moved files around
This commit is contained in:
ejcoumans
408
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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408
Demos/ConcaveDemo/ConcavePhysicsDemo.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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||||
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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 "GL_LineSegmentShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/Simplex1to4Shape.h"
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#include "Dynamics/RigidBody.h"
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#include "ConstraintSolver/SimpleConstraintSolver.h"
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#include "ConstraintSolver/OdeConstraintSolver.h"
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#include "CollisionDispatch/CollisionDispatcher.h"
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#include "BroadphaseCollision/SimpleBroadphase.h"
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#include "CollisionShapes/TriangleMeshShape.h"
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#include "CollisionShapes/TriangleIndexVertexArray.h"
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#include "CollisionShapes/BvhTriangleMeshShape.h"
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#include "CollisionShapes/TriangleMesh.h"
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#include "IDebugDraw.h"
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//#include "GLDebugDrawer.h"
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#include "PHY_Pro.h"
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#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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#endif
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#include <GL/glut.h>
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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const int numObjects = 80;
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const int maxNumObjects = 100;
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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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TriangleMesh meshData;
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StridingMeshInterface* ptr;
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//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
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// SimdPoint3(50,0,0));
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CollisionShape* shapePtr[5] =
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{
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new BoxShape (SimdVector3(100,10,100)),
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new BoxShape (SimdVector3(2,2,2)),
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new BU_Simplex1to4(SimdPoint3(-2,-2,-2),SimdPoint3(2,-2,-2),SimdPoint3(-2,2,-2),SimdPoint3(0,0,2)),
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new BoxShape (SimdVector3(1,3,1)),
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#ifdef DEBUG_MESH
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new TriangleMeshShape(&meshData),
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#else
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NULL,
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#endif
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//(&meshData)
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};
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static const int NUM_VERTICES = 5;
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static const int NUM_TRIANGLES=4;
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SimdVector3 gVertices[NUM_VERTICES];
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int gIndices[NUM_TRIANGLES*3];
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int main(int argc,char** argv)
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{
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setCameraDistance(30.f);
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#define TRISIZE 10.f
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#ifdef DEBUG_MESH
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SimdVector3 vert0(-TRISIZE ,0,TRISIZE );
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SimdVector3 vert1(TRISIZE ,10,TRISIZE );
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SimdVector3 vert2(TRISIZE ,0,-TRISIZE );
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meshData.AddTriangle(vert0,vert1,vert2);
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SimdVector3 vert3(-TRISIZE ,0,TRISIZE );
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SimdVector3 vert4(TRISIZE ,0,-TRISIZE );
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SimdVector3 vert5(-TRISIZE ,0,-TRISIZE );
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meshData.AddTriangle(vert3,vert4,vert5);
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#else
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#ifdef ODE_MESH
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SimdVector3 Size = SimdVector3(15.f,15.f,12.5f);
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gVertices[0][0] = -Size[0];
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gVertices[0][1] = Size[2];
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gVertices[0][2] = -Size[1];
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gVertices[1][0] = Size[0];
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gVertices[1][1] = Size[2];
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gVertices[1][2] = -Size[1];
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gVertices[2][0] = Size[0];
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gVertices[2][1] = Size[2];
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gVertices[2][2] = Size[1];
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gVertices[3][0] = -Size[0];
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gVertices[3][1] = Size[2];
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gVertices[3][2] = Size[1];
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gVertices[4][0] = 0;
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gVertices[4][1] = 0;
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gVertices[4][2] = 0;
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gIndices[0] = 0;
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gIndices[1] = 1;
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gIndices[2] = 4;
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gIndices[3] = 1;
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gIndices[4] = 2;
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gIndices[5] = 4;
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gIndices[6] = 2;
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gIndices[7] = 3;
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gIndices[8] = 4;
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gIndices[9] = 3;
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gIndices[10] = 0;
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gIndices[11] = 4;
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int vertStride = sizeof(SimdVector3);
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int indexStride = 3*sizeof(int);
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TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(NUM_TRIANGLES,
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gIndices,
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indexStride,
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NUM_VERTICES,(float*) &gVertices[0].x(),vertStride);
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//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
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shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
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#else
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int vertStride = sizeof(SimdVector3);
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int indexStride = 3*sizeof(int);
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const int NUM_VERTS_X = 50;
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const int NUM_VERTS_Y = 50;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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SimdVector3* gVertices = new SimdVector3[totalVerts];
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int* gIndices = new int[totalTriangles*3];
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int i;
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (int j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*10.f,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*10.f);
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}
