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upload work-in-progress Collision example using C-API.

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This commit is contained in:
erwin coumans
2015-10-28 11:48:36 -07:00
parent 2d5d89d999
commit dc81e31e74
11 changed files with 208 additions and 47 deletions
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87
examples/Collision/CollisionTutorialBullet2.cpp
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@@ -22,11 +22,18 @@
///todo: use the 'userData' to prevent this use of global variables
static int gTotalPoints = 0;
const int sPointCapacity = 10000;
const int sNumSpheres = 128;
const int sNumCompounds = 10;
const int sNumSpheres = 10;
lwContactPoint pointsOut[sPointCapacity];
int numNearCallbacks = 0;
static btVector4 sColors[4] =
{
btVector4(1,0.7,0.7,1),
btVector4(1,1,0.7,1),
btVector4(0.7,1,0.7,1),
btVector4(0.7,1,1,1),
};
void myNearCallback(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
{
@@ -69,23 +76,25 @@ public:
m_counter(0),
m_timeSeriesCanvas0(0)
{
int numBodies = 1;
gTotalPoints = 0;
m_app->setUpAxis(1);
m_app->m_renderer->enableBlend(true);
switch (m_tutorialIndex)
{
case TUT_SPHERE_SPHERE_RTB3:
case TUT_SPHERE_SPHERE_BULLET2:
case TUT_SPHERE_PLANE_RTB3:
case TUT_SPHERE_PLANE_BULLET2:
{
numBodies=10;
if (m_tutorialIndex==TUT_SPHERE_SPHERE_BULLET2)
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
{
m_collisionSdkHandle = plCreateBullet2CollisionSdk();
} else
{
#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
m_collisionSdkHandle = plCreateRealTimeBullet3CollisionSdk();
#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
}
if (m_collisionSdkHandle)
{
@@ -97,29 +106,54 @@ public:
//create objects, do query etc
{
float radius = 1.f;
plCollisionShapeHandle colShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle,radius);
void* userPointer = 0;
int sphereGfxShapeId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH);//, textureIndex);
for (int i=0;i<sNumSpheres;i++)
void* userPointer = 0;
{
btVector3 pos(i*1.5,btScalar(0.8),0);
btQuaternion orn(0,0,0,1);
btVector4 color(0,1,0,0.8);
btVector3 scaling(radius,radius,radius);
for (int j=0;j<sNumCompounds;j++)
{
plCollisionShapeHandle compoundShape = plCreateCompoundShape(m_collisionSdkHandle,m_collisionWorldHandle);
for (int i=0;i<sNumSpheres;i++)
{
btVector3 childPos(i*1.5,0,0);
btQuaternion childOrn(0,0,0,1);
btVector3 scaling(radius,radius,radius);
int gfxIndex = m_app->m_renderer->registerGraphicsInstance(sphereGfxShapeId,pos, orn,color,scaling);
plCollisionShapeHandle childShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle,radius);
plAddChildShape(m_collisionSdkHandle,m_collisionWorldHandle,compoundShape, childShape,childPos,childOrn);
plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, gfxIndex,colShape,pos,orn);
colliders.push_back(colObj);
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
//m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
}
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
{
btCollisionShape* colShape = (btCollisionShape*) compoundShape;
m_guiHelper->createCollisionShapeGraphicsObject(colShape);
} else
{
}
{
btVector3 pos(j*sNumSpheres*1.5,-2.4,0);
btQuaternion orn(0,0,0,1);
plCollisionObjectHandle colObjHandle = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, -1,compoundShape,pos,orn);
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
{
btCollisionObject* colObj = (btCollisionObject*) colObjHandle;
btVector4 color=sColors[j&3];
m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
colliders.push_back(colObjHandle);
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObjHandle);
}
}
}
}
}
{
plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle,0,1,0,0);
plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle,0,1,0,-3.5);
btVector3 pos(0,0,0);
btQuaternion orn(0,0,0,1);
void* userPointer = 0;
@@ -140,6 +174,7 @@ public:
//plDeleteShape(m_collisionSdkHandle,colShape);
}
/*
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
@@ -151,11 +186,7 @@ public:
break;
}
case TUT_SPHERE_PLANE_RTB3:
case TUT_SPHERE_PLANE_BULLET2:
{
break;
}
default:
{
@@ -169,7 +200,7 @@ public:
{
int boxId = m_app->registerCubeShape(100,1,100);
int boxId = m_app->registerCubeShape(100,0.01,100);
b3Vector3 pos = b3MakeVector3(0,-3.5,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = b3MakeVector4(1,1,1,1);