moved files around
This commit is contained in:
ejcoumans
793
Demos/BasicSample/BasicSample.cpp
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793
Demos/BasicSample/BasicSample.cpp
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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 "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "MyMotionState.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/ConeShape.h"
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#include "CollisionShapes/Simplex1to4Shape.h"
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#include "CollisionShapes/EmptyShape.h"
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#include "Dynamics/RigidBody.h"
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#include "CollisionDispatch/CollisionDispatcher.h"
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#include "BroadphaseCollision/SimpleBroadphase.h"
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#include "BroadphaseCollision/AxisSweep3.h"
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#include "ConstraintSolver/Point2PointConstraint.h"
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#include "ConstraintSolver/HingeConstraint.h"
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#include "quickprof.h"
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#include "PrintfDebugDrawer.h"
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#include "PHY_Pro.h"
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#include <stdio.h> //printf debugging
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int getDebugMode()
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{
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return IDebugDraw::DBG_ProfileTimings;
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}
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//make up for lack of glut and camera
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float eye[3]={10.f,0.f,0.f};
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int glutScreenWidth=640;
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int glutScreenHeight=480;
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#ifdef _DEBUG
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const int numObjects = 22;
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#else
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const int numObjects = 120;
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#endif
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const int maxNumObjects = 450;
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MyMotionState ms[maxNumObjects];
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CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
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int shapeIndex[maxNumObjects];
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CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
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#define CUBE_HALF_EXTENTS 1
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#define EXTRA_HEIGHT -20.f
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static const int numShapes = 4;
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CollisionShape* shapePtr[numShapes] =
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{
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new BoxShape (SimdVector3(50,10,50)),
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new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
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new SphereShape (CUBE_HALF_EXTENTS- 0.05f),
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//new ConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),
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//new BU_Simplex1to4(SimdPoint3(-1,-1,-1),SimdPoint3(1,-1,-1),SimdPoint3(-1,1,-1),SimdPoint3(0,0,1)),
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//new EmptyShape(),
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new BoxShape (SimdVector3(0.4f,1.f,0.8f))
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};
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void clientResetScene();
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void simulateMe();
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void clientDisplay()
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{
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}
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void clientMoveAndDisplay()
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{
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}
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PrintfDebugDrawer debugDrawer;
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int main(int argc,char** argv)
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{
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CollisionDispatcher* dispatcher = new CollisionDispatcher();
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SimdVector3 worldAabbMin(-10000,-10000,-10000);
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SimdVector3 worldAabbMax(10000,10000,10000);
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BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
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//BroadphaseInterface* broadphase = new SimpleBroadphase();
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physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
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physicsEnvironmentPtr->setDeactivationTime(2.f);
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physicsEnvironmentPtr->setGravity(0,-10,0);
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PHY_ShapeProps shapeProps;
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shapeProps.m_do_anisotropic = false;
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shapeProps.m_do_fh = false;
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shapeProps.m_do_rot_fh = false;
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shapeProps.m_friction_scaling[0] = 1.;
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shapeProps.m_friction_scaling[1] = 1.;
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shapeProps.m_friction_scaling[2] = 1.;
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shapeProps.m_inertia = 1.f;
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shapeProps.m_lin_drag = 0.2f;
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shapeProps.m_ang_drag = 0.1f;
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shapeProps.m_mass = 10.0f;
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PHY_MaterialProps materialProps;
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materialProps.m_friction = 10.5f;
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materialProps.m_restitution = 0.0f;
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CcdConstructionInfo ccdObjectCi;
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ccdObjectCi.m_friction = 0.5f;
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ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
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ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
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SimdTransform tr;
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tr.setIdentity();
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int i;
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for (i=0;i<numObjects;i++)
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{
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if (i>0)
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{
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shapeIndex[i] = 1;//sphere
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}
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else
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shapeIndex[i] = 0;
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}
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for (i=0;i<numObjects;i++)
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{
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shapeProps.m_shape = shapePtr[shapeIndex[i]];
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shapeProps.m_shape->SetMargin(0.05f);
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bool isDyna = i>0;
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//if (i==1)
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// isDyna=false;
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if (0)//i==1)
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{
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SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
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ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
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}
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if (i>0)
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{
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switch (i)
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{
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case 1:
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{
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ms[i].setWorldPosition(0,10,0);
