f8e5481612
virtual void getAllContactManifolds(btManifoldArray& manifoldArray) See Demos/CharacterDemo/CharacterDemo.cpp for example usage of getAllContactManifolds Added btDbvtBroadphase to btBulletCollisionCommon.h headerfile Enable soft body vs concave (albeit slow) Improved contact point debug rendering (moved from constraint solver into debugDrawWorld)
1186 lines
34 KiB
C++
1186 lines
34 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
// Collision Radius
|
|
#define COLLISION_RADIUS 0.0f
|
|
|
|
|
|
|
|
#include "BenchmarkDemo.h"
|
|
#include "GlutStuff.h"
|
|
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
|
|
#include "btBulletDynamicsCommon.h"
|
|
#include <stdio.h> //printf debugging
|
|
#include "Taru.mdl"
|
|
#include "landscape.mdl"
|
|
#include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"
|
|
|
|
|
|
|
|
class btRaycastBar2
|
|
{
|
|
public:
|
|
btVector3 source[NUMRAYS];
|
|
btVector3 dest[NUMRAYS];
|
|
btVector3 direction[NUMRAYS];
|
|
btVector3 hit[NUMRAYS];
|
|
btVector3 normal[NUMRAYS];
|
|
|
|
int frame_counter;
|
|
int ms;
|
|
int sum_ms;
|
|
int sum_ms_samples;
|
|
int min_ms;
|
|
int max_ms;
|
|
|
|
#ifdef USE_BT_CLOCK
|
|
btClock frame_timer;
|
|
#endif //USE_BT_CLOCK
|
|
|
|
btScalar dx;
|
|
btScalar min_x;
|
|
btScalar max_x;
|
|
btScalar max_y;
|
|
btScalar sign;
|
|
|
|
btRaycastBar2 ()
|
|
{
|
|
ms = 0;
|
|
max_ms = 0;
|
|
min_ms = 9999.0;
|
|
sum_ms_samples = 0;
|
|
sum_ms = 0;
|
|
}
|
|
|
|
|
|
|
|
btRaycastBar2 (btScalar ray_length, btScalar z,btScalar max_y)
|
|
{
|
|
frame_counter = 0;
|
|
ms = 0;
|
|
max_ms = 0;
|
|
min_ms = 9999.0;
|
|
sum_ms_samples = 0;
|
|
sum_ms = 0;
|
|
dx = 10.0;
|
|
min_x = 0;
|
|
max_x = 0;
|
|
this->max_y = max_y;
|
|
sign = 1.0;
|
|
btScalar dalpha = 2*SIMD_2_PI/NUMRAYS;
|
|
for (int i = 0; i < NUMRAYS; i++)
|
|
{
|
|
btScalar alpha = dalpha * i;
|
|
// rotate around by alpha degrees y
|
|
btQuaternion q(btVector3(0.0, 1.0, 0.0), alpha);
|
|
direction[i] = btVector3(1.0, 0.0, 0.0);
|
|
direction[i] = q * direction[i];
|
|
direction[i] = direction[i] * ray_length;
|
|
|
|
|
|
source[i] = btVector3(min_x, max_y, z);
|
|
dest[i] = source[i] + direction[i];
|
|
dest[i][1]=-1000;
|
|
normal[i] = btVector3(1.0, 0.0, 0.0);
|
|
}
|
|
}
|
|
|
|
void move (btScalar dt)
|
|
{
|
|
if (dt > (1.0/60.0))
|
|
dt = 1.0/60.0;
|
|
for (int i = 0; i < NUMRAYS; i++)
|
|
{
|
|
source[i][0] += dx * dt * sign;
|
|
dest[i][0] += dx * dt * sign;
|
|
}
|
|
if (source[0][0] < min_x)
|
|
sign = 1.0;
|
|
else if (source[0][0] > max_x)
|
|
sign = -1.0;
|
|
}
|
|
|
|
void cast (btCollisionWorld* cw)
|
|
{
|
|
#ifdef USE_BT_CLOCK
|
|
frame_timer.reset ();
|
|
#endif //USE_BT_CLOCK
|
|
|
|
#ifdef BATCH_RAYCASTER
|
|
if (!gBatchRaycaster)
|
|
return;
|
|
|
|
gBatchRaycaster->clearRays ();
|
|
for (int i = 0; i < NUMRAYS; i++)
|
|
{
|
|
gBatchRaycaster->addRay (source[i], dest[i]);
|
|
}
|
|
gBatchRaycaster->performBatchRaycast ();
|
|
for (int i = 0; i < gBatchRaycaster->getNumRays (); i++)
|
|
{
|
|
const SpuRaycastTaskWorkUnitOut& out = (*gBatchRaycaster)[i];
|
|
hit[i].setInterpolate3(source[i],dest[i],out.hitFraction);
|
|
normal[i] = out.hitNormal;
|
|
normal[i].normalize ();
|
|
}
|
|
#else
|
|
for (int i = 0; i < NUMRAYS; i++)
|
|
{
|
|
btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
|
|
|
|
cw->rayTest (source[i], dest[i], cb);
|
|
if (cb.HasHit ())
|
|
{
|
|
hit[i] = cb.m_hitPointWorld;
|
|
normal[i] = cb.m_hitNormalWorld;
|
|
normal[i].normalize ();
|
|
} else {
|
|
hit[i] = dest[i];
|
|
normal[i] = btVector3(1.0, 0.0, 0.0);
|
|
}
|
|
|
|
}
|
|
#ifdef USE_BT_CLOCK
|
|
ms += frame_timer.getTimeMilliseconds ();
|
|
#endif //USE_BT_CLOCK
|
|
frame_counter++;
|
|
if (frame_counter > 50)
|
|
{
|
|
min_ms = ms < min_ms ? ms : min_ms;
|
|
max_ms = ms > max_ms ? ms : max_ms;
|
|
sum_ms += ms;
|
|
sum_ms_samples++;
|
|
btScalar mean_ms = (btScalar)sum_ms/(btScalar)sum_ms_samples;
|
|
printf("%d rays in %d ms %d %d %f\n", NUMRAYS * frame_counter, ms, min_ms, max_ms, mean_ms);
|
|
ms = 0;
|
|
frame_counter = 0;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void draw ()
|
|
{
|
|
glDisable (GL_LIGHTING);
|
|
glColor3f (0.0, 1.0, 0.0);
|
|
glBegin (GL_LINES);
|
|
int i;
|
|
|
|
for (i = 0; i < NUMRAYS; i++)
|
|
{
|
|
glVertex3f (source[i][0], source[i][1], source[i][2]);
|
|
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
|
|
}
|
|
glEnd ();
|
|
glColor3f (1.0, 1.0, 1.0);
|
|
glBegin (GL_LINES);
|
|
for (i = 0; i < NUMRAYS; i++)
|
|
{
|
|
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
|
|
glVertex3f (hit[i][0] + normal[i][0], hit[i][1] + normal[i][1], hit[i][2] + normal[i][2]);
|
|
}
|
|
glEnd ();
|
|
glColor3f (0.0, 1.0, 1.0);
|
|
glBegin (GL_POINTS);
|
|
for ( i = 0; i < NUMRAYS; i++)
|
|
{
|
|
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
|
|
}
|
|
glEnd ();
|
|
glEnable (GL_LIGHTING);
|
|
}
|
|
};
|
|
|
|
|
|
static btRaycastBar2 raycastBar;
|
|
|
|
|
|
void BenchmarkDemo::clientMoveAndDisplay()
|
|
{
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
//simple dynamics world doesn't handle fixed-time-stepping
|
|
float ms = getDeltaTimeMicroseconds();
|
|
|
|
///step the simulation
|
|
if (m_dynamicsWorld)
|
|
{
|
|
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
|
|
//optional but useful: debug drawing
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
}
|
|
|
|
if (m_benchmark==7)
|
|
{
|
|
castRays();
|
|
|
|
raycastBar.draw();
|
|
|
|
}
|
|
|
|
renderme();
|
|
|
|
glFlush();
|
|
|
|
glutSwapBuffers();
|
|
|
|
}
|
|
|
|
|
|
|
|
void BenchmarkDemo::displayCallback(void) {
|
|
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
renderme();
|
|
|
|
//optional but useful: debug drawing to detect problems
|
|
if (m_dynamicsWorld)
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
glFlush();
|
|
glutSwapBuffers();
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void BenchmarkDemo::initPhysics()
|
|
{
|
|
|
|
setCameraDistance(btScalar(100.));
|
|
|
|
///collision configuration contains default setup for memory, collision setup
|
|
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
|
|
|
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
|
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
|
|
|
///the maximum size of the collision world. Make sure objects stay within these boundaries
|
|
///Don't make the world AABB size too large, it will harm simulation quality and performance
|
|
btVector3 worldAabbMin(-10000,-10000,-10000);
|
|
btVector3 worldAabbMax(10000,10000,10000);
|
|
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,3500);
|
|
//m_overlappingPairCache = new btDbvtBroadphase();
|
|
|
|
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
|
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
|
sol->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_CACHE_FRIENDLY);
|
|
m_solver = sol;
|
|
|
|
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
|
|
|
|
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
|
|
|
///create a few basic rigid bodies
|
|
// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
|
|
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0);
|
|
|
|
m_collisionShapes.push_back(groundShape);
|
|
|
|
btTransform groundTransform;
|
|
groundTransform.setIdentity();
|
|
groundTransform.setOrigin(btVector3(0,0,0));
|
|
|
|
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
|
|
{
|
|
btScalar mass(0.);
|
|
|
|
//rigidbody is dynamic if and only if mass is non zero, otherwise static
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
btVector3 localInertia(0,0,0);
|
|
if (isDynamic)
|
|
groundShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
|
|
btRigidBody* body = new btRigidBody(rbInfo);
|
|
|
|
//add the body to the dynamics world
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
}
|
|
|
|
switch (m_benchmark)
|
|
{
|
|
case 1:
|
|
{
|
|
createTest1();
|
|
break;
|
|
}
|
|
case 2:
|
|
{
|
|
createTest2();
|
|
break;
|
|
}
|
|
case 3:
|
|
{
|
|
createTest3();
|
|
break;
|
|
}
|
|
case 4:
|
|
{
|
|
createTest4();
|
|
break;
|
|
}
|
|
case 5:
|
|
{
|
|
createTest5();
|
|
break;
|
|
}
|
|
case 6:
|
|
{
|
|
createTest6();
|
|
break;
|
|
}
|
|
case 7:
|
|
{
|
|
createTest7();
|
|
break;
|
|
}
|
|
|
|
|
|
default:
|
|
{
|
|
}
|
|
}
|
|
|
|
|
|
clientResetScene();
|
|
}
|
|
|
|
|
|
void BenchmarkDemo::createTest1()
|
|
{
|
|
// 3000
|
|
int size = 8;
|
|
const float cubeSize = 1.0f;
|
|
float spacing = cubeSize;
|
|
btVector3 pos(0.0f, cubeSize * 2,0.f);
|
|
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
|
|
|
|
btBoxShape* blockShape = new btBoxShape(btVector3(cubeSize-COLLISION_RADIUS,cubeSize-COLLISION_RADIUS,cubeSize-COLLISION_RADIUS));
|
|
btVector3 localInertia(0,0,0);
|
|
float mass = 2.f;
|
|
blockShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
|
|
for(int k=0;k<47;k++) {
|
|
for(int j=0;j<size;j++) {
|
|
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
|
|
for(int i=0;i<size;i++) {
|
|
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
|
|
|
|
trans.setOrigin(pos);
|
|
btRigidBody* cmbody = localCreateRigidBody(mass,trans,blockShape);
|
|
}
|
|
}
|
|
offset -= 0.05f * spacing * (size-1);
|
|
// spacing *= 1.01f;
|
|
pos[1] += (cubeSize * 2.0f + spacing);
|
|
}
|
|
}
|
|
|
|
|
|
///////////////////////////////////////////////////////////////////////////////
|
|
// Pyramid 3
|
|
|
|
void BenchmarkDemo::createWall(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize)
|
|
{
|
|
|
|
btBoxShape* blockShape = new btBoxShape(btVector3(boxSize[0]-COLLISION_RADIUS,boxSize[1]-COLLISION_RADIUS,boxSize[2]-COLLISION_RADIUS));
|
|
|
|
float mass = 1.f;
|
|
btVector3 localInertia(0,0,0);
|
|
blockShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
float diffX = boxSize[0] * 1.0f;
|
|
float diffY = boxSize[1] * 1.0f;
|
|
float diffZ = boxSize[2] * 1.0f;
|
|
|
|
float offset = -stackSize * (diffZ * 2.0f) * 0.5f;
|
|
btVector3 pos(0.0f, diffY, 0.0f);
|
|
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
|
|
while(stackSize) {
|
|
for(int i=0;i<stackSize;i++) {
|
|
pos[2] = offset + (float)i * (diffZ * 2.0f);
|
|
|
|
trans.setOrigin(offsetPosition + pos);
|
|
localCreateRigidBody(mass,trans,blockShape);
|
|
|
|
}
|
|
offset += diffZ;
|
|
pos[1] += (diffY * 2.0f);
|
|
stackSize--;
|
|
}
|
|
}
|
|
|
|
void BenchmarkDemo::createPyramid(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize)
|
|
{
|
|
|
|
float space = 0.000f;
|
|
btVector3 pos(0.0f, boxSize[1], 0.0f);
|
|
|
|
btBoxShape* blockShape = new btBoxShape(btVector3(boxSize[0]-COLLISION_RADIUS,boxSize[1]-COLLISION_RADIUS,boxSize[2]-COLLISION_RADIUS));
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
|
|
float mass = 1.f;
|
|
btVector3 localInertia(0,0,0);
|
|
blockShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
|
|
float diffX = boxSize[0];
|
|
float diffY = boxSize[1];
|
|
float diffZ = boxSize[2];
|
|
|
|
float offsetX = -stackSize * (diffX * 2.0f + space) * 0.5f;
|
|
float offsetZ = -stackSize * (diffZ * 2.0f + space) * 0.5f;
|
|
while(stackSize) {
|
|
for(int j=0;j<stackSize;j++) {
|
|
pos[2] = offsetZ + (float)j * (diffZ * 2.0f + space);
|
|
for(int i=0;i<stackSize;i++) {
|
|
pos[0] = offsetX + (float)i * (diffX * 2.0f + space);
|
|
trans.setOrigin(offsetPosition + pos);
|
|
this->localCreateRigidBody(mass,trans,blockShape);
|
|
|
|
|
|
}
|
|
}
|
|
offsetX += diffX;
|
|
offsetZ += diffZ;
|
|
pos[1] += (diffY * 2.0f + space);
|
|
stackSize--;
|
|
}
|
|
|
|
}
|
|
|
|
const btVector3 rotate( const btQuaternion& quat, const btVector3 & vec )
|
|
{
|
|
float tmpX, tmpY, tmpZ, tmpW;
|
|
tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) );
|
|
tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) );
|
|
tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) );
|
|
tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) );
|
|
return btVector3(
|
|
( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ),
|
|
( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ),
|
|
( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) )
|
|
);
|
|
}
|
|
|
|
void BenchmarkDemo::createTowerCircle(const btVector3& offsetPosition,int stackSize,int rotSize,const btVector3& boxSize)
|
|
{
|
|
|
|
btBoxShape* blockShape = new btBoxShape(btVector3(boxSize[0]-COLLISION_RADIUS,boxSize[1]-COLLISION_RADIUS,boxSize[2]-COLLISION_RADIUS));
|
|
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
|
|
float mass = 1.f;
|
|
btVector3 localInertia(0,0,0);
|
|
blockShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
|
|
float radius = 1.3f * rotSize * boxSize[0] / SIMD_PI;
|
|
|
|
// create active boxes
|
|
btQuaternion rotY(0,1,0,0);
|
|
float posY = boxSize[1];
|
|
|
|
for(int i=0;i<stackSize;i++) {
|
|
for(int j=0;j<rotSize;j++) {
|
|
|
|
|
|
trans.setOrigin(offsetPosition+ rotate(rotY,btVector3(0.0f , posY, radius)));
|
|
trans.setRotation(rotY);
|
|
localCreateRigidBody(mass,trans,blockShape);
|
|
|
|
rotY *= btQuaternion(btVector3(0,1,0),SIMD_PI/(rotSize*0.5));
|
|
}
|
|
|
|
posY += boxSize[1] * 2.0f;
|
|
rotY *= btQuaternion(btVector3(0,1,0),SIMD_PI/(float)rotSize);
|
|
}
|
|
|
|
}
|
|
|
|
void BenchmarkDemo::createTest2()
|
|
{
|
|
setCameraDistance(btScalar(50.));
|
|
const float cubeSize = 1.0f;
|
|
|
|
createPyramid(btVector3(-20.0f,0.0f,0.0f),12,btVector3(cubeSize,cubeSize,cubeSize));
|
|
createWall(btVector3(-2.0f,0.0f,0.0f),12,btVector3(cubeSize,cubeSize,cubeSize));
|
|
createWall(btVector3(4.0f,0.0f,0.0f),12,btVector3(cubeSize,cubeSize,cubeSize));
|
|
createWall(btVector3(10.0f,0.0f,0.0f),12,btVector3(cubeSize,cubeSize,cubeSize));
|
|
createTowerCircle(btVector3(25.0f,0.0f,0.0f),8,24,btVector3(cubeSize,cubeSize,cubeSize));
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
// Enrico: Shouldn't these three variables be real constants and not defines?
|
|
|
|
#ifndef M_PI
|
|
#define M_PI 3.14159265358979323846
|
|
#endif
|
|
|
|
#ifndef M_PI_2
|
|
#define M_PI_2 1.57079632679489661923
|
|
#endif
|
|
|
|
#ifndef M_PI_4
|
|
#define M_PI_4 0.785398163397448309616
|
|
#endif
|
|
|
|
class RagDoll
|
|
{
|
|
enum
|
|
{
|
|
BODYPART_PELVIS = 0,
|
|
BODYPART_SPINE,
|
|
BODYPART_HEAD,
|
|
|
|
BODYPART_LEFT_UPPER_LEG,
|
|
BODYPART_LEFT_LOWER_LEG,
|
|
|
|
BODYPART_RIGHT_UPPER_LEG,
|
|
BODYPART_RIGHT_LOWER_LEG,
|
|
|
|
BODYPART_LEFT_UPPER_ARM,
|
|
BODYPART_LEFT_LOWER_ARM,
|
|
|
|
BODYPART_RIGHT_UPPER_ARM,
|
|
BODYPART_RIGHT_LOWER_ARM,
|
|
|
|
BODYPART_COUNT
|
|
};
|
|
|
|
enum
|
|
{
|
|
JOINT_PELVIS_SPINE = 0,
|
|
JOINT_SPINE_HEAD,
|
|
|
|
JOINT_LEFT_HIP,
|
|
JOINT_LEFT_KNEE,
|
|
|
|
JOINT_RIGHT_HIP,
|
|
JOINT_RIGHT_KNEE,
|
|
|
|
JOINT_LEFT_SHOULDER,
|
|
JOINT_LEFT_ELBOW,
|
|
|
|
JOINT_RIGHT_SHOULDER,
|
|
JOINT_RIGHT_ELBOW,
|
|
|
|
JOINT_COUNT
|
|
};
|
|
|
|
btDynamicsWorld* m_ownerWorld;
|
|
btCollisionShape* m_shapes[BODYPART_COUNT];
|
|
btRigidBody* m_bodies[BODYPART_COUNT];
|
|
btTypedConstraint* m_joints[JOINT_COUNT];
|
|
|
|
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
|
{
|
|
bool isDynamic = (mass != 0.f);
|
|
|
|
btVector3 localInertia(0,0,0);
|
|
if (isDynamic)
|
|
shape->calculateLocalInertia(mass,localInertia);
|
|
|
|
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
|
|
|
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
|
|
btRigidBody* body = new btRigidBody(rbInfo);
|
|
|
|
m_ownerWorld->addRigidBody(body);
|
|
|
|
return body;
|
|
}
|
|
|
|
public:
|
|
RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,btScalar scale)
|
|
: m_ownerWorld (ownerWorld)
|
|
{
|
|
// Setup the geometry
|
|
m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15)*scale, btScalar(0.20)*scale);
|
|
m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15)*scale, btScalar(0.28)*scale);
|
|
m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.10)*scale, btScalar(0.05)*scale);
