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yaw += 0.01f;
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glFlush();
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glutSwapBuffers();
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}
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void CollisionDemo::specialKeyboard(int key, int x, int y)
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{
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switch (key)
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{
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case GLUT_KEY_DOWN:
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case GLUT_KEY_UP:
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{
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break;
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}
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default:
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DemoApplication::specialKeyboard(key,x,y);
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break;
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}
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}
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void CollisionDemo::specialKeyboardUp(int key, int x, int y)
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{
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switch (key)
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{
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case GLUT_KEY_UP :
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{
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myiter++;
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break;
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}
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case GLUT_KEY_DOWN:
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{
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mystate++;
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if (mystate>1)
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myiter=0;
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if (mystate>=4)
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mystate = 0;
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break;
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}
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default:
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DemoApplication::specialKeyboardUp(key,x,y);
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break;
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}
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}
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38
Demos/CollisionDemo/CollisionDemo.h
Normal file
38
Demos/CollisionDemo/CollisionDemo.h
Normal file
@@ -0,0 +1,38 @@
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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/
|
||||
|
||||
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 COLLISION_DEMO_H
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#define COLLISION_DEMO_H
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#include "GlutDemoApplication.h"
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///CollisionDemo shows the low-level direct access to GJK
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class CollisionDemo : public GlutDemoApplication
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{
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public:
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void initPhysics();
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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virtual void specialKeyboardUp(int key, int x, int y);
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virtual void specialKeyboard(int key, int x, int y);
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};
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#endif //COLLISION_DEMO_H
|
||||
|
||||
Reference in New Issue
Block a user