rename ObsoleteDemos back to Demos
fix some relative path issues for loading assets
This commit is contained in:
Erwin Coumans
@@ -0,0 +1,287 @@
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
|
||||
|
||||
/*
|
||||
Continuous Convex Collision Demo demonstrates an efficient continuous collision detection algorithm.
|
||||
Both linear and angular velocities are supported. Convex Objects are sampled using Supporting Vertex.
|
||||
Motion using Exponential Map.
|
||||
Future ideas: Comparison with Screwing Motion.
|
||||
Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
|
||||
*/
|
||||
|
||||
|
||||
///This low level demo need internal access, and intentionally doesn't include the btBulletCollisionCommon.h headerfile
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
|
||||
|
||||
#include "LinearMath/btTransformUtil.h"
|
||||
#include "DebugCastResult.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
|
||||
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "ContinuousConvexCollision.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
|
||||
float yaw=0.f,pitch=0.f,roll=0.f;
|
||||
const int maxNumObjects = 4;
|
||||
const int numObjects = 2;
|
||||
|
||||
btVector3 angVels[numObjects];
|
||||
btVector3 linVels[numObjects];
|
||||
|
||||
btPolyhedralConvexShape* shapePtr[maxNumObjects];
|
||||
|
||||
|
||||
btTransform fromTrans[maxNumObjects];
|
||||
btTransform toTrans[maxNumObjects];
|
||||
|
||||
|
||||
int screenWidth = 640;
|
||||
int screenHeight = 480;
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
btContinuousConvexCollisionDemo* ccdDemo = new btContinuousConvexCollisionDemo();
|
||||
|
||||
ccdDemo->setCameraDistance(40.f);
|
||||
|
||||
ccdDemo->initPhysics();
|
||||
|
||||
return glutmain(argc, argv,screenWidth,screenHeight,"Continuous Convex Collision Demo",ccdDemo);
|
||||
}
|
||||
|
||||
|
||||
void btContinuousConvexCollisionDemo::initPhysics()
|
||||
{
|
||||
fromTrans[0].setOrigin(btVector3(0,10,20));
|
||||
toTrans[0].setOrigin(btVector3(0,10,-20));
|
||||
fromTrans[1].setOrigin(btVector3(-2,7,0));
|
||||
toTrans[1].setOrigin(btVector3(-2,10,0));
|
||||
|
||||
btMatrix3x3 identBasis;
|
||||
identBasis.setIdentity();
|
||||
|
||||
btMatrix3x3 basisA;
|
||||
basisA.setIdentity();
|
||||
basisA.setEulerZYX(0.f,-SIMD_HALF_PI,0.f);
|
||||
|
||||
fromTrans[0].setBasis(identBasis);
|
||||
toTrans[0].setBasis(basisA);
|
||||
|
||||
fromTrans[1].setBasis(identBasis);
|
||||
toTrans[1].setBasis(identBasis);
|
||||
|
||||
toTrans[1].setBasis(identBasis);
|
||||
btVector3 boxHalfExtentsA(10,1,1);
|
||||
btVector3 boxHalfExtentsB(1.1f,1.1f,1.1f);
|
||||
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
|
||||
// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btVector3(-2,0,-2),btVector3(2,0,-2),btVector3(0,0,2),btVector3(0,2,0));
|
||||
// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btVector3(-12,0,0),btVector3(12,0,0));
|
||||
|
||||
|
||||
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
|
||||
|
||||
shapePtr[0] = boxA;
|
||||
shapePtr[1] = boxB;
|
||||
|
||||
shapePtr[0]->setMargin(0.01f);
|
||||
shapePtr[1]->setMargin(0.01f);
|
||||
|
||||
for (int i=0;i<numObjects;i++)
|
||||
{
|
||||
btTransformUtil::calculateVelocity(fromTrans[i],toTrans[i],1.f,linVels[i],angVels[i]);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//to be implemented by the demo
|
||||
|
||||
void btContinuousConvexCollisionDemo::clientMoveAndDisplay()
|
||||
{
|
||||
displayCallback();
|
||||
}
|
||||
|
||||
|
||||
static btVoronoiSimplexSolver sVoronoiSimplexSolver;
|
||||
|
||||
btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
|
||||
|
||||
bool drawLine= false;
|
||||
|
||||
int minlines = 0;
|
||||
|
||||
int maxlines = 512;
|
||||
|
||||
|
||||
void btContinuousConvexCollisionDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glDisable(GL_LIGHTING);
|
||||
|
||||
//GL_ShapeDrawer::drawCoordSystem();
|
||||
|
||||
btScalar m[16];
|
||||
int i;
|
||||
|
