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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
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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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///create 125 (5x5x5) dynamic object
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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//maximum number of objects (and allow user to shoot additional boxes)
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#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
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///scaling of the objects (0.1 = 20 centimeter boxes )
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#define SCALING 1.
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#define START_POS_X -5
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#define START_POS_Y -5
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#define START_POS_Z -3
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#include "RollingFrictionDemo.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 <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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#include "../Utils/b3ResourcePath.h"
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///The RollingFrictionDemo shows the use of rolling friction.
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///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
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///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
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class RollingFrictionDemo : public CommonRigidBodyBase
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{
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public:
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RollingFrictionDemo(struct GUIHelperInterface* helper)
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: CommonRigidBodyBase(helper)
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{
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}
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virtual ~RollingFrictionDemo()
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{
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}
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void initPhysics();
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void exitPhysics();
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void resetCamera()
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{
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float dist = 35;
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float pitch = -14;
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float yaw = 0;
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float targetPos[3] = {0, 0, 0};
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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 RollingFrictionDemo::initPhysics()
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{
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m_guiHelper->setUpAxis(2);
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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_dynamicsWorld->getSolverInfo().m_singleAxisRollingFrictionThreshold = 0.f;//faster but lower quality
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m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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{
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///create a few basic rigid bodies
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(25.)));
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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, 0, -28));
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groundTransform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI * 0.03));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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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(.5);
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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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///create a few basic rigid bodies
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.), btScalar(100.), btScalar(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, 0, -54));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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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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//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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#define NUM_SHAPES 10
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btCollisionShape* colShapes[NUM_SHAPES] = {
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new btSphereShape(btScalar(0.5)),
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new btCapsuleShape(0.25, 0.5),
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new btCapsuleShapeX(0.25, 0.5),
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new btCapsuleShapeZ(0.25, 0.5),
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new btConeShape(0.25, 0.5),
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new btConeShapeX(0.25, 0.5),
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new btConeShapeZ(0.25, 0.5),
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new btCylinderShape(btVector3(0.25, 0.5, 0.25)),
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new btCylinderShapeX(btVector3(0.5, 0.25, 0.25)),
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new btCylinderShapeZ(btVector3(0.25, 0.25, 0.5)),
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};
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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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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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float start_x = START_POS_X - ARRAY_SIZE_X / 2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ARRAY_SIZE_Z / 2;
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{
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int shapeIndex = 0;
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for (int k = 0; k < ARRAY_SIZE_Y; k++)
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{
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for (int i = 0; i < ARRAY_SIZE_X; i++)
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{
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for (int j = 0; j < ARRAY_SIZE_Z; j++)
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{
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startTransform.setOrigin(SCALING * btVector3(
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btScalar(2.0 * i + start_x),
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btScalar(2.0 * j + start_z),
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btScalar(20 + 2.0 * k + start_y)));
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shapeIndex++;
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btCollisionShape* colShape = colShapes[shapeIndex % NUM_SHAPES];
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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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colShape->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(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, colShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(1.f);
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body->setRollingFriction(.1);
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body->setSpinningFriction(0.1);
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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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}
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}
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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if (0)
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{
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btSerializer* s = new btDefaultSerializer;
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m_dynamicsWorld->serialize(s);
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char resourcePath[1024];
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if (b3ResourcePath::findResourcePath("slope.bullet", resourcePath, 1024,0))
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{
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FILE* f = fopen(resourcePath, "wb");
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fwrite(s->getBufferPointer(), s->getCurrentBufferSize(), 1, f);
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fclose(f);
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}
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}
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}
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void RollingFrictionDemo::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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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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class CommonExampleInterface* RollingFrictionCreateFunc(struct CommonExampleOptions& options)
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{
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return new RollingFrictionDemo(options.m_guiHelper);
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}
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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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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 _ROLLING_FRICTION_DEMO_H
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#define _ROLLING_FRICTION_DEMO_H
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class CommonExampleInterface* RollingFrictionCreateFunc(struct CommonExampleOptions& options);
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#endif //_ROLLING_FRICTION_DEMO_H
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