69e5454d18
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
136 lines
3.3 KiB
C++
136 lines
3.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Ragdoll Demo
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Copyright (c) 2007 Starbreeze Studios
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Originally Written by: Marten Svanfeldt
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ReWritten by: Francisco León
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*/
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#include "btBulletDynamicsCommon.h"
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#include "GlutStuff.h"
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#include "GL_ShapeDrawer.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "GenericJointDemo.h"
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GLDebugDrawer debugDrawer;
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void GenericJointDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(true);
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// Setup the basic world
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btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
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btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
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m_dynamicsWorld->setGravity(btVector3(0,-30,0));
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m_dynamicsWorld->setDebugDrawer(&debugDrawer);
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// Setup a big ground box
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-15,0));
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localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
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}
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// Spawn one ragdoll
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spawnRagdoll();
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clientResetScene();
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}
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void GenericJointDemo::spawnRagdoll(bool random)
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{
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RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
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m_ragdolls.push_back(ragDoll);
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}
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void GenericJointDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = getDeltaTimeMicroseconds();
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float minFPS = 1000000.f/60.f;
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if (ms > minFPS)
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ms = minFPS;
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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renderme();
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glFlush();
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swapBuffers();
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}
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void GenericJointDemo::displayCallback()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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renderme();
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glFlush();
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swapBuffers();
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}
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void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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switch (key)
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{
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case 'e':
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spawnRagdoll(true);
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break;
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default:
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DemoApplication::keyboardCallback(key, x, y);
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}
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}
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