mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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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
628
Engine/lib/bullet/examples/Vehicles/Hinge2Vehicle.cpp
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628
Engine/lib/bullet/examples/Vehicles/Hinge2Vehicle.cpp
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@ -0,0 +1,628 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2015 Erwin Coumans 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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///May 2015: implemented the wheels using the Hinge2Constraint
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///todo: add controls for the motors etc.
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#include "Hinge2Vehicle.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
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class btVehicleTuning;
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class btCollisionShape;
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#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btBulletCollisionCommon.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonWindowInterface.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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class Hinge2Vehicle : public CommonRigidBodyBase
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{
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public:
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/* extra stuff*/
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btVector3 m_cameraPosition;
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btRigidBody* m_carChassis;
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btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape);
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GUIHelperInterface* m_guiHelper;
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int m_wheelInstances[4];
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bool m_useDefaultCamera;
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//----------------------------
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class btTriangleIndexVertexArray* m_indexVertexArrays;
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btVector3* m_vertices;
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btCollisionShape* m_wheelShape;
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float m_cameraHeight;
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float m_minCameraDistance;
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float m_maxCameraDistance;
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Hinge2Vehicle(struct GUIHelperInterface* helper);
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virtual ~Hinge2Vehicle();
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virtual void stepSimulation(float deltaTime);
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virtual void resetForklift();
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virtual void clientResetScene();
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virtual void displayCallback();
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virtual void specialKeyboard(int key, int x, int y);
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virtual void specialKeyboardUp(int key, int x, int y);
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virtual bool keyboardCallback(int key, int state);
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virtual void renderScene();
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virtual void physicsDebugDraw(int debugFlags);
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void initPhysics();
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void exitPhysics();
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virtual void resetCamera()
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{
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float dist = 8;
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float pitch = -32;
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float yaw = -45;
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float targetPos[3] = {0,0,2};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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/*static DemoApplication* Create()
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{
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Hinge2Vehicle* demo = new Hinge2Vehicle();
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demo->myinit();
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demo->initPhysics();
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return demo;
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}
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*/
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};
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static btScalar maxMotorImpulse = 4000.f;
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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#ifndef M_PI_2
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#define M_PI_2 1.57079632679489661923
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#endif
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#ifndef M_PI_4
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#define M_PI_4 0.785398163397448309616
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#endif
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//static int rightIndex = 0;
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//static int upIndex = 1;
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//static int forwardIndex = 2;
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static btVector3 wheelDirectionCS0(0, -1, 0);
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static btVector3 wheelAxleCS(-1, 0, 0);
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static bool useMCLPSolver = false; //true;
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#include <stdio.h> //printf debugging
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#include "Hinge2Vehicle.h"
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//static const int maxProxies = 32766;
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//static const int maxOverlap = 65535;
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static float gEngineForce = 0.f;
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static float defaultBreakingForce = 10.f;
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static float gBreakingForce = 100.f;
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static float maxEngineForce = 1000.f; //this should be engine/velocity dependent
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//static float maxBreakingForce = 100.f;
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static float gVehicleSteering = 0.f;
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static float steeringIncrement = 0.04f;
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static float steeringClamp = 0.3f;
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static float wheelRadius = 0.5f;
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static float wheelWidth = 0.4f;
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//static float wheelFriction = 1000;//BT_LARGE_FLOAT;
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//static float suspensionStiffness = 20.f;
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//static float suspensionDamping = 2.3f;
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//static float suspensionCompression = 4.4f;
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//static float rollInfluence = 0.1f;//1.0f;
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//static btScalar suspensionRestLength(0.6);
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#define CUBE_HALF_EXTENTS 1
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////////////////////////////////////
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Hinge2Vehicle::Hinge2Vehicle(struct GUIHelperInterface* helper)
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: CommonRigidBodyBase(helper),
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m_carChassis(0),
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m_guiHelper(helper),
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m_indexVertexArrays(0),
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m_vertices(0),
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m_cameraHeight(4.f),
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m_minCameraDistance(3.f),
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m_maxCameraDistance(10.f)
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{
