rename ObsoleteDemos back to Demos
fix some relative path issues for loading assets
This commit is contained in:
Erwin Coumans
292
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
Normal file
292
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
Normal file
@@ -0,0 +1,292 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
///
|
||||
/// CollisionInterfaceDemo shows high level usage of the Collision Detection.
|
||||
///
|
||||
#define TEST_NOT_ADDING_OBJECTS_TO_WORLD
|
||||
|
||||
#include "GL_Simplex1to4.h"
|
||||
|
||||
//include common Bullet Collision Detection headerfiles
|
||||
#include "btBulletCollisionCommon.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "CollisionInterfaceDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
btScalar yaw=0.f,pitch=0.f,roll=0.f;
|
||||
const int maxNumObjects = 4;
|
||||
const int numObjects = 2;
|
||||
|
||||
GL_Simplex1to4 simplex;
|
||||
|
||||
btCollisionObject objects[maxNumObjects];
|
||||
btCollisionWorld* collisionWorld = 0;
|
||||
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
|
||||
void CollisionInterfaceDemo::initPhysics()
|
||||
{
|
||||
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
|
||||
|
||||
btMatrix3x3 basisA;
|
||||
basisA.setIdentity();
|
||||
|
||||
btMatrix3x3 basisB;
|
||||
basisB.setIdentity();
|
||||
|
||||
objects[0].getWorldTransform().setBasis(basisA);
|
||||
objects[1].getWorldTransform().setBasis(basisB);
|
||||
|
||||
btBoxShape* boxA = new btBoxShape(btVector3(1,1,1));
|
||||
boxA->setMargin(0.f);
|
||||
|
||||
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
boxB->setMargin(0.f);
|
||||
//ConvexHullShape hullA(points0,3);
|
||||
//hullA.setLocalScaling(btVector3(3,3,3));
|
||||
//ConvexHullShape hullB(points1,4);
|
||||
//hullB.setLocalScaling(btVector3(4,4,4));
|
||||
|
||||
objects[0].setCollisionShape(boxA);//&hullA;
|
||||
objects[1].setCollisionShape(boxB);//&hullB;
|
||||
|
||||
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
|
||||
btVector3 worldAabbMin(-1000,-1000,-1000);
|
||||
btVector3 worldAabbMax(1000,1000,1000);
|
||||
|
||||
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
|
||||
|
||||
//SimpleBroadphase is a brute force alternative, performing N^2 aabb overlap tests
|
||||
//SimpleBroadphase* broadphase = new btSimpleBroadphase;
|
||||
|
||||
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
|
||||
collisionWorld->setDebugDrawer(&debugDrawer);
|
||||
|
||||
#ifdef TEST_NOT_ADDING_OBJECTS_TO_WORLD
|
||||
// collisionWorld->addCollisionObject(&objects[0]);
|
||||
collisionWorld->addCollisionObject(&objects[1]);
|
||||
#endif //TEST_NOT_ADDING_OBJECTS_TO_WORLD
|
||||
|
||||
}
|
||||
|
||||
|
||||
//to be implemented by the demo
|
||||
|
||||
void CollisionInterfaceDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
displayCallback();
|
||||
}
|
||||
|
||||
|
||||
static btVoronoiSimplexSolver sGjkSimplexSolver;
|
||||
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
|
||||
|
||||
struct btDrawingResult : public btCollisionWorld::ContactResultCallback
|
||||
{
|
||||
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
|
||||
{
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
btVector3 ptA = cp.getPositionWorldOnA();
|
||||
btVector3 ptB = cp.getPositionWorldOnB();
|
||||
|
||||
glVertex3d(ptA.x(),ptA.y(),ptA.z());
|
||||
glVertex3d(ptB.x(),ptB.y(),ptB.z());
|
||||
glEnd();
|
||||
|
||||
return 0;
|
||||
}
|
||||
};
|
||||
|
||||
void CollisionInterfaceDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glDisable(GL_LIGHTING);
|
||||
|
||||
btScalar m[16];
|
||||
|
||||
btVector3 worldBoundsMin,worldBoundsMax;
|
||||
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
|
||||
|
||||
|
||||
int i;
|
||||
for (i=0;i<numObjects;i++)
|
||||
{
|
||||
|
||||
objects[i].getWorldTransform().getOpenGLMatrix( m );
|
||||
m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
}
|
||||
|
||||
collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
|
||||
|
||||
if (collisionWorld)
|
||||
collisionWorld->performDiscreteCollisionDetection();
