rename ObsoleteDemos back to Demos
fix some relative path issues for loading assets
This commit is contained in:
Erwin Coumans
32
Demos/ContinuousConvexCollision/CMakeLists.txt
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32
Demos/ContinuousConvexCollision/CMakeLists.txt
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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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ADD_EXECUTABLE(AppContinuousConvexCollisionDemo
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ContinuousConvexCollisionDemo.cpp
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)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppContinuousConvexCollisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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36
Demos/ContinuousConvexCollision/ContinuousConvexCollision.h
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36
Demos/ContinuousConvexCollision/ContinuousConvexCollision.h
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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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#ifndef CONTINUOUS_CONVEX_COLLISION_DEMO_H
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#define CONTINUOUS_CONVEX_COLLISION_DEMO_H
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///ContinuousConvexCollisionDemo shows the working of the continuous collision detection, including linear and angular motion
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#include "GlutDemoApplication.h"
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class btContinuousConvexCollisionDemo : 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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};
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#endif //CONTINUOUS_CONVEX_COLLISION_DEMO_H
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@@ -0,0 +1,287 @@
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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/*
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Continuous Convex Collision Demo demonstrates an efficient continuous collision detection algorithm.
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Both linear and angular velocities are supported. Convex Objects are sampled using Supporting Vertex.
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Motion using Exponential Map.
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Future ideas: Comparison with Screwing Motion.
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Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
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*/
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///This low level demo need internal access, and intentionally doesn't include the btBulletCollisionCommon.h headerfile
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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/CollisionShapes/btMinkowskiSumShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "LinearMath/btTransformUtil.h"
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#include "DebugCastResult.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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#include "GL_ShapeDrawer.h"
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#include "ContinuousConvexCollision.h"
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#include "GlutStuff.h"
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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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btVector3 angVels[numObjects];
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btVector3 linVels[numObjects];
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btPolyhedralConvexShape* shapePtr[maxNumObjects];
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btTransform fromTrans[maxNumObjects];
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btTransform toTrans[maxNumObjects];
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int screenWidth = 640;
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int screenHeight = 480;
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int main(int argc,char** argv)
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{
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btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
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ccdDemo->setCameraDistance(40.f);
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ccdDemo->initPhysics();
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return glutmain(argc, argv,screenWidth,screenHeight,"Continuous Convex Collision Demo",ccdDemo);
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}
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void btContinuousConvexCollisionDemo::initPhysics()
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{
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fromTrans[0].setOrigin(btVector3(0,10,20));
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toTrans[0].setOrigin(btVector3(0,10,-20));
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fromTrans[1].setOrigin(btVector3(-2,7,0));
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toTrans[1].setOrigin(btVector3(-2,10,0));
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btMatrix3x3 identBasis;
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identBasis.setIdentity();
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btMatrix3x3 basisA;
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basisA.setIdentity();
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basisA.setEulerZYX(0.f,-SIMD_HALF_PI,0.f);
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fromTrans[0].setBasis(identBasis);
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toTrans[0].setBasis(basisA);
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fromTrans[1].setBasis(identBasis);
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toTrans[1].setBasis(identBasis);
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toTrans[1].setBasis(identBasis);
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btVector3 boxHalfExtentsA(10,1,1);
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btVector3 boxHalfExtentsB(1.1f,1.1f,1.1f);
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btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
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// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btVector3(-2,0,-2),btVector3(2,0,-2),btVector3(0,0,2),btVector3(0,2,0));
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// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btVector3(-12,0,0),btVector3(12,0,0));
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btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
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shapePtr[0] = boxA;
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shapePtr[1] = boxB;
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shapePtr[0]->setMargin(0.01f);
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shapePtr[1]->setMargin(0.01f);
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for (int i=0;i<numObjects;i++)
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{
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btTransformUtil::calculateVelocity(fromTrans[i],toTrans[i],1.f,linVels[i],angVels[i]);
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}
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}
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//to be implemented by the demo
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void btContinuousConvexCollisionDemo::clientMoveAndDisplay()
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{
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displayCallback();
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}
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static btVoronoiSimplexSolver sVoronoiSimplexSolver;
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btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
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bool drawLine= false;
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int minlines = 0;
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int maxlines = 512;
