mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-11 22:54:34 +00:00
* Adjustment: Update Bullet version to 3.24.
This commit is contained in:
Robert MacGregor
parent
35de012ee7
commit
4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
119
Engine/lib/bullet/examples/BulletRobotics/BoxStack.cpp
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119
Engine/lib/bullet/examples/BulletRobotics/BoxStack.cpp
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#include "BoxStack.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../SharedMemory/PhysicsServerSharedMemory.h"
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#include "../SharedMemory/PhysicsClientC_API.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include <string>
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#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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class BoxStackExample : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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b3RobotSimulatorClientAPI m_robotSim;
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int m_options;
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public:
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BoxStackExample(GUIHelperInterface* helper, int options)
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: m_app(helper->getAppInterface()),
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m_guiHelper(helper),
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m_options(options)
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{
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m_app->setUpAxis(2);
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}
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virtual ~BoxStackExample()
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{
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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m_robotSim.debugDraw(debugDrawMode);
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}
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virtual void initPhysics()
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{
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int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
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m_robotSim.setGuiHelper(m_guiHelper);
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bool connected = m_robotSim.connect(mode);
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b3Printf("robotSim connected = %d", connected);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
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b3RobotSimulatorLoadUrdfFileArgs args;
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b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
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int massRatio = 4;
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int mass = 1;
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for (int i = 0; i < 8; i++)
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{
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args.m_startPosition.setValue(0, 0, i * .06);
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int boxIdx = m_robotSim.loadURDF("cube_small.urdf", args);
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dynamicsArgs.m_mass = mass;
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m_robotSim.changeDynamics(boxIdx, -1, dynamicsArgs);
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mass *= massRatio;
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}
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m_robotSim.loadURDF("plane.urdf");
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m_robotSim.setGravity(btVector3(0, 0, -10));
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}
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virtual void exitPhysics()
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{
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m_robotSim.disconnect();
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}
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virtual void stepSimulation(float deltaTime)
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{
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m_robotSim.stepSimulation();
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}
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virtual void renderScene()
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{
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m_robotSim.renderScene();
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}
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virtual bool mouseMoveCallback(float x, float y)
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{
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return m_robotSim.mouseMoveCallback(x, y);
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return m_robotSim.mouseButtonCallback(button, state, x, y);
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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;
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}
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virtual void resetCamera()
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{
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float dist = 1.5;
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float pitch = -10;
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float yaw = 18;
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float targetPos[3] = {-0.2, 0.8, 0.3};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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{
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m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
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m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
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m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
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m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
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}
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}
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};
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class CommonExampleInterface* BoxStackExampleCreateFunc(struct CommonExampleOptions& options)
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{
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return new BoxStackExample(options.m_guiHelper, options.m_option);
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}
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21
Engine/lib/bullet/examples/BulletRobotics/BoxStack.h
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21
Engine/lib/bullet/examples/BulletRobotics/BoxStack.h
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2016 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BOX_STACK_EXAMPLE_H
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#define BOX_STACK_EXAMPLE_H
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class CommonExampleInterface* BoxStackExampleCreateFunc(struct CommonExampleOptions& options);
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#endif //BOX_STACK_EXAMPLE_H
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172
Engine/lib/bullet/examples/BulletRobotics/FixJointBoxes.cpp
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172
Engine/lib/bullet/examples/BulletRobotics/FixJointBoxes.cpp
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#include "FixJointBoxes.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../SharedMemory/PhysicsServerSharedMemory.h"
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#include "../SharedMemory/PhysicsClientC_API.h"
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <string>
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#include <vector>
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#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
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static btScalar numSolverIterations = 1000;
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static btScalar solverId = 0;
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class FixJointBoxes : public CommonExampleInterface
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{
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GUIHelperInterface* m_guiHelper;
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b3RobotSimulatorClientAPI m_robotSim;
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int m_options;
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b3RobotSimulatorSetPhysicsEngineParameters physicsArgs;
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int solver;
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const size_t numCubes;
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std::vector<int> cubeIds;
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public:
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FixJointBoxes(GUIHelperInterface* helper, int options)
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: m_guiHelper(helper),
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m_options(options),
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numCubes(30),
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cubeIds(numCubes, 0),
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solver(solverId)
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{
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}
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virtual ~FixJointBoxes()
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{
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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m_robotSim.debugDraw(debugDrawMode);
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}
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virtual void initPhysics()
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{
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int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
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m_robotSim.setGuiHelper(m_guiHelper);
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bool connected = m_robotSim.connect(mode);
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b3Printf("robotSim connected = %d", connected);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
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{
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b3RobotSimulatorLoadUrdfFileArgs args;
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b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
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for (int i = 0; i < numCubes; i++)
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{
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args.m_forceOverrideFixedBase = (i == 0);
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args.m_startPosition.setValue(0, i * 0.05, 1);
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cubeIds[i] = m_robotSim.loadURDF("cube_small.urdf", args);
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b3RobotJointInfo jointInfo;
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jointInfo.m_parentFrame[1] = -0.025;
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jointInfo.m_childFrame[1] = 0.025;
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if (i > 0)
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{
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m_robotSim.createConstraint(cubeIds[i], -1, cubeIds[i - 1], -1, &jointInfo);
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m_robotSim.setCollisionFilterGroupMask(cubeIds[i], -1, 0, 0);
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}
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m_robotSim.loadURDF("plane.urdf");
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}
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}
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{
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SliderParams slider("Direct solver", &solverId);
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slider.m_minVal = 0;
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slider.m_maxVal = 1;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("numSolverIterations", &numSolverIterations);
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slider.m_minVal = 50;
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slider.m_maxVal = 1e4;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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physicsArgs.m_defaultGlobalCFM = 1e-6;
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m_robotSim.setPhysicsEngineParameter(physicsArgs);
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m_robotSim.setGravity(btVector3(0, 0, -10));
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m_robotSim.setNumSolverIterations((int)numSolverIterations);
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}
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virtual void exitPhysics()
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{
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m_robotSim.disconnect();
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}
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void resetCubePosition()
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{
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for (int i = 0; i < numCubes; i++)
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{
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btVector3 pos(0, i * (btScalar)0.05, 1);
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btQuaternion quar(0, 0, 0, 1);
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m_robotSim.resetBasePositionAndOrientation(cubeIds[i], pos, quar);
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}
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}
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virtual void stepSimulation(float deltaTime)
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{
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int newSolver = (int)(solverId + 0.5);
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if (newSolver != solver)
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{
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printf("Switching solver, new %d, old %d\n", newSolver, solver);
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solver = newSolver;
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resetCubePosition();
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if (solver)
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{
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physicsArgs.m_constraintSolverType = eConstraintSolverLCP_DANTZIG;
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}
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else
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{
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physicsArgs.m_constraintSolverType = eConstraintSolverLCP_SI;
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}
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m_robotSim.setPhysicsEngineParameter(physicsArgs);
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}
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m_robotSim.setNumSolverIterations((int)numSolverIterations);
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m_robotSim.stepSimulation();
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}
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virtual void renderScene()
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{
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m_robotSim.renderScene();
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}
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virtual bool mouseMoveCallback(float x, float y)
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{
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return m_robotSim.mouseMoveCallback(x, y);
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return m_robotSim.mouseButtonCallback(button, state, x, y);
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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;
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}
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virtual void resetCamera()
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{
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float dist = 1;
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float pitch = -20;
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float yaw = -30;
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float targetPos[3] = {0, 0.2, 0.5};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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};
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class CommonExampleInterface* FixJointBoxesCreateFunc(struct CommonExampleOptions& options)
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{
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return new FixJointBoxes(options.m_guiHelper, options.m_option);
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}
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21
Engine/lib/bullet/examples/BulletRobotics/FixJointBoxes.h
Normal file
21
Engine/lib/bullet/examples/BulletRobotics/FixJointBoxes.h
Normal file
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@ -0,0 +1,21 @@
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/*
|
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Bullet Continuous Collision Detection and Physics Library
|
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Copyright (c) 2016 Google Inc. http://bulletphysics.org
|
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|
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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.