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//for testing, rotate the ground cube so the stack has to recover a bit
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break;
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}
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case 2:
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{
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ms[i].setWorldPosition(0,8,2);
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break;
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}
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default:
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ms[i].setWorldPosition(0,i*CUBE_HALF_EXTENTS*2 - CUBE_HALF_EXTENTS,0);
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}
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SimdQuaternion quat;
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SimdVector3 axis(0.f,0.f,1.f);
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SimdScalar angle=0.5f;
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quat.setRotation(axis,angle);
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ms[i].setWorldOrientation(quat.getX(),quat.getY(),quat.getZ(),quat[3]);
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} else
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{
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ms[i].setWorldPosition(0,-100+EXTRA_HEIGHT,0);
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}
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ccdObjectCi.m_MotionState = &ms[i];
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ccdObjectCi.m_gravity = SimdVector3(0,0,0);
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ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
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if (!isDyna)
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{
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shapeProps.m_mass = 0.f;
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ccdObjectCi.m_mass = shapeProps.m_mass;
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}
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else
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{
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shapeProps.m_mass = 1.f;
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ccdObjectCi.m_mass = shapeProps.m_mass;
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}
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SimdVector3 localInertia;
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if (shapePtr[shapeIndex[i]]->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
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{
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//take inertia from first shape
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shapePtr[1]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
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} else
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{
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shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
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}
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ccdObjectCi.m_localInertiaTensor = localInertia;
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ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];
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physObjects[i]= new CcdPhysicsController( ccdObjectCi);
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physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
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if (i==1)
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{
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//physObjects[i]->SetAngularVelocity(0,0,-2,true);
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}
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physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
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}
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//create a constraint
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{
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//physObjects[i]->SetAngularVelocity(0,0,-2,true);
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int constraintId;
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//0.0f, -1.0f, 1.0f
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float pivotX=CUBE_HALF_EXTENTS,
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pivotY=-CUBE_HALF_EXTENTS,
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pivotZ=CUBE_HALF_EXTENTS;
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float axisX=1,axisY=0,axisZ=0;
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/*constraintId =physicsEnvironmentPtr->createConstraint(
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physObjects[1],
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//0,
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physObjects[2],
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//PHY_POINT2POINT_CONSTRAINT,
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PHY_LINEHINGE_CONSTRAINT,
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pivotX,pivotY,pivotZ,
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axisX,axisY,axisZ
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);
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*/
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HingeConstraint* hinge = 0;
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SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
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SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
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SimdVector3 axisInA(0,1,0);
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SimdVector3 axisInB(0,-1,0);
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RigidBody* rb0 = physObjects[1]->GetRigidBody();
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RigidBody* rb1 = physObjects[2]->GetRigidBody();
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hinge = new HingeConstraint(
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*rb0,
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*rb1,pivotInA,pivotInB,axisInA,axisInB);
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physicsEnvironmentPtr->m_constraints.push_back(hinge);
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hinge->SetUserConstraintId(100);
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hinge->SetUserConstraintType(PHY_LINEHINGE_CONSTRAINT);
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}
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clientResetScene();
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while (1)
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{
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simulateMe();
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}
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}
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//to be implemented by the demo
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void simulateMe()
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{
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float deltaTime = 1.f/60.f;
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physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
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debugDrawer.SetDebugMode(getDebugMode());
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//render the hinge axis
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{
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SimdVector3 color(1,0,0);
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SimdVector3 dirLocal(0,1,0);
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SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
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SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
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SimdVector3 from = physObjects[1]->GetRigidBody()->getCenterOfMassTransform()(pivotInA);
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SimdVector3 fromB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform()(pivotInB);
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SimdVector3 dirWorldA = physObjects[1]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
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SimdVector3 dirWorldB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
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debugDrawer.DrawLine(from,from+dirWorldA,color);
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debugDrawer.DrawLine(fromB,fromB+dirWorldB,color);
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}
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float m[16];
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int i;
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if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)
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{
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//don't use Bullet, use quickstep
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physicsEnvironmentPtr->setSolverType(0);
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} else
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{
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//Bullet LCP solver
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physicsEnvironmentPtr->setSolverType(1);
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}
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bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);
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physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
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for (i=0;i<numObjects;i++)
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{
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SimdTransform transA;
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transA.setIdentity();
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float pos[3];
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float rot[4];
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ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
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ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);
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SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
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transA.setRotation(q);
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SimdPoint3 dpos;
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dpos.setValue(pos[0],pos[1],pos[2]);
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transA.setOrigin( dpos );
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transA.getOpenGLMatrix( m );
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SimdVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
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if (i & 1)
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{
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wireColor = SimdVector3(0.f,0.0f,1.f);
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}
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///color differently for active, sleeping, wantsdeactivation states
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if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
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{
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if (i & 1)
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{
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wireColor += SimdVector3 (1.f,0.f,0.f);
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} else
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{
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wireColor += SimdVector3 (.5f,0.f,0.f);
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}
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}
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if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
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{
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if (i & 1)
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{
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wireColor += SimdVector3 (0.f,1.f, 0.f);
|
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} else
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{
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wireColor += SimdVector3 (0.f,0.5f,0.f);
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}
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}
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char extraDebug[125];
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sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
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physObjects[i]->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
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//GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
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}
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||||
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if (!(getDebugMode() & IDebugDraw::DBG_NoHelpText))
|
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{
|
||||
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|
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float xOffset = 10.f;
|
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float yStart = 20.f;
|
||||
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||||
float yIncr = -2.f;
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char buf[124];
|
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//glColor3f(0, 0, 0);
|
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#ifdef USE_QUICKPROF
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if ( getDebugMode() & IDebugDraw::DBG_ProfileTimings)
|
||||
{
|
||||
static int counter = 0;
|
||||
counter++;
|
||||
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
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for (iter = Profiler::mProfileBlocks.begin(); iter != Profiler::mProfileBlocks.end(); ++iter)
|
||||
{
|
||||
char blockTime[128];
|
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sprintf(blockTime, "%s: %lf",&((*iter).first[0]),Profiler::getBlockTime((*iter).first, Profiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
|
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printf(blockTime);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
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||||
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||||
#endif //USE_QUICKPROF
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||||
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||||
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||||
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||||
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/*
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glRasterPos3f(xOffset,yStart,0);
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||||
sprintf(buf,"mouse to interact");
|
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
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yStart += yIncr;
|
||||
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glRasterPos3f(xOffset,yStart,0);
|
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sprintf(buf,"space to reset");
|
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
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||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"c to show contact points");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"cursor keys and z,x to navigate");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"i to toggle simulation, s single step");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"q to quit");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"d to toggle deactivation");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,". to shoot primitive");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"h to toggle help text");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
bool useBulletLCP = !(getDebugMode() & IDebugDraw::DBG_DisableBulletLCP);
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
*/
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
///make this positive to show stack falling from a distance
|
||||
///this shows the penalty tresholds in action, springy/spungy look
|
||||
|
||||
|
||||
|
||||
void clientResetScene()
|
||||
{
|
||||
|
||||
int i;
|
||||
for (i=0;i<numObjects;i++)
|
||||
{
|
||||
if (i>0)
|
||||
{
|
||||
|
||||
if ((getDebugMode() & IDebugDraw::DBG_NoHelpText))
|
||||
{
|
||||
if (physObjects[i]->GetRigidBody()->GetCollisionShape()->GetShapeType() == BOX_SHAPE_PROXYTYPE)
|
||||
{
|
||||
physObjects[i]->GetRigidBody()->SetCollisionShape(shapePtr[2]);
|
||||
} else
|
||||
{
|
||||
physObjects[i]->GetRigidBody()->SetCollisionShape(shapePtr[1]);
|
||||
}
|
||||
|
||||
BroadphaseProxy* bpproxy = physObjects[i]->GetRigidBody()->m_broadphaseHandle;
|
||||
physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);
|
||||
}
|
||||
|
||||
//stack them
|
||||
int colsize = 10;
|
||||
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
|
||||
int row2 = row;
|
||||
int col = (i)%(colsize)-colsize/2;
|
||||
|
||||
|
||||
if (col>3)
|
||||
{
|
||||
col=11;
|
||||
row2 |=1;
|
||||
}
|
||||
physObjects[i]->setPosition(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
|
||||
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
|
||||
physObjects[i]->setOrientation(0,0,0,1);
|
||||
physObjects[i]->SetLinearVelocity(0,0,0,false);
|
||||
physObjects[i]->SetAngularVelocity(0,0,0,false);
|
||||
} else
|
||||
{
|
||||
ms[i].setWorldPosition(0,-10-EXTRA_HEIGHT,0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void shootBox(const SimdVector3& destination)
|
||||
{
|
||||
int i = numObjects-1;
|
||||
|
||||
float speed = 40.f;
|
||||
SimdVector3 linVel(destination[0]-eye[0],destination[1]-eye[1],destination[2]-eye[2]);
|
||||
linVel.normalize();
|
||||
linVel*=speed;
|
||||
|
||||
physObjects[i]->setPosition(eye[0],eye[1],eye[2]);
|
||||
physObjects[i]->setOrientation(0,0,0,1);
|
||||
physObjects[i]->SetLinearVelocity(linVel[0],linVel[1],linVel[2],false);
|
||||
physObjects[i]->SetAngularVelocity(0,0,0,false);
|
||||
}
|
||||
|
||||
void clientKeyboard(unsigned char key, int x, int y)
|
||||
{
|
||||
|
||||
if (key == '.')
|
||||
{
|
||||
shootBox(SimdVector3(0,0,0));
|
||||
}
|
||||
//defaultKeyboard(key, x, y);
|
||||
}
|
||||
|
||||
int gPickingConstraintId = 0;
|
||||
SimdVector3 gOldPickingPos;
|
||||
float gOldPickingDist = 0.f;
|
||||
RigidBody* pickedBody = 0;//for deactivation state
|
||||
|
||||
|
||||
SimdVector3 GetRayTo(int x,int y)
|
||||
{
|
||||
float top = 1.f;
|
||||
float bottom = -1.f;
|
||||
float nearPlane = 1.f;
|
||||
float tanFov = (top-bottom)*0.5f / nearPlane;
|
||||
float fov = 2.0 * atanf (tanFov);
|
||||
|
||||
SimdVector3 rayFrom(eye[0],eye[1],eye[2]);
|
||||
SimdVector3 rayForward = -rayFrom;
|
||||
rayForward.normalize();
|
||||
float farPlane = 600.f;
|
||||
rayForward*= farPlane;
|
||||
|
||||
SimdVector3 rightOffset;
|
||||
SimdVector3 vertical(0.f,1.f,0.f);
|
||||
SimdVector3 hor;
|
||||
hor = rayForward.cross(vertical);
|
||||
hor.normalize();
|
||||
vertical = hor.cross(rayForward);
|
||||
vertical.normalize();
|
||||
|
||||
float tanfov = tanf(0.5f*fov);
|
||||
hor *= 2.f * farPlane * tanfov;
|
||||
vertical *= 2.f * farPlane * tanfov;
|
||||
SimdVector3 rayToCenter = rayFrom + rayForward;
|
||||
SimdVector3 dHor = hor * 1.f/float(glutScreenWidth);
|
||||
SimdVector3 dVert = vertical * 1.f/float(glutScreenHeight);
|
||||
SimdVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
|
||||
rayTo += x * dHor;
|
||||
rayTo -= y * dVert;
|
||||
return rayTo;
|
||||
}
|
||||
void clientMouseFunc(int button, int state, int x, int y)
|
||||
{
|
||||
//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
|
||||
//button 0, state 0 means left mouse down
|
||||
|
||||
SimdVector3 rayTo = GetRayTo(x,y);
|
||||
|
||||
switch (button)
|
||||
{
|
||||
case 2:
|
||||
{
|
||||
if (state==0)
|
||||
{
|
||||
shootBox(rayTo);
|
||||
}
|
||||
break;
|
||||
};
|
||||
case 1:
|
||||
{
|
||||
if (state==0)
|
||||
{
|
||||
//apply an impulse
|
||||
if (physicsEnvironmentPtr)
|
||||
{
|
||||
float hit[3];
|
||||
float normal[3];
|
||||
PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
|
||||
if (hitObj)
|
||||
{
|
||||
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
|
||||
RigidBody* body = physCtrl->GetRigidBody();
|
||||
if (body)
|
||||
{
|
||||
body->SetActivationState(ACTIVE_TAG);
|
||||
SimdVector3 impulse = rayTo;
|
||||
impulse.normalize();
|
||||
float impulseStrength = 10.f;
|
||||
impulse *= impulseStrength;
|
||||
SimdVector3 relPos(
|
||||
hit[0] - body->getCenterOfMassPosition().getX(),
|
||||
hit[1] - body->getCenterOfMassPosition().getY(),
|
||||
hit[2] - body->getCenterOfMassPosition().getZ());
|
||||
|
||||
body->applyImpulse(impulse,relPos);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
case 0:
|
||||
{
|
||||
if (state==0)
|
||||
{
|
||||
//add a point to point constraint for picking
|
||||
if (physicsEnvironmentPtr)
|
||||
{
|
||||
float hit[3];
|
||||
float normal[3];
|
||||
PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
|
||||
if (hitObj)
|
||||
{
|
||||
|
||||
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
|
||||
RigidBody* body = physCtrl->GetRigidBody();
|
||||
|
||||
if (body)
|
||||
{
|
||||
pickedBody = body;
|
||||
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
SimdVector3 pickPos(hit[0],hit[1],hit[2]);
|
||||
|
||||
SimdVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
|
||||
|
||||
