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update bullet so it actually works

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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.
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marauder2k7 2026-06-03 15:08:51 +01:00
parent c7be48130a
commit 13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
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185
Engine/lib/bullet/examples/RollingFrictionDemo/RollingFrictionDemo.cpp
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@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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.
@ -13,14 +13,13 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024)
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
@ -31,8 +30,7 @@ subject to the following restrictions:
#include "RollingFrictionDemo.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include <stdio.h> //printf debugging
#include <stdio.h> //printf debugging
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
@ -43,47 +41,37 @@ subject to the following restrictions:
class RollingFrictionDemo : public CommonRigidBodyBase
{
public:
RollingFrictionDemo(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper)
: CommonRigidBodyBase(helper)
{
}
virtual ~RollingFrictionDemo()
{
}
void initPhysics();
void exitPhysics();
void initPhysics();
void exitPhysics();
void resetCamera()
{
float dist = 35;
float pitch = 0;
float yaw = 14;
float targetPos[3]={0,0,0};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
float pitch = -14;
float yaw = 0;
float targetPos[3] = {0, 0, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
};
void RollingFrictionDemo::initPhysics()
void RollingFrictionDemo::initPhysics()
{
m_guiHelper->setUpAxis(2);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
@ -91,70 +79,66 @@ void RollingFrictionDemo::initPhysics()
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
// m_dynamicsWorld->getSolverInfo().m_singleAxisRollingFrictionThreshold = 0.f;//faster but lower quality
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
// m_dynamicsWorld->getSolverInfo().m_singleAxisRollingFrictionThreshold = 0.f;//faster but lower quality
m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
{
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.),btScalar(5.),btScalar(25.)));
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(25.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,0,-28));
groundTransform.setRotation(btQuaternion(btVector3(0,1,0),SIMD_PI*0.03));
groundTransform.setOrigin(btVector3(0, 0, -28));
groundTransform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI * 0.03));
//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);
btVector3 localInertia(0, 0, 0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
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::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(1);
body->setRollingFriction(1);
body->setFriction(.5);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.),btScalar(100.),btScalar(50.)));
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.), btScalar(100.), btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,0,-54));
groundTransform.setOrigin(btVector3(0, 0, -54));
//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);
btVector3 localInertia(0, 0, 0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
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::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(1);
body->setRollingFriction(1);
body->setFriction(.1);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
@ -165,61 +149,60 @@ void RollingFrictionDemo::initPhysics()
#define NUM_SHAPES 10
btCollisionShape* colShapes[NUM_SHAPES] = {
new btSphereShape(btScalar(0.5)),
new btCapsuleShape(0.25,0.5),
new btCapsuleShapeX(0.25,0.5),
new btCapsuleShapeZ(0.25,0.5),
new btConeShape(0.25,0.5),
new btConeShapeX(0.25,0.5),
new btConeShapeZ(0.25,0.5),
new btCylinderShape(btVector3(0.25,0.5,0.25)),
new btCylinderShapeX(btVector3(0.5,0.25,0.25)),
new btCylinderShapeZ(btVector3(0.25,0.25,0.5)),
new btCapsuleShape(0.25, 0.5),
new btCapsuleShapeX(0.25, 0.5),
new btCapsuleShapeZ(0.25, 0.5),
new btConeShape(0.25, 0.5),
new btConeShapeX(0.25, 0.5),
new btConeShapeZ(0.25, 0.5),
new btCylinderShape(btVector3(0.25, 0.5, 0.25)),
new btCylinderShapeX(btVector3(0.5, 0.25, 0.25)),
new btCylinderShapeZ(btVector3(0.25, 0.25, 0.5)),
};
for (int i=0;i<NUM_SHAPES;i++)
for (int i = 0; i < NUM_SHAPES; i++)
m_collisionShapes.push_back(colShapes[i]);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
btScalar mass(1.f);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_x = START_POS_X - ARRAY_SIZE_X / 2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
{
int shapeIndex = 0;
for (int k=0;k<ARRAY_SIZE_Y;k++)
for (int k = 0; k < ARRAY_SIZE_Y; k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
for (int i = 0; i < ARRAY_SIZE_X; i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
for (int j = 0; j < ARRAY_SIZE_Z; j++)
{
startTransform.setOrigin(SCALING*btVector3(
btScalar(2.0*i + start_x),
btScalar(2.0*j + start_z),
btScalar(20+2.0*k + start_y)));
startTransform.setOrigin(SCALING * btVector3(
btScalar(2.0 * i + start_x),
btScalar(2.0 * j + start_z),
btScalar(20 + 2.0 * k + start_y)));
shapeIndex++;
btCollisionShape* colShape = colShapes[shapeIndex%NUM_SHAPES];
btCollisionShape* colShape = colShapes[shapeIndex % NUM_SHAPES];
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
btVector3 localInertia(0, 0, 0);
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
colShape->calculateLocalInertia(mass, localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, colShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(1.f);
body->setRollingFriction(.3);
body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
body->setRollingFriction(.1);
body->setSpinningFriction(0.1);
body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(), btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
m_dynamicsWorld->addRigidBody(body);
}
@ -231,29 +214,26 @@ void RollingFrictionDemo::initPhysics()
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
if (0)
{
btSerializer* s = new btDefaultSerializer;
m_dynamicsWorld->serialize(s);
char resourcePath[1024];
if (b3ResourcePath::findResourcePath("slope.bullet",resourcePath,1024))
{
FILE* f = fopen(resourcePath,"wb");
fwrite(s->getBufferPointer(),s->getCurrentBufferSize(),1,f);
fclose(f);
}
btSerializer* s = new btDefaultSerializer;
m_dynamicsWorld->serialize(s);
char resourcePath[1024];
if (b3ResourcePath::findResourcePath("slope.bullet", resourcePath, 1024,0))
{
FILE* f = fopen(resourcePath, "wb");
fwrite(s->getBufferPointer(), s->getCurrentBufferSize(), 1, f);
fclose(f);
}
}
}
void RollingFrictionDemo::exitPhysics()
void RollingFrictionDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
@ -261,12 +241,12 @@ void RollingFrictionDemo::exitPhysics()
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
for (int j = 0; j < m_collisionShapes.size(); j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
@ -274,24 +254,17 @@ void RollingFrictionDemo::exitPhysics()
m_collisionShapes.clear();
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
}
class CommonExampleInterface* RollingFrictionCreateFunc(struct CommonExampleOptions& options)
class CommonExampleInterface* RollingFrictionCreateFunc(struct CommonExampleOptions& options)
{
return new RollingFrictionDemo(options.m_guiHelper);
}