|
|
m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07)*scale, btScalar(0.45)*scale);
|
|
m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05)*scale, btScalar(0.37)*scale);
|
|
m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07)*scale, btScalar(0.45)*scale);
|
|
m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05)*scale, btScalar(0.37)*scale);
|
|
m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05)*scale, btScalar(0.33)*scale);
|
|
m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04)*scale, btScalar(0.25)*scale);
|
|
m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05)*scale, btScalar(0.33)*scale);
|
|
m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04)*scale, btScalar(0.25)*scale);
|
|
|
|
// Setup all the rigid bodies
|
|
btTransform offset; offset.setIdentity();
|
|
offset.setOrigin(positionOffset);
|
|
|
|
btTransform transform;
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
|
|
m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(0.), btScalar(1.2), btScalar(0.)));
|
|
m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(0.), btScalar(1.6), btScalar(0.)));
|
|
m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.)));
|
|
m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.)));
|
|
m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.)));
|
|
m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.)));
|
|
m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.)));
|
|
transform.getBasis().setEulerZYX(0,0,M_PI_2);
|
|
m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.)));
|
|
transform.getBasis().setEulerZYX(0,0,M_PI_2);
|
|
m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
|
|
transform.getBasis().setEulerZYX(0,0,-M_PI_2);
|
|
m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
|
|
|
|
transform.setIdentity();
|
|
transform.setOrigin(scale*btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
|
|
transform.getBasis().setEulerZYX(0,0,-M_PI_2);
|
|
m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
|
|
|
|
// Setup some damping on the m_bodies
|
|
for (int i = 0; i < BODYPART_COUNT; ++i)
|
|
{
|
|
m_bodies[i]->setDamping(0.05, 0.85);
|
|
m_bodies[i]->setDeactivationTime(0.8);
|
|
m_bodies[i]->setSleepingThresholds(1.6, 2.5);
|
|
}
|
|
|
|
// Now setup the constraints
|
|
btHingeConstraint* hingeC;
|
|
btConeTwistConstraint* coneC;
|
|
|
|
btTransform localA, localB;
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
|
|
hingeC = new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
|
|
hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_2));
|
|
m_joints[JOINT_PELVIS_SPINE] = hingeC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);
|
|
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
|
|
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
|
|
coneC->setLimit(M_PI_4, M_PI_4, M_PI_2);
|
|
m_joints[JOINT_SPINE_HEAD] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_SPINE_HEAD], true);
|
|
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,0,-M_PI_4*5); localA.setOrigin(scale*btVector3(btScalar(-0.18), btScalar(-0.10), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,0,-M_PI_4*5); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
|
|
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_LEFT_UPPER_LEG], localA, localB);
|
|
coneC->setLimit(M_PI_4, M_PI_4, 0);
|
|
m_joints[JOINT_LEFT_HIP] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_HIP], true);
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
|
|
hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_LEG], *m_bodies[BODYPART_LEFT_LOWER_LEG], localA, localB);
|
|
hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
|
|
m_joints[JOINT_LEFT_KNEE] = hingeC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_KNEE], true);
|
|
