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

Add setUserIndex/getUserIndex (int index) to btCollisionShape

Browse Source 
Share physics setup of BasicDemo between different graphics frameworks, see Demos\BasicDemo\BasicDemoPhysicsSetup.*
Plan is to do this for all Bullet demos.
Improve gwen performance and cursor navigation for tree control.
tweak shadowmap size
SimpleOpenGL3App::registerCubeShape accepts half extents
This commit is contained in:
erwin coumans
2014-05-20 12:02:01 -07:00
parent f213b00022
commit eb74688c18
23 changed files with 657 additions and 303 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Demos3/AllBullet2Demos/CMakeLists.txt
View File

@@ -12,6 +12,8 @@ SET(App_AllBullet2Demos_SRCS
BulletDemoEntries.h
../bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp
../bullet2/BasicDemo/Bullet2RigidBodyDemo.h
../../Demos/BasicDemo/BasicDemoPhysicsSetup.cpp
../../Demos/BasicDemo/BasicDemoPhysicsSetup.h
../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h
../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp

2
Demos3/AllBullet2Demos/main.cpp
View File

@@ -217,7 +217,7 @@ int main(int argc, char* argv[])
app->swapBuffer();
} while (!app->m_window->requestedExit());
selectDemo(0);
// selectDemo(0);
delete gui;
delete app;
return 0;

2
Demos3/AllBullet2Demos/premake4.lua
View File

@@ -23,6 +23,8 @@
"**.h",
"../bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp",
"../bullet2/BasicDemo/Bullet2RigidBodyDemo.h",
"../../Demos/BasicDemo/BasicDemoPhysicsSetup.cpp",
"../../Demos/BasicDemo/BasicDemoPhysicsSetup.h",
"../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp",
"../bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h",
"../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp",

118
Demos3/bullet2/BasicDemo/BasicDemo.cpp
View File

@@ -32,6 +32,7 @@ void BasicDemo::createGround(int cubeShapeId)
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
@@ -52,88 +53,60 @@ void BasicDemo::createGround(int cubeShapeId)
}
void BasicDemo::initPhysics()
{
// Bullet2RigidBodyDemo::initPhysics();
m_config = new btDefaultCollisionConfiguration;
m_dispatcher = new btCollisionDispatcher(m_config);
m_bp = new btDbvtBroadphase();
m_solver = new btNNCGConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
int curColor=0;
//create ground
int cubeShapeId = m_glApp->registerCubeShape();
float pos[]={0,0,0};
float orn[]={0,0,0,1};
createGround(cubeShapeId);
{
btVector4 halfExtents(scaling,scaling,scaling,1);
btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
btTransform startTransform;
startTransform.setIdentity();
btScalar mass = 1.f;
btVector3 localInertia;
btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
colShape ->calculateLocalInertia(mass,localInertia);
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
startTransform.setOrigin(btVector3(
btScalar(2.0*scaling*i),
btScalar(2.*scaling+2.0*scaling*k),
btScalar(2.0*scaling*j)));
m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
}
}
}
}
m_physicsSetup.m_glApp = m_glApp;
m_physicsSetup.initPhysics();
m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
m_glApp->m_instancingRenderer->writeTransforms();
}
void BasicDemo::exitPhysics()
{
Bullet2RigidBodyDemo::exitPhysics();
m_physicsSetup.exitPhysics();
m_dynamicsWorld = 0;
//Bullet2RigidBodyDemo::exitPhysics();
}
//SimpleOpenGL3App* m_glApp;
btRigidBody* MyBasicDemoPhysicsSetup::createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
{
btRigidBody* body = BasicDemoPhysicsSetup::createRigidBody(mass,startTransform,shape);
int graphicsShapeId = shape->getUserIndex();
btAssert(graphicsShapeId>=0);
btVector3 localScaling = shape->getLocalScaling();
float color[]={0.3,0.3,1,1};
int graphicsInstanceId = m_glApp->m_instancingRenderer->registerGraphicsInstance(graphicsShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,localScaling);
body->setUserIndex(graphicsInstanceId);
//todo: create graphics representation
return body;
}
btBoxShape* MyBasicDemoPhysicsSetup::createBoxShape(const btVector3& halfExtents)
{
btBoxShape* box = BasicDemoPhysicsSetup::createBoxShape(halfExtents);
int cubeShapeId = m_glApp->registerCubeShape(halfExtents.x(),halfExtents.y(),halfExtents.z());
box->setUserIndex(cubeShapeId);
//todo: create graphics representation
return box;
}
void BasicDemo::renderScene()
{
//sync graphics -> physics world transforms
{
for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
{
btVector3 pos = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getOrigin();
btQuaternion orn = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getRotation();
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,i);
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj ->getUserIndex();
if (index>=0)
{
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,index);
}
}
m_glApp->m_instancingRenderer->writeTransforms();
}
@@ -144,7 +117,10 @@ void BasicDemo::renderScene()
void BasicDemo::stepSimulation(float dt)
{
m_dynamicsWorld->stepSimulation(dt);
m_physicsSetup.stepSimulation(dt);
m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
/*
//print applied force

12
Demos3/bullet2/BasicDemo/BasicDemo.h
View File

@@ -4,10 +4,22 @@
#include "LinearMath/btVector3.h"
#include "Bullet2RigidBodyDemo.h"
#include "../../../Demos/BasicDemo/BasicDemoPhysicsSetup.h"
struct MyBasicDemoPhysicsSetup : public BasicDemoPhysicsSetup
{
SimpleOpenGL3App* m_glApp;
virtual btRigidBody* createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
virtual btBoxShape* createBoxShape(const btVector3& halfExtents);
};
class BasicDemo : public Bullet2RigidBodyDemo
{
MyBasicDemoPhysicsSetup m_physicsSetup;
public: