* Adjustment: Update Bullet version to 3.24.

2026-02-26 10:03:48 +00:00 · 2022-06-27 10:01:08 -04:00 · 2022-06-27 10:01:08 -04:00 · 4a3f31df2a
commit 4a3f31df2a
parent 35de012ee7
6148 changed files with 2112532 additions and 56873 deletions
--- a/Engine/lib/bullet/examples/ExtendedTutorials/Bridge.cpp
+++ b/Engine/lib/bullet/examples/ExtendedTutorials/Bridge.cpp
@ -0,0 +1,135 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2015 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.
+*/
+
+#include "Bridge.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+const int TOTAL_PLANKS = 10;
+struct BridgeExample : public CommonRigidBodyBase
+{
+	BridgeExample(struct GUIHelperInterface* helper)
+		: CommonRigidBodyBase(helper)
+	{
+	}
+	virtual ~BridgeExample() {}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = -35;
+		float yaw = 52;
+		float targetPos[3] = {0, 0.46, 0};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+};
+
+void BridgeExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	if (m_dynamicsWorld->getDebugDrawer())
+		m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe + btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0, -50, 0));
+	{
+		btScalar mass(0.);
+		createRigidBody(mass, groundTransform, groundShape, btVector4(0, 0, 1, 1));
+	}
+
+	//create two fixed boxes to hold the planks
+
+	{
+		//create a few dynamic rigidbodies
+		// Re-using the same collision is better for memory usage and performance
+		btScalar plankWidth = 0.4;
+		btScalar plankHeight = 0.2;
+		btScalar plankBreadth = 1;
+		btScalar plankOffset = plankWidth;  //distance between two planks
+		btScalar bridgeWidth = plankWidth * TOTAL_PLANKS + plankOffset * (TOTAL_PLANKS - 1);
+		btScalar bridgeHeight = 5;
+		btScalar halfBridgeWidth = bridgeWidth * 0.5f;
+
+		btBoxShape* colShape = createBoxShape(btVector3(plankWidth, plankHeight, plankBreadth));
+
+		m_collisionShapes.push_back(colShape);
+
+		/// Create Dynamic Objects
+		btTransform startTransform;
+		startTransform.setIdentity();
+
+		btScalar mass(1.f);
+
+		//rigidbody is dynamic if and only if mass is non zero, otherwise static
+		bool isDynamic = (mass != 0.f);
+
+		btVector3 localInertia(0, 0, 0);
+		if (isDynamic)
+			colShape->calculateLocalInertia(mass, localInertia);
+
+		//create a set of boxes to represent bridge
+		btAlignedObjectArray<btRigidBody*> boxes;
+		int lastBoxIndex = TOTAL_PLANKS - 1;
+		for (int i = 0; i < TOTAL_PLANKS; ++i)
+		{
+			float t = float(i) / lastBoxIndex;
+			t = -(t * 2 - 1.0f) * halfBridgeWidth;
+			startTransform.setOrigin(btVector3(
+				btScalar(t),
+				bridgeHeight,
+				btScalar(0)));
+			boxes.push_back(createRigidBody((i == 0 || i == lastBoxIndex) ? 0 : mass, startTransform, colShape));
+		}
+
+		//add N-1 spring constraints
+		for (int i = 0; i < TOTAL_PLANKS - 1; ++i)
+		{
+			btRigidBody* b1 = boxes[i];
+			btRigidBody* b2 = boxes[i + 1];
+
+			btPoint2PointConstraint* leftSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5, 0, -0.5), btVector3(0.5, 0, -0.5));
+			m_dynamicsWorld->addConstraint(leftSpring);
+
+			btPoint2PointConstraint* rightSpring = new btPoint2PointConstraint(*b1, *b2, btVector3(-0.5, 0, 0.5), btVector3(0.5, 0, 0.5));
+			m_dynamicsWorld->addConstraint(rightSpring);
+		}
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void BridgeExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();
+}
+
+CommonExampleInterface* ET_BridgeCreateFunc(CommonExampleOptions& options)
+{
+	return new BridgeExample(options.m_guiHelper);
+}