91 lines
2.2 KiB
C++
91 lines
2.2 KiB
C++
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#include "BasicDemoPhysicsSetup.h"
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#include "btBulletDynamicsCommon.h"
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Z 5
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void BasicDemoPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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createEmptyDynamicsWorld();
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gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
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///create a few basic rigid bodies
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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gfxBridge.createCollisionShapeGraphicsObject(groundShape);
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//groundShape->initializePolyhedralFeatures();
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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,-50,0));
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{
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btScalar mass(0.);
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btRigidBody* body = createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
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gfxBridge.createRigidBodyGraphicsObject(body, btVector3(0, 1, 0));
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}
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
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gfxBridge.createCollisionShapeGraphicsObject(colShape);
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass,localInertia);
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(btVector3(
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btScalar(2.0*i),
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btScalar(20+2.0*k),
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btScalar(2.0*j)));
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btRigidBody* body = createRigidBody(mass,startTransform,colShape);
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gfxBridge.createRigidBodyGraphicsObject(body, btVector3(1, 1, 0));
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}
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}
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}
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}
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}
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