rename ObsoleteDemos back to Demos
fix some relative path issues for loading assets
This commit is contained in:
Erwin Coumans
55
Demos/InternalEdgeDemo/CMakeLists.txt
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55
Demos/InternalEdgeDemo/CMakeLists.txt
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@@ -0,0 +1,55 @@
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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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IF (USE_GLUT)
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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} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppInternalEdgeDemo
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InternalEdgeDemo.cpp
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InternalEdgeDemo.h
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main.cpp
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)
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ELSE (USE_GLUT)
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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../OpenGL
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)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppInternalEdgeDemo
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WIN32
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../OpenGL/Win32AppMain.cpp
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InternalEdgeDemo.cpp
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InternalEdgeDemo.h
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Win32InternalEdgeDemo.cpp
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)
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ENDIF (USE_GLUT)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppInternalEdgeDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppInternalEdgeDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppInternalEdgeDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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623
Demos/InternalEdgeDemo/InternalEdgeDemo.cpp
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623
Demos/InternalEdgeDemo/InternalEdgeDemo.cpp
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@@ -0,0 +1,623 @@
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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 "GLDebugFont.h"
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//#define SHIFT_INDICES 1
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#define SWAP_WINDING 1
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//#define ROTATE_GROUND 1
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bool enable=true;
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#if defined (SHIFT_INDICES) && !defined (SWAP_WINDING)
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//#define TEST_INCONSISTENT_WINDING
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#endif
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
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#include "Taru.mdl"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "InternalEdgeDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
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#include "GLDebugDrawer.h"
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GLDebugDrawer gDebugDrawer;
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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 = 0.f;
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const float TRIANGLE_SIZE=20.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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return 0.f;
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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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///////////////////////////////////////////////////////////////
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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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if (enable)
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{
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btAdjustInternalEdgeContacts(cp,colObj1Wrap,colObj0Wrap, partId1,index1);
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//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
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//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
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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 = 2;
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const int NUM_VERTS_Y = 2;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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void InternalEdgeDemo::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(
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(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 InternalEdgeDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key=='n')
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{
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enable = !enable;
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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 InternalEdgeDemo::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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//gVertices[1].setY(21.1);
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//gVertices[1].setY(121.1);
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gVertices[1].setY(.1f);
