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more bt* to b3*

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This commit is contained in:
erwin coumans
2013-04-16 17:08:59 -07:00
parent faabffc23d
commit e646754228
116 changed files with 2466 additions and 3034 deletions
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184
demo/donttouch/GpuDemo.cpp
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@@ -23,7 +23,7 @@ subject to the following restrictions:
#define START_POS_Y 10
#define START_POS_Z -3
#include "LinearMath/btVector3.h"
#include "LinearMath/b3Vector3.h"
#include "GpuDemo.h"
//#include "GlutStuff.h"
@@ -41,7 +41,7 @@ subject to the following restrictions:
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btDefaultMotionState.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/b3Quickprof.h"
#include <stdio.h> //printf debugging
@@ -90,7 +90,7 @@ void GpuDemo::clientMoveAndDisplay()
btAlignedObjectArray<btVector3> vertices;
b3AlignedObjectArray<b3Vector3> vertices;
void EmptyDemo::setupScene(const ConstructionInfo& ci)
{
@@ -107,7 +107,7 @@ void SpheresDemo::setupScene(const ConstructionInfo& ci)
m_collisionShapes.push_back(sphere);
/// Create Dynamic Objects
btTransform startTransform;
b3Transform startTransform;
startTransform.setIdentity();
@@ -134,21 +134,21 @@ void SpheresDemo::setupScene(const ConstructionInfo& ci)
btCollisionShape* shape = sphere;
btScalar mass = 1;
b3Scalar mass = 1;
if (!ci.m_useConcaveMesh && k==0)
mass = k==0? 0.f : 1.f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(SCALING*btVector3(
btScalar(gapX*i + start_x),
btScalar(ci.gapY*k + start_y),
btScalar(gapZ*j + start_z)));
startTransform.setOrigin(SCALING*b3Vector3(
b3Scalar(gapX*i + start_x),
b3Scalar(ci.gapY*k + start_y),
b3Scalar(gapZ*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
@@ -164,24 +164,24 @@ void SpheresDemo::setupScene(const ConstructionInfo& ci)
}
{
btVector3 planeNormal(0,1,0);
btScalar planeConstant=0;
b3Vector3 planeNormal(0,1,0);
b3Scalar planeConstant=0;
btCollisionShape* shape = new btStaticPlaneShape(planeNormal,planeConstant);
//btBoxShape* plane = new btBoxShape(btVector3(100,1,100));
//btBoxShape* plane = new btBoxShape(b3Vector3(100,1,100));
//plane->initializePolyhedralFeatures();
//btSphereShape* shape = new btSphereShape(1000);
btScalar mass(0.);
b3Scalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
btTransform groundTransform;
b3Vector3 localInertia(0,0,0);
b3Transform groundTransform;
groundTransform.setIdentity();
groundTransform.setRotation(btQuaternion(btVector3(1,0,0),0.3));
groundTransform.setOrigin(btVector3(0,0,0));
groundTransform.setRotation(b3Quaternion(b3Vector3(1,0,0),0.3));
groundTransform.setOrigin(b3Vector3(0,0,0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
@@ -198,18 +198,18 @@ void SpheresDemo::setupScene(const ConstructionInfo& ci)
void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
{
btCollisionShape* groundShape =0;
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
// btCollisionShape* groundShape = new btStaticPlaneShape(b3Vector3(0,1,0),50);
if (ci.m_useConcaveMesh)
{
btTriangleMesh* meshInterface = new btTriangleMesh();
btAlignedObjectArray<btVector3> concaveVertices;
concaveVertices.push_back(btVector3(0,-20,0));
concaveVertices.push_back(btVector3(80,10,80));
concaveVertices.push_back(btVector3(80,10,-80));
concaveVertices.push_back(btVector3(-80,10,-80));
concaveVertices.push_back(btVector3(-80,10,80));
b3AlignedObjectArray<b3Vector3> concaveVertices;
concaveVertices.push_back(b3Vector3(0,-20,0));
concaveVertices.push_back(b3Vector3(80,10,80));
concaveVertices.push_back(b3Vector3(80,10,-80));
concaveVertices.push_back(b3Vector3(-80,10,-80));
concaveVertices.push_back(b3Vector3(-80,10,80));
meshInterface->addTriangle(concaveVertices[0],concaveVertices[1],concaveVertices[2],true);
meshInterface->addTriangle(concaveVertices[0],concaveVertices[2],concaveVertices[3],true);
@@ -217,33 +217,33 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
meshInterface->addTriangle(concaveVertices[0],concaveVertices[4],concaveVertices[1],true);
#if 0
groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(btVector3(0,1,0),50);
groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(b3Vector3(0,1,0),50);
#else
