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Add support for generic 2d convex shapes, through wrapper class btConvex2dShape. See Bullet/Demos/Box2dDemo for example wrapping a btCylinderShape and 2d btConvexHullShape.

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Add some extra degeneracy debugging check in btGjkPairDetector
This commit is contained in:
erwin.coumans
2009-09-17 19:45:22 +00:00
parent 3da9c832ae
commit f65e829ca0
14 changed files with 657 additions and 50 deletions
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63
Demos/Box2dDemo/Box2dDemo.cpp
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@@ -13,13 +13,18 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBox2dShape.h"
#include "BulletCollision/CollisionShapes/btBox2dShape.h"
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "btBox2dBox2dCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h"
#include "BulletCollision/CollisionShapes/btConvex2dShape.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 17
#define ARRAY_SIZE_Y 17
#define ARRAY_SIZE_X 1
#define ARRAY_SIZE_Y 2
#define ARRAY_SIZE_Z 1
//maximum number of objects (and allow user to shoot additional boxes)
@@ -97,10 +102,19 @@ void Box2dDemo::initPhysics()
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVoronoiSimplexSolver* simplex = new btVoronoiSimplexSolver();
btMinkowskiPenetrationDepthSolver* pdSolver = new btMinkowskiPenetrationDepthSolver();
btConvex2dConvex2dAlgorithm::CreateFunc* convexAlgo2d = new btConvex2dConvex2dAlgorithm::CreateFunc(simplex,pdSolver);
m_dispatcher->registerCollisionCreateFunc(CUSTOM_CONVEX_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc);
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc());
m_broadphase = new btDbvtBroadphase();
//m_broadphase = new btSimpleBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
@@ -149,11 +163,24 @@ void Box2dDemo::initPhysics()
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.));
colShape->setMargin(0.);
btScalar u = 1*SCALING-0.04;
btVector3 points[3] = {btVector3(0,u,0),btVector3(-u,-u,0),btVector3(u,-u,0)};
btConvexShape* colShape= new btConvex2dShape(new btBoxShape(btVector3(SCALING*1,SCALING*1,0.04)));
//btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.04));
btConvexShape* colShape2= new btConvex2dShape(new btConvexHullShape(&points[0].getX(),3));
btConvexShape* colShape3= new btConvex2dShape(new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,0.04)));
//btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f);
colShape->setMargin(0.03);
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
m_collisionShapes.push_back(colShape2);
/// Create Dynamic Objects
btTransform startTransform;
@@ -183,12 +210,25 @@ void Box2dDemo::initPhysics()
for (int j = i; j < ARRAY_SIZE_Y; ++j)
{
startTransform.setOrigin(y);
startTransform.setOrigin(y-btVector3(-10,0,0));
//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::btRigidBodyConstructionInfo rbInfo(0,0,0);
switch (j%3)
{
#if 0
case 0:
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape,localInertia);
break;
case 1:
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
break;
#endif
default:
rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
}
btRigidBody* body = new btRigidBody(rbInfo);
//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
body->setActivationState(ISLAND_SLEEPING);
@@ -199,7 +239,8 @@ void Box2dDemo::initPhysics()
body->setActivationState(ISLAND_SLEEPING);
y += deltaY;
y += -0.8*deltaY;
//y += deltaY;
}
x += deltaX;