1e13454511
Will also add Erin Catto's local implicit version from the GDC 2015 tutorial Added demo for btGeneric6DofSpring2Constraint, thanks to Gabor Puhr Add gfxBridge.autogenerateGraphicsObjects method for Bullet 2 demos in new framework (need to implement all Bullet 2 collision shape types...) Use 1,1,1 for local scaling in btStaticPlaneShape
64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
#include "GyroscopicSetup.h"
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void GyroscopicSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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gfxBridge.setUpAxis(2);
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createEmptyDynamicsWorld();
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m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
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gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
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//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5)));
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btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 0, 1), 0);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, 0, 0));
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btRigidBody* groundBody;
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groundBody = createRigidBody(0, groundTransform, groundShape);
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groundBody->setFriction(btSqrt(2));
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btVector3 positions[4] = {
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btVector3(0.8, -5, 4),
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btVector3(0.8, -2, 4),
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btVector3(0.8, 2, 4),
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btVector3(0.8, 5, 4)
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};
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int gyroflags[4] = {
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0,//none, no gyroscopic term
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BT_ENABLE_GYROPSCOPIC_FORCE_EXPLICIT,
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BT_ENABLE_GYROPSCOPIC_FORCE_IMPLICIT_EWERT,
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BT_ENABLE_GYROPSCOPIC_FORCE_IMPLICIT_COOPER,
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};
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for (int i = 0; i<4; i++)
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{
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btCylinderShapeZ* top = new btCylinderShapeZ(btVector3(1, 1, 0.125));
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btCapsuleShapeZ* pin = new btCapsuleShapeZ(0.05, 1.5);
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top->setMargin(0.01);
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pin->setMargin(0.01);
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btCompoundShape* compound = new btCompoundShape();
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compound->addChildShape(btTransform::getIdentity(), top);
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compound->addChildShape(btTransform::getIdentity(), pin);
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btVector3 localInertia;
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top->calculateLocalInertia(1, localInertia);
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btRigidBody* body = new btRigidBody(1, 0, compound, localInertia);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(positions[i]);
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body->setCenterOfMassTransform(tr);
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body->setAngularVelocity(btVector3(1, 17, 3));
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body->setLinearVelocity(btVector3(0, 0, 0));
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body->setFriction(btSqrt(1));
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m_dynamicsWorld->addRigidBody(body);
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body->setFlags(gyroflags[i]);
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body->setDamping(0.00001f, 0.0001f);
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}
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gfxBridge.autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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