rename ObsoleteDemos back to Demos
fix some relative path issues for loading assets
This commit is contained in:
Erwin Coumans
474
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
Normal file
474
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -0,0 +1,474 @@
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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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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "ConcaveDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#define SERIALIZE_TO_DISK 1
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#ifndef SERIALIZE_TO_DISK
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#include "btBulletWorldImporter.h"
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#endif //SERIALIZE_TO_DISK
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//by default, the sample only (de)serializes the BVH to disk.
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//If you enable the SERIALIZE_SHAPE define then it will serialize the entire collision shape
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//then the animation will not play, because it is using the deserialized vertices
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//#define SERIALIZE_SHAPE
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//#define USE_PARALLEL_DISPATCHER 1
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#ifdef USE_PARALLEL_DISPATCHER
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#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
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#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif//USE_PARALLEL_DISPATCHER
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static btVector3* gVertices=0;
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static int* gIndices=0;
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static btBvhTriangleMeshShape* trimeshShape =0;
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static btRigidBody* staticBody = 0;
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static float waveheight = 5.f;
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const float TRIANGLE_SIZE=8.f;
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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inline btScalar calculateCombinedFriction(float friction0,float friction1)
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{
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btScalar friction = friction0 * friction1;
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const btScalar MAX_FRICTION = 10.f;
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
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{
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return restitution0 * restitution1;
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}
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static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
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{
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float friction0 = colObj0Wrap->getCollisionObject()->getFriction();
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float friction1 = colObj1Wrap->getCollisionObject()->getFriction();
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float restitution0 = colObj0Wrap->getCollisionObject()->getRestitution();
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float restitution1 = colObj1Wrap->getCollisionObject()->getRestitution();
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if (colObj0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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friction0 = 1.0;//partId0,index0
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restitution0 = 0.f;
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}
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if (colObj1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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if (index1&1)
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{
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friction1 = 1.0f;//partId1,index1
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} else
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{
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friction1 = 0.f;
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}
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restitution1 = 0.f;
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}
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cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
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cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
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//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
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return true;
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}
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extern ContactAddedCallback gContactAddedCallback;
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const int NUM_VERTS_X = 30;
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const int NUM_VERTS_Y = 30;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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void ConcaveDemo::setVertexPositions(float waveheight, float offset)
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{
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int i;
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int j;
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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//0.f,
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waveheight*sinf((float)i+offset)*cosf((float)j+offset),
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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}
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}
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}
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void ConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key == 'g')
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{
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m_animatedMesh = !m_animatedMesh;
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if (m_animatedMesh)
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->setActivationState(DISABLE_DEACTIVATION);
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} else
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->forceActivationState(ACTIVE_TAG);
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}
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}
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DemoApplication::keyboardCallback(key,x,y);
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}
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void ConcaveDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(false);//true);
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#define TRISIZE 10.f
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gContactAddedCallback = CustomMaterialCombinerCallback;
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#define USE_TRIMESH_SHAPE 1
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#ifdef USE_TRIMESH_SHAPE
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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gVertices = new btVector3[totalVerts];
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gIndices = new int[totalTriangles*3];
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int i;
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setVertexPositions(waveheight,0.f);
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int index=0;
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for ( i=0;i<NUM_VERTS_X-1;i++)
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{
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for (int j=0;j<NUM_VERTS_Y-1;j++)
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{
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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}
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}
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m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
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bool useQuantizedAabbCompression = true;
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//comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
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#ifdef SERIALIZE_TO_DISK
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btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
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trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
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m_collisionShapes.push_back(trimeshShape);
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int maxSerializeBufferSize = 1024*1024*5;
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btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
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//serializer->setSerializationFlags(BT_SERIALIZE_NO_BVH);// or BT_SERIALIZE_NO_TRIANGLEINFOMAP
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serializer->startSerialization();
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//registering a name is optional, it allows you to retrieve the shape by name
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//serializer->registerNameForPointer(trimeshShape,"mymesh");
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#ifdef SERIALIZE_SHAPE
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trimeshShape->serializeSingleShape(serializer);
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#else
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trimeshShape->serializeSingleBvh(serializer);
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#endif
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serializer->finishSerialization();
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FILE* f2 = fopen("myShape.bullet","wb");
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
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fclose(f2);
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#else
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btBulletWorldImporter import(0);//don't store info into the world
