/* 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_PARALLEL_DISPATCHER 1 #include "CcdPhysicsEnvironment.h" #include "ParallelPhysicsEnvironment.h" #include "CcdPhysicsController.h" #include "MyMotionState.h" //#include "GL_LineSegmentShape.h" #include "CollisionShapes/BoxShape.h" #include "CollisionShapes/SphereShape.h" #include "CollisionShapes/ConeShape.h" #include "CollisionShapes/StaticPlaneShape.h" #include "CollisionShapes/CompoundShape.h" #include "CollisionShapes/Simplex1to4Shape.h" #include "CollisionShapes/EmptyShape.h" #include "CollisionShapes/TriangleMeshShape.h" #include "CollisionShapes/TriangleIndexVertexArray.h" #include "CollisionShapes/BvhTriangleMeshShape.h" #include "CollisionShapes/TriangleMesh.h" #include "Dynamics/RigidBody.h" #include "CollisionDispatch/CollisionDispatcher.h" #include "ParallelIslandDispatcher.h" #include "BroadphaseCollision/SimpleBroadphase.h" #include "BroadphaseCollision/AxisSweep3.h" #include "ConstraintSolver/Point2PointConstraint.h" #include "ConstraintSolver/HingeConstraint.h" #include "quickprof.h" #include "IDebugDraw.h" #include "GLDebugDrawer.h" #include "CollisionDispatch/SphereSphereCollisionAlgorithm.h" #include "PHY_Pro.h" #include "BMF_Api.h" #include //printf debugging float deltaTime = 1.f/60.f; #include "CcdPhysicsDemo.h" #include "GL_ShapeDrawer.h" #include "GlutStuff.h" extern float eye[3]; extern int glutScreenWidth; extern int glutScreenHeight; const int maxProxies = 32766; const int maxOverlap = 65535; bool createConstraint = true;//false; bool useCompound = false;//true;//false; #ifdef _DEBUG const int numObjects = 120; #else const int numObjects = 120;//try this in release mode: 3000. never go above 4095, unless you increate maxNumObjects value in DemoApplication.cp #endif const int maxNumObjects = 32760; int shapeIndex[maxNumObjects]; #ifdef USE_PARALLEL_DISPATCHER ParallelPhysicsEnvironment* m_physicsEnvironmentPtr = 0; #else CcdPhysicsEnvironment* m_physicsEnvironmentPtr = 0; #endif #define CUBE_HALF_EXTENTS 1 #define EXTRA_HEIGHT -20.f //GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0), // SimdPoint3(50,0,0)); static const int numShapes = 4; CollisionShape* shapePtr[numShapes] = { ///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate. ///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346 //#define USE_GROUND_PLANE 1 #ifdef USE_GROUND_PLANE new StaticPlaneShape(SimdVector3(0,1,0),10), #else new BoxShape (SimdVector3(50,10,50)), #endif new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)), new SphereShape (CUBE_HALF_EXTENTS- 0.05f), //new ConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS), //new BU_Simplex1to4(SimdPoint3(-1,-1,-1),SimdPoint3(1,-1,-1),SimdPoint3(-1,1,-1),SimdPoint3(0,0,1)), //new EmptyShape(), new BoxShape (SimdVector3(0.4,1,0.8)) }; //////////////////////////////////// GLDebugDrawer debugDrawer; int main(int argc,char** argv) { CcdPhysicsDemo* ccdDemo = new CcdPhysicsDemo(); ccdDemo->initPhysics(); ccdDemo->setCameraDistance(26.f); return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/",ccdDemo); } void CcdPhysicsDemo::clientMoveAndDisplay() { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); if (m_physicsEnvironmentPtr) m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime); #ifdef USE_QUICKPROF Profiler::beginBlock("render"); #endif //USE_QUICKPROF renderme(); #ifdef USE_QUICKPROF Profiler::endBlock("render"); #endif glFlush(); glutSwapBuffers(); } void CcdPhysicsDemo::displayCallback(void) { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); if (m_physicsEnvironmentPtr) { m_physicsEnvironmentPtr->UpdateAabbs(deltaTime); //draw contactpoints m_physicsEnvironmentPtr->CallbackTriggers(); } renderme(); glFlush(); glutSwapBuffers(); } ///make this positive to show stack falling from a distance ///this shows the penalty tresholds in action, springy/spungy look void CcdPhysicsDemo::clientResetScene() { int i; int numObjects = m_physicsEnvironmentPtr->GetNumControllers(); for (i=0;i0) { CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i); if ((getDebugMode() & IDebugDraw::DBG_NoHelpText)) { if (ctrl->GetRigidBody()->GetCollisionShape()->GetShapeType() != SPHERE_SHAPE_PROXYTYPE) { ctrl->GetRigidBody()->SetCollisionShape(shapePtr[2]); } else { ctrl->GetRigidBody()->SetCollisionShape(shapePtr[1]); } BroadphaseProxy* bpproxy = ctrl->GetRigidBody()->m_broadphaseHandle; m_physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy); } //stack them int colsize = 10; int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS); int row2 = row; int col = (i)%(colsize)-colsize/2; if (col>3) { col=11; row2 |=1; } ctrl->setPosition(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS, row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0); ctrl->setOrientation(0,0,0,1); ctrl->SetLinearVelocity(0,0,0,false); ctrl->SetAngularVelocity(0,0,0,false); } } } void CcdPhysicsDemo::initPhysics() { CollisionDispatcher* dispatcher = new CollisionDispatcher(); ParallelIslandDispatcher* dispatcher2 = new ParallelIslandDispatcher(); SimdVector3 worldAabbMin(-10000,-10000,-10000); SimdVector3 worldAabbMax(10000,10000,10000); OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies,maxOverlap); // OverlappingPairCache* broadphase = new SimpleBroadphase; dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new SphereSphereCollisionAlgorithm::CreateFunc); #ifdef USE_PARALLEL_DISPATCHER m_physicsEnvironmentPtr = new ParallelPhysicsEnvironment(dispatcher2,broadphase); #else m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase); #endif m_physicsEnvironmentPtr->setDeactivationTime(2.f); m_physicsEnvironmentPtr->setGravity(0,-10,0); m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer); int i; SimdTransform tr; tr.setIdentity(); for (i=0;i0) { shapeIndex[i] = 1;//sphere } else shapeIndex[i] = 0; } if (useCompound) { CompoundShape* compoundShape = new CompoundShape(); CollisionShape* oldShape = shapePtr[1]; shapePtr[1] = compoundShape; SimdTransform ident; ident.setIdentity(); ident.setOrigin(SimdVector3(0,0,0)); compoundShape->AddChildShape(ident,oldShape);// ident.setOrigin(SimdVector3(0,0,2)); compoundShape->AddChildShape(ident,new SphereShape(0.9));// } for (i=0;iSetMargin(0.05f); bool isDyna = i>0; SimdTransform trans; trans.setIdentity(); trans.setOrigin(SimdVector3(0,-30+i*CUBE_HALF_EXTENTS*2,0)); float mass = 1.f; if (!isDyna) mass = 0.f; CcdPhysicsController* ctrl = LocalCreatePhysicsObject(isDyna,mass,trans,shape); // Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS ctrl->GetRigidBody()->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS; //Experimental: better estimation of CCD Time of Impact: ctrl->GetRigidBody()->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS; } clientResetScene(); m_physicsEnvironmentPtr->SyncMotionStates(0.f); }