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,0,M_PI_4); localA.setOrigin(scale*btVector3(btScalar(0.18), btScalar(-0.10), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,0,M_PI_4); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.225), btScalar(0.)));
|
|
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_RIGHT_UPPER_LEG], localA, localB);
|
|
coneC->setLimit(M_PI_4, M_PI_4, 0);
|
|
m_joints[JOINT_RIGHT_HIP] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_HIP], true);
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.225), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.185), btScalar(0.)));
|
|
hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_LEG], *m_bodies[BODYPART_RIGHT_LOWER_LEG], localA, localB);
|
|
hingeC->setLimit(btScalar(0), btScalar(M_PI_2));
|
|
m_joints[JOINT_RIGHT_KNEE] = hingeC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_KNEE], true);
|
|
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,0,M_PI); localA.setOrigin(scale*btVector3(btScalar(-0.2), btScalar(0.15), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
|
|
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_LEFT_UPPER_ARM], localA, localB);
|
|
coneC->setLimit(M_PI_2, M_PI_2, 0);
|
|
m_joints[JOINT_LEFT_SHOULDER] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_SHOULDER], true);
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
|
|
hingeC = new btHingeConstraint(*m_bodies[BODYPART_LEFT_UPPER_ARM], *m_bodies[BODYPART_LEFT_LOWER_ARM], localA, localB);
|
|
hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
|
|
m_joints[JOINT_LEFT_ELBOW] = hingeC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);
|
|
|
|
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,0,0); localA.setOrigin(scale*btVector3(btScalar(0.2), btScalar(0.15), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.18), btScalar(0.)));
|
|
coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_RIGHT_UPPER_ARM], localA, localB);
|
|
coneC->setLimit(M_PI_2, M_PI_2, 0);
|
|
m_joints[JOINT_RIGHT_SHOULDER] = coneC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_SHOULDER], true);
|
|
|
|
localA.setIdentity(); localB.setIdentity();
|
|
localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(scale*btVector3(btScalar(0.), btScalar(0.18), btScalar(0.)));
|
|
localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(scale*btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
|
|
hingeC = new btHingeConstraint(*m_bodies[BODYPART_RIGHT_UPPER_ARM], *m_bodies[BODYPART_RIGHT_LOWER_ARM], localA, localB);
|
|
hingeC->setLimit(btScalar(-M_PI_2), btScalar(0));
|
|
m_joints[JOINT_RIGHT_ELBOW] = hingeC;
|
|
m_ownerWorld->addConstraint(m_joints[JOINT_RIGHT_ELBOW], true);
|
|
}
|
|
|
|
virtual ~RagDoll ()
|
|
{
|
|
int i;
|
|
|
|
// Remove all constraints
|
|
for ( i = 0; i < JOINT_COUNT; ++i)
|
|
{
|
|
m_ownerWorld->removeConstraint(m_joints[i]);
|
|
delete m_joints[i]; m_joints[i] = 0;
|
|
}
|
|
|
|
// Remove all bodies and shapes
|
|
for ( i = 0; i < BODYPART_COUNT; ++i)
|
|
{
|
|
m_ownerWorld->removeRigidBody(m_bodies[i]);
|
|
|
|
delete m_bodies[i]->getMotionState();
|
|
|
|
delete m_bodies[i]; m_bodies[i] = 0;
|
|
delete m_shapes[i]; m_shapes[i] = 0;
|
|
}
|
|
}
|
|
};
|
|
|
|
void BenchmarkDemo::createTest3()
|
|
{
|
|
setCameraDistance(btScalar(50.));
|
|
|
|
int size = 16;
|
|
|
|
float sizeX = 1.f;
|
|
float sizeY = 1.f;
|
|
|
|
int rc=0;
|
|
|
|
btScalar scale(3.5);
|
|
btVector3 pos(0.0f, sizeY, 0.0f);
|
|
while(size) {
|
|
float offset = -size * (sizeX * 6.0f) * 0.5f;
|
|
for(int i=0;i<size;i++) {
|
|
pos[0] = offset + (float)i * (sizeX * 6.0f);
|
|
|
|
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld,pos,scale);
|
|
m_ragdolls.push_back(ragDoll);
|
|
}
|
|
|
|
offset += sizeX;
|
|
pos[1] += (sizeY * 7.0f);
|
|
pos[2] -= sizeX * 2.0f;
|
|
size--;
|
|
}
|
|
|
|
}
|
|
void BenchmarkDemo::createTest4()
|
|
{
|
|
setCameraDistance(btScalar(50.));
|
|
|
|
int size = 8;
|
|
const float cubeSize = 1.5f;
|
|
float spacing = cubeSize;
|
|
btVector3 pos(0.0f, cubeSize * 2, 0.0f);
|
|
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
|
|
|
|
btConvexHullShape* convexHullShape = new btConvexHullShape();
|
|
|
|
for (int i=0;i<TaruVtxCount;i++)
|
|
{
|
|
btVector3 vtx(TaruVtx[i*3],TaruVtx[i*3+1],TaruVtx[i*3+2]);
|
|
convexHullShape->addPoint(vtx);
|
|
}
|
|
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
|
|
float mass = 1.f;
|
|
btVector3 localInertia(0,0,0);
|
|
convexHullShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
for(int k=0;k<15;k++) {
|
|
for(int j=0;j<size;j++) {
|
|
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
|
|
for(int i=0;i<size;i++) {
|
|
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
|
|
trans.setOrigin(pos);
|
|
localCreateRigidBody(mass,trans,convexHullShape);
|
|
}
|
|
}
|
|
offset -= 0.05f * spacing * (size-1);
|
|
spacing *= 1.01f;
|
|
pos[1] += (cubeSize * 2.0f + spacing);
|
|
}
|
|
}
|
|
|
|
|
|
///////////////////////////////////////////////////////////////////////////////
|
|
// LargeMesh
|
|
|
|
int LandscapeVtxCount[] = {
|
|
Landscape01VtxCount,
|
|
Landscape02VtxCount,
|
|
Landscape03VtxCount,
|
|
Landscape04VtxCount,
|
|
Landscape05VtxCount,
|
|
Landscape06VtxCount,
|
|
Landscape07VtxCount,
|
|
Landscape08VtxCount,
|
|
};
|
|
|
|
int LandscapeIdxCount[] = {
|
|
Landscape01IdxCount,
|
|
Landscape02IdxCount,
|
|
Landscape03IdxCount,
|
|
Landscape04IdxCount,
|
|
Landscape05IdxCount,
|
|
Landscape06IdxCount,
|
|
Landscape07IdxCount,
|
|
Landscape08IdxCount,
|
|
};
|
|
|
|
float *LandscapeVtx[] = {
|
|
Landscape01Vtx,
|
|
Landscape02Vtx,
|
|
Landscape03Vtx,
|
|
Landscape04Vtx,
|
|
Landscape05Vtx,
|
|
Landscape06Vtx,
|
|
Landscape07Vtx,
|
|
Landscape08Vtx,
|
|
};
|
|
|
|
float *LandscapeNml[] = {
|
|
Landscape01Nml,
|
|
Landscape02Nml,
|
|
Landscape03Nml,
|
|
Landscape04Nml,
|
|
Landscape05Nml,
|
|
Landscape06Nml,
|
|
Landscape07Nml,
|
|
Landscape08Nml,
|
|
};
|
|
|
|
float *LandscapeTex[] = {
|
|
Landscape01Tex,
|
|
Landscape02Tex,
|
|
Landscape03Tex,
|
|
Landscape04Tex,
|
|
Landscape05Tex,
|
|
Landscape06Tex,
|
|
Landscape07Tex,
|
|
Landscape08Tex,
|
|
};
|
|
|
|
unsigned short *LandscapeIdx[] = {
|
|
Landscape01Idx,
|
|
Landscape02Idx,
|
|
Landscape03Idx,
|
|
Landscape04Idx,
|
|
Landscape05Idx,
|
|
Landscape06Idx,
|
|
Landscape07Idx,
|
|
Landscape08Idx,
|
|
};
|
|
|
|
void BenchmarkDemo::createLargeMeshBody()
|
|
{
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
|
|
for(int i=0;i<8;i++) {
|
|
|
|
btTriangleIndexVertexArray* meshInterface = new btTriangleIndexVertexArray();
|
|
btIndexedMesh part;
|
|
|
|
part.m_vertexBase = (const unsigned char*)LandscapeVtx[i];
|
|
part.m_vertexStride = sizeof(float) * 3;
|
|
part.m_numVertices = LandscapeVtxCount[i];
|
|
part.m_triangleIndexBase = (const unsigned char*)LandscapeIdx[i];
|
|
part.m_triangleIndexStride = sizeof( short) * 3;
|
|
part.m_numTriangles = LandscapeIdxCount[i]/3;
|
|
part.m_indexType = PHY_SHORT;
|
|
|
|
meshInterface->addIndexedMesh(part,PHY_SHORT);
|
|
|
|
bool useQuantizedAabbCompression = true;
|
|
btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,useQuantizedAabbCompression);
|
|
btVector3 localInertia(0,0,0);
|
|
trans.setOrigin(btVector3(0,-25,0));
|
|
|
|
btRigidBody* body = localCreateRigidBody(0,trans,trimeshShape);
|
|
body->setFriction (0.9);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
void BenchmarkDemo::createTest5()
|
|
{
|
|
setCameraDistance(btScalar(250.));
|
|
btVector3 boxSize(1.5f,1.5f,1.5f);
|
|
float boxMass = 1.0f;
|
|
float sphereRadius = 1.5f;
|
|
float sphereMass = 1.0f;
|
|
float capsuleHalf = 2.0f;
|
|
float capsuleRadius = 1.0f;
|
|
float capsuleMass = 1.0f;
|
|
|
|
{
|
|
int size = 10;
|
|
int height = 10;
|
|
|
|
const float cubeSize = boxSize[0];
|
|
float spacing = 2.0f;
|
|
btVector3 pos(0.0f, 20.0f, 0.0f);
|
|
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
|
|
|
|
int numBodies = 0;
|
|
|
|
for(int k=0;k<height;k++) {
|
|