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if (import.loadFile("myShape.bullet"))
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{
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int numBvh = import.getNumBvhs();
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if (numBvh)
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{
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btOptimizedBvh* bvh = import.getBvhByIndex(0);
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btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
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trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax,false);
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trimeshShape->setOptimizedBvh(bvh);
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//trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
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//trimeshShape->setOptimizedBvh(bvh);
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}
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int numShape = import.getNumCollisionShapes();
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if (numShape)
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{
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trimeshShape = (btBvhTriangleMeshShape*)import.getCollisionShapeByIndex(0);
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//if you know the name, you can also try to get the shape by name:
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const char* meshName = import.getNameForPointer(trimeshShape);
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if (meshName)
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trimeshShape = (btBvhTriangleMeshShape*)import.getCollisionShapeByName(meshName);
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}
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}
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#endif
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btCollisionShape* groundShape = trimeshShape;
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#else
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btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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m_collisionShapes.push_back(groundShape);
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#endif //USE_TRIMESH_SHAPE
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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#ifdef USE_PARALLEL_DISPATCHER
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#ifdef USE_WIN32_THREADING
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int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
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Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks));
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#else
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///@todo show other platform threading
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///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
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///Libspe2 SPU support will be available soon
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///pthreads version
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///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
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#endif
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m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
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#else
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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#endif//USE_PARALLEL_DISPATCHER
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_broadphase = new btAxisSweep3(worldMin,worldMax);
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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#ifdef USE_PARALLEL_DISPATCHER
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m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
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#endif //USE_PARALLEL_DISPATCHER
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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#ifdef USE_BOX_SHAPE
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btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
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#else
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btCompoundShape* colShape = new btCompoundShape;
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btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(4,1,1));
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btCollisionShape* boxShape = new btBoxShape(btVector3(4,1,1));
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btTransform localTransform;
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localTransform.setIdentity();
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colShape->addChildShape(localTransform,boxShape);
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btQuaternion orn(SIMD_HALF_PI,0,0);
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localTransform.setRotation(orn);
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colShape->addChildShape(localTransform,cylinderShape);
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#endif //USE_BOX_SHAPE
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m_collisionShapes.push_back(colShape);
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{
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for (int i=0;i<10;i++)
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{
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startTransform.setOrigin(btVector3(2,10+i*2,1));
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localCreateRigidBody(1, startTransform,colShape);
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}
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}
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startTransform.setIdentity();
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staticBody = localCreateRigidBody(mass, startTransform,groundShape);
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
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//enable custom material callback
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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}
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void ConcaveDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = getDeltaTimeMicroseconds() * 0.000001f;
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if (m_animatedMesh)
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{
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static float offset=0.f;
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offset+=dt;
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// setVertexPositions(waveheight,offset);
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int i;
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int j;
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btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
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btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
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for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
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{
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for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
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{
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aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
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aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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//0.f,
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waveheight*sinf((float)i+offset)*cosf((float)j+offset),
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
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aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
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}
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}
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trimeshShape->partialRefitTree(aabbMin,aabbMax);
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//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
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m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
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}
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m_dynamicsWorld->stepSimulation(dt);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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renderme();
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glFlush();
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swapBuffers();
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}
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void ConcaveDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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//optional but useful: debug drawing
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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glFlush();
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swapBuffers();
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}
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void ConcaveDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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//delete dynamics world
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delete m_dynamicsWorld;
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if (m_indexVertexArrays)
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delete m_indexVertexArrays;
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//delete solver
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delete m_solver;
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//delete broadphase
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delete m_broadphase;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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||||
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Block a user