gPickingConstraintId = physicsEnvironmentPtr->createConstraint(physCtrl,0,PHY_POINT2POINT_CONSTRAINT,
|
||||
localPivot.getX(),
|
||||
localPivot.getY(),
|
||||
localPivot.getZ(),
|
||||
0,0,0);
|
||||
//printf("created constraint %i",gPickingConstraintId);
|
||||
|
||||
//save mouse position for dragging
|
||||
gOldPickingPos = rayTo;
|
||||
|
||||
|
||||
SimdVector3 eyePos(eye[0],eye[1],eye[2]);
|
||||
|
||||
gOldPickingDist = (pickPos-eyePos).length();
|
||||
|
||||
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
|
||||
if (p2p)
|
||||
{
|
||||
//very weak constraint for picking
|
||||
p2p->m_setting.m_tau = 0.1f;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (gPickingConstraintId && physicsEnvironmentPtr)
|
||||
{
|
||||
physicsEnvironmentPtr->removeConstraint(gPickingConstraintId);
|
||||
//printf("removed constraint %i",gPickingConstraintId);
|
||||
gPickingConstraintId = 0;
|
||||
pickedBody->ForceActivationState(ACTIVE_TAG);
|
||||
pickedBody->m_deactivationTime = 0.f;
|
||||
pickedBody = 0;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
}
|
||||
default:
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void clientMotionFunc(int x,int y)
|
||||
{
|
||||
|
||||
if (gPickingConstraintId && physicsEnvironmentPtr)
|
||||
{
|
||||
|
||||
//move the constraint pivot
|
||||
|
||||
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
|
||||
if (p2p)
|
||||
{
|
||||
//keep it at the same picking distance
|
||||
|
||||
SimdVector3 newRayTo = GetRayTo(x,y);
|
||||
SimdVector3 eyePos(eye[0],eye[1],eye[2]);
|
||||
SimdVector3 dir = newRayTo-eyePos;
|
||||
dir.normalize();
|
||||
dir *= gOldPickingDist;
|
||||
|
||||
SimdVector3 newPos = eyePos + dir;
|
||||
p2p->SetPivotB(newPos);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
3
Demos/BasicSample/Jamfile
Normal file
3
Demos/BasicSample/Jamfile
Normal file
@@ -0,0 +1,3 @@
|
||||
SubDir TOP Demos BasicSample ;
|
||||
|
||||
BulletBasicDemo BasicSample : [ Wildcard *.h *.cpp ] ;
|
||||
67
Demos/BasicSample/MyMotionState.cpp
Normal file
67
Demos/BasicSample/MyMotionState.cpp
Normal file
@@ -0,0 +1,67 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#include "MyMotionState.h"
|
||||
#include "SimdPoint3.h"
|
||||
|
||||
MyMotionState::MyMotionState()
|
||||
{
|
||||
m_worldTransform.setIdentity();
|
||||
}
|
||||
|
||||
|
||||
MyMotionState::~MyMotionState()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void MyMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
|
||||
{
|
||||
posX = m_worldTransform.getOrigin().x();
|
||||
posY = m_worldTransform.getOrigin().y();
|
||||
posZ = m_worldTransform.getOrigin().z();
|
||||
}
|
||||
|
||||
void MyMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
|
||||
{
|
||||
scaleX = 1.;
|
||||
scaleY = 1.;
|
||||
scaleZ = 1.;
|
||||
}
|
||||
|
||||
void MyMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
|
||||
{
|
||||
quatIma0 = m_worldTransform.getRotation().x();
|
||||
quatIma1 = m_worldTransform.getRotation().y();
|
||||
quatIma2 = m_worldTransform.getRotation().z();
|
||||
quatReal = m_worldTransform.getRotation()[3];
|
||||
}
|
||||
|
||||
void MyMotionState::setWorldPosition(float posX,float posY,float posZ)
|
||||
{
|
||||
SimdPoint3 pos(posX,posY,posZ);
|
||||
m_worldTransform.setOrigin( pos );
|
||||
}
|
||||
|
||||
void MyMotionState::setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal)
