Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

Browse Source 
Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
Download Patch File Download Diff File Expand all files Collapse all files

62
Demos/ForkLiftDemo/ForkLiftDemo.cpp
View File

@@ -27,8 +27,8 @@ subject to the following restrictions:
#include "PHY_IVehicle.h"
#include "ParallelIslandDispatcher.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
@@ -50,7 +50,7 @@ const int maxOverlap = 65535;
DefaultMotionState wheelMotionState[4];
///PHY_IVehicle is the interface behind the constraint that implements the raycast vehicle (WrapperVehicle which holds a RaycastVehicle)
///PHY_IVehicle is the interface behind the constraint that implements the raycast vehicle (WrapperVehicle which holds a btRaycastVehicle)
///notice that for higher-quality slow-moving vehicles, another approach might be better
///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
PHY_IVehicle* gVehicleConstraint=0;
@@ -66,9 +66,9 @@ float suspensionStiffness = 10.f;
float suspensionDamping = 1.3f;
float suspensionCompression = 2.4f;
float rollInfluence = 0.1f;
SimdVector3 wheelDirectionCS0(0,-1,0);
SimdVector3 wheelAxleCS(1,0,0);
SimdScalar suspensionRestLength(0.6);
btVector3 wheelDirectionCS0(0,-1,0);
btVector3 wheelAxleCS(1,0,0);
btScalar suspensionRestLength(0.6);
#define CUBE_HALF_EXTENTS 1
@@ -97,20 +97,20 @@ m_cameraHeight(4.f),
m_minCameraDistance(3.f),
m_maxCameraDistance(10.f)
{
m_cameraPosition = SimdVector3(30,30,30);
m_cameraPosition = btVector3(30,30,30);
}
void ForkLiftDemo::setupPhysics()
{
CollisionDispatcher* dispatcher = new CollisionDispatcher();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
//ParallelIslandDispatcher* dispatcher2 = new ParallelIslandDispatcher();
SimdVector3 worldAabbMin(-30000,-30000,-30000);
SimdVector3 worldAabbMax(30000,30000,30000);
btVector3 worldAabbMin(-30000,-30000,-30000);
btVector3 worldAabbMax(30000,30000,30000);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
//OverlappingPairCache* broadphase = new SimpleBroadphase(maxProxies,maxOverlap);
btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
//OverlappingPairCache* broadphase = new btSimpleBroadphase(maxProxies,maxOverlap);
#ifdef USE_PARALLEL_DISPATCHER
m_physicsEnvironmentPtr = new ParallelPhysicsEnvironment(dispatcher2,broadphase);
@@ -124,7 +124,7 @@ void ForkLiftDemo::setupPhysics()
m_physicsEnvironmentPtr->setGravity(0,-10,0);//0,0);//-10,0);
int i;
CollisionShape* groundShape = new BoxShape(SimdVector3(50,3,50));
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
@@ -133,7 +133,7 @@ void ForkLiftDemo::setupPhysics()
const float TRIANGLE_SIZE=20.f;
//create a triangle-mesh ground
int vertStride = sizeof(SimdVector3);
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 50;
@@ -142,7 +142,7 @@ const float TRIANGLE_SIZE=20.f;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
SimdVector3* gVertices = new SimdVector3[totalVerts];
btVector3* gVertices = new btVector3[totalVerts];
int* gIndices = new int[totalTriangles*3];
@@ -170,25 +170,25 @@ const float TRIANGLE_SIZE=20.f;
}
}
TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(float*) &gVertices[0].x(),vertStride);
groundShape = new BvhTriangleMeshShape(indexVertexArrays);
groundShape = new btBvhTriangleMeshShape(indexVertexArrays);
#endif //
SimdTransform tr;
btTransform tr;
tr.setIdentity();
tr.setOrigin(SimdVector3(0,-20.f,0));
tr.setOrigin(btVector3(0,-20.f,0));
//create ground object
LocalCreatePhysicsObject(false,0,tr,groundShape);
CollisionShape* chassisShape = new BoxShape(SimdVector3(1.f,0.5f,2.f));
tr.setOrigin(SimdVector3(0,0.f,0));
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
tr.setOrigin(btVector3(0,0.f,0));
m_carChassis = LocalCreatePhysicsObject(true,800,tr,chassisShape);
@@ -211,8 +211,8 @@ const float TRIANGLE_SIZE=20.f;
gVehicleConstraint = m_physicsEnvironmentPtr->getVehicleConstraint(constraintId);
SimdVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
RaycastVehicle::VehicleTuning tuning;
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
btRaycastVehicle::btVehicleTuning tuning;
bool isFrontWheel=true;
int rightIndex = 0;
int upIndex = 1;
@@ -224,18 +224,18 @@ const float TRIANGLE_SIZE=20.f;
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
connectionPointCS0 = SimdVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
gVehicleConstraint->AddWheel(&wheelMotionState[1],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
connectionPointCS0 = SimdVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
isFrontWheel = false;
gVehicleConstraint->AddWheel(&wheelMotionState[2],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
connectionPointCS0 = SimdVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
gVehicleConstraint->AddWheel(&wheelMotionState[3],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
@@ -280,8 +280,8 @@ void ForkLiftDemo::renderme()
float m[16];
int i;
CylinderShapeX wheelShape(SimdVector3(wheelWidth,wheelRadius,wheelRadius));
SimdVector3 wheelColor(1,0,0);
btCylinderShapeX wheelShape(btVector3(wheelWidth,wheelRadius,wheelRadius));
btVector3 wheelColor(1,0,0);
for (i=0;i<4;i++)
{
@@ -318,14 +318,14 @@ void ForkLiftDemo::clientMoveAndDisplay()
#ifdef USE_QUICKPROF
Profiler::beginBlock("render");
btProfiler::beginBlock("render");
#endif //USE_QUICKPROF
renderme();
#ifdef USE_QUICKPROF
Profiler::endBlock("render");
btProfiler::endBlock("render");
#endif
glFlush();
glutSwapBuffers();
@@ -419,7 +419,7 @@ void ForkLiftDemo::updateCamera()
//interpolate the camera height
m_cameraPosition[1] = (15.0*m_cameraPosition[1] + m_cameraTargetPosition[1] + m_cameraHeight)/16.0;
SimdVector3 camToObject = m_cameraTargetPosition - m_cameraPosition;
btVector3 camToObject = m_cameraTargetPosition - m_cameraPosition;
//keep distance between min and max distance
float cameraDistance = camToObject.length();