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Added a very basic dynamics demo, only using spheres (and optionally boxes)

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This commit is contained in:
ejcoumans
2006-10-09 20:41:18 +00:00
parent 659207e7a3
commit f3eb3cfa37
12 changed files with 311 additions and 16 deletions
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164
Demos/BasicDemo/BasicDemo.cpp Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
//#define USE_GROUND_BOX 1
#define PRINT_CONTACT_STATISTICS 1
int gNumObjects = 120;
#define HALF_EXTENTS 1.f
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
float deltaTime = 1.f/60.f;
float gCollisionMargin = 0.05f;
#include "BasicDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
////////////////////////////////////
GLDebugDrawer debugDrawer;
int main(int argc,char** argv)
{
BasicDemo* ccdDemo = new BasicDemo();
ccdDemo->initPhysics();
ccdDemo->setCameraDistance(50.f);
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",ccdDemo);
}
extern int gNumManifold;
extern int gOverlappingPairs;
extern int gTotalContactPoints;
void BasicDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(deltaTime);
renderme();
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num manifolds: %i\n",gNumManifold);
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
#endif //PRINT_CONTACT_STATISTICS
gTotalContactPoints = 0;
glutSwapBuffers();
}
void BasicDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_dynamicsWorld->updateAabbs();
renderme();
glFlush();
glutSwapBuffers();
}
///make this positive to show stack falling from a distance
///this shows the penalty tresholds in action, springy/spungy look
void BasicDemo::clientResetScene()
{
}
void BasicDemo::initPhysics()
{
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(true);
#ifdef USE_SWEEP_AND_PRUNE
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
#else
btOverlappingPairCache* broadphase = new btSimpleBroadphase;
#endif //USE_SWEEP_AND_PRUNE
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
#ifdef USE_GROUND_BOX
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new btSphereBoxCollisionAlgorithm::CreateFunc);
btCollisionAlgorithmCreateFunc* swappedSphereBox = new btSphereBoxCollisionAlgorithm::CreateFunc;
swappedSphereBox->m_swapped = true;
dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,swappedSphereBox);
#endif //USE_GROUND_BOX
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btSimpleDynamicsWorld(dispatcher,broadphase,solver);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
///create a few basic rigid bodies
//static ground
#ifdef USE_GROUND_BOX
btCollisionShape* groundShape = new btBoxShape(btVector3(50.f,50.f,50.f));
#else
btCollisionShape* groundShape = new btSphereShape(50.f);
#endif//USE_GROUND_BOX
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
localCreateRigidBody(0.f,groundTransform,groundShape);
//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
btCollisionShape* sphereShape = new btSphereShape(1.f);
int i;
for (i=0;i<gNumObjects;i++)
{
sphereShape->setMargin(gCollisionMargin);
btTransform trans;
trans.setIdentity();
//stack them
int colsize = 10;
int row = (i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
btVector3 pos(col*2*HALF_EXTENTS + (row2%2)*HALF_EXTENTS,
row*2*HALF_EXTENTS+HALF_EXTENTS,0);
trans.setOrigin(pos);
btRigidBody* body = localCreateRigidBody(1.f,trans,sphereShape);
}
clientResetScene();
}

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Demos/BasicDemo/BasicDemo.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
*/
#ifndef BASIC_DEMO_H
#define BASIC_DEMO_H
#include "DemoApplication.h"
///BasicDemo is good starting point for learning the code base and porting.
class BasicDemo : public DemoApplication
{
public:
void initPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
virtual void clientResetScene();
};
#endif //BASIC_DEMO_H

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Demos/BasicDemo/CMakeLists.txt Normal file
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# This is the variable for Windows. I use this to define the root of my directory structure.
SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
# You shouldn't have to modify anything below this line
########################################################
# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
# This should be the case.
INCLUDE (${CMAKE_ROOT}/Modules/FindGLU.cmake)
INCLUDE (${CMAKE_ROOT}/Modules/FindGLUT.cmake)
INCLUDE (${CMAKE_ROOT}/Modules/FindOpenGL.cmake)
IF (WIN32)
# This is the Windows code for which Opengl, and Glut are not properly installed
# since I can't install them I must cheat and copy libraries around
INCLUDE_DIRECTORIES(${GLUT_ROOT})
# LINK_DIRECTORIES(${GLUT_ROOT}\\lib)
IF (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
# LINK_LIBRARIES(${GLUT_ROOT}\\lib\\glut32 ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
# TARGET_LINK_LIBRARIES(table ${GLUT_ROOT}\\lib\\glut32)
#
# ADD_CUSTOM_COMMAND(TARGET table POST_BUILD COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2005\\Debug
# COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs2003\\Debug
# COMMAND copy ${GLUT_ROOT}\\lib\\glut32.dll ${GLUT_ROOT}\\bin\\vs6\\Debug)
ELSE (${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
# LINK_LIBRARIES(${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
# TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY})
ENDIF(${GLUT_glut_LIBRARY} MATCHES "GLUT_glut_LIBRARY-NOTFOUND")
# TARGET_LINK_LIBRARIES(table ${OPENGL_gl_LIBRARY})
# TARGET_LINK_LIBRARIES(table ${OPENGL_glu_LIBRARY})
ELSE (WIN32)
# This is the lines for linux. This should always work if everything is installed and working fine.
# SET(CMAKE_BUILD_TYPE Debug)
# SET(CMAKE_CXX_FLAGS_DEBUG "-g")
INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR})
# TARGET_LINK_LIBRARIES(table ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
# TARGET_LINK_LIBRARIES(checker ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY})
ENDIF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL }
)
LINK_LIBRARIES(
LibOpenGLSupport LibBulletDynamics LibBulletCollision LibLinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY}
)
ADD_EXECUTABLE(BasicDemo
BasicDemo.cpp
)

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Demos/BasicDemo/Jamfile Normal file
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SubDir TOP Demos BasicDemo ;
BulletDemo BasicDemo : [ Wildcard *.h *.cpp ] ;