9931dd9684
add btMatrix3x3::solve33, thanks to Erin Catto, and added safety against division by zero
96 lines
3.0 KiB
C++
96 lines
3.0 KiB
C++
#include "GyroscopicSetup.h"
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static int gyroflags[4] = {
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0,//none, no gyroscopic term
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BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT,
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BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_EWERT,
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BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_CATTO
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};
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static const char* gyroNames[4] = {
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"No Coriolis",
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"Explicit",
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"Implicit",
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"Local Implicit"
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};
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void GyroscopicSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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gfxBridge.setUpAxis(2);
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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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btVector3 positions[4] = {
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btVector3( -10, 8,4),
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btVector3( -5, 8,4),
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btVector3( 0, 8,4),
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btVector3( 5, 8,4),
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};
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for (int i = 0; i<4; i++)
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{
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btCylinderShapeZ* pin = new btCylinderShapeZ(btVector3(0.1,0.1, 0.2));
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btBoxShape* box = new btBoxShape(btVector3(1,0.1,0.1));
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box->setMargin(0.01);
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pin->setMargin(0.01);
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btCompoundShape* compound = new btCompoundShape();
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compound->addChildShape(btTransform::getIdentity(), pin);
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btTransform offsetBox(btMatrix3x3::getIdentity(),btVector3(0,0,0.2));
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compound->addChildShape(offsetBox, box);
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btScalar masses[2] = {0.3,0.1};
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btVector3 localInertia;
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btTransform principal;
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compound->calculatePrincipalAxisTransform(masses,principal,localInertia);
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btRigidBody* body = new btRigidBody(1, 0, compound, localInertia);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(positions[i]);
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body->setCenterOfMassTransform(tr);
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body->setAngularVelocity(btVector3(0, 0.1, 10));//51));
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//body->setLinearVelocity(btVector3(3, 0, 0));
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body->setFriction(btSqrt(1));
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m_dynamicsWorld->addRigidBody(body);
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body->setFlags(gyroflags[i]);
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m_dynamicsWorld->getSolverInfo().m_maxGyroscopicForce = 10.f;
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body->setDamping(0.0000f, 0.000f);
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}
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{
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//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5)));
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btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 0, 1), 0);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, 0, 0));
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btRigidBody* groundBody;
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groundBody = createRigidBody(0, groundTransform, groundShape);
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groundBody->setFriction(btSqrt(2));
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}
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gfxBridge.autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void GyroscopicSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
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{
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CommonRigidBodySetup::syncPhysicsToGraphics(gfxBridge);
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//render method names above objects
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for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
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{
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btRigidBody* body = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[i]);
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if (body && body->getInvMass()>0)
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{
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btTransform tr = body->getWorldTransform();
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btVector3 pos = tr.getOrigin()+btVector3(0,0,2);
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btScalar size=1;
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gfxBridge.drawText3D(gyroNames[i],pos.x(),pos.y(),pos.z(),size);
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}
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}
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}
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