6c9bfce975
Added demos for rigid and multi body soft (compliant) contact. Will also add simplified Hertz compliant contact, by dynamically modifying the ERP/CFM to mimic a non-linear spring. Note that btManifoldPoint is growing too big, we need to implement proper contact constraints derived from btTypedConstraint.
156 lines
4.8 KiB
Lua
156 lines
4.8 KiB
Lua
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project "App_ExampleBrowser"
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hasCL = findOpenCL("clew")
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if (hasCL) then
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-- project ("App_Bullet3_OpenCL_Demos_" .. vendor)
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initOpenCL("clew")
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end
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language "C++"
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kind "ConsoleApp"
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includedirs {
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".",
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"../../src",
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"../ThirdPartyLibs",
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}
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if _OPTIONS["lua"] then
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includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
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links {"lua-5.2.3"}
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defines {"ENABLE_LUA"}
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files {"../LuaDemo/LuaPhysicsSetup.cpp"}
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end
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links{"gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
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initOpenGL()
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initGlew()
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if (hasCL) then
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links {
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"Bullet3OpenCL_clew",
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"Bullet3Dynamics",
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"Bullet3Collision",
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"Bullet3Geometry",
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"Bullet3Common",
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}
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end
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defines {"INCLUDE_CLOTH_DEMOS"}
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files {
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"*.cpp",
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"*.h",
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"GwenGUISupport/*.cpp",
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"GwenGUISupport/*.h",
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"../SharedMemory/PhysicsClientC_API.cpp",
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"../SharedMemory/PhysicsClientC_API.h",
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"../SharedMemory/PhysicsServerExample.cpp",
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"../SharedMemory/PhysicsClientExample.cpp",
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"../SharedMemory/PhysicsServer.cpp",
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"../SharedMemory/PhysicsServerSharedMemory.cpp",
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"../SharedMemory/PhysicsClientSharedMemory.cpp",
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"../SharedMemory/PhysicsClient.cpp",
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"../SharedMemory/PosixSharedMemory.cpp",
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"../SharedMemory/Win32SharedMemory.cpp",
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"../SharedMemory/PhysicsDirect.cpp",
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"../SharedMemory/PhysicsDirect.h",
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"../SharedMemory/PhysicsDirectC_API.cpp",
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"../SharedMemory/PhysicsDirectC_API.h",
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"../SharedMemory/PhysicsLoopBack.cpp",
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"../SharedMemory/PhysicsLoopBack.h",
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"../SharedMemory/PhysicsLoopBackC_API.cpp",
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"../SharedMemory/PhysicsLoopBackC_API.h",
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"../SharedMemory/PhysicsServerCommandProcessor.cpp",
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"../SharedMemory/PhysicsServerCommandProcessor.h",
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"../MultiThreading/MultiThreadingExample.cpp",
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"../MultiThreading/b3PosixThreadSupport.cpp",
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"../MultiThreading/b3Win32ThreadSupport.cpp",
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"../MultiThreading/b3ThreadSupportInterface.cpp",
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"../InverseDynamics/InverseDynamicsExample.cpp",
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"../InverseDynamics/InverseDynamicsExample.h",
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"../BasicDemo/BasicExample.*",
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"../Tutorial/*",
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"../Collision/*",
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"../Collision/Internal/*",
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"../Benchmarks/*",
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"../CommonInterfaces/*",
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"../ForkLift/ForkLiftDemo.*",
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"../Importers/**",
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"../../Extras/Serialize/BulletWorldImporter/*",
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"../../Extras/Serialize/BulletFileLoader/*",
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"../Planar2D/Planar2D.*",
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"../RenderingExamples/*",
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"../VoronoiFracture/*",
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"../SoftDemo/*",
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"../RollingFrictionDemo/*",
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"../FractureDemo/*",
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"../DynamicControlDemo/*",
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"../Constraints/*",
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"../Vehicles/*",
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"../Raycast/*",
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"../MultiBody/MultiDofDemo.cpp",
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"../MultiBody/TestJointTorqueSetup.cpp",
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"../MultiBody/Pendulum.cpp",
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"../MultiBody/MultiBodySoftContact.cpp",
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"../MultiBody/MultiBodyConstraintFeedback.cpp",
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"../MultiBody/InvertedPendulumPDControl.cpp",
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"../RigidBody/RigidBodySoftContact.cpp",
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"../ThirdPartyLibs/stb_image/*",
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"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
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"../ThirdPartyLibs/tinyxml/*",
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"../Utils/b3Clock.*",
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"../Utils/b3ResourcePath.*",
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"../GyroscopicDemo/GyroscopicSetup.cpp",
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"../GyroscopicDemo/GyroscopicSetup.h",
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"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
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"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp",
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"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp",
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"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp",
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"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h",
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"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h",
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"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h",
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"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h",
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"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h",
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"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h",
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"../ThirdPartyLibs/tinyxml/tinystr.cpp",
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"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
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"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
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"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
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"../ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h",
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"../ThirdPartyLibs/urdf/boost_replacement/shared_ptr.h",
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"../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp",
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"../ThirdPartyLibs/urdf/boost_replacement/printf_console.h",
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"../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp",
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"../ThirdPartyLibs/urdf/boost_replacement/string_split.h",
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}
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if (hasCL and findOpenGL3()) then
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files {
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"../OpenCL/broadphase/*",
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"../OpenCL/CommonOpenCL/*",
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"../OpenCL/rigidbody/GpuConvexScene.cpp",
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"../OpenCL/rigidbody/GpuRigidBodyDemo.cpp",
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}
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end
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if os.is("Linux") then
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initX11()
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end
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if os.is("MacOSX") then
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links{"Cocoa.framework"}
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end
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