btBoxShape* shape =new btBoxShape(btVector3(btScalar(250.),btScalar(10.),btScalar(250.)));
btBoxShape* shape =new btBoxShape(b3Vector3(b3Scalar(250.),b3Scalar(10.),b3Scalar(250.)));
shape->initializePolyhedralFeatures();
groundShape = shape;
#endif
} else
{
groundShape = new btBoxShape(btVector3(btScalar(250.),btScalar(50.),btScalar(250.)));
groundShape = new btBoxShape(b3Vector3(b3Scalar(250.),b3Scalar(50.),b3Scalar(250.)));
}
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
b3Transform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,0,0));
groundTransform.setOrigin(b3Vector3(0,0,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
if (ci.m_useConcaveMesh)
{
btScalar mass(0.);
b3Scalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
@@ -261,15 +261,15 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
//vertices.push_back(btVector3(0,1,0));
vertices.push_back(btVector3(1,1,1));
vertices.push_back(btVector3(1,1,-1));
vertices.push_back(btVector3(-1,1,-1));
vertices.push_back(btVector3(-1,1,1));
vertices.push_back(btVector3(1,-1,1));
vertices.push_back(btVector3(1,-1,-1));
vertices.push_back(btVector3(-1,-1,-1));
vertices.push_back(btVector3(-1,-1,1));
//vertices.push_back(b3Vector3(0,1,0));
vertices.push_back(b3Vector3(1,1,1));
vertices.push_back(b3Vector3(1,1,-1));
vertices.push_back(b3Vector3(-1,1,-1));
vertices.push_back(b3Vector3(-1,1,1));
vertices.push_back(b3Vector3(1,-1,1));
vertices.push_back(b3Vector3(1,-1,-1));
vertices.push_back(b3Vector3(-1,-1,-1));
vertices.push_back(b3Vector3(-1,-1,1));
#if 0
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
@@ -280,13 +280,13 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
colShape->initializePolyhedralFeatures();
compoundShape = new btCompoundShape();
btTransform tr;
b3Transform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-1,0));
tr.setOrigin(b3Vector3(0,-1,0));
compoundShape->addChildShape(tr,colShape);
tr.setOrigin(btVector3(0,0,2));
tr.setOrigin(b3Vector3(0,0,2));
compoundShape->addChildShape(tr,colShape);
tr.setOrigin(btVector3(2,0,0));
tr.setOrigin(b3Vector3(2,0,0));
compoundShape->addChildShape(tr,colShape);
}
btCollisionShape* colShape = compoundShape;
@@ -294,18 +294,18 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
btPolyhedralConvexShape* boxShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
btPolyhedralConvexShape* boxShape = new btBoxShape(b3Vector3(SCALING*1,SCALING*1,SCALING*1));
boxShape->initializePolyhedralFeatures();
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//btCollisionShape* colShape = new btSphereShape(b3Scalar(1.));
m_collisionShapes.push_back(colShape);
m_collisionShapes.push_back(boxShape);
/// Create Dynamic Objects
btTransform startTransform;
b3Transform startTransform;
startTransform.setIdentity();
@@ -334,21 +334,21 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
btCollisionShape* shape = colShape;
btScalar mass = 1;
b3Scalar mass = 1;
if (!ci.m_useConcaveMesh && k==0)
mass = k==0? 0.f : 1.f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(SCALING*btVector3(
btScalar(startX+gapX*i + start_x),
btScalar(20+ci.gapY*k + start_y),
btScalar(startZ+gapZ*j + start_z)));
startTransform.setOrigin(SCALING*b3Vector3(
b3Scalar(startX+gapX*i + start_x),
b3Scalar(20+ci.gapY*k + start_y),
b3Scalar(startZ+gapZ*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
@@ -369,18 +369,18 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
{
btCollisionShape* groundShape =0;
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
// btCollisionShape* groundShape = new btStaticPlaneShape(b3Vector3(0,1,0),50);
if (ci.m_useConcaveMesh)
{
btTriangleMesh* meshInterface = new btTriangleMesh();
btAlignedObjectArray<btVector3> concaveVertices;
concaveVertices.push_back(btVector3(0,-20,0));
concaveVertices.push_back(btVector3(80,10,80));
concaveVertices.push_back(btVector3(80,10,-80));
concaveVertices.push_back(btVector3(-80,10,-80));
concaveVertices.push_back(btVector3(-80,10,80));
b3AlignedObjectArray<b3Vector3> concaveVertices;
concaveVertices.push_back(b3Vector3(0,-20,0));
concaveVertices.push_back(b3Vector3(80,10,80));
concaveVertices.push_back(b3Vector3(80,10,-80));
concaveVertices.push_back(b3Vector3(-80,10,-80));
concaveVertices.push_back(b3Vector3(-80,10,80));
meshInterface->addTriangle(concaveVertices[0],concaveVertices[1],concaveVertices[2],true);