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#ifdef ROTATE_GROUND
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//gVertices[1].setY(-1.1);
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#else
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//gVertices[1].setY(0.1);
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//gVertices[1].setY(-0.1);
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//gVertices[1].setY(-20.1);
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//gVertices[1].setY(-20);
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#endif
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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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#ifdef SWAP_WINDING
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#ifdef SHIFT_INDICES
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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*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;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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#else
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*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;
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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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#endif //SHIFT_INDICES
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#else //SWAP_WINDING
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#ifdef SHIFT_INDICES
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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*NUM_VERTS_X+i+1;
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#ifdef TEST_INCONSISTENT_WINDING
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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#else //TEST_INCONSISTENT_WINDING
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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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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#endif //TEST_INCONSISTENT_WINDING
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#else //SHIFT_INDICES
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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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#endif //SHIFT_INDICES
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#endif //SWAP_WINDING
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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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#define SERIALIZE_TO_DISK 1
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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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///we can serialize the BVH data
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void* buffer = 0;
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int numBytes = trimeshShape->getOptimizedBvh()->calculateSerializeBufferSize();
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buffer = btAlignedAlloc(numBytes,16);
|
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bool swapEndian = false;
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trimeshShape->getOptimizedBvh()->serialize(buffer,numBytes,swapEndian);
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FILE* file = fopen("bvh.bin","wb");
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fwrite(buffer,1,numBytes,file);
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fclose(file);
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btAlignedFree(buffer);
|
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|
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|
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|
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#else
|
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|
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trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,false);
|
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|
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char* fileName = "bvh.bin";
|
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FILE* file = fopen(fileName,"rb");
|
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int size=0;
|
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btOptimizedBvh* bvh = 0;
|
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if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) { /* File operations denied? ok, just close and return failure */
|
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printf("Error: cannot get filesize from %s\n", fileName);
|
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exit(0);
|
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} else
|
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{
|
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fseek(file, 0, SEEK_SET);
|
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|
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int buffersize = size+btOptimizedBvh::getAlignmentSerializationPadding();
|
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void* buffer = btAlignedAlloc(buffersize,16);
|
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int read = fread(buffer,1,size,file);
|
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fclose(file);
|
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bool swapEndian = false;
|
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bvh = btOptimizedBvh::deSerializeInPlace(buffer,buffersize,swapEndian);
