mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-14 16:14:38 +00:00
update bullet so it actually works
Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
This commit is contained in:
marauder2k7
parent
c7be48130a
commit
13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
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@ -2,7 +2,6 @@
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#ifndef COMMON_MULTI_BODY_SETUP_H
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#define COMMON_MULTI_BODY_SETUP_H
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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@ -18,20 +17,60 @@
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#include "CommonWindowInterface.h"
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#include "CommonCameraInterface.h"
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enum MyFilterModes
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{
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FILTER_GROUPAMASKB_AND_GROUPBMASKA2 = 0,
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FILTER_GROUPAMASKB_OR_GROUPBMASKA2
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};
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struct MyOverlapFilterCallback2 : public btOverlapFilterCallback
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{
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int m_filterMode;
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MyOverlapFilterCallback2()
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: m_filterMode(FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
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{
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}
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virtual ~MyOverlapFilterCallback2()
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{
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}
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// return true when pairs need collision
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virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const
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{
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if (m_filterMode == FILTER_GROUPAMASKB_AND_GROUPBMASKA2)
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{
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bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
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collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
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return collides;
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}
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if (m_filterMode == FILTER_GROUPAMASKB_OR_GROUPBMASKA2)
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{
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bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
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collides = collides || (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
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return collides;
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}
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return false;
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}
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};
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struct CommonMultiBodyBase : public CommonExampleInterface
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{
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btMultiBodyConstraintSolver* m_solver;
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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MyOverlapFilterCallback2* m_filterCallback;
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btOverlappingPairCache* m_pairCache;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btMultiBodyConstraintSolver* m_solver;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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btMultiBodyDynamicsWorld* m_dynamicsWorld;
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//data for picking objects
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class btRigidBody* m_pickedBody;
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class btRigidBody* m_pickedBody;
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class btTypedConstraint* m_pickedConstraint;
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class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
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class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
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btVector3 m_oldPickingPos;
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btVector3 m_hitPos;
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@ -41,16 +80,18 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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struct GUIHelperInterface* m_guiHelper;
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CommonMultiBodyBase(GUIHelperInterface* helper)
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:m_broadphase(0),
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m_dispatcher(0),
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m_solver(0),
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m_collisionConfiguration(0),
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m_dynamicsWorld(0),
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m_pickedBody(0),
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m_pickedConstraint(0),
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m_pickingMultiBodyPoint2Point(0),
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m_prevCanSleep(false),
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m_guiHelper(helper)
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: m_filterCallback(0),
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m_pairCache(0),
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m_broadphase(0),
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m_dispatcher(0),
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m_solver(0),
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m_collisionConfiguration(0),
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m_dynamicsWorld(0),
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m_pickedBody(0),
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m_pickedConstraint(0),
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m_pickingMultiBodyPoint2Point(0),
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m_prevCanSleep(false),
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m_guiHelper(helper)
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{
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}
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@ -59,11 +100,16 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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//m_collisionConfiguration->setConvexConvexMultipointIterations();
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m_filterCallback = new MyOverlapFilterCallback2();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();//btSimpleBroadphase();
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m_pairCache = new btHashedOverlappingPairCache();
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m_pairCache->setOverlapFilterCallback(m_filterCallback);
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m_broadphase = new btDbvtBroadphase(m_pairCache); //btSimpleBroadphase();
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m_solver = new btMultiBodyConstraintSolver;
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@ -72,7 +118,6 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
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}
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virtual void stepSimulation(float deltaTime)
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{
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if (m_dynamicsWorld)
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@ -81,7 +126,6 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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}
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}
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virtual void exitPhysics()
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{
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removePickingConstraint();
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@ -91,13 +135,12 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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if (m_dynamicsWorld)
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{
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int i;
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for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
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{
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m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
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}
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int i;
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for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
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{
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m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
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}
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for (i = m_dynamicsWorld->getNumMultiBodyConstraints() - 1; i >= 0; i--)
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{
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btMultiBodyConstraint* mbc = m_dynamicsWorld->getMultiBodyConstraint(i);
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@ -124,7 +167,7 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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}
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}
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//delete collision shapes
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for (int j = 0; j<m_collisionShapes.size(); j++)
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for (int j = 0; j < m_collisionShapes.size(); j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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@ -135,16 +178,22 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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m_dynamicsWorld = 0;
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delete m_solver;
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m_solver=0;
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m_solver = 0;
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delete m_broadphase;
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m_broadphase=0;
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m_broadphase = 0;
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delete m_dispatcher;
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m_dispatcher=0;
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m_dispatcher = 0;
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delete m_pairCache;
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m_pairCache = 0;
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delete m_filterCallback;
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m_filterCallback = 0;
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delete m_collisionConfiguration;
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m_collisionConfiguration=0;
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m_collisionConfiguration = 0;
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}
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virtual void syncPhysicsToGraphics()
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@ -157,63 +206,72 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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virtual void renderScene()
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{
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if (m_dynamicsWorld)
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{
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m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
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if (m_dynamicsWorld)
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{
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m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
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m_guiHelper->render(m_dynamicsWorld);
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}
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m_guiHelper->render(m_dynamicsWorld);
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}
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}
