297 lines
9.8 KiB
C++
Executable File
297 lines
9.8 KiB
C++
Executable File
/*
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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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Added by Roman Ponomarev (rponom@gmail.com)
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April 04, 2008
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*/
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//-----------------------------------------------------------------------------
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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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#include "SliderConstraintDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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//-----------------------------------------------------------------------------
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#define CUBE_HALF_EXTENTS 1.f
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//-----------------------------------------------------------------------------
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// A couple of sliders
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static btSliderConstraint *spSlider1, *spSlider2;
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//-----------------------------------------------------------------------------
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static void draw_axes(const btRigidBody& rb, const btTransform& frame)
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{
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glBegin(GL_LINES);
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// draw world transform
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btVector3 from = rb.getWorldTransform().getOrigin();
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btVector3 to = from + rb.getWorldTransform().getBasis() * btVector3(5,0,0);
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// X in red
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glColor3f(255.0F, 0.0F, 0.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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to = from + rb.getWorldTransform().getBasis() * btVector3(0,5,0);
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// Y in green
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glColor3f(0.0F, 255.0F, 0.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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to = from + rb.getWorldTransform().getBasis() * btVector3(0,0,5);
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// Z in blue
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glColor3f(0.0F, 0.0F, 255.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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// draw slider frame
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btTransform calc_frame = rb.getWorldTransform() * frame;
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from = calc_frame.getOrigin();
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to = from + calc_frame.getBasis() * btVector3(10,0,0);
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// X in red
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glColor3f(255.0F, 0.0F, 0.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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to = from + calc_frame.getBasis() * btVector3(0,10,0);
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// Y in green
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glColor3f(0.0F, 255.0F, 0.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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to = from + calc_frame.getBasis() * btVector3(0,0,10);
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// Z in blue
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glColor3f(0.0F, 0.0F, 255.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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glEnd();
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} // draw_axes()
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//-----------------------------------------------------------------------------
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static void drawSlider(btSliderConstraint* pSlider)
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{
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draw_axes(pSlider->getRigidBodyA(), pSlider->getFrameOffsetA());
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draw_axes(pSlider->getRigidBodyB(), pSlider->getFrameOffsetB());
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// draw limits in white
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btVector3 from(pSlider->getLowerLinLimit(), 0, 0);
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btVector3 to(pSlider->getUpperLinLimit(), 0, 0);
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btTransform trans;
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if(pSlider->getUseLinearReferenceFrameA())
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{
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trans = pSlider->getRigidBodyA().getWorldTransform() * pSlider->getFrameOffsetA();
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}
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else
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{
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trans = pSlider->getRigidBodyB().getWorldTransform() * pSlider->getFrameOffsetB();
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}
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from = trans * from;
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to = trans * to;
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glBegin(GL_LINES);
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glColor3f(255.0F, 255.0F, 255.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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glEnd();
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} // drawSlider()
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//-----------------------------------------------------------------------------
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void SliderConstraintDemo::initPhysics()
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{
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setCameraDistance(26.f);
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// init world
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
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m_constraintSolver = new btSequentialImpulseConstraintSolver();
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btDiscreteDynamicsWorld* wp = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
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// wp->getSolverInfo().m_numIterations = 20; // default is 10
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m_dynamicsWorld = wp;
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// add floor
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btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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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,-56,0));
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btRigidBody* groundBody = localCreateRigidBody(0, groundTransform, groundShape);
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// add box shape (will be reused for all bodies)
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btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
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m_collisionShapes.push_back(shape);
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// mass of dymamic bodies
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btScalar mass = btScalar(1.);
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// add dynamic rigid body A1
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btTransform trans;
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trans.setIdentity();
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btVector3 worldPos(0,0,0);
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trans.setOrigin(worldPos);
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btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape);
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pRbA1->setActivationState(DISABLE_DEACTIVATION);
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// add dynamic rigid body B1
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worldPos.setValue(-10,0,0);
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trans.setOrigin(worldPos);
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btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape);
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pRbB1->setActivationState(DISABLE_DEACTIVATION);
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// create slider constraint between A1 and B1 and add it to world
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInB = btTransform::getIdentity();
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spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
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spSlider1->setLowerLinLimit(-15.0F);
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spSlider1->setUpperLinLimit(-5.0F);
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spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
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spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
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m_dynamicsWorld->addConstraint(spSlider1, true);
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// add kinematic rigid body A2
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worldPos.setValue(0,2,0);
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trans.setOrigin(worldPos);
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btRigidBody* pRbA2 = localCreateRigidBody(0, trans, shape);
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pRbA2->setActivationState(DISABLE_DEACTIVATION);
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// add dynamic rigid body B2
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worldPos.setValue(-10,2,0);
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trans.setOrigin(worldPos);
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btRigidBody* pRbB2 = localCreateRigidBody(mass, trans, shape);
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pRbB2->setActivationState(DISABLE_DEACTIVATION);
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// create slider constraint between A2 and B2 and add it to world
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spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
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spSlider2->setLowerLinLimit(-15.0F);
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spSlider2->setUpperLinLimit(-5.0F);
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spSlider2->setLowerAngLimit(-SIMD_PI / 3.0F);
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spSlider2->setUpperAngLimit( SIMD_PI / 3.0F);
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// change default damping and restitution
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spSlider2->setDampingDirLin(0.005F);
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spSlider2->setRestitutionLimLin(1.1F);
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m_dynamicsWorld->addConstraint(spSlider2, true);
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} // SliderConstraintDemo::initPhysics()
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//-----------------------------------------------------------------------------
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SliderConstraintDemo::~SliderConstraintDemo()
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{
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//cleanup in the reverse order of creation/initialization
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int i;
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//removed/delete constraints
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for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
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{
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btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
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m_dynamicsWorld->removeConstraint(constraint);
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delete constraint;
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}
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//remove the rigidbodies from the dynamics world and delete them
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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//delete dynamics world
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delete m_dynamicsWorld;
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//delete solver
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delete m_constraintSolver;
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//delete broadphase
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delete m_overlappingPairCache;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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} // SliderConstraintDemo::~SliderConstraintDemo()
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//-----------------------------------------------------------------------------
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void SliderConstraintDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
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//during idle mode, just run 1 simulation step maximum
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int maxSimSubSteps = m_idle ? 1 : 1;
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if(m_idle)
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{
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dt = 1.0/420.f;
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}
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int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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bool verbose = false;
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if (verbose)
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{
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if (!numSimSteps)
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printf("Interpolated transforms\n");
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else
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{
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if (numSimSteps > maxSimSubSteps)
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{
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//detect dropping frames
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printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
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} else
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{
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printf("Simulated (%i) steps\n",numSimSteps);
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}
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}
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}
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renderme();
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drawSlider(spSlider1);
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drawSlider(spSlider2);
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glFlush();
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glutSwapBuffers();
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} // SliderConstraintDemo::clientMoveAndDisplay()
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//-----------------------------------------------------------------------------
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void SliderConstraintDemo::displayCallback(void)
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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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{
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m_dynamicsWorld->debugDrawWorld();
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}
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drawSlider(spSlider1);
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drawSlider(spSlider2);
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renderme();
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glFlush();
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glutSwapBuffers();
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} // SliderConstraintDemo::displayCallback()
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//-----------------------------------------------------------------------------
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