mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-16 00:54:54 +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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@ -2,52 +2,50 @@
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#ifndef COMMON_RIGID_BODY_BASE_H
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#define COMMON_RIGID_BODY_BASE_H
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#include "btBulletDynamicsCommon.h"
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#include "CommonExampleInterface.h"
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#include "CommonGUIHelperInterface.h"
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#include "CommonRenderInterface.h"
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#include "CommonCameraInterface.h"
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#include "CommonGraphicsAppInterface.h"
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#include "CommonWindowInterface.h"
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#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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struct CommonRigidBodyBase : 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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btConstraintSolver* 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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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btConstraintSolver* m_solver;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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btDiscreteDynamicsWorld* 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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int m_savedState;
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int m_savedState;
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btVector3 m_oldPickingPos;
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btVector3 m_hitPos;
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btScalar m_oldPickingDist;
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struct GUIHelperInterface* m_guiHelper;
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CommonRigidBodyBase(struct 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_guiHelper(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_guiHelper(helper)
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{
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}
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virtual ~CommonRigidBodyBase()
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{
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}
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btDiscreteDynamicsWorld* getDynamicsWorld()
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btDiscreteDynamicsWorld* getDynamicsWorld()
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{
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return m_dynamicsWorld;
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}
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@ -59,7 +57,7 @@ struct CommonRigidBodyBase : public CommonExampleInterface
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//m_collisionConfiguration->setConvexConvexMultipointIterations();
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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();
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@ -72,7 +70,6 @@ struct CommonRigidBodyBase : 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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@ -96,15 +93,14 @@ struct CommonRigidBodyBase : public CommonExampleInterface
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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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->getNumCollisionObjects() - 1; i >= 0; i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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@ -118,7 +114,7 @@ struct CommonRigidBodyBase : 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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@ -126,84 +122,80 @@ struct CommonRigidBodyBase : public CommonExampleInterface
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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m_dynamicsWorld=0;
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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_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 debugDraw(int debugDrawFlags)
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{
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if (m_dynamicsWorld)
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{
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virtual void debugDraw(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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m_dynamicsWorld->debugDrawWorld();
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}
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}
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}
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virtual bool keyboardCallback(int key, int state)
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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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if ((key == B3G_F3) && state && m_dynamicsWorld)
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{
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btDefaultSerializer* serializer = new btDefaultSerializer();
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btDefaultSerializer* serializer = new btDefaultSerializer();
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m_dynamicsWorld->serialize(serializer);
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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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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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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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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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@ -213,25 +205,22 @@ struct CommonRigidBodyBase : public CommonExampleInterface
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vertical = hor.cross(rayForward);
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vertical.safeNormalize();
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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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@ -239,10 +228,10 @@ struct CommonRigidBodyBase : 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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@ -252,21 +241,21 @@ struct CommonRigidBodyBase : 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 0
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@ -294,25 +283,23 @@ struct CommonRigidBodyBase : public CommonExampleInterface
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printf("NO CONTROL pressed\n");
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}
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#endif
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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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@ -323,18 +310,17 @@ struct CommonRigidBodyBase : 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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rayCallback.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest;
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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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@ -357,7 +343,6 @@ struct CommonRigidBodyBase : public CommonExampleInterface
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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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@ -369,7 +354,7 @@ struct CommonRigidBodyBase : 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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@ -402,15 +387,24 @@ struct CommonRigidBodyBase : public CommonExampleInterface
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}
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}
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btBoxShape* createBoxShape(const btVector3& halfExtents)
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{
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btBoxShape* box = new btBoxShape(halfExtents);
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return box;
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}
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btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
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void deleteRigidBody(btRigidBody* body)
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{
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int graphicsUid = body->getUserIndex();
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m_guiHelper->removeGraphicsInstance(graphicsUid);
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m_dynamicsWorld->removeRigidBody(body);
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btMotionState* ms = body->getMotionState();
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delete body;
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delete ms;
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}
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btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
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{
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btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
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@ -421,7 +415,7 @@ struct CommonRigidBodyBase : public CommonExampleInterface
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if (isDynamic)
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shape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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#define USE_MOTIONSTATE 1
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#ifdef USE_MOTIONSTATE
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@ -435,28 +429,26 @@ struct CommonRigidBodyBase : public CommonExampleInterface
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#else
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btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia);
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body->setWorldTransform(startTransform);
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#endif//
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#endif //
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body->setUserIndex(-1);
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m_dynamicsWorld->addRigidBody(body);
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return body;
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}
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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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}
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{
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m_guiHelper->render(m_dynamicsWorld);
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{
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m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
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}
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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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}
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};
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#endif //COMMON_RIGID_BODY_SETUP_H
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#endif //COMMON_RIGID_BODY_SETUP_H
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