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}
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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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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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}
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}
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TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
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gIndices,
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indexStride,
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totalVerts,(float*) &gVertices[0].x(),vertStride);
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//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
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shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
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#endif
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#endif//DEBUG_MESH
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// GLDebugDrawer debugDrawer;
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//ConstraintSolver* solver = new SimpleConstraintSolver;
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ConstraintSolver* solver = new OdeConstraintSolver;
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CollisionDispatcher* dispatcher = new CollisionDispatcher();
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BroadphaseInterface* broadphase = new SimpleBroadphase();
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physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
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physicsEnvironmentPtr->setGravity(-1,-10,1);
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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 = 0.95999998f;
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shapeProps.m_ang_drag = 0.89999998f;
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shapeProps.m_mass = 1.0f;
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PHY_MaterialProps materialProps;
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materialProps.m_friction = 0.f;// 50.5f;
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materialProps.m_restitution = 0.1f;
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CcdConstructionInfo ccdObjectCi;
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ccdObjectCi.m_friction = 0.f;//50.5f;
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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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for (i=0;i<numObjects;i++)
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{
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if (i>0)
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shapeIndex[i] = 1;//2 = tetrahedron
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else
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shapeIndex[i] = 4;
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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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bool isDyna = i>0;
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if (!i)
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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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//ms[i].setWorldPosition(0,-10,0);
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} else
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{
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ms[i].setWorldPosition(10,i*15-10,0);
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}
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//either create a few stacks, to show several islands, or create 1 large stack, showing stability
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//ms[i].setWorldPosition((i*5) % 30,i*15-10,0);
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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 (shapeProps.m_mass>0.f)
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{
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shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
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} else
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{
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localInertia.setValue(0.f,0.f,0.f);
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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==0)
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{
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physObjects[i]->SetAngularVelocity(0,0,-2,true);
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physObjects[i]->GetRigidBody()->setDamping(0,0);
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}
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*/
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//for the line that represents the AABB extents
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// physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
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}
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return glutmain(argc, argv,640,480,"Static Concave Mesh Demo");
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}
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void renderme()
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{
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float m[16];
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int i;
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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(0.f,0.f,1.f); //wants deactivation
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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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wireColor = SimdVector3 (1.f,0.f,0.f);
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}
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if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
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{
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wireColor = SimdVector3 (0.f,1.f,0.f);
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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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shapePtr[shapeIndex[i]]->SetExtraDebugInfo(extraDebug);
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GL_ShapeDrawer::DrawOpenGL(m,shapePtr[shapeIndex[i]],wireColor,getDebugMode());
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}
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||||
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}
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||||
void clientMoveAndDisplay()
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||||
{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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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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||||
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||||
renderme();
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||||
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glFlush();
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glutSwapBuffers();
|
||||
|
||||
}
|
||||
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||||
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||||
|
||||
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||||
void clientDisplay(void) {
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||||
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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||||
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renderme();
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||||
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||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
|
||||
void clientResetScene()
|
||||
{
|
||||
|
||||
}
|
||||
void clientKeyboard(unsigned char key, int x, int y)
|
||||
{
|
||||
defaultKeyboard(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
void clientMouseFunc(int button, int state, int x, int y)
|
||||
{
|
||||
|
||||
}
|
||||
void clientMotionFunc(int x,int y)
|
||||
{
|
||||
}
|
||||
3
Demos/ConcaveDemo/Jamfile
Normal file
3
Demos/ConcaveDemo/Jamfile
Normal file
@@ -0,0 +1,3 @@
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||||
SubDir TOP Demos ConcaveDemo ;
|
||||
|
||||
BulletDemo ConcaveDemo : [ Wildcard *.h *.cpp ] ;
|
||||
67
Demos/ConcaveDemo/MyMotionState.cpp
Normal file
67
Demos/ConcaveDemo/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/ConcaveDemo/MyMotionState.h
Normal file
44
Demos/ConcaveDemo/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
|
||||
Reference in New Issue
Block a user