548fe5b04e
add small experiments to distribute points on a sphere prepare for coordinate frame demo (incomplete) fix/hack around gwen update of scroll bars and Focu
91 lines
2.3 KiB
C++
91 lines
2.3 KiB
C++
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#include "CoordinateFrameDemoPhysicsSetup.h"
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#include "btBulletDynamicsCommon.h"
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Z 5
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bool showRigidBodyCenterOfMass = true;
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void CoordinateFrameDemoPhysicsSetup::debugDraw()
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{
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/*
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for (int i=0;i<m_dynamicsWorld->getCollisionObjectArray().size();i++)
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{
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const btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
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if (showRigidBodyCenterOfMass)
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{
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m_dynamicsWorld->getDebugDrawer()->drawTransform(colObj->getWorldTransform(),1);
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}
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}
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*/
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m_dynamicsWorld->debugDrawWorld();
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}
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void CoordinateFrameDemoPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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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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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(m_dynamicsWorld->getDebugDrawer()->getDebugMode() + btIDebugDraw::DBG_DrawFrames);
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btScalar sqr2 = btSqrt(2);
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btVector3 tetraVerts[] = {
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btVector3(1.f, 0.f, -1/sqr2),
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btVector3(-1.f, 0.f, -1/sqr2),
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btVector3(0, 1.f, 1/sqr2),
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btVector3(0, -1.f, 1/sqr2),
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};
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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btCompoundShape* hull = new btCompoundShape();
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btConvexHullShape* childHull = new btConvexHullShape(&tetraVerts[0].getX(),sizeof(tetraVerts)/sizeof(btVector3),sizeof(btVector3));
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childHull->initializePolyhedralFeatures();
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btTransform childTrans;
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childTrans.setIdentity();
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childTrans.setOrigin(btVector3(2,0,0));
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hull->addChildShape(childTrans,childHull);
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gfxBridge.createCollisionShapeGraphicsObject(hull);
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m_collisionShapes.push_back(hull);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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hull->calculateLocalInertia(mass,localInertia);
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startTransform.setOrigin(btVector3(0,0,0));
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btRigidBody* body = createRigidBody(mass,startTransform,hull);
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gfxBridge.createRigidBodyGraphicsObject(body, btVector3(1, 1, 0));
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}
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}
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