eb74688c18
Share physics setup of BasicDemo between different graphics frameworks, see Demos\BasicDemo\BasicDemoPhysicsSetup.* Plan is to do this for all Bullet demos. Improve gwen performance and cursor navigation for tree control. tweak shadowmap size SimpleOpenGL3App::registerCubeShape accepts half extents
148 lines
4.0 KiB
C++
148 lines
4.0 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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///create 125 (5x5x5) dynamic object
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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//maximum number of objects (and allow user to shoot additional boxes)
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#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
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///scaling of the objects (0.1 = 20 centimeter boxes )
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#define SCALING 1.
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#define START_POS_X -5
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#define START_POS_Y -5
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#define START_POS_Z -3
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#include "BasicDemo.h"
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#include "GlutStuff.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include <stdio.h> //printf debugging
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#include "GLDebugDrawer.h"
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#include "LinearMath/btAabbUtil2.h"
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static GLDebugDrawer gDebugDraw;
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///The MyOverlapCallback is used to show how to collect object that overlap with a given bounding box defined by aabbMin and aabbMax.
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///See m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest.
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struct MyOverlapCallback : public btBroadphaseAabbCallback
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{
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btVector3 m_queryAabbMin;
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btVector3 m_queryAabbMax;
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int m_numOverlap;
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MyOverlapCallback(const btVector3& aabbMin, const btVector3& aabbMax ) : m_queryAabbMin(aabbMin),m_queryAabbMax(aabbMax),m_numOverlap(0) {}
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virtual bool process(const btBroadphaseProxy* proxy)
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{
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btVector3 proxyAabbMin,proxyAabbMax;
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btCollisionObject* colObj0 = (btCollisionObject*)proxy->m_clientObject;
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colObj0->getCollisionShape()->getAabb(colObj0->getWorldTransform(),proxyAabbMin,proxyAabbMax);
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if (TestAabbAgainstAabb2(proxyAabbMin,proxyAabbMax,m_queryAabbMin,m_queryAabbMax))
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{
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m_numOverlap++;
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}
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return true;
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}
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};
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void BasicDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = getDeltaTimeMicroseconds();
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m_physicsSetup.stepSimulation(ms/1000000.f);
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m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
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/*
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///step the simulation
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if (m_physicsSetup.m_dynamicsWorld)
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{
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m_physicsSetup.m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//optional but useful: debug drawing
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m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
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btVector3 aabbMin(1,1,1);
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btVector3 aabbMax(2,2,2);
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MyOverlapCallback aabbOverlap(aabbMin,aabbMax);
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m_physicsSetup.m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap);
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//if (aabbOverlap.m_numOverlap)
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// printf("#aabb overlap = %d\n", aabbOverlap.m_numOverlap);
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}
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*/
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renderme();
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glFlush();
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swapBuffers();
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}
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void BasicDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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//optional but useful: debug drawing to detect problems
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if (m_physicsSetup.m_dynamicsWorld)
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m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
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glFlush();
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swapBuffers();
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}
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void BasicDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(true);
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setCameraDistance(btScalar(SCALING*50.));
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m_physicsSetup.initPhysics();
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m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
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m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
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}
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void BasicDemo::clientResetScene()
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{
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exitPhysics();
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initPhysics();
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}
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void BasicDemo::exitPhysics()
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{
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m_physicsSetup.exitPhysics();
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}
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