for(int j=0;j<size;j++) {
|
|
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
|
|
for(int i=0;i<size;i++) {
|
|
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
|
|
btVector3 bpos = btVector3(0,25,0) + btVector3(5.0f,1.0f,5.0f)*pos;
|
|
int idx = rand() % 9;
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
trans.setOrigin(bpos);
|
|
|
|
switch(idx) {
|
|
case 0:case 1:case 2:
|
|
{
|
|
float r = 0.5f * (idx+1);
|
|
btBoxShape* boxShape = new btBoxShape(boxSize*r);
|
|
localCreateRigidBody(boxMass*r,trans,boxShape);
|
|
}
|
|
break;
|
|
|
|
case 3:case 4:case 5:
|
|
{
|
|
float r = 0.5f * (idx-3+1);
|
|
btSphereShape* sphereShape = new btSphereShape(sphereRadius*r);
|
|
localCreateRigidBody(sphereMass*r,trans,sphereShape);
|
|
}
|
|
break;
|
|
|
|
case 6:case 7:case 8:
|
|
{
|
|
float r = 0.5f * (idx-6+1);
|
|
btCapsuleShape* capsuleShape = new btCapsuleShape(capsuleRadius*r,capsuleHalf*r);
|
|
localCreateRigidBody(capsuleMass*r,trans,capsuleShape);
|
|
}
|
|
break;
|
|
}
|
|
|
|
numBodies++;
|
|
}
|
|
}
|
|
offset -= 0.05f * spacing * (size-1);
|
|
spacing *= 1.1f;
|
|
pos[1] += (cubeSize * 2.0f + spacing);
|
|
}
|
|
}
|
|
|
|
createLargeMeshBody();
|
|
}
|
|
void BenchmarkDemo::createTest6()
|
|
{
|
|
setCameraDistance(btScalar(250.));
|
|
|
|
btVector3 boxSize(1.5f,1.5f,1.5f);
|
|
|
|
btConvexHullShape* convexHullShape = new btConvexHullShape();
|
|
|
|
for (int i=0;i<TaruVtxCount;i++)
|
|
{
|
|
btVector3 vtx(TaruVtx[i*3],TaruVtx[i*3+1],TaruVtx[i*3+2]);
|
|
convexHullShape->addPoint(vtx);
|
|
}
|
|
|
|
btTransform trans;
|
|
trans.setIdentity();
|
|
|
|
float mass = 1.f;
|
|
btVector3 localInertia(0,0,0);
|
|
convexHullShape->calculateLocalInertia(mass,localInertia);
|
|
|
|
|
|
{
|
|
int size = 10;
|
|
int height = 10;
|
|
|
|
const float cubeSize = boxSize[0];
|
|
float spacing = 2.0f;
|
|
btVector3 pos(0.0f, 20.0f, 0.0f);
|
|
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
|
|
|
|
|
|
for(int k=0;k<height;k++) {
|
|
for(int j=0;j<size;j++) {
|
|
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
|
|
for(int i=0;i<size;i++) {
|
|
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
|
|
btVector3 bpos = btVector3(0,25,0) + btVector3(5.0f,1.0f,5.0f)*pos;
|
|
trans.setOrigin(bpos);
|
|
|
|
localCreateRigidBody(mass,trans,convexHullShape);
|
|
}
|
|
}
|
|
offset -= 0.05f * spacing * (size-1);
|
|
spacing *= 1.1f;
|
|
pos[1] += (cubeSize * 2.0f + spacing);
|
|
}
|
|
}
|
|
|
|
|
|
createLargeMeshBody();
|
|
}
|
|
|
|
|
|
|
|
|
|
void BenchmarkDemo::initRays()
|
|
{
|
|
raycastBar = btRaycastBar2 (2500.0, 0,50.0);
|
|
}
|
|
|
|
void BenchmarkDemo::castRays()
|
|
{
|
|
raycastBar.cast (m_dynamicsWorld);
|
|
}
|
|
|
|
void BenchmarkDemo::createTest7()
|
|
{
|
|
setCameraDistance(btScalar(150.));
|
|
createTest6();
|
|
|
|
initRays();
|
|
}
|
|
|
|
void BenchmarkDemo::exitPhysics()
|
|
{
|
|
int i;
|
|
|
|
for (i=0;i<m_ragdolls.size();i++)
|
|
{
|
|
RagDoll* doll = m_ragdolls[i];
|
|
delete doll;
|
|
}
|
|
|
|
//cleanup in the reverse order of creation/initialization
|
|
|
|
//remove the rigidbodies from the dynamics world and delete them
|
|
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
|
{
|
|
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
|
btRigidBody* body = btRigidBody::upcast(obj);
|
|
if (body && body->getMotionState())
|
|
{
|
|
delete body->getMotionState();
|
|
}
|
|
m_dynamicsWorld->removeCollisionObject( obj );
|
|
delete obj;
|
|
}
|
|
|
|
//delete collision shapes
|
|
for (int j=0;j<m_collisionShapes.size();j++)
|
|
{
|
|
btCollisionShape* shape = m_collisionShapes[j];
|
|
delete shape;
|
|
}
|
|
|
|
//delete dynamics world
|
|
delete m_dynamicsWorld;
|
|
|
|
//delete solver
|
|
delete m_solver;
|
|
|
|
//delete broadphase
|
|
delete m_overlappingPairCache;
|
|
|
|
//delete dispatcher
|
|
delete m_dispatcher;
|
|
|
|
delete m_collisionConfiguration;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|