|
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}
|
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|
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trimeshShape->setOptimizedBvh(bvh);
|
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|
||||
#endif
|
||||
|
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btCollisionShape* groundShape = trimeshShape;
|
||||
|
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btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap();
|
||||
|
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|
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btGenerateInternalEdgeInfo(trimeshShape,triangleInfoMap);
|
||||
|
||||
|
||||
|
||||
#else
|
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btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
|
||||
|
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m_collisionShapes.push_back(groundShape);
|
||||
|
||||
#endif //USE_TRIMESH_SHAPE
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
m_solver = new btSequentialImpulseConstraintSolver();
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
/*
|
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m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
|
||||
m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = 1e30f;
|
||||
m_dynamicsWorld->getSolverInfo().m_maxErrorReduction = 1e30f;
|
||||
m_dynamicsWorld->getSolverInfo().m_erp =1.f;
|
||||
m_dynamicsWorld->getSolverInfo().m_erp2 = 1.f;
|
||||
*/
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
|
||||
|
||||
float mass = 0.f;
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
startTransform.setOrigin(btVector3(0,-2,0));
|
||||
|
||||
|
||||
btConvexHullShape* colShape = new btConvexHullShape();
|
||||
for (int i=0;i<TaruVtxCount;i++)
|
||||
{
|
||||
btVector3 vtx(TaruVtx[i*3],TaruVtx[i*3+1],TaruVtx[i*3+2]);
|
||||
colShape->addPoint(vtx);
|
||||
}
|
||||
//this will enable polyhedral contact clipping, better quality, slightly slower
|
||||
colShape->initializePolyhedralFeatures();
|
||||
|
||||
//the polyhedral contact clipping can use either GJK or SAT test to find the separating axis
|
||||
m_dynamicsWorld->getDispatchInfo().m_enableSatConvex=false;
|
||||
|
||||
m_collisionShapes.push_back(colShape);
|
||||
|
||||
{
|
||||
for (int i=0;i<1;i++)
|
||||
{
|
||||
startTransform.setOrigin(btVector3(-10.f+i*3.f,2.2f+btScalar(i)*0.1f,-1.3f));
|
||||
btRigidBody* body = localCreateRigidBody(10, startTransform,colShape);
|
||||
body->setActivationState(DISABLE_DEACTIVATION);
|
||||
body->setLinearVelocity(btVector3(0,0,-1));
|
||||
//body->setContactProcessingThreshold(0.f);
|
||||
}
|
||||
}
|
||||
{
|
||||
btBoxShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
colShape->initializePolyhedralFeatures();
|
||||
m_collisionShapes.push_back(colShape);
|
||||
startTransform.setOrigin(btVector3(-16.f+i*3.f,1.f+btScalar(i)*0.1f,-1.3f));
|
||||
btRigidBody* body = localCreateRigidBody(10, startTransform,colShape);
|
||||
body->setActivationState(DISABLE_DEACTIVATION);
|
||||
body->setLinearVelocity(btVector3(0,0,-1));
|
||||
}
|
||||
|
||||
startTransform.setIdentity();
|
||||
#ifdef ROTATE_GROUND
|
||||
btQuaternion orn(btVector3(0,0,1),SIMD_PI);
|
||||
startTransform.setOrigin(btVector3(-20,0,0));
|
||||
startTransform.setRotation(orn);
|
||||
#endif //ROTATE_GROUND
|
||||
|
||||
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
|
||||
//staticBody->setContactProcessingThreshold(-0.031f);
|
||||
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
|
||||
|
||||
//enable custom material callback
|
||||
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
||||
|
||||
getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
setDebugMode(btIDebugDraw::DBG_DrawText|btIDebugDraw::DBG_NoHelpText+btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
|
||||
|
||||
|
||||
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
btSetDebugDrawer(&gDebugDrawer);
|
||||
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void InternalEdgeDemo::clientResetScene()
|
||||
{
|
||||
DemoApplication::clientResetScene();
|
||||
for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
|
||||
{
|
||||
btCollisionObject* colobj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(colobj);
|
||||
if (body && body->getInvMass() != 0.f)
|
||||
{
|
||||
|
||||
body->setLinearVelocity(btVector3(0,0,-1));
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void InternalEdgeDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
||||
|
||||
if (m_animatedMesh)
|
||||
{
|
||||
static float offset=0.f;
|
||||
offset+=0.01f;
|
||||
|
||||
// setVertexPositions(waveheight,offset);
|
||||
#if 0 ///not currently supported, we need to update the btInternalTriangleInfoMap
|
||||
int i;
|
||||
int j;
|
||||
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
|
||||
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
|
||||
|
||||
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
|
||||
{
|
||||
for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
|
||||
{
|
||||
|
||||
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
|
||||
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
|
||||
|
||||
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
|
||||
0.f,
|
||||
//waveheight*sinf((float)i+offset)*cosf((float)j+offset),
|
||||
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
|
||||
|
||||
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
|
||||
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
|
||||
|
||||
}
|
||||
}
|
||||
trimeshShape->partialRefitTree(aabbMin,aabbMax);