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#ifndef TEST_NOT_ADDING_OBJECTS_TO_WORLD
|
||||
|
||||
collisionWorld->debugDrawWorld();
|
||||
///one way to draw all the contact points is iterating over contact manifolds in the dispatcher:
|
||||
|
||||
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
|
||||
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
for (int j=0;j<numContacts;j++)
|
||||
{
|
||||
btManifoldPoint& pt = contactManifold->getContactPoint(j);
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
btVector3 ptA = pt.getPositionWorldOnA();
|
||||
btVector3 ptB = pt.getPositionWorldOnB();
|
||||
|
||||
glVertex3d(ptA.x(),ptA.y(),ptA.z());
|
||||
glVertex3d(ptB.x(),ptB.y(),ptB.z());
|
||||
glEnd();
|
||||
}
|
||||
|
||||
//you can un-comment out this line, and then all points are removed
|
||||
//contactManifold->clearManifold();
|
||||
}
|
||||
#else
|
||||
|
||||
|
||||
glDisable(GL_TEXTURE_2D);
|
||||
for (i=0;i<numObjects;i++)
|
||||
{
|
||||
collisionWorld->debugDrawObject(objects[i].getWorldTransform(),objects[i].getCollisionShape(), btVector3(1,1,0));
|
||||
}
|
||||
|
||||
btDrawingResult renderCallback;
|
||||
|
||||
//collisionWorld->contactPairTest(&objects[0],&objects[1], renderCallback);
|
||||
collisionWorld->contactTest(&objects[0],renderCallback);
|
||||
|
||||
#if 0
|
||||
|
||||
//another way is to directly query the dispatcher for both objects. The objects don't need to be inserted into the world
|
||||
|
||||
btCollisionAlgorithm* algo = collisionWorld->getDispatcher()->findAlgorithm(&objects[0],&objects[1]);
|
||||
btManifoldResult contactPointResult(&objects[0],&objects[1]);
|
||||
algo->processCollision(&objects[0],&objects[1],collisionWorld->getDispatchInfo(),&contactPointResult);
|
||||
|
||||
btManifoldArray manifoldArray;
|
||||
algo->getAllContactManifolds(manifoldArray);
|
||||
|
||||
int numManifolds = manifoldArray.size();
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
btPersistentManifold* contactManifold = manifoldArray[i];
|
||||
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
// btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
bool swap = obA == &objects[0];
|
||||
|
||||
for (int j=0;j<numContacts;j++)
|
||||
{
|
||||
btManifoldPoint& pt = contactManifold->getContactPoint(j);
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
btVector3 ptA = swap ?pt.getPositionWorldOnA():pt.getPositionWorldOnB();
|
||||
btVector3 ptB = swap ? pt.getPositionWorldOnB():pt.getPositionWorldOnA();
|
||||
|
||||
glVertex3d(ptA.x(),ptA.y(),ptA.z());
|
||||
glVertex3d(ptB.x(),ptB.y(),ptB.z());
|
||||
glEnd();
|
||||
}
|
||||
|
||||
//you can un-comment out this line, and then all points are removed
|
||||
//contactManifold->clearManifold();
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//GL_ShapeDrawer::drawCoordSystem();
|
||||
|
||||
|
||||
// btQuaternion qA = objects[0].getWorldTransform().getRotation();
|
||||
// btQuaternion qB = objects[1].getWorldTransform().getRotation();
|
||||
|
||||
|
||||
if (!m_idle)
|
||||
{
|
||||
|
||||
|
||||
btScalar timeInSeconds = getDeltaTimeMicroseconds()/1000.f;
|
||||
|
||||
btQuaternion orn;
|
||||
|
||||
objects[0].getWorldTransform().getBasis().getEulerYPR(yaw,pitch,roll);
|
||||
pitch += 0.00005f*timeInSeconds;
|
||||
yaw += 0.0001f*timeInSeconds;
|
||||
objects[0].getWorldTransform().getBasis().setEulerYPR(yaw,pitch,roll);
|
||||
|
||||
orn.setEuler(yaw,pitch,roll);
|
||||
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(0,-0.00001*timeInSeconds,0));
|
||||
|
||||
//objects[0].getWorldTransform().setRotation(orn);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
void CollisionInterfaceDemo::clientResetScene()
|
||||
{
|
||||
objects[0].getWorldTransform().setOrigin(btVector3(0.0f,3.f,0.f));
|
||||
|
||||
btQuaternion rotA(0.739f,-0.204f,0.587f,0.257f);
|
||||
rotA.normalize();
|
||||
|
||||
objects[0].getWorldTransform().setRotation(rotA);
|
||||
|
||||
objects[1].getWorldTransform().setOrigin(btVector3(0.0f,4.248f,0.f));
|
||||
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user