re-organized memory (stack and pool) allocators. this lets the user pass in their own memory allocators.
This commit is contained in:
ejcoumans
@@ -1,153 +1,153 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Ragdoll Demo
|
||||
Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
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.
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Ragdoll Demo
|
||||
Copyright (c) 2007 Starbreeze Studios
|
||||
|
||||
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.
|
||||
|
||||
Originally Written by: Marten Svanfeldt
|
||||
ReWritten by: Francisco Le<4C>n
|
||||
*/
|
||||
ReWritten by: Francisco Le<4C>n
|
||||
*/
|
||||
|
||||
//#define USE_ODE_QUICKSTEP 1
|
||||
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
|
||||
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "GenericJointDemo.h"
|
||||
|
||||
#ifdef USE_ODE_QUICKSTEP
|
||||
#ifdef USE_ODE_QUICKSTEP
|
||||
#include "OdeConstraintSolver.h"
|
||||
#endif
|
||||
|
||||
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
|
||||
|
||||
int main(int argc,char* argv[])
|
||||
{
|
||||
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
|
||||
|
||||
int main(int argc,char* argv[])
|
||||
{
|
||||
GenericJointDemo demoApp;
|
||||
// demoApp.configDebugDrawer(&debugDrawer);
|
||||
|
||||
demoApp.initPhysics();
|
||||
demoApp.setCameraDistance(btScalar(10.));
|
||||
// demoApp.configDebugDrawer(&debugDrawer);
|
||||
|
||||
demoApp.initPhysics();
|
||||
demoApp.setCameraDistance(btScalar(10.));
|
||||
|
||||
#ifdef USE_ODE_QUICKSTEP
|
||||
return glutmain(argc, argv,640,480,"Joint 6DOF - ODE QuickStep Solver",&demoApp);
|
||||
#else
|
||||
return glutmain(argc, argv,640,480,"Joint 6DOF - Sequencial Impulse Solver",&demoApp);
|
||||
#endif
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void GenericJointDemo::initPhysics()
|
||||
{
|
||||
// Setup the basic world
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void GenericJointDemo::initPhysics()
|
||||
{
|
||||
// Setup the basic world
|
||||
|
||||
btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
|
||||
|
||||
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
|
||||
|
||||
btPoint3 worldAabbMin(-10000,-10000,-10000);
|
||||
btPoint3 worldAabbMax(10000,10000,10000);
|
||||
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
||||
|
||||
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
|
||||
|
||||
btPoint3 worldAabbMin(-10000,-10000,-10000);
|
||||
btPoint3 worldAabbMax(10000,10000,10000);
|
||||
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
||||
|
||||
#ifdef USE_ODE_QUICKSTEP
|
||||
btConstraintSolver* constraintSolver = new OdeConstraintSolver();
|
||||
#else
|
||||
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-30,0));
|
||||
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-30,0));
|
||||
|
||||
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
|
||||
|
||||
// Setup a big ground box
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-15,0));
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
}
|
||||
|
||||
// Spawn one ragdoll
|
||||
spawnRagdoll();
|
||||
|
||||
clientResetScene();
|
||||
}
|
||||
|
||||
void GenericJointDemo::spawnRagdoll(bool random)
|
||||
{
|
||||
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
|
||||
m_ragdolls.push_back(ragDoll);
|
||||
}
|
||||
|
||||
void GenericJointDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = m_clock.getTimeMicroseconds();
|
||||
m_clock.reset();
|
||||
float minFPS = 1000000.f/60.f;
|
||||
if (ms > minFPS)
|
||||
ms = minFPS;
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void GenericJointDemo::displayCallback()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->updateAabbs();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case 'e':
|
||||
spawnRagdoll(true);
|
||||
break;
|
||||
default:
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
// Setup a big ground box
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-15,0));
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
}
|
||||
|
||||
// Spawn one ragdoll
|
||||
spawnRagdoll();
|
||||
|
||||
clientResetScene();
|
||||
}
|
||||
|
||||
void GenericJointDemo::spawnRagdoll(bool random)
|
||||
{
|
||||
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
|
||||
m_ragdolls.push_back(ragDoll);
|
||||
}
|
||||
|
||||
void GenericJointDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
//simple dynamics world doesn't handle fixed-time-stepping
|
||||
float ms = m_clock.getTimeMicroseconds();
|
||||
m_clock.reset();
|
||||
float minFPS = 1000000.f/60.f;
|
||||
if (ms > minFPS)
|
||||
ms = minFPS;
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void GenericJointDemo::displayCallback()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->updateAabbs();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case 'e':
|
||||
spawnRagdoll(true);
|
||||
break;
|
||||
default:
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user