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void btContinuousConvexCollisionDemo::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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//GL_ShapeDrawer::drawCoordSystem();
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btScalar m[16];
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int i;
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btVector3 worldBoundsMin(-1000,-1000,-1000);
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btVector3 worldBoundsMax(1000,1000,1000);
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/*for (i=0;i<numObjects;i++)
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{
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fromTrans[i].getOpenGLMatrix( m );
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m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
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}
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*/
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if (getDebugMode()==btIDebugDraw::DBG_DrawAabb)
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{
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i=0;//for (i=1;i<numObjects;i++)
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{
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//for each object, subdivide the from/to transform in 10 equal steps
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int numSubSteps = 10;
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for (int s=0;s<10;s++)
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{
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btScalar subStep = s * 1.f/(float)numSubSteps;
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btTransform interpolatedTrans;
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btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],subStep,interpolatedTrans);
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//fromTrans[i].getOpenGLMatrix(m);
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//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
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//toTrans[i].getOpenGLMatrix(m);
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//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
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interpolatedTrans.getOpenGLMatrix( m );
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m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
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}
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}
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}
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btMatrix3x3 mat;
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mat.setEulerZYX(yaw,pitch,roll);
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btQuaternion orn;
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mat.getRotation(orn);
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orn.setEuler(yaw,pitch,roll);
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fromTrans[1].setRotation(orn);
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toTrans[1].setRotation(orn);
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if (m_stepping || m_singleStep)
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{
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m_singleStep = false;
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pitch += 0.005f;
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// yaw += 0.01f;
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}
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// btVector3 fromA(-25,11,0);
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// btVector3 toA(-15,11,0);
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// btQuaternion ornFromA(0.f,0.f,0.f,1.f);
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// btQuaternion ornToA(0.f,0.f,0.f,1.f);
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// btTransform rayFromWorld(ornFromA,fromA);
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// btTransform rayToWorld(ornToA,toA);
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btTransform rayFromWorld = fromTrans[0];
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btTransform rayToWorld = toTrans[0];
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if (drawLine)
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{
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glBegin(GL_LINES);
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glColor3f(0, 0, 1);
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glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
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glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
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glEnd();
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}
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//now perform a raycast on the shapes, in local (shape) space
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gGjkSimplexSolver.reset();
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//choose one of the following lines
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for (i=0;i<numObjects;i++)
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{
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fromTrans[i].getOpenGLMatrix(m);
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m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
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}
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btDebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],m_shapeDrawer);
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for (i=1;i<numObjects;i++)
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{
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btConvexCast::CastResult rayResult2;
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btConvexCast::CastResult* rayResultPtr;
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if (btIDebugDraw::DBG_DrawAabb)
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{
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rayResultPtr = &rayResult1;
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} else
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{
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rayResultPtr = &rayResult2;
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}
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//GjkConvexCast convexCaster(&gGjkSimplexSolver);
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//SubsimplexConvexCast convexCaster(&gGjkSimplexSolver);
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//optional
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btConvexPenetrationDepthSolver* penetrationDepthSolver = 0;
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btContinuousConvexCollision convexCaster(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,penetrationDepthSolver );
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gGjkSimplexSolver.reset();
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if (convexCaster.calcTimeOfImpact(fromTrans[0],toTrans[0],fromTrans[i] ,toTrans[i] ,*rayResultPtr))
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{
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glDisable(GL_DEPTH_TEST);
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btTransform hitTrans;
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btTransformUtil::integrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
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hitTrans.getOpenGLMatrix(m);
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m_shapeDrawer->drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode(),worldBoundsMin,worldBoundsMax);
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btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
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hitTrans.getOpenGLMatrix(m);
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m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
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}
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}
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swapBuffers();
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}
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