||||
btVector3 worldBoundsMin(-1000,-1000,-1000);
|
||||
btVector3 worldBoundsMax(1000,1000,1000);
|
||||
|
||||
|
||||
/*for (i=0;i<numObjects;i++)
|
||||
{
|
||||
fromTrans[i].getOpenGLMatrix( m );
|
||||
m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
|
||||
}
|
||||
*/
|
||||
|
||||
if (getDebugMode()==btIDebugDraw::DBG_DrawAabb)
|
||||
{
|
||||
i=0;//for (i=1;i<numObjects;i++)
|
||||
{
|
||||
//for each object, subdivide the from/to transform in 10 equal steps
|
||||
|
||||
int numSubSteps = 10;
|
||||
for (int s=0;s<10;s++)
|
||||
{
|
||||
btScalar subStep = s * 1.f/(float)numSubSteps;
|
||||
btTransform interpolatedTrans;
|
||||
|
||||
btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],subStep,interpolatedTrans);
|
||||
|
||||
//fromTrans[i].getOpenGLMatrix(m);
|
||||
//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
|
||||
|
||||
//toTrans[i].getOpenGLMatrix(m);
|
||||
//m_shapeDrawer.drawOpenGL(m,shapePtr[i]);
|
||||
|
||||
interpolatedTrans.getOpenGLMatrix( m );
|
||||
m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,0,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
btMatrix3x3 mat;
|
||||
mat.setEulerZYX(yaw,pitch,roll);
|
||||
btQuaternion orn;
|
||||
mat.getRotation(orn);
|
||||
orn.setEuler(yaw,pitch,roll);
|
||||
fromTrans[1].setRotation(orn);
|
||||
toTrans[1].setRotation(orn);
|
||||
|
||||
|
||||
if (m_stepping || m_singleStep)
|
||||
{
|
||||
m_singleStep = false;
|
||||
pitch += 0.005f;
|
||||
// yaw += 0.01f;
|
||||
}
|
||||
// btVector3 fromA(-25,11,0);
|
||||
// btVector3 toA(-15,11,0);
|
||||
|
||||
// btQuaternion ornFromA(0.f,0.f,0.f,1.f);
|
||||
// btQuaternion ornToA(0.f,0.f,0.f,1.f);
|
||||
|
||||
// btTransform rayFromWorld(ornFromA,fromA);
|
||||
// btTransform rayToWorld(ornToA,toA);
|
||||
|
||||
btTransform rayFromWorld = fromTrans[0];
|
||||
btTransform rayToWorld = toTrans[0];
|
||||
|
||||
|
||||
if (drawLine)
|
||||
{
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(0, 0, 1);
|
||||
glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
|
||||
glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
|
||||
glEnd();
|
||||
}
|
||||
|
||||
//now perform a raycast on the shapes, in local (shape) space
|
||||
gGjkSimplexSolver.reset();
|
||||
|
||||
//choose one of the following lines
|
||||
|
||||
|
||||
for (i=0;i<numObjects;i++)
|
||||
{
|
||||
fromTrans[i].getOpenGLMatrix(m);
|
||||
m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
}
|
||||
|
||||
btDebugCastResult rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0],m_shapeDrawer);
|
||||
|
||||
|
||||
for (i=1;i<numObjects;i++)
|
||||
{
|
||||
btConvexCast::CastResult rayResult2;
|
||||
btConvexCast::CastResult* rayResultPtr;
|
||||
if (btIDebugDraw::DBG_DrawAabb)
|
||||
{
|
||||
rayResultPtr = &rayResult1;
|
||||
} else
|
||||
{
|
||||
rayResultPtr = &rayResult2;
|
||||
}
|
||||
|
||||
//GjkConvexCast convexCaster(&gGjkSimplexSolver);
|
||||
//SubsimplexConvexCast convexCaster(&gGjkSimplexSolver);
|
||||
|
||||
//optional
|
||||
btConvexPenetrationDepthSolver* penetrationDepthSolver = 0;
|
||||
btContinuousConvexCollision convexCaster(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,penetrationDepthSolver );
|
||||
|
||||
gGjkSimplexSolver.reset();
|
||||
|
||||
|
||||
|
||||
if (convexCaster.calcTimeOfImpact(fromTrans[0],toTrans[0],fromTrans[i] ,toTrans[i] ,*rayResultPtr))
|
||||
{
|
||||
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
|
||||
btTransform hitTrans;
|
||||
btTransformUtil::integrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);
|
||||
|
||||
hitTrans.getOpenGLMatrix(m);
|
||||
m_shapeDrawer->drawOpenGL(m,shapePtr[0],btVector3(0,1,0),getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
|
||||
btTransformUtil::integrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);
|
||||
|
||||
hitTrans.getOpenGLMatrix(m);
|
||||
m_shapeDrawer->drawOpenGL(m,shapePtr[i],btVector3(0,1,1),getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user