|
||||
*/
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|
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#ifndef FIX_JOINT_BOXES_H
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#define FIX_JOINT_BOXES_H
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class CommonExampleInterface* FixJointBoxesCreateFunc(struct CommonExampleOptions& options);
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#endif //FIX_JOINT_BOXES_H
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109
Engine/lib/bullet/examples/BulletRobotics/JointLimit.cpp
Normal file
109
Engine/lib/bullet/examples/BulletRobotics/JointLimit.cpp
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@ -0,0 +1,109 @@
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#include "JointLimit.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../SharedMemory/PhysicsServerSharedMemory.h"
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#include "../SharedMemory/PhysicsClientC_API.h"
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#include "../SharedMemory/SharedMemoryPublic.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include <string>
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#include "../RobotSimulator/b3RobotSimulatorClientAPI.h"
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#include "../Utils/b3Clock.h"
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class JointLimit : public CommonExampleInterface
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{
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GUIHelperInterface* m_guiHelper;
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b3RobotSimulatorClientAPI m_robotSim;
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int m_options;
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public:
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JointLimit(GUIHelperInterface* helper, int options)
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: m_guiHelper(helper),
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m_options(options)
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{
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}
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virtual ~JointLimit()
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{
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}
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virtual void physicsDebugDraw(int debugDrawMode)
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{
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m_robotSim.debugDraw(debugDrawMode);
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}
|
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virtual void initPhysics()
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{
|
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int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
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m_robotSim.setGuiHelper(m_guiHelper);
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bool connected = m_robotSim.connect(mode);
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b3Printf("robotSim connected = %d", connected);
|
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|
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m_robotSim.configureDebugVisualizer(COV_ENABLE_RGB_BUFFER_PREVIEW, 0);
|
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m_robotSim.configureDebugVisualizer(COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0);
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m_robotSim.configureDebugVisualizer(COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0);
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|
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b3RobotSimulatorSetPhysicsEngineParameters physicsArgs;
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physicsArgs.m_constraintSolverType = eConstraintSolverLCP_DANTZIG;
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physicsArgs.m_defaultGlobalCFM = 1e-6;
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m_robotSim.setNumSolverIterations(10);
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b3RobotSimulatorLoadUrdfFileArgs loadArgs;
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int humanoid = m_robotSim.loadURDF("test_joints_MB.urdf", loadArgs);
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b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
|
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dynamicsArgs.m_linearDamping = 0;
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dynamicsArgs.m_angularDamping = 0;
|
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m_robotSim.changeDynamics(humanoid, -1, dynamicsArgs);
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|
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m_robotSim.setGravity(btVector3(0, 0, -10));
|
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}
|
||||
|
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virtual void exitPhysics()
|
||||
{
|
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m_robotSim.disconnect();
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}
|
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virtual void stepSimulation(float deltaTime)
|
||||
{
|
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m_robotSim.stepSimulation();
|
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}
|
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virtual void renderScene()
|
||||
{
|
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m_robotSim.renderScene();
|
||||
}
|
||||
|
||||
virtual bool mouseMoveCallback(float x, float y)
|
||||
{
|
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return m_robotSim.mouseMoveCallback(x, y);
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
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return m_robotSim.mouseButtonCallback(button, state, x, y);
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
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return false;
|
||||
}
|
||||
|
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virtual void resetCamera()
|
||||
{
|
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float dist = 3;
|
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float pitch = -10;
|
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float yaw = 18;
|
||||
float targetPos[3] = {0.6, 0.8, 0.3};
|
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|
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
|
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};
|
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|
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class CommonExampleInterface* JointLimitCreateFunc(struct CommonExampleOptions& options)
|
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{
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return new JointLimit(options.m_guiHelper, options.m_option);
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}
|
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21
Engine/lib/bullet/examples/BulletRobotics/JointLimit.h
Normal file
21
Engine/lib/bullet/examples/BulletRobotics/JointLimit.h
Normal file
|
|
@ -0,0 +1,21 @@
|
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2016 Google Inc. http://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.
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef JOINT_LIMIT_EXAMPLE_H
|
||||
#define JOINT_LIMIT_EXAMPLE_H
|
||||
|
||||
class CommonExampleInterface* JointLimitCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //JOINT_LIMIT_EXAMPLE_H
|
||||
Loading…
Add table
Add a link
Reference in a new issue