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virtual void physicsDebugDraw(int debugDrawFlags)
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{
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if (m_dynamicsWorld)
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{
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virtual void physicsDebugDraw(int debugDrawFlags)
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{
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if (m_dynamicsWorld)
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{
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if (m_dynamicsWorld->getDebugDrawer())
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{
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
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}
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m_dynamicsWorld->debugDrawWorld();
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}
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}
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virtual bool keyboardCallback(int key, int state)
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{
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return false;//don't handle this key
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m_dynamicsWorld->debugDrawWorld();
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}
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}
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virtual bool keyboardCallback(int key, int state)
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{
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if ((key == B3G_F3) && state && m_dynamicsWorld)
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{
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btDefaultSerializer* serializer = new btDefaultSerializer();
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m_dynamicsWorld->serialize(serializer);
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btVector3 getRayTo(int x,int y)
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FILE* file = fopen("testFile.bullet", "wb");
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fwrite(serializer->getBufferPointer(), serializer->getCurrentBufferSize(), 1, file);
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fclose(file);
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//b3Printf("btDefaultSerializer wrote testFile.bullet");
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delete serializer;
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return true;
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}
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return false; //don't handle this key
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}
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btVector3 getRayTo(int x, int y)
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{
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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btAssert(0);
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return btVector3(0,0,0);
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return btVector3(0, 0, 0);
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}
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float tanFov = (top - bottom) * 0.5f / nearPlane;
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float fov = btScalar(2.0) * btAtan(tanFov);
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btVector3 camPos,camTarget;
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btVector3 camPos, camTarget;
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renderer->getActiveCamera()->getCameraPosition(camPos);
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renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
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btVector3 rayFrom = camPos;
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btVector3 rayForward = (camTarget-camPos);
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btVector3 rayFrom = camPos;
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btVector3 rayForward = (camTarget - camPos);
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rayForward.normalize();
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float farPlane = 10000.f;
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rayForward*= farPlane;
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rayForward *= farPlane;
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btVector3 rightOffset;
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btVector3 cameraUp=btVector3(0,0,0);
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cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1;
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btVector3 cameraUp = btVector3(0, 0, 0);
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cameraUp[m_guiHelper->getAppInterface()->getUpAxis()] = 1;
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btVector3 vertical = cameraUp;
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@ -223,25 +281,22 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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vertical = hor.cross(rayForward);
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vertical.normalize();
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float tanfov = tanf(0.5f*fov);
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float tanfov = tanf(0.5f * fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
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btScalar aspect;
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float width = float(renderer->getScreenWidth());
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float height = float (renderer->getScreenHeight());
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float height = float(renderer->getScreenHeight());
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aspect = width / height;
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hor*=aspect;
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aspect = width / height;
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hor *= aspect;
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btVector3 rayToCenter = rayFrom + rayForward;
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btVector3 dHor = hor * 1.f/width;
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btVector3 dVert = vertical * 1.f/height;
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btVector3 dHor = hor * 1.f / width;
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btVector3 dVert = vertical * 1.f / height;
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btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += btScalar(x) * dHor;
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@ -249,10 +304,10 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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return rayTo;
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}
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virtual bool mouseMoveCallback(float x,float y)
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virtual bool mouseMoveCallback(float x, float y)
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{
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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btAssert(0);
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@ -262,41 +317,39 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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btVector3 rayTo = getRayTo(int(x), int(y));
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btVector3 rayFrom;
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renderer->getActiveCamera()->getCameraPosition(rayFrom);
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movePickedBody(rayFrom,rayTo);
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movePickedBody(rayFrom, rayTo);
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return false;
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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btAssert(0);
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return false;
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}
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CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
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if (state==1)
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if (state == 1)
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{
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if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) ))
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if (button == 0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL)))
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{
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btVector3 camPos;
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renderer->getActiveCamera()->getCameraPosition(camPos);
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btVector3 rayFrom = camPos;
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btVector3 rayTo = getRayTo(int(x),int(y));
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btVector3 rayTo = getRayTo(int(x), int(y));
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pickBody(rayFrom, rayTo);
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}
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} else
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}
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else
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{
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if (button==0)
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if (button == 0)
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{
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removePickingConstraint();
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//remove p2p
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@ -307,10 +360,9 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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return false;
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}
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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if (m_dynamicsWorld==0)
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if (m_dynamicsWorld == 0)
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return false;
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btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
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@ -318,7 +370,6 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
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if (rayCallback.hasHit())
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{
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btVector3 pickPos = rayCallback.m_hitPointWorld;
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btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
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if (body)
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@ -338,33 +389,31 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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//very weak constraint for picking
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p2p->m_setting.m_tau = 0.001f;
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}
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} else
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}
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else
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{
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btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
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if (multiCol && multiCol->m_multiBody)
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{
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m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
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multiCol->m_multiBody->setCanSleep(false);
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btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);
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btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos);
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btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody, multiCol->m_link, 0, pivotInA, pickPos);
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//if you add too much energy to the system, causing high angular velocities, simulation 'explodes'
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//see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949
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//so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply
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//it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?)
