moved files around
This commit is contained in:
ejcoumans
388
Demos/ConstraintDemo/ConstraintDemo.cpp
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388
Demos/ConstraintDemo/ConstraintDemo.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 "CollisionShapes/EmptyShape.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 "IDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "PHY_Pro.h"
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#include "BMF_Api.h"
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#include <stdio.h> //printf debugging
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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 = 3;
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const int maxNumObjects = 400;
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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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//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
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// SimdPoint3(50,0,0));
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CollisionShape* shapePtr[4] =
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{
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new BoxShape (SimdVector3(10,10,10)),
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new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
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//new EmptyShape(),
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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 BoxShape (SimdVector3(0.4,1,0.8))
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};
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GLDebugDrawer debugDrawer;
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int main(int argc,char** argv)
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{
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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->setDeactivationTime(0.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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shapeIndex[i] = 1;//2 to test start with EmptyShape
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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 (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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ms[i].setWorldPosition(0,i*CUBE_HALF_EXTENTS*2 - CUBE_HALF_EXTENTS,0);
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} else
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{
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ms[i].setWorldPosition(0,-10,0);
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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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physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
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}
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clientResetScene();
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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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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=0,axisY=1,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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setCameraDistance(46.f);
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return glutmain(argc, argv,640,480,"Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/");
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}
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//to be implemented by the demo
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void renderme()
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{
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debugDrawer.SetDebugMode(getDebugMode());
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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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physObjects[i]->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
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GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
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if (getDebugMode()!=0 && (i>0))
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{
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if (physObjects[i]->GetRigidBody()->GetCollisionShape()->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
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{
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physObjects[i]->GetRigidBody()->SetCollisionShape(shapePtr[1]);
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//remove the persistent collision pairs that were created based on the previous shape
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BroadphaseProxy* bpproxy = physObjects[i]->GetRigidBody()->m_broadphaseHandle;
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physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);
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SimdVector3 newinertia;
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SimdScalar newmass = 10.f;
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physObjects[i]->GetRigidBody()->GetCollisionShape()->CalculateLocalInertia(newmass,newinertia);
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physObjects[i]->GetRigidBody()->setMassProps(newmass,newinertia);
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physObjects[i]->GetRigidBody()->updateInertiaTensor();
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}
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}
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}
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glRasterPos3f(20,20,0);
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char buf[124];
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sprintf(buf,"space to reset");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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glRasterPos3f(20,15,0);
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sprintf(buf,"c to show contact points");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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glRasterPos3f(20,10,0);
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sprintf(buf,"cursor keys and z,x to navigate");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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glRasterPos3f(20,5,0);
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sprintf(buf,"i to toggle simulation, s single step");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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glRasterPos3f(20,0,0);
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sprintf(buf,"q to quit");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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glRasterPos3f(20,-5,0);
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sprintf(buf,"d to toggle deactivation");
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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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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float deltaTime = 1.f/60.f;
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physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void clientDisplay(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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///make this positive to show stack falling from a distance
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///this shows the penalty tresholds in action, springy/spungy look
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#define EXTRA_HEIGHT 20.f
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void clientResetScene()
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{
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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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//stack them
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int colsize = 10;
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int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
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int col = (i)%(colsize)-colsize/2;
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physObjects[i]->setPosition(col*2*CUBE_HALF_EXTENTS + (row%2)*CUBE_HALF_EXTENTS,
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row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,
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0);
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physObjects[i]->setOrientation(0,0,0,1);
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physObjects[i]->SetLinearVelocity(0,0,0,false);
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physObjects[i]->SetAngularVelocity(0,0,0,false);
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} else
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{
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ms[i].setWorldPosition(0,-10,0);
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}
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}
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}
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void clientKeyboard(unsigned char key, int x, int y)
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{
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defaultKeyboard(key, x, y);
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}
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void clientMouseFunc(int button, int state, int x, int y)
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{
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}
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void clientMotionFunc(int x,int y)
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{
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}
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3
Demos/ConstraintDemo/Jamfile
Normal file
3
Demos/ConstraintDemo/Jamfile
Normal file
@@ -0,0 +1,3 @@
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SubDir TOP Demos ConstraintDemo ;
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BulletDemo ConstraintDemo : [ Wildcard *.h *.cpp ] ;
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67
Demos/ConstraintDemo/MyMotionState.cpp
Normal file
67
Demos/ConstraintDemo/MyMotionState.cpp
Normal file
@@ -0,0 +1,67 @@
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/*
|
||||
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"
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||||
#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)
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||||
{
|
||||
scaleX = 1.;
|
||||
scaleY = 1.;
|
||||
scaleZ = 1.;
|
||||
}
|
||||
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||||
void MyMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)
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||||
{
|
||||
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/ConstraintDemo/MyMotionState.h
Normal file
44
Demos/ConstraintDemo/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