|
||||
#else
|
||||
btVector3 aabbMin,aabbMax;
|
||||
trimeshShape->getMeshInterface()->calculateAabbBruteForce(aabbMin,aabbMax);
|
||||
trimeshShape->refitTree(aabbMin,aabbMax);
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
//for debugging: clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
|
||||
//m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
|
||||
}
|
||||
|
||||
|
||||
|
||||
m_dynamicsWorld->stepSimulation(dt);
|
||||
///enable one of the following to debug (render debug lines each frame)
|
||||
//m_dynamicsWorld->stepSimulation(1./800.,0);
|
||||
//m_dynamicsWorld->stepSimulation(1./60.,100,1./800.);
|
||||
//m_dynamicsWorld->stepSimulation(1./60.,0);
|
||||
|
||||
|
||||
int lineWidth=450;
|
||||
int xStart = m_glutScreenWidth - lineWidth;
|
||||
int yStart = 20;
|
||||
|
||||
if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
|
||||
{
|
||||
setOrthographicProjection();
|
||||
glDisable(GL_LIGHTING);
|
||||
glColor3f(0, 0, 0);
|
||||
char buf[124];
|
||||
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
if (enable)
|
||||
{
|
||||
sprintf(buf,"InternalEdgeUtility enabled");
|
||||
} else
|
||||
{
|
||||
sprintf(buf,"InternalEdgeUtility disabled");
|
||||
}
|
||||
GLDebugDrawString(xStart,20,buf);
|
||||
yStart+=20;
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
sprintf(buf,"Press 'n' to toggle InternalEdgeUtility");
|
||||
yStart+=20;
|
||||
GLDebugDrawString(xStart,yStart,buf);
|
||||
glRasterPos3f(xStart, yStart, 0);
|
||||
|
||||
resetPerspectiveProjection();
|
||||
glEnable(GL_LIGHTING);
|
||||
}
|
||||
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void InternalEdgeDemo::displayCallback(void) {
|
||||
|
||||
clientMoveAndDisplay();
|
||||
/*
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
renderme();
|
||||
|
||||
//optional but useful: debug drawing
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void InternalEdgeDemo::exitPhysics()
|
||||
{
|
||||
|
||||
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
if (m_indexVertexArrays)
|
||||
delete m_indexVertexArrays;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
93
Demos/InternalEdgeDemo/InternalEdgeDemo.h
Normal file
93
Demos/InternalEdgeDemo/InternalEdgeDemo.h
Normal file
@@ -0,0 +1,93 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
#ifndef CONCAVE_DEMO_H
|
||||
#define CONCAVE_DEMO_H
|
||||
|
||||
#ifdef _WINDOWS
|
||||
#include "Win32DemoApplication.h"
|
||||
#define PlatformDemoApplication Win32DemoApplication
|
||||
#else
|
||||
#include "GlutDemoApplication.h"
|
||||
#define PlatformDemoApplication GlutDemoApplication
|
||||
#endif
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
class btTriangleIndexVertexArray;
|
||||
|
||||
///InternalEdgeDemo shows usage of static concave triangle meshes
|
||||
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
|
||||
class InternalEdgeDemo : public PlatformDemoApplication
|
||||
{
|
||||
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
btTriangleIndexVertexArray* m_indexVertexArrays;
|
||||
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
btConstraintSolver* m_solver;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
bool m_animatedMesh;
|
||||
|
||||
public:
|
||||
|
||||
InternalEdgeDemo() : m_animatedMesh(true)
|
||||
{
|
||||
|
||||
}
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~InternalEdgeDemo()
|
||||
{
|
||||
exitPhysics();
|
||||
}
|
||||
|
||||
virtual void clientResetScene();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
//to show refit works
|
||||
void setVertexPositions(float waveheight, float offset);
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
InternalEdgeDemo* demo = new InternalEdgeDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
};
|
||||
};
|
||||
|
||||
#endif //CONCAVE_DEMO_H
|
||||
|
||||
49
Demos/InternalEdgeDemo/Taru.mdl
Normal file
49
Demos/InternalEdgeDemo/Taru.mdl
Normal file
@@ -0,0 +1,49 @@
|
||||
#define TaruVtxCount 43
|
||||
#define TaruIdxCount 132
|
||||
|
||||
static float TaruVtx[] = {
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.28852f,1.34412e-007f,-1.28852f,
|
||||
1.82224f,1.90735e-007f,0.0f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
-1.28852f,1.34412e-007f,-1.28852f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-1.82224f,1.90735e-007f,1.59305e-007f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.28852f,2.47058e-007f,1.28852f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
2.38958e-007f,2.70388e-007f,1.82224f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
1.28852f,2.47058e-007f,1.28852f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
};
|
||||
|
||||
25
Demos/InternalEdgeDemo/Win32InternalEdgeDemo.cpp
Normal file
25
Demos/InternalEdgeDemo/Win32InternalEdgeDemo.cpp
Normal file
@@ -0,0 +1,25 @@
|
||||
#ifdef _WINDOWS
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "InternalEdgeDemo.h"
|
||||
|
||||
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
|
||||
DemoApplication* createDemo()
|
||||
{
|
||||
return new InternalEdgeDemo();
|
||||
}
|
||||
|
||||
#endif
|
||||
19
Demos/InternalEdgeDemo/main.cpp
Normal file
19
Demos/InternalEdgeDemo/main.cpp
Normal file
@@ -0,0 +1,19 @@
|
||||
|
||||
#include "InternalEdgeDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
InternalEdgeDemo* internalEdgeDemo = new InternalEdgeDemo();
|
||||
internalEdgeDemo->initPhysics();
|
||||
internalEdgeDemo->setCameraDistance(30.f);
|
||||
|
||||
|
||||
return glutmain(argc, argv,640,480,"Internal Edge Demo",internalEdgeDemo);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user