341 lines
8.3 KiB
C++
341 lines
8.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//#define USE_PARALLEL_DISPATCHER 1
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#include "CcdPhysicsEnvironment.h"
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#include "ParallelPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "MyMotionState.h"
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//#include "GL_LineSegmentShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/ConeShape.h"
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#include "CollisionShapes/StaticPlaneShape.h"
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#include "CollisionShapes/CompoundShape.h"
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#include "CollisionShapes/Simplex1to4Shape.h"
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#include "CollisionShapes/EmptyShape.h"
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#include "CollisionShapes/TriangleMeshShape.h"
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#include "CollisionShapes/TriangleIndexVertexArray.h"
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#include "CollisionShapes/BvhTriangleMeshShape.h"
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#include "CollisionShapes/TriangleMesh.h"
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#include "Dynamics/RigidBody.h"
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#include "CollisionDispatch/CollisionDispatcher.h"
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#include "ParallelIslandDispatcher.h"
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#include "BroadphaseCollision/SimpleBroadphase.h"
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#include "BroadphaseCollision/AxisSweep3.h"
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#include "ConstraintSolver/Point2PointConstraint.h"
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#include "ConstraintSolver/HingeConstraint.h"
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#include "quickprof.h"
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#include "IDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "CollisionDispatch/SphereSphereCollisionAlgorithm.h"
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#include "PHY_Pro.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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#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 numObjects = 120;
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#else
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const int numObjects = 120;//try this in release mode: 3000. never go above 4095, 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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#ifdef USE_PARALLEL_DISPATCHER
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ParallelPhysicsEnvironment* m_physicsEnvironmentPtr = 0;
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#else
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CcdPhysicsEnvironment* m_physicsEnvironmentPtr = 0;
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#endif
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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(SimdPoint3(-50,0,0),
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// SimdPoint3(50,0,0));
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static const int numShapes = 4;
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CollisionShape* 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 StaticPlaneShape(SimdVector3(0,1,0),10),
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#else
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new BoxShape (SimdVector3(50,10,50)),
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#endif
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new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
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new SphereShape (CUBE_HALF_EXTENTS- 0.05f),
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//new ConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),
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//new BU_Simplex1to4(SimdPoint3(-1,-1,-1),SimdPoint3(1,-1,-1),SimdPoint3(-1,1,-1),SimdPoint3(0,0,1)),
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//new EmptyShape(),
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new BoxShape (SimdVector3(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://www.continuousphysics.com/Bullet/phpBB2/",ccdDemo);
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}
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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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if (m_physicsEnvironmentPtr)
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m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
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#ifdef USE_QUICKPROF
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Profiler::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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Profiler::endBlock("render");
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#endif
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glFlush();
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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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if (m_physicsEnvironmentPtr)
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{
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m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
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//draw contactpoints
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m_physicsEnvironmentPtr->CallbackTriggers();
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}
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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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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() & IDebugDraw::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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BroadphaseProxy* 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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void CcdPhysicsDemo::initPhysics()
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{
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CollisionDispatcher* dispatcher = new CollisionDispatcher();
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ParallelIslandDispatcher* dispatcher2 = new ParallelIslandDispatcher();
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SimdVector3 worldAabbMin(-10000,-10000,-10000);
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SimdVector3 worldAabbMax(10000,10000,10000);
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OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies,maxOverlap);
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// OverlappingPairCache* broadphase = new SimpleBroadphase;
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dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new SphereSphereCollisionAlgorithm::CreateFunc);
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#ifdef USE_PARALLEL_DISPATCHER
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m_physicsEnvironmentPtr = new ParallelPhysicsEnvironment(dispatcher2,broadphase);
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#else
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m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
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#endif
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m_physicsEnvironmentPtr->setDeactivationTime(2.f);
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m_physicsEnvironmentPtr->setGravity(0,-10,0);
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m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
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int i;
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SimdTransform tr;
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tr.setIdentity();
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for (i=0;i<numObjects;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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CompoundShape* compoundShape = new CompoundShape();
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CollisionShape* oldShape = shapePtr[1];
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shapePtr[1] = compoundShape;
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SimdTransform ident;
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ident.setIdentity();
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ident.setOrigin(SimdVector3(0,0,0));
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compoundShape->AddChildShape(ident,oldShape);//
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ident.setOrigin(SimdVector3(0,0,2));
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compoundShape->AddChildShape(ident,new SphereShape(0.9));//
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}
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for (i=0;i<numObjects;i++)
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{
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CollisionShape* shape = shapePtr[shapeIndex[i]];
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shape->SetMargin(0.05f);
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bool isDyna = i>0;
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SimdTransform trans;
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trans.setIdentity();
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trans.setOrigin(SimdVector3(0,-30+i*CUBE_HALF_EXTENTS*2,0));
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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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CcdPhysicsController* ctrl = LocalCreatePhysicsObject(isDyna,mass,trans,shape);
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// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
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ctrl->GetRigidBody()->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
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//Experimental: better estimation of CCD Time of Impact:
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ctrl->GetRigidBody()->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS;
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}
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clientResetScene();
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m_physicsEnvironmentPtr->SyncMotionStates(0.f);
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}
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