40c73f327c
+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true; (see Demos/Benchmarks/Benchmark4 (convex objects falling down) + Fix for plane drawing (just wire-frame) + Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used) + replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts + Some fixes in GJK penetration depth normal direction (broken in a previous commit) + fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly + allow debug drawing to debug btContinuousConvexCollision + add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead
132 lines
3.6 KiB
C++
132 lines
3.6 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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#ifndef TEST_CONCAVE_DEMO_H
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#define TEST_CONCAVE_DEMO_H
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#include "GlutDemoApplication.h"
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class btTriangleIndexVertexArray;
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class btDefaultCollisionConfiguration;
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//#define BULLET_TRIANGLE_COLLISION 1
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#define BULLET_GIMPACT 1
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//#define BULLET_GIMPACT_CONVEX_DECOMPOSITION 1
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#define TEST_GIMPACT_TORUS
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#ifdef BULLET_GIMPACT
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#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
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#ifdef BULLET_GIMPACT_CONVEX_DECOMPOSITION
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#include "../Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h"
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#endif
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#else
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#include "BulletCollision/Gimpact/btConcaveConcaveCollisionAlgorithm.h"
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#include "BulletCollision/Gimpact/btGIMPACTMeshShape.h"
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#endif
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class btConstraintSolver;
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struct btCollisionAlgorithmCreateFunc;
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///GimpactConcaveDemo shows usage of static concave triangle meshes
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///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
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class GimpactConcaveDemo : public GlutDemoApplication
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{
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public:
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GimpactConcaveDemo()
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: m_trimeshShape(NULL),
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m_trimeshShape2(NULL),
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m_indexVertexArrays(NULL),
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m_indexVertexArrays2(NULL),
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m_collisionConfiguration(NULL),
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m_dispatcher(NULL),
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m_broadphase(NULL),
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kinematicTorus(NULL),
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m_constraintSolver(NULL),
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m_gimpactCollisionCreateFunc(NULL),
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m_steps_done(0)
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{
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}
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virtual ~GimpactConcaveDemo();
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void initGImpactCollision();
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void initPhysics();
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virtual void clientMoveAndDisplay();
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virtual void displayCallback();
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virtual void clientResetScene();
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virtual void renderme();
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virtual void keyboardCallback(unsigned char key, int x, int y);
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///Demo functions
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void shootTrimesh(const btVector3& destination);
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public: ///data
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unsigned int m_steps_done;
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#ifdef BULLET_GIMPACT
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btCollisionShape *m_trimeshShape;
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btCollisionShape *m_trimeshShape2;
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#else
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btGIMPACTMeshData * m_trimeshShape;
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btGIMPACTMeshData * m_trimeshShape2;
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btCollisionShape * createTorusShape();
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btCollisionShape * createBunnyShape();
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#endif
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btTriangleIndexVertexArray *m_indexVertexArrays;
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btTriangleIndexVertexArray *m_indexVertexArrays2;
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btVector3 kinTorusTran;
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btQuaternion kinTorusRot;
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btRigidBody *kinematicTorus;
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btCollisionAlgorithmCreateFunc* m_gimpactCollisionCreateFunc;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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btCollisionDispatcher* m_dispatcher;
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btBroadphaseInterface* m_broadphase;
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btConstraintSolver* m_constraintSolver;
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static DemoApplication* Create()
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{
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GimpactConcaveDemo* demo = new GimpactConcaveDemo();
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demo->myinit();
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demo->initPhysics();
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return demo;
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}
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};
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#endif //CONCAVE_DEMO_H
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