|
||||
{
|
||||
SimdQuaternion orn(quatIma0,quatIma1,quatIma2,quatReal);
|
||||
m_worldTransform.setRotation( orn );
|
||||
}
|
||||
|
||||
void MyMotionState::calculateWorldTransformations()
|
||||
{
|
||||
|
||||
}
|
||||
44
Demos/BasicSample/MyMotionState.h
Normal file
44
Demos/BasicSample/MyMotionState.h
Normal file
@@ -0,0 +1,44 @@
|
||||
/*
|
||||
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 MY_MOTIONSTATE_H
|
||||
#define MY_MOTIONSTATE_H
|
||||
|
||||
#include "PHY_IMotionState.h"
|
||||
#include <SimdTransform.h>
|
||||
|
||||
|
||||
class MyMotionState : public PHY_IMotionState
|
||||
|
||||
{
|
||||
public:
|
||||
MyMotionState();
|
||||
|
||||
virtual ~MyMotionState();
|
||||
|
||||
virtual void getWorldPosition(float& posX,float& posY,float& posZ);
|
||||
virtual void getWorldScaling(float& scaleX,float& scaleY,float& scaleZ);
|
||||
virtual void getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal);
|
||||
|
||||
virtual void setWorldPosition(float posX,float posY,float posZ);
|
||||
virtual void setWorldOrientation(float quatIma0,float quatIma1,float quatIma2,float quatReal);
|
||||
|
||||
virtual void calculateWorldTransformations();
|
||||
|
||||
SimdTransform m_worldTransform;
|
||||
|
||||
};
|
||||
|
||||
#endif //MY_MOTIONSTATE_H
|
||||
31
Demos/BasicSample/PrintfDebugDrawer.cpp
Normal file
31
Demos/BasicSample/PrintfDebugDrawer.cpp
Normal file
@@ -0,0 +1,31 @@
|
||||
#include "PrintfDebugDrawer.h"
|
||||
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
PrintfDebugDrawer::PrintfDebugDrawer()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void PrintfDebugDrawer::DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
|
||||
{
|
||||
if (m_debugMode > 0)
|
||||
{
|
||||
printf("DrawLine: from(%f , %f . %f) , to(%f , %f . %f)\n",from.getX(),from.getY(),from.getZ(),to.getX(),to.getY(),to.getZ());
|
||||
}
|
||||
}
|
||||
|
||||
void PrintfDebugDrawer::DrawContactPoint(const SimdVector3& pointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color)
|
||||
{
|
||||
if (m_debugMode & IDebugDraw::DBG_DrawContactPoints)
|
||||
{
|
||||
SimdVector3 to=pointOnB+normalOnB*distance;
|
||||
const SimdVector3&from = pointOnB;
|
||||
printf("DrawContactPoint (%d) from(%f , %f . %f) , to(%f , %f . %f)\n",lifeTime, from.getX(),from.getY(),from.getZ(),to.getX(),to.getY(),to.getZ());
|
||||
}
|
||||
}
|
||||
|
||||
void PrintfDebugDrawer::SetDebugMode(int debugMode)
|
||||
{
|
||||
m_debugMode = debugMode;
|
||||
}
|
||||
27
Demos/BasicSample/PrintfDebugDrawer.h
Normal file
27
Demos/BasicSample/PrintfDebugDrawer.h
Normal file
@@ -0,0 +1,27 @@
|
||||
#ifndef PRINTF_DEBUG_DRAWER_H
|
||||
#define PRINTF_DEBUG_DRAWER_H
|
||||
|
||||
#include "IDebugDraw.h"
|
||||
|
||||
|
||||
|
||||
|
||||
class PrintfDebugDrawer : public IDebugDraw
|
||||
{
|
||||
int m_debugMode;
|
||||
|
||||
public:
|
||||
|
||||
PrintfDebugDrawer();
|
||||
|
||||
virtual void DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color);
|
||||
|
||||
virtual void DrawContactPoint(const SimdVector3& PointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color);
|
||||
|
||||
virtual void SetDebugMode(int debugMode);
|
||||
|
||||
virtual int GetDebugMode() const { return m_debugMode;}
|
||||
|
||||
};
|
||||
|
||||
#endif//PRINTF_DEBUG_DRAWER_H
|
||||
Reference in New Issue
Block a user