meshInterface->addTriangle(concaveVertices[0],concaveVertices[2],concaveVertices[3],true);
@@ -388,33 +388,33 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
meshInterface->addTriangle(concaveVertices[0],concaveVertices[4],concaveVertices[1],true);
#if 0
groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(btVector3(0,1,0),50);
groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(b3Vector3(0,1,0),50);
#else
btBoxShape* shape =new btBoxShape(btVector3(btScalar(250.),btScalar(10.),btScalar(250.)));
btBoxShape* shape =new btBoxShape(b3Vector3(b3Scalar(250.),b3Scalar(10.),b3Scalar(250.)));
shape->initializePolyhedralFeatures();
groundShape = shape;
#endif
} else
{
groundShape = new btBoxShape(btVector3(btScalar(250.),btScalar(50.),btScalar(250.)));
groundShape = new btBoxShape(b3Vector3(b3Scalar(250.),b3Scalar(50.),b3Scalar(250.)));
}
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
b3Transform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,0,0));
groundTransform.setOrigin(b3Vector3(0,0,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
if (ci.m_useConcaveMesh)
{
btScalar mass(0.);
b3Scalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
@@ -432,15 +432,15 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
//vertices.push_back(btVector3(0,1,0));
vertices.push_back(btVector3(1,1,1));
vertices.push_back(btVector3(1,1,-1));
vertices.push_back(btVector3(-1,1,-1));
vertices.push_back(btVector3(-1,1,1));
vertices.push_back(btVector3(1,-1,1));
vertices.push_back(btVector3(1,-1,-1));
vertices.push_back(btVector3(-1,-1,-1));
vertices.push_back(btVector3(-1,-1,1));
//vertices.push_back(b3Vector3(0,1,0));
vertices.push_back(b3Vector3(1,1,1));
vertices.push_back(b3Vector3(1,1,-1));
vertices.push_back(b3Vector3(-1,1,-1));
vertices.push_back(b3Vector3(-1,1,1));
vertices.push_back(b3Vector3(1,-1,1));
vertices.push_back(b3Vector3(1,-1,-1));
vertices.push_back(b3Vector3(-1,-1,-1));
vertices.push_back(b3Vector3(-1,-1,1));
#if 1
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
@@ -451,13 +451,13 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
colShape->initializePolyhedralFeatures();
compoundShape = new btCompoundShape();
btTransform tr;
b3Transform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-1,0));
tr.setOrigin(b3Vector3(0,-1,0));
compoundShape->addChildShape(tr,colShape);
tr.setOrigin(btVector3(0,0,2));
tr.setOrigin(b3Vector3(0,0,2));
compoundShape->addChildShape(tr,colShape);
tr.setOrigin(btVector3(2,0,0));
tr.setOrigin(b3Vector3(2,0,0));
compoundShape->addChildShape(tr,colShape);
}
btCollisionShape* colShape = compoundShape;
@@ -465,18 +465,18 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
btPolyhedralConvexShape* boxShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
btPolyhedralConvexShape* boxShape = new btBoxShape(b3Vector3(SCALING*1,SCALING*1,SCALING*1));
boxShape->initializePolyhedralFeatures();
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//btCollisionShape* colShape = new btSphereShape(b3Scalar(1.));
m_collisionShapes.push_back(colShape);
m_collisionShapes.push_back(boxShape);
/// Create Dynamic Objects
btTransform startTransform;
b3Transform startTransform;
startTransform.setIdentity();
@@ -505,21 +505,21 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
btCollisionShape* shape = colShape;
btScalar mass = 1;
b3Scalar mass = 1;
if (!ci.m_useConcaveMesh && k==0)
mass = k==0? 0.f : 1.f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(SCALING*btVector3(
btScalar(startX+gapX*i + start_x),
btScalar(ci.gapY*(k+0.5) + start_y),
btScalar(startZ+gapZ*j + start_z)));
startTransform.setOrigin(SCALING*b3Vector3(
b3Scalar(startX+gapX*i + start_x),
b3Scalar(ci.gapY*(k+0.5) + start_y),
b3Scalar(startZ+gapZ*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
@@ -541,7 +541,7 @@ void GpuDemo::initPhysics(const ConstructionInfo& ci)
// setTexturing(true);
//setShadows(false);
// setCameraDistance(btScalar(SCALING*250.));
// setCameraDistance(b3Scalar(SCALING*250.));
///collision configuration contains default setup for memory, collision setup
if (ci.useOpenCL)
@@ -553,7 +553,7 @@ void GpuDemo::initPhysics(const ConstructionInfo& ci)
}
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setGravity(b3Vector3(0,-10,0));
///create a few basic rigid bodies