165 lines
4.9 KiB
C++
165 lines
4.9 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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//#define USE_GROUND_BOX 1
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#define PRINT_CONTACT_STATISTICS 1
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int gNumObjects = 120;
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#define HALF_EXTENTS 1.f
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "BMF_Api.h"
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#include <stdio.h> //printf debugging
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float deltaTime = 1.f/60.f;
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float gCollisionMargin = 0.05f;
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#include "BasicDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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////////////////////////////////////
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GLDebugDrawer debugDrawer;
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int main(int argc,char** argv)
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{
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BasicDemo* ccdDemo = new BasicDemo();
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ccdDemo->initPhysics();
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ccdDemo->setCameraDistance(50.f);
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return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",ccdDemo);
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}
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extern int gNumManifold;
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extern int gOverlappingPairs;
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extern int gTotalContactPoints;
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void BasicDemo::clientMoveAndDisplay()
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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->stepSimulation(deltaTime);
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renderme();
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glFlush();
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//some additional debugging info
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#ifdef PRINT_CONTACT_STATISTICS
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printf("num manifolds: %i\n",gNumManifold);
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printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
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printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
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#endif //PRINT_CONTACT_STATISTICS
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gTotalContactPoints = 0;
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glutSwapBuffers();
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}
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void BasicDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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m_dynamicsWorld->updateAabbs();
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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///make this positive to show stack falling from a distance
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///this shows the penalty tresholds in action, springy/spungy look
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void BasicDemo::clientResetScene()
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{
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}
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void BasicDemo::initPhysics()
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{
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(true);
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#ifdef USE_SWEEP_AND_PRUNE
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
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#else
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btOverlappingPairCache* broadphase = new btSimpleBroadphase;
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#endif //USE_SWEEP_AND_PRUNE
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dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
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#ifdef USE_GROUND_BOX
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dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new btSphereBoxCollisionAlgorithm::CreateFunc);
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btCollisionAlgorithmCreateFunc* swappedSphereBox = new btSphereBoxCollisionAlgorithm::CreateFunc;
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swappedSphereBox->m_swapped = true;
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dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,swappedSphereBox);
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#endif //USE_GROUND_BOX
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btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
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m_dynamicsWorld = new btSimpleDynamicsWorld(dispatcher,broadphase,solver);
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m_dynamicsWorld->setGravity(btVector3(0,-10,0));
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m_dynamicsWorld->setDebugDrawer(&debugDrawer);
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///create a few basic rigid bodies
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//static ground
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#ifdef USE_GROUND_BOX
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btCollisionShape* groundShape = new btBoxShape(btVector3(50.f,50.f,50.f));
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#else
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btCollisionShape* groundShape = new btSphereShape(50.f);
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#endif//USE_GROUND_BOX
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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localCreateRigidBody(0.f,groundTransform,groundShape);
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//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
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btCollisionShape* sphereShape = new btSphereShape(1.f);
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int i;
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for (i=0;i<gNumObjects;i++)
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{
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sphereShape->setMargin(gCollisionMargin);
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btTransform trans;
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trans.setIdentity();
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//stack them
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int colsize = 10;
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int row = (i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS);
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int row2 = row;
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int col = (i)%(colsize)-colsize/2;
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btVector3 pos(col*2*HALF_EXTENTS + (row2%2)*HALF_EXTENTS,
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row*2*HALF_EXTENTS+HALF_EXTENTS,0);
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trans.setOrigin(pos);
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btRigidBody* body = localCreateRigidBody(1.f,trans,sphereShape);
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}
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clientResetScene();
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}
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