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helper->setUpAxis(1);
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m_wheelShape = 0;
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m_cameraPosition = btVector3(30, 30, 30);
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m_useDefaultCamera = false;
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}
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void Hinge2Vehicle::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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while (body->getNumConstraintRefs())
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{
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btTypedConstraint* constraint = body->getConstraintRef(0);
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m_dynamicsWorld->removeConstraint(constraint);
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delete constraint;
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}
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delete body->getMotionState();
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m_dynamicsWorld->removeRigidBody(body);
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}
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else
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{
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m_dynamicsWorld->removeCollisionObject(obj);
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}
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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_indexVertexArrays;
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delete m_vertices;
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//delete dynamics world
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delete m_dynamicsWorld;
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m_dynamicsWorld = 0;
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delete m_wheelShape;
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m_wheelShape = 0;
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//delete solver
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delete m_solver;
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m_solver = 0;
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//delete broadphase
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delete m_broadphase;
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m_broadphase = 0;
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//delete dispatcher
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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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Hinge2Vehicle::~Hinge2Vehicle()
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{
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//exitPhysics();
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}
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void Hinge2Vehicle::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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btCollisionShape* groundShape = new btBoxShape(btVector3(50, 3, 50));
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m_collisionShapes.push_back(groundShape);
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000, -1000, -1000);
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btVector3 worldMax(1000, 1000, 1000);
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m_broadphase = new btAxisSweep3(worldMin, worldMax);
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if (useMCLPSolver)
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{
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btDantzigSolver* mlcp = new btDantzigSolver();
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//btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel;
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btMLCPSolver* sol = new btMLCPSolver(mlcp);
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m_solver = sol;
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}
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else
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{
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m_solver = new btSequentialImpulseConstraintSolver();
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}
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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if (useMCLPSolver)
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{
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m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 1; //for direct solver it is better to have a small A matrix
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}
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else
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{
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m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 128; //for direct solver, it is better to solve multiple objects together, small batches have high overhead
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}
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m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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//m_dynamicsWorld->setGravity(btVector3(0,0,0));
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(0, -3, 0));
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//either use heightfield or triangle mesh
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//create ground object
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localCreateRigidBody(0, tr, groundShape);
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btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f, 0.5f, 2.f));
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m_collisionShapes.push_back(chassisShape);
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btCompoundShape* compound = new btCompoundShape();
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m_collisionShapes.push_back(compound);
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btTransform localTrans;
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localTrans.setIdentity();
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//localTrans effectively shifts the center of mass with respect to the chassis
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localTrans.setOrigin(btVector3(0, 1, 0));
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compound->addChildShape(localTrans, chassisShape);
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{
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btCollisionShape* suppShape = new btBoxShape(btVector3(0.5f, 0.1f, 0.5f));
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btTransform suppLocalTrans;
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suppLocalTrans.setIdentity();
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//localTrans effectively shifts the center of mass with respect to the chassis
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suppLocalTrans.setOrigin(btVector3(0, 1.0, 2.5));
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compound->addChildShape(suppLocalTrans, suppShape);
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}
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const btScalar FALLHEIGHT = 5;
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tr.setOrigin(btVector3(0, FALLHEIGHT, 0));
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const btScalar chassisMass = 2.0f;
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const btScalar wheelMass = 1.0f;
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m_carChassis = localCreateRigidBody(chassisMass, tr, compound); //chassisShape);
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//m_carChassis->setDamping(0.2,0.2);
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//m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
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m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth, wheelRadius, wheelRadius));
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btVector3 wheelPos[4] = {
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btVector3(btScalar(-1.), btScalar(FALLHEIGHT-0.25), btScalar(1.25)),
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btVector3(btScalar(1.), btScalar(FALLHEIGHT-0.25), btScalar(1.25)),
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btVector3(btScalar(1.), btScalar(FALLHEIGHT-0.25), btScalar(-1.25)),
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btVector3(btScalar(-1.), btScalar(FALLHEIGHT-0.25), btScalar(-1.25))};
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for (int i = 0; i < 4; i++)
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{
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// create a Hