69e5454d18
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
689 lines
18 KiB
C++
689 lines
18 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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#include "btBulletDynamicsCommon.h"
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#include "GimpactTestDemo.h"
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#define SHOW_NUM_DEEP_PENETRATIONS
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#include "LinearMath/btDefaultMotionState.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btDefaultMotionState.h"
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#include "GLDebugFont.h"
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/// Including GIMPACT here
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#include "GLDebugDrawer.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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/// Include Torus Mesh here
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#include "TorusMesh.h"
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#include "BunnyMesh.h"
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#ifdef SHOW_NUM_DEEP_PENETRATIONS
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extern int gNumDeepPenetrationChecks;
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extern int gNumSplitImpulseRecoveries;
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extern int gNumGjkChecks;
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#endif //
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//Real dts = 0.000001f;
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Real dts = 1.0 / 60.0;
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///**************************************************************************************
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/// GIMPACT Test Demo made by DevO
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///
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///**************************************************************************************
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GimpactConcaveDemo::~GimpactConcaveDemo()
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{
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int i;
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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 m_dynamicsWorld;
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delete m_indexVertexArrays;
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delete m_trimeshShape;
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delete m_indexVertexArrays2;
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delete m_trimeshShape2;
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for (i=0;i<m_collisionShapes.size();i++)
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{
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btCollisionShape* shape = m_collisionShapes[i];
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delete shape;
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}
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delete m_gimpactCollisionCreateFunc;
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delete m_collisionConfiguration;
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delete m_dispatcher;
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delete m_broadphase;
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delete m_constraintSolver;
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}
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//------------------------------------------------------------------------------
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void GimpactConcaveDemo::renderme()
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{
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updateCamera();
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btScalar m[16];
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if (m_dynamicsWorld)
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{
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btVector3 worldBoundsMin,worldBoundsMax;
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getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
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int numObjects = m_dynamicsWorld->getNumCollisionObjects();
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btVector3 wireColor(1,0,0);
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for (int i=0;i<numObjects;i++)
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{
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btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(colObj);
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if (body && body->getMotionState())
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{
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btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
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myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
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} else
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{
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colObj->getWorldTransform().getOpenGLMatrix(m);
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}
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btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
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if (i & 1)
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{
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wireColor = btVector3(0.f,0.0f,1.f);
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}
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///color differently for active, sleeping, wantsdeactivation states
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if (colObj->getActivationState() == 1) //active
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{
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if (i & 1)
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{
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wireColor += btVector3 (0.8f,0.1f,0.1f);
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} else
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{
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wireColor += btVector3 (0.5f,0.f,0.f);
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}
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}
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if (colObj->getActivationState() == 2) //ISLAND_SLEEPING
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{
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if (i & 1)
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{
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wireColor += btVector3 (0.5f,0.8f, 0.5f);
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} else
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{
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wireColor += btVector3 (0.f,0.5f,0.f);
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}
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}
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m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
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}
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float xOffset = 10.f;
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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(xOffset,yStart,0);
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sprintf(buf,"mouse to interact");
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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/* glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"space to reset");
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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*/
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"cursor keys and z,x to navigate");
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"i to toggle simulation, s single step");
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"q to quit");
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,". to shoot TRIMESH (dot)");
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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// not yet hooked up again after refactoring...
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/* glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"d to toggle deactivation");
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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*/
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/*
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"a to draw temporal AABBs");
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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*/
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"h to toggle help text");
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
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bool useCCD = ((getDebugMode() & btIDebugDraw::DBG_EnableCCD) != 0);
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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#ifdef SHOW_NUM_DEEP_PENETRATIONS
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(xOffset,yStart,0);
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sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
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GLDebugDrawString(xOffset,yStart,buf);
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yStart += yIncr;
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#endif //SHOW_NUM_DEEP_PENETRATIONS
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resetPerspectiveProjection();
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}
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}
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//------------------------------------------------------------------------------
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void GimpactConcaveDemo::initGImpactCollision()
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{
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/// Create Torus Shape
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{
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m_indexVertexArrays = new btTriangleIndexVertexArray
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(NUM_TRIANGLES,
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&gIndices[0][0],
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3*sizeof(int),
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NUM_VERTICES,
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(Real*) &gVertices[0],sizeof(Real)*3);
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#ifdef BULLET_GIMPACT
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#ifdef BULLET_GIMPACT_CONVEX_DECOMPOSITION
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btGImpactConvexDecompositionShape * trimesh = new
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btGImpactConvexDecompositionShape(
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m_indexVertexArrays, btVector3(1.f,1.f,1.f),btScalar(0.01));
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trimesh->setMargin(0.07);
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trimesh->updateBound();
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#else
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btGImpactMeshShape * trimesh = new btGImpactMeshShape(m_indexVertexArrays);
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trimesh->setLocalScaling(btVector3(1.f,1.f,1.f));
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#ifdef BULLET_TRIANGLE_COLLISION
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trimesh->setMargin(0.07f); ///?????
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#else
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trimesh->setMargin(0.0f);
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#endif
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trimesh->updateBound();
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#endif
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m_trimeshShape = trimesh;
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#else
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m_trimeshShape = new btGIMPACTMeshData(m_indexVertexArrays);
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#endif
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}
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/// Create Bunny Shape
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{
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m_indexVertexArrays2 = new btTriangleIndexVertexArray
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(BUNNY_NUM_TRIANGLES,
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&gIndicesBunny[0][0],
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3*sizeof(int),
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BUNNY_NUM_VERTICES,
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(Real*) &gVerticesBunny[0],sizeof(Real)*3);
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#ifdef BULLET_GIMPACT
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#ifdef BULLET_GIMPACT_CONVEX_DECOMPOSITION
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btGImpactConvexDecompositionShape * trimesh2 = new
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btGImpactConvexDecompositionShape(
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m_indexVertexArrays2, btVector3(4.f,4.f,4.f),btScalar(0.01));
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trimesh2->setMargin(0.07);
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trimesh2->updateBound();
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#else
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btGImpactMeshShape * trimesh2 = new btGImpactMeshShape(m_indexVertexArrays2);
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trimesh2->setLocalScaling(btVector3(4.f,4.f,4.f));
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#ifdef BULLET_TRIANGLE_COLLISION
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trimesh2->setMargin(0.07f); ///?????
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#else
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trimesh2->setMargin(0.0f);
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#endif
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trimesh2->updateBound();
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#endif
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m_trimeshShape2 = trimesh2;
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#else
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m_trimeshShape2 = new btGIMPACTMeshData(m_indexVertexArrays2);
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#endif
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}
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///register GIMPACT algorithm
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btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
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#ifdef BULLET_GIMPACT
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btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
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#else
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btConcaveConcaveCollisionAlgorithm::registerAlgorithm(dispatcher);
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#endif
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}
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#ifndef BULLET_GIMPACT
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btCollisionShape * GimpactConcaveDemo::createTorusShape()
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{
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btGIMPACTMeshShape * newtrimeshShape = new btGIMPACTMeshShape(m_trimeshShape);
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newtrimeshShape->setLocalScaling(btVector3(1.f,1.f,1.f));
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return newtrimeshShape;
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}
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btCollisionShape * GimpactConcaveDemo::createBunnyShape()
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{
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btGIMPACTMeshShape * newtrimeshShape = new btGIMPACTMeshShape(m_trimeshShape2);
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newtrimeshShape->setLocalScaling(btVector3(4.f,4.f,4.f));
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return newtrimeshShape;
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}
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#endif
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//------------------------------------------------------------------------------
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void GimpactConcaveDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(false);
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setCameraDistance(45.f);
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/// Init Bullet
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
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//m_broadphase = new btSimpleBroadphase();
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int maxProxies = 1024;
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax( 10000, 10000, 10000);
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m_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
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m_constraintSolver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration);
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//create trimesh model and shape
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initGImpactCollision();
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/// Create Scene
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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btCollisionShape* staticboxShape1 = new btBoxShape(btVector3(200,1,200));//floor
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m_collisionShapes.push_back(staticboxShape1);
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startTransform.setOrigin(btVector3(0,-10,0));
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localCreateRigidBody(mass, startTransform,staticboxShape1);
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btCollisionShape* staticboxShape2 = new btBoxShape(btVector3(1,50,200));//left wall
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m_collisionShapes.push_back(staticboxShape2);
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startTransform.setOrigin(btVector3(-200,15,0));
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localCreateRigidBody(mass, startTransform,staticboxShape2);
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btCollisionShape* staticboxShape3 = new btBoxShape(btVector3(1,50,200));//right wall
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m_collisionShapes.push_back(staticboxShape3);
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startTransform.setOrigin(btVector3(200,15,0));
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localCreateRigidBody(mass, startTransform,staticboxShape3);
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btCollisionShape* staticboxShape4 = new btBoxShape(btVector3(200,50,1));//front wall
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m_collisionShapes.push_back(staticboxShape4);
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startTransform.setOrigin(btVector3(0,15,200));
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localCreateRigidBody(mass, startTransform,staticboxShape4);
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btCollisionShape* staticboxShape5 = new btBoxShape(btVector3(200,50,1));//back wall
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m_collisionShapes.push_back(staticboxShape5);
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startTransform.setOrigin(btVector3(0,15,-200));
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localCreateRigidBody(mass, startTransform,staticboxShape5);
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//static plane
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btVector3 normal(-0.5,0.5,0.0);
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normal.normalize();
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btCollisionShape* staticplaneShape6 = new btStaticPlaneShape(normal,0.0);// A plane
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m_collisionShapes.push_back(staticplaneShape6);
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startTransform.setOrigin(btVector3(0,-9,0));
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btRigidBody* staticBody2 = localCreateRigidBody(mass, startTransform,staticplaneShape6 );
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//another static plane
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normal.setValue(0.5,0.7,0.0);
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//normal.normalize();
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btCollisionShape* staticplaneShape7 = new btStaticPlaneShape(normal,0.0);// A plane
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m_collisionShapes.push_back(staticplaneShape7);
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startTransform.setOrigin(btVector3(0,-10,0));
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staticBody2 = localCreateRigidBody(mass, startTransform,staticplaneShape7 );
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/// Create Static Torus
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float height = 28;
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float step = 2.5;
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float massT = 1.0;
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startTransform.setOrigin(btVector3(0,height,-5));
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startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
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#ifdef BULLET_GIMPACT
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kinematicTorus = localCreateRigidBody(0.0, startTransform,m_trimeshShape);
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#else
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kinematicTorus = localCreateRigidBody(0.0, startTransform,createTorusShape());
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#endif //kinematicTorus->setCollisionFlags(kinematicTorus->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
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//kinematicTorus->setActivationState(ISLAND_SLEEPING);
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kinematicTorus->setCollisionFlags( kinematicTorus->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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kinematicTorus->setActivationState(DISABLE_DEACTIVATION);
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/// Kinematic
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kinTorusTran = btVector3(-0.1,0,0);
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kinTorusRot = btQuaternion(0,3.14159265*0.01,0);
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#ifdef TEST_GIMPACT_TORUS
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#ifdef BULLET_GIMPACT
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/// Create dynamic Torus
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for (int i=0;i<6;i++)
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{
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height -= step;
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startTransform.setOrigin(btVector3(0,height,-5));
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startTransform.setRotation(btQuaternion(0,0,3.14159265*0.5));
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btRigidBody* bodyA;
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bodyA= localCreateRigidBody(massT, startTransform,m_trimeshShape);
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height -= step;
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startTransform.setOrigin(btVector3(0,height,-5));
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startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
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btRigidBody* bodyB;
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bodyB= localCreateRigidBody(massT, startTransform,m_trimeshShape);
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}
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#else
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/// Create dynamic Torus
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for (int i=0;i<6;i++)
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{
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height -= step;
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startTransform.setOrigin(btVector3(0,height,-5));
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startTransform.setRotation(btQuaternion(0,0,3.14159265*0.5));
|
|
|
|
btRigidBody* bodyA = localCreateRigidBody(massT, startTransform,createTorusShape());
|
|
|
|
height -= step;
|
|
startTransform.setOrigin(btVector3(0,height,-5));
|
|
startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
|
|
btRigidBody* bodyB = localCreateRigidBody(massT, startTransform,createTorusShape());
|
|
|
|
}
|
|
#endif //no BULLET_GIMPACT
|
|
#endif
|
|
|
|
startTransform.setIdentity();
|
|
|
|
|
|
/// Create Dynamic Boxes
|
|
{
|
|
for (int i=0;i<8;i++)
|
|
{
|
|
btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
|
|
m_collisionShapes.push_back(boxShape);
|
|
|
|
startTransform.setOrigin(btVector3(2*i-5,2,-3));
|
|
localCreateRigidBody(1, startTransform,boxShape);
|
|
}
|
|
}
|
|
|
|
|
|
//m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
|
|
|
|
}
|
|
|
|
//------------------------------------------------------------------------------
|
|
void GimpactConcaveDemo::shootTrimesh(const btVector3& destination)
|
|
{
|
|
|
|
if (m_dynamicsWorld)
|
|
{
|
|
float mass = 4.f;
|
|
btTransform startTransform;
|
|
startTransform.setIdentity();
|
|
btVector3 camPos = getCameraPosition();
|
|
startTransform.setOrigin(camPos);
|
|
#ifdef BULLET_GIMPACT
|
|
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_trimeshShape2);
|
|
#else
|
|
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,createBunnyShape());
|
|
#endif
|
|
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
|
|
linVel.normalize();
|
|
linVel*=m_ShootBoxInitialSpeed*0.25;
|
|
|
|
body->getWorldTransform().setOrigin(camPos);
|
|
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
|
|
body->setLinearVelocity(linVel);
|
|
body->setAngularVelocity(btVector3(0,0,0));
|
|
}
|
|
}
|
|
|
|
//------------------------------------------------------------------------------
|
|
void GimpactConcaveDemo::clientMoveAndDisplay()
|
|
{
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
#define USE_KINEMATIC_GROUND
|
|
#ifdef USE_KINEMATIC_GROUND
|
|
//kinTorusTran = btVector3(-0.05,0,0);
|
|
//kinTorusRot = btQuaternion(0,3.14159265*0.1,0);
|
|
|
|
//kinematic object
|
|
btCollisionObject* colObj = kinematicTorus;
|
|
//is this a rigidbody with a motionstate? then use the motionstate to update positions!
|
|
if (colObj && btRigidBody::upcast(colObj) && btRigidBody::upcast(colObj)->getMotionState())
|
|
{
|
|
btTransform newTrans;
|
|
btRigidBody::upcast(colObj)->getMotionState()->getWorldTransform(newTrans);
|
|
|
|
newTrans.getOrigin() += kinTorusTran;
|
|
newTrans.getBasis() = newTrans.getBasis() * btMatrix3x3(kinTorusRot);
|
|
if(newTrans.getOrigin().getX() > 6.0){
|
|
newTrans.getOrigin().setX(6.0);
|
|
kinTorusTran = -kinTorusTran;
|
|
}
|
|
if(newTrans.getOrigin().getX() < -6.0){
|
|
newTrans.getOrigin().setX(-6.0);
|
|
kinTorusTran = -kinTorusTran;
|
|
}
|
|
|
|
btRigidBody::upcast(colObj)->getMotionState()->setWorldTransform(newTrans);
|
|
} else
|
|
{
|
|
/*
|
|
btTransform &newTrans = m_dynamicsWorld->getCollisionObjectArray()[0]->getWorldTransform();
|
|
newTrans.getOrigin() += kinTorusTran;
|
|
if(newTrans.getOrigin().getX() > 0.1) kinTorusTran = -kinTorusTran;
|
|
if(newTrans.getOrigin().getX() < 0.1) kinTorusTran = -kinTorusTran;
|
|
*/
|
|
}
|
|
|
|
#endif //USE_KINEMATIC_GROUND
|
|
|
|
|
|
unsigned long int time = getDeltaTimeMicroseconds()/btScalar(1000);
|
|
printf("%i time %i ms \n",m_steps_done,int(time));
|
|
|
|
//#ifdef BULLET_GIMPACT
|
|
// printf("%i time %.1f ms \n",m_steps_done,btGImpactCollisionAlgorithm::getAverageTreeCollisionTime());
|
|
//#else
|
|
// printf("%i time %.1f ms \n",m_steps_done,btConcaveConcaveCollisionAlgorithm::getAverageTreeCollisionTime());
|
|
//#endif
|
|
|
|
//float dt = float(m_clock.getTimeMicroseconds()) * dts; //0.000001f;
|
|
float dt = btScalar(1./60.);
|
|
|
|
|
|
|
|
m_dynamicsWorld->stepSimulation(dt);
|
|
|
|
//optional but useful: debug drawing
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
m_steps_done++;
|
|
|
|
//m_dynamicsWorld->stepSimulation(dts);
|
|
|
|
renderme();
|
|
|
|
glFlush();
|
|
swapBuffers();
|
|
|
|
}
|
|
|
|
//------------------------------------------------------------------------------
|
|
void GimpactConcaveDemo::displayCallback(void) {
|
|
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
renderme();
|
|
|
|
//optional but useful: debug drawing
|
|
if (m_dynamicsWorld)
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
glFlush();
|
|
swapBuffers();
|
|
}
|
|
|
|
//------------------------------------------------------------------------------
|
|
void GimpactConcaveDemo::clientResetScene()
|
|
{
|
|
m_steps_done = 0;
|
|
DemoApplication::clientResetScene();
|
|
}
|
|
|
|
#define KEY_ESCAPE 0x1B
|
|
|
|
|
|
//------------------------------------------------------------------------------
|
|
void GimpactConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
|
|
{
|
|
switch (key)
|
|
{
|
|
case '.':
|
|
{
|
|
shootTrimesh(getCameraTargetPosition());
|
|
break;
|
|
}
|
|
|
|
case '2':
|
|
{
|
|
dts += 0.000001f;
|
|
break;
|
|
}
|
|
case '3':
|
|
{
|
|
dts -= 0.000001f; if(dts<0.000001f) dts = 0.000001f;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
DemoApplication::keyboardCallback(key, x, y);
|
|
}
|
|
}
|
|
|
|
|
|
|