bf847b839a
CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects, During dispatch, finding an algorith etc. order can be swapped. fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
372 lines
9.5 KiB
C++
372 lines
9.5 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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//#define USER_DEFINED_FRICTION_MODEL 1
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#define PRINT_CONTACT_STATISTICS 1
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//#define USE_KINEMATIC_GROUND 1
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#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btQuickprof.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 "CcdPhysicsDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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extern float eye[3];
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extern int glutScreenWidth;
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extern int glutScreenHeight;
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const int maxProxies = 32766;
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const int maxOverlap = 65535;
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bool createConstraint = true;//false;
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bool useCompound = false;//true;//false;
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#ifdef _DEBUG
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const int gNumObjects = 120;
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#else
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const int gNumObjects = 120;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
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#endif
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const int maxNumObjects = 32760;
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int shapeIndex[maxNumObjects];
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#define CUBE_HALF_EXTENTS 1
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#define EXTRA_HEIGHT -20.f
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//GL_LineSegmentShape shapeE(btPoint3(-50,0,0),
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// btPoint3(50,0,0));
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static const int numShapes = 4;
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btCollisionShape* shapePtr[numShapes] =
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{
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///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
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///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
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//#define USE_GROUND_PLANE 1
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#ifdef USE_GROUND_PLANE
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new btStaticPlaneShape(btVector3(0,1,0),10),
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#else
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new btBoxShape (btVector3(50,10,50)),
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#endif
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new btCylinderShape (btVector3(CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin)),
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//new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
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new btSphereShape (CUBE_HALF_EXTENTS- 0.05f),
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//new btConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),
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//new btBU_Simplex1to4(btPoint3(-1,-1,-1),btPoint3(1,-1,-1),btPoint3(-1,1,-1),btPoint3(0,0,1)),
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//new btEmptyShape(),
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new btBoxShape (btVector3(0.4,1,0.8))
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};
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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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CcdPhysicsDemo* ccdDemo = new CcdPhysicsDemo();
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ccdDemo->initPhysics();
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ccdDemo->setCameraDistance(26.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 CcdPhysicsDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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#ifdef USE_KINEMATIC_GROUND
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//btQuaternion kinRotation(btVector3(0,0,1),0.);
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btVector3 kinTranslation(0,0,0.01);
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//kinematic object
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m_dynamicsWorld->getCollisionObjectArray()[0]->m_worldTransform.getOrigin() += kinTranslation;
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#endif //USE_KINEMATIC_GROUND
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if (m_dynamicsWorld)
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m_dynamicsWorld->stepSimulation(deltaTime);
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#ifdef USE_QUICKPROF
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btProfiler::beginBlock("render");
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#endif //USE_QUICKPROF
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renderme();
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#ifdef USE_QUICKPROF
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btProfiler::endBlock("render");
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#endif
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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 CcdPhysicsDemo::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 CcdPhysicsDemo::clientResetScene()
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{
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/*
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int i;
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int numObjects = m_physicsEnvironmentPtr->GetNumControllers();
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for (i=0;i<numObjects;i++)
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{
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//skip the first object (static ground)
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if (i>0)
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{
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CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
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if ((getDebugMode() & btIDebugDraw::DBG_NoHelpText))
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{
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if (ctrl->getRigidBody()->getCollisionShape()->getShapeType() != SPHERE_SHAPE_PROXYTYPE)
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{
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ctrl->getRigidBody()->SetCollisionShape(shapePtr[2]);
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} else
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{
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ctrl->getRigidBody()->SetCollisionShape(shapePtr[1]);
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}
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btBroadphaseProxy* bpproxy = ctrl->getRigidBody()->m_broadphaseHandle;
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m_physicsEnvironmentPtr->getBroadphase()->cleanProxyFromPairs(bpproxy);
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}
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//stack them
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int colsize = 10;
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int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
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int row2 = row;
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int col = (i)%(colsize)-colsize/2;
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if (col>3)
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{
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col=11;
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row2 |=1;
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}
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ctrl->setPosition(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
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row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
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ctrl->setOrientation(0,0,0,1);
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ctrl->SetLinearVelocity(0,0,0,false);
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ctrl->SetAngularVelocity(0,0,0,false);
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}
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}
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*/
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}
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///User-defined friction model, the most simple friction model available: no friction
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float myFrictionModel( btRigidBody& body1, btRigidBody& body2, btManifoldPoint& contactPoint, const btContactSolverInfo& solverInfo )
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{
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//don't do any friction
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return 0.f;
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}
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void CcdPhysicsDemo::initPhysics()
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{
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
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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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// btOverlappingPairCache* broadphase = new btSimpleBroadphase;
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#ifdef REGISTER_CUSTOM_COLLISION_ALGORITHM
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dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
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#endif //REGISTER_CUSTOM_COLLISION_ALGORITHM
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btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(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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#ifdef USER_DEFINED_FRICTION_MODEL
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btSequentialImpulseConstraintSolver* solver = (btSequentialImpulseConstraintSolver*) m_physicsEnvironmentPtr->GetConstraintSolver();
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//solver->setContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
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solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
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solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
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solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
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//m_physicsEnvironmentPtr->setNumIterations(2);
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#endif //USER_DEFINED_FRICTION_MODEL
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int i;
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btTransform tr;
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tr.setIdentity();
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for (i=0;i<gNumObjects;i++)
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{
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if (i>0)
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{
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shapeIndex[i] = 1;//sphere
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}
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else
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shapeIndex[i] = 0;
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}
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if (useCompound)
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{
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btCompoundShape* compoundShape = new btCompoundShape();
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btCollisionShape* oldShape = shapePtr[1];
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shapePtr[1] = compoundShape;
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btTransform ident;
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ident.setIdentity();
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ident.setOrigin(btVector3(0,0,0));
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compoundShape->addChildShape(ident,oldShape);//
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ident.setOrigin(btVector3(0,0,2));
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compoundShape->addChildShape(ident,new btSphereShape(0.9));//
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}
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for (i=0;i<gNumObjects;i++)
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{
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btCollisionShape* shape = shapePtr[shapeIndex[i]];
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shape->setMargin(gCollisionMargin);
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bool isDyna = i>0;
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btTransform trans;
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trans.setIdentity();
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if (i>0)
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{
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//stack them
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int colsize = 10;
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int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
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int row2 = row;
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int col = (i)%(colsize)-colsize/2;
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if (col>3)
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{
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col=11;
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row2 |=1;
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}
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btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
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row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
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trans.setOrigin(pos);
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} else
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{
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trans.setOrigin(btVector3(0,-30,0));
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}
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float mass = 1.f;
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if (!isDyna)
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mass = 0.f;
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btRigidBody* body = localCreateRigidBody(mass,trans,shape);
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#ifdef USE_KINEMATIC_GROUND
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if (mass == 0.f)
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{
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body->m_collisionFlags = btCollisionObject::CF_KINEMATIC_OJBECT;
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body->SetActivationState(DISABLE_DEACTIVATION);
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body->setLinearVelocity(btVector3(0,0,1));
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}
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#endif //USE_KINEMATIC_GROUND
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// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
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body->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
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//Experimental: better estimation of CCD Time of Impact:
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body->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS;
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#ifdef USER_DEFINED_FRICTION_MODEL
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///Advanced use: override the friction solver
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ctrl->getRigidBody()->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
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#endif //USER_DEFINED_FRICTION_MODEL
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}
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clientResetScene();
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}
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