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* 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
301
Engine/lib/bullet/examples/Raycast/RaytestDemo.cpp
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301
Engine/lib/bullet/examples/Raycast/RaytestDemo.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://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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#include "RaytestDemo.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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#include "BulletCollision/Gimpact/btGImpactShape.h"
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#include <stdio.h> //printf debugging
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#include "LinearMath/btAlignedObjectArray.h"
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///RaytestDemo shows how to use the btCollisionWorld::rayTest feature
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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class RaytestDemo : public CommonRigidBodyBase
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{
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public:
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RaytestDemo(struct GUIHelperInterface* helper)
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: CommonRigidBodyBase(helper)
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{
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}
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virtual ~RaytestDemo()
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{
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}
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virtual void initPhysics();
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virtual void exitPhysics();
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void castRays();
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virtual void stepSimulation(float deltaTime);
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virtual void resetCamera()
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{
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float dist = 18;
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float pitch = -30;
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float yaw = 129;
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float targetPos[3] = {-4.6, -4.7, -5.75};
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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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void RaytestDemo::castRays()
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{
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static float up = 0.f;
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static float dir = 1.f;
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//add some simple animation
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//if (!m_idle)
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{
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up += 0.01 * dir;
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if (btFabs(up) > 2)
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{
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dir *= -1.f;
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}
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btTransform tr = m_dynamicsWorld->getCollisionObjectArray()[1]->getWorldTransform();
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static float angle = 0.f;
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angle += 0.01f;
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tr.setRotation(btQuaternion(btVector3(0, 1, 0), angle));
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m_dynamicsWorld->getCollisionObjectArray()[1]->setWorldTransform(tr);
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}
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///step the simulation
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->updateAabbs();
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m_dynamicsWorld->computeOverlappingPairs();
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btVector3 red(1, 0, 0);
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btVector3 blue(0, 0, 1);
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///all hits
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{
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btVector3 from(-30, 1 + up, 0);
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btVector3 to(30, 1, 0);
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m_dynamicsWorld->getDebugDrawer()->drawLine(from, to, btVector4(0, 0, 0, 1));
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btCollisionWorld::AllHitsRayResultCallback allResults(from, to);
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allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal;
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//kF_UseGjkConvexRaytest flag is now enabled by default, use the faster but more approximate algorithm
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//allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
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allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
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m_dynamicsWorld->rayTest(from, to, allResults);
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for (int i = 0; i < allResults.m_hitFractions.size(); i++)
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{
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btVector3 p = from.lerp(to, allResults.m_hitFractions[i]);
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m_dynamicsWorld->getDebugDrawer()->drawSphere(p, 0.1, red);
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m_dynamicsWorld->getDebugDrawer()->drawLine(p, p + allResults.m_hitNormalWorld[i], red);
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}
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}
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///first hit
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{
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btVector3 from(-30, 1.2, 0);
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btVector3 to(30, 1.2, 0);
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m_dynamicsWorld->getDebugDrawer()->drawLine(from, to, btVector4(0, 0, 1, 1));
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btCollisionWorld::ClosestRayResultCallback closestResults(from, to);
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closestResults.m_flags |= btTriangleRaycastCallback::kF_FilterBackfaces;
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m_dynamicsWorld->rayTest(from, to, closestResults);
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if (closestResults.hasHit())
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{
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btVector3 p = from.lerp(to, closestResults.m_closestHitFraction);
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m_dynamicsWorld->getDebugDrawer()->drawSphere(p, 0.1, blue);
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m_dynamicsWorld->getDebugDrawer()->drawLine(p, p + closestResults.m_hitNormalWorld, blue);
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}
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}
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}
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}
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void RaytestDemo::stepSimulation(float deltaTime)
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{
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castRays();
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CommonRigidBodyBase::stepSimulation(deltaTime);
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}
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void RaytestDemo::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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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_broadphase = new btDbvtBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
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///create a few basic rigid bodies
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -50, 0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(1);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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{
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btVector3 convexPoints[] = {btVector3(-1, -1, -1), btVector3(-1, -1, 1), btVector3(-1, 1, 1), btVector3(-1, 1, -1),
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btVector3(2, 0, 0)};
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btVector3 quad[] = {
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btVector3(0, 1, -1),
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btVector3(0, 1, 1),
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btVector3(0, -1, 1),
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btVector3(0, -1, -1)};
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btTriangleMesh* mesh = new btTriangleMesh();
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mesh->addTriangle(quad[0], quad[1], quad[2], true);
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mesh->addTriangle(quad[0], quad[2], quad[3], true);
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btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(mesh, true, true);
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//btGImpactMeshShape * trimesh = new btGImpactMeshShape(mesh);
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//trimesh->updateBound();
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#define NUM_SHAPES 6
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btCollisionShape* colShapes[NUM_SHAPES] = {
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trimesh,
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new btConvexHullShape(&convexPoints[0].getX(), sizeof(convexPoints) / sizeof(btVector3), sizeof(btVector3)),
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new btSphereShape(1),
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new btCapsuleShape(0.2, 1),
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new btCylinderShape(btVector3(0.2, 1, 0.2)),
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new btBoxShape(btVector3(1, 1, 1))};
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for (int i = 0; i < NUM_SHAPES; i++)
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m_collisionShapes.push_back(colShapes[i]);
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for (int i = 0; i < 6; i++)
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3((i - 3) * 5, 1, 0));
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btScalar mass(1.f);
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if (!i)
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mass = 0.f;
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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btCollisionShape* colShape = colShapes[i % NUM_SHAPES];
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if (isDynamic)
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colShape->calculateLocalInertia(mass, localInertia);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, 0, colShape, localInertia);
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rbInfo.m_startWorldTransform = startTransform;
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setRollingFriction(0.03);
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body->setSpinningFriction(0.03);
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body->setFriction(1);
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body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(), btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void RaytestDemo::exitPhysics()
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{
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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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int i;
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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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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject(obj);
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delete obj;
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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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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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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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delete m_solver;
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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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delete m_dispatcher;
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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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}
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class CommonExampleInterface* RaytestCreateFunc(struct CommonExampleOptions& options)
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{
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return new RaytestDemo(options.m_guiHelper);
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}
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20
Engine/lib/bullet/examples/Raycast/RaytestDemo.h
Normal file
20
Engine/lib/bullet/examples/Raycast/RaytestDemo.h
Normal file
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@ -0,0 +1,20 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://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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||||
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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.
|
||||
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 BT_RAYTEST_DEMO_H
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#define BT_RAYTEST_DEMO_H
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class CommonExampleInterface* RaytestCreateFunc(struct CommonExampleOptions& options);
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#endif //BT_RAYTEST_DEMO_H
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