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btScalar scaling=1;
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p2p->setMaxAppliedImpulse(2*scaling);
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btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
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btScalar scaling = 1;
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p2p->setMaxAppliedImpulse(2 * scaling);
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btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_dynamicsWorld;
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world->addMultiBodyConstraint(p2p);
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m_pickingMultiBodyPoint2Point =p2p;
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m_pickingMultiBodyPoint2Point = p2p;
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}
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}
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// pickObject(pickPos, rayCallback.m_collisionObject);
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m_oldPickingPos = rayToWorld;
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m_hitPos = pickPos;
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@ -376,14 +425,14 @@ struct CommonMultiBodyBase : public CommonExampleInterface
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}
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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if (m_pickedBody && m_pickedConstraint)
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if (m_pickedBody && m_pickedConstraint)
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{
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btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
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if (pickCon)
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{
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//keep it at the same picking distance
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btVector3 dir = rayToWorld-rayFromWorld;
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btVector3 dir = rayToWorld - rayFromWorld;
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dir.normalize();
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||||
dir *= m_oldPickingDist;
|
||||
|
||||
|
|
@ -391,28 +440,34 @@ struct CommonMultiBodyBase : public CommonExampleInterface
|
|||
pickCon->setPivotB(newPivotB);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (m_pickingMultiBodyPoint2Point)
|
||||
{
|
||||
//keep it at the same picking distance
|
||||
|
||||
|
||||
btVector3 dir = rayToWorld-rayFromWorld;
|
||||
btVector3 dir = rayToWorld - rayFromWorld;
|
||||
dir.normalize();
|
||||
dir *= m_oldPickingDist;
|
||||
|
||||
btVector3 newPivotB = rayFromWorld + dir;
|
||||
|
||||
|
||||
m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB);
|
||||
}
|
||||
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual void removePickingConstraint()
|
||||
{
|
||||
if (m_pickedConstraint)
|
||||
{
|
||||
m_dynamicsWorld->removeConstraint(m_pickedConstraint);
|
||||
|
||||
if (m_pickedBody)
|
||||
{
|
||||
m_pickedBody->forceActivationState(ACTIVE_TAG);
|
||||
m_pickedBody->activate(true);
|
||||
}
|
||||
delete m_pickedConstraint;
|
||||
m_pickedConstraint = 0;
|
||||
m_pickedBody = 0;
|
||||
|
|
@ -420,22 +475,20 @@ struct CommonMultiBodyBase : public CommonExampleInterface
|
|||
if (m_pickingMultiBodyPoint2Point)
|
||||
{
|
||||
m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(m_prevCanSleep);
|
||||
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
|
||||
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_dynamicsWorld;
|
||||
world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point);
|
||||
delete m_pickingMultiBodyPoint2Point;
|
||||
m_pickingMultiBodyPoint2Point = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
btBoxShape* createBoxShape(const btVector3& halfExtents)
|
||||
{
|
||||
btBoxShape* box = new btBoxShape(halfExtents);
|
||||
return box;
|
||||
}
|
||||
|
||||
btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
|
||||
btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
|
||||
{
|
||||
btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
|
||||
|
||||
|
|
@ -446,7 +499,7 @@ struct CommonMultiBodyBase : public CommonExampleInterface
|
|||
if (isDynamic)
|
||||
shape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
|
||||
#define USE_MOTIONSTATE 1
|
||||
#ifdef USE_MOTIONSTATE
|
||||
|
|
@ -460,7 +513,7 @@ struct CommonMultiBodyBase : public CommonExampleInterface
|
|||
#else
|
||||
btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia);
|
||||
body->setWorldTransform(startTransform);
|
||||
#endif//
|
||||
#endif //
|
||||
|
||||
body->setUserIndex(-1);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
|
|
@ -468,5 +521,4 @@ struct CommonMultiBodyBase : public CommonExampleInterface
|
|||
}
|
||||
};
|
||||
|
||||
#endif //COMMON_MULTI_BODY_SETUP_H
|
||||
|
||||
#endif //COMMON_MULTI_BODY_SETUP_H
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue