87df3d0f32
Some dynamic memory allocations have been replace by pool allocation or stack allocations. quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360) Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change): Example: btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
275 lines
8.5 KiB
C++
275 lines
8.5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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*/
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///
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/// DoublePrecisionDemo shows high level usage of the Collision Detection.
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///
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#include "GL_Simplex1to4.h"
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//include common Bullet Collision Detection headerfiles
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#include "btBulletCollisionCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BMF_Api.h"
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#include "GL_ShapeDrawer.h"
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#include "DoublePrecisionDemo.h"
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#include "GlutStuff.h"
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#include "GLDebugDrawer.h"
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btScalar yaw=btScalar(0.);
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btScalar pitch=btScalar(0.);
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btScalar roll=btScalar(0.);
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const int maxNumObjects = 4;
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const int numObjects = 2;
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GL_Simplex1to4 simplex;
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btCollisionObject objects[maxNumObjects];
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btCollisionWorld* collisionWorld = 0;
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// so pixel ratio is 1:1
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int screenWidth = 640;
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int screenHeight = 640;
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GLDebugDrawer debugDrawer;
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const btScalar LARGE_DISTANCE_FROM_ORIGIN = btScalar(999999.0);
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const btScalar VERY_SMALL_INCREMENT = btScalar(0.000009);
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int main(int argc,char** argv)
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{
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DoublePrecisionDemo* doublePrecisionDemo = new DoublePrecisionDemo();
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doublePrecisionDemo->initPhysics();
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doublePrecisionDemo->setCameraDistance(btScalar(2.0));
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doublePrecisionDemo->clientResetScene();
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return glutmain(argc, argv,screenWidth,screenHeight,"Double Precision Demo",doublePrecisionDemo);
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}
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void DoublePrecisionDemo::initPhysics()
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{
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m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
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btMatrix3x3 basisA;
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basisA.setIdentity();
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btMatrix3x3 basisB;
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basisB.setIdentity();
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objects[0].getWorldTransform().setBasis(basisA);
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objects[1].getWorldTransform().setBasis(basisB);
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btBoxShape* boxA = new btBoxShape(btVector3(0.5,0.5,0.5));
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btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
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objects[0].setCollisionShape(boxA);//&hullA;
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objects[1].setCollisionShape(boxB);//&hullB;
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btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
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btVector3 worldAabbMin(80000,80000,80000);
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btVector3 worldAabbMax(120000,120000,120000);
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btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
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collisionWorld = new btCollisionWorld(dispatcher,broadphase);
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collisionWorld->addCollisionObject(&objects[0]);
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collisionWorld->addCollisionObject(&objects[1]);
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}
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//to be implemented by the demo
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void DoublePrecisionDemo::clientMoveAndDisplay()
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{
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displayCallback();
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}
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static btVoronoiSimplexSolver sGjkSimplexSolver;
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btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
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void DoublePrecisionDemo::displayCallback(void)
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
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if (collisionWorld)
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collisionWorld->performDiscreteCollisionDetection();
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int i;
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///one way to draw all the contact points is iterating over contact manifolds / points:
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int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
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for (i=0;i<numManifolds;i++)
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{
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btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
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btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
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btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
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contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
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int numContacts = contactManifold->getNumContacts();
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for (int j=0;j<numContacts;j++)
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{
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btManifoldPoint& pt = contactManifold->getContactPoint(j);
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glBegin(GL_LINES);
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glColor3f(1, 1, 1);
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btVector3 ptA = pt.getPositionWorldOnA() - m_cameraPosition;
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btVector3 ptB = pt.getPositionWorldOnB() - m_cameraPosition;
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glVertex3d(ptA.x(),ptA.y(),ptA.z());
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glVertex3d(ptB.x(),ptB.y(),ptB.z());
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glEnd();
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}
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//you can un-comment out this line, and then all points are removed
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//contactManifold->clearManifold();
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}
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btScalar m[16];
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btTransform temp;
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btVector3 color;
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//int i;
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for (i=0;i<numObjects;i++)
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{
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if (i % 2)
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{
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color = btVector3(1,0,0);
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}
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else
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{
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color = btVector3(0,0,1);
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}
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temp = objects[i].getWorldTransform();
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temp.setOrigin(temp.getOrigin() - m_cameraPosition);
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temp.getOpenGLMatrix( m );
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GL_ShapeDrawer::drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode());
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}
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objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
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objects[0].getWorldTransform().setOrigin(objects[0].getWorldTransform().getOrigin()+btVector3(VERY_SMALL_INCREMENT,VERY_SMALL_INCREMENT,0));
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float yStart = 20.f;
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float yIncr = 20.f;
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char buf[124];
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glColor3f(0, 0, 0);
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setOrthographicProjection();
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glRasterPos3f(10.0f,yStart,0);
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#ifdef BT_USE_DOUBLE_PRECISION
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"Double Precision Mode");
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#else
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"Single Precision Mode");
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#endif
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yStart += yIncr;
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glRasterPos3f(10.0f,yStart,0);
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sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(10.0f,yStart,0);
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btScalar xValue = objects[0].getWorldTransform().getOrigin().x();
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btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
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btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
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sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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xValue = objects[1].getWorldTransform().getOrigin().x();
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yValue = objects[1].getWorldTransform().getOrigin().y();
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zValue = objects[1].getWorldTransform().getOrigin().z();
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glRasterPos3f(10.0f,yStart,0);
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sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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yStart += yIncr;
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glRasterPos3f(10.0f,yStart,0);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),"w=toggle wireframe/solid");
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resetPerspectiveProjection();
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glFlush();
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glutSwapBuffers();
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}
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void DoublePrecisionDemo::clientResetScene()
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{
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objects[0].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN));
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objects[1].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN));
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}
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void DoublePrecisionDemo::updateCamera()
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{
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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// look at the stationary cube
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m_cameraTargetPosition = objects[0].getWorldTransform().getOrigin();
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m_cameraPosition = m_cameraTargetPosition;
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m_cameraPosition[2] = m_cameraTargetPosition[2] - m_cameraDistance;
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//update OpenGL camera settings
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glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
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// To not loose precision in the rendering process, we shift the object to the origin
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gluLookAt(0.0, 0.0, 0.0,
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m_cameraTargetPosition[0]-m_cameraPosition[0],m_cameraTargetPosition[1]-m_cameraPosition[1], m_cameraTargetPosition[2]-m_cameraPosition[2],
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m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
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glMatrixMode(GL_MODELVIEW);
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}
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void DoublePrecisionDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key == 'w')
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{
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if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
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{
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m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
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m_debugMode |= btIDebugDraw::DBG_DrawAabb;
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}
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else
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{
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m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
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m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
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}
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return;
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}
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DemoApplication::keyboardCallback(key, x, y);
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}
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