* 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/RigidBodyFromObj.cpp
+++ b/Engine/lib/bullet/examples/ExtendedTutorials/RigidBodyFromObj.cpp
@ -0,0 +1,151 @@
+/*
+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 "RigidBodyFromObj.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+#include "../Utils/b3BulletDefaultFileIO.h"
+
+struct RigidBodyFromObjExample : public CommonRigidBodyBase
+{
+	int m_options;
+
+	RigidBodyFromObjExample(struct GUIHelperInterface* helper, int options)
+		: CommonRigidBodyBase(helper),
+		  m_options(options)
+	{
+	}
+	virtual ~RigidBodyFromObjExample() {}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 11;
+		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 RigidBodyFromObjExample::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));
+	}
+
+	//load our obj mesh
+	const char* fileName = "teddy.obj";  //sphere8.obj";//sponza_closed.obj";//sphere8.obj";
+	char relativeFileName[1024];
+	if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024,0))
+	{
+		char pathPrefix[1024];
+		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+	}
+
+	b3BulletDefaultFileIO fileIO;
+	GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, "",&fileIO);
+	printf("[INFO] Obj loaded: Extracted %d verticed from obj file [%s]\n", glmesh->m_numvertices, fileName);
+
+	const GLInstanceVertex& v = glmesh->m_vertices->at(0);
+	btConvexHullShape* shape = new btConvexHullShape((const btScalar*)(&(v.xyzw[0])), glmesh->m_numvertices, sizeof(GLInstanceVertex));
+
+	float scaling[4] = {0.1, 0.1, 0.1, 1};
+
+	btVector3 localScaling(scaling[0], scaling[1], scaling[2]);
+	shape->setLocalScaling(localScaling);
+
+	if (m_options & OptimizeConvexObj)
+	{
+		shape->optimizeConvexHull();
+	}
+
+	if (m_options & ComputePolyhedralFeatures)
+	{
+		shape->initializePolyhedralFeatures();
+	}
+
+	//shape->setMargin(0.001);
+	m_collisionShapes.push_back(shape);
+
+	btTransform startTransform;
+	startTransform.setIdentity();
+
+	btScalar mass(1.f);
+	bool isDynamic = (mass != 0.f);
+	btVector3 localInertia(0, 0, 0);
+	if (isDynamic)
+		shape->calculateLocalInertia(mass, localInertia);
+
+	float color[4] = {1, 1, 1, 1};
+	float orn[4] = {0, 0, 0, 1};
+	float pos[4] = {0, 3, 0, 0};
+	btVector3 position(pos[0], pos[1], pos[2]);
+	startTransform.setOrigin(position);
+	btRigidBody* body = createRigidBody(mass, startTransform, shape);
+
+	bool useConvexHullForRendering = ((m_options & ObjUseConvexHullForRendering) != 0);
+
+	if (!useConvexHullForRendering)
+	{
+		int shapeId = m_guiHelper->registerGraphicsShape(&glmesh->m_vertices->at(0).xyzw[0],
+														 glmesh->m_numvertices,
+														 &glmesh->m_indices->at(0),
+														 glmesh->m_numIndices,
+														 B3_GL_TRIANGLES, -1);
+		shape->setUserIndex(shapeId);
+		int renderInstance = m_guiHelper->registerGraphicsInstance(shapeId, pos, orn, color, scaling);
+		body->setUserIndex(renderInstance);
+	}
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+void RigidBodyFromObjExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();
+}
+
+CommonExampleInterface* ET_RigidBodyFromObjCreateFunc(CommonExampleOptions& options)
+{
+	return new RigidBodyFromObjExample(options.m_guiHelper, options.m_option);
+}
+
+B3_STANDALONE_EXAMPLE(ET_RigidBodyFromObjCreateFunc)