Bart/bullet3
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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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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
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42
Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp
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@@ -16,7 +16,7 @@ subject to the following restrictions:
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "PHY_Pro.h"
#include "UserCollisionAlgorithm.h"
@@ -31,17 +31,17 @@ GLDebugDrawer debugDrawer;
static const int NUM_VERTICES = 5;
static const int NUM_TRIANGLES=4;
SimdVector3 gVertices[NUM_VERTICES];
btVector3 gVertices[NUM_VERTICES];
int gIndices[NUM_TRIANGLES*3];
const float TRIANGLE_SIZE=80.f;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= CollisionObject::customMaterialCallback;
inline SimdScalar calculateCombinedFriction(float friction0,float friction1)
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(float friction0,float friction1)
{
SimdScalar friction = friction0 * friction1;
btScalar friction = friction0 * friction1;
const SimdScalar MAX_FRICTION = 10.f;
const btScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
@@ -50,7 +50,7 @@ inline SimdScalar calculateCombinedFriction(float friction0,float friction1)
}
inline SimdScalar calculateCombinedRestitution(float restitution0,float restitution1)
inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
{
return restitution0 * restitution1;
}
@@ -74,7 +74,7 @@ void UserCollisionAlgorithm::initPhysics()
{
#define TRISIZE 10.f
int vertStride = sizeof(SimdVector3);
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 50;
@@ -83,7 +83,7 @@ void UserCollisionAlgorithm::initPhysics()
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];
int i;
@@ -111,41 +111,41 @@ void UserCollisionAlgorithm::initPhysics()
}
}
TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(float*) &gVertices[0].x(),vertStride);
CollisionShape* trimeshShape = new BvhTriangleMeshShape(indexVertexArrays);
btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays);
//ConstraintSolver* solver = new SequentialImpulseConstraintSolver;
//ConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
CollisionDispatcher* dispatcher = new CollisionDispatcher();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
SimdVector3 maxAabb(10000,10000,10000);
OverlappingPairCache* broadphase = new AxisSweep3(-maxAabb,maxAabb);//SimpleBroadphase();
dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new SphereSphereCollisionAlgorithm::CreateFunc);
btVector3 maxAabb(10000,10000,10000);
btOverlappingPairCache* broadphase = new btAxisSweep3(-maxAabb,maxAabb);//SimpleBroadphase();
dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
bool isDynamic = false;
float mass = 0.f;
SimdTransform startTransform;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(SimdVector3(0,-2,0));
startTransform.setOrigin(btVector3(0,-2,0));
CcdPhysicsController* staticTrimesh = LocalCreatePhysicsObject(isDynamic, mass, startTransform,trimeshShape);
//enable custom material callback
staticTrimesh->GetRigidBody()->m_collisionFlags |= CollisionObject::customMaterialCallback;
staticTrimesh->GetRigidBody()->m_collisionFlags |= btCollisionObject::customMaterialCallback;
{
for (int i=0;i<10;i++)
{
CollisionShape* sphereShape = new SphereShape(1);
startTransform.setOrigin(SimdVector3(1,2*i,1));
btCollisionShape* sphereShape = new btSphereShape(1);
startTransform.setOrigin(btVector3(1,2*i,1));
LocalCreatePhysicsObject(true, 1, startTransform,sphereShape);
}
}