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wrapped up first version of the FractureDemo

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move 'split impulse' / position solver before velocity solver, so that applied impulse is available for fracture
add btSliderConstraint::getAngularPos see http://code.google.com/p/bullet/issues/detail?id=489
This commit is contained in:
erwin.coumans
2011-03-18 00:20:52 +00:00
parent 74a65a6207
commit f17fa297d5
6 changed files with 172 additions and 149 deletions
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168
Demos/FractureDemo/FractureDemo.cpp
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@@ -50,7 +50,7 @@ int sFrameNumber = 0;
void FractureDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
@@ -73,45 +73,37 @@ void FractureDemo::initPhysics()
//m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = new btFractureDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
btFractureDynamicsWorld* fractureWorld = new btFractureDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = fractureWorld;
m_dynamicsWorld->getDispatchInfo().m_convexMaxDistanceUseCPT = true;
m_ShootBoxInitialSpeed=100;
//m_splitImpulse removes the penetration resolution from the applied impulse, otherwise objects might fracture due to deep penetrations.
m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar 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);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(50,1,50));
/// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,0,0));
localCreateRigidBody(0.f,groundTransform,groundShape);
}
{
///create a few basic rigid bodies
btCollisionShape* shape = new btBoxShape(btVector3(1,1,1));
m_collisionShapes.push_back(shape);
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(5,2,0));
localCreateRigidBody(0.f,tr,shape);
}
{
//create a few dynamic rigidbodies
@@ -136,45 +128,52 @@ void FractureDemo::initPhysics()
colShape->calculateLocalInertia(mass,localInertia);
int gNumObjects = 10;
int gNumObjects = 10;
for (int i=0;i<gNumObjects;i++)
{
btTransform trans;
trans.setIdentity();
for (int i=0;i<gNumObjects;i++)
{
btTransform trans;
trans.setIdentity();
btVector3 pos(i*2*CUBE_HALF_EXTENTS ,10,0);
trans.setOrigin(pos);
btVector3 pos(i*2*CUBE_HALF_EXTENTS ,20,0);
trans.setOrigin(pos);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(trans);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btFractureBody* body = new btFractureBody(rbInfo, m_dynamicsWorld);
body->setActivationState(ISLAND_SLEEPING);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(trans);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btFractureBody* body = new btFractureBody(rbInfo, m_dynamicsWorld);
body->setLinearVelocity(btVector3(0,-10,0));
m_dynamicsWorld->addRigidBody(body);
body->setActivationState(ISLAND_SLEEPING);
m_dynamicsWorld->addRigidBody(body);
}
}
}
clientResetScene();
fractureWorld->stepSimulation(1./60.,0);
fractureWorld->glueCallback();
}
void FractureDemo::clientResetScene()
{
exitPhysics();
initPhysics();
}
void FractureDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
///step the simulation
if (m_dynamicsWorld)
{
@@ -182,13 +181,13 @@ void FractureDemo::clientMoveAndDisplay()
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
showMessage();
glFlush();
swapBuffers();
@@ -203,12 +202,11 @@ void FractureDemo::showMessage()
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
int lineWidth=350;
int lineWidth=380;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
glRasterPos3f(xStart, yStart, 0);
btFractureDynamicsWorld* world = (btFractureDynamicsWorld*)m_dynamicsWorld;
if (world->getFractureMode())
{
@@ -217,12 +215,14 @@ void FractureDemo::showMessage()
{
sprintf(buf,"Glue mode");
}
GLDebugDrawString(xStart,20,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
GLDebugDrawString(xStart,yStart,buf);
sprintf(buf,"f to toggle fracture/glue mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
sprintf(buf,"space to restart, mouse to pick/shoot");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
@@ -233,7 +233,7 @@ void FractureDemo::showMessage()
void FractureDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
showMessage();
@@ -246,15 +246,6 @@ void FractureDemo::displayCallback(void) {
swapBuffers();
}
void FractureDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key=='f')
{
} else
{
PlatformDemoApplication::keyboardCallback(key,x,y);
}
}
void FractureDemo::keyboardUpCallback(unsigned char key, int x, int y)
{
@@ -265,21 +256,10 @@ void FractureDemo::keyboardUpCallback(unsigned char key, int x, int y)
}
PlatformDemoApplication::keyboardUpCallback(key,x,y);
}
void FractureDemo::shootBox(const btVector3& destination)
{
@@ -305,12 +285,12 @@ void FractureDemo::shootBox(const btVector3& destination)
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btFractureBody* body = new btFractureBody(mass,0,m_shootBoxShape,localInertia,&mass,1,m_dynamicsWorld);
body->setWorldTransform(startTransform);
m_dynamicsWorld->addRigidBody(body);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
@@ -324,14 +304,14 @@ void FractureDemo::shootBox(const btVector3& destination)
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(1.);
body->setCcdSweptSphereRadius(0.2f);
}
}
void FractureDemo::exitPhysics()
{
@@ -359,17 +339,23 @@ void FractureDemo::exitPhysics()
delete shape;
}
m_collisionShapes.clear();
delete m_dynamicsWorld;
m_dynamicsWorld=0;
delete m_solver;
m_solver=0;
delete m_broadphase;
m_broadphase=0;
delete m_dispatcher;
m_dispatcher=0;
delete m_collisionConfiguration;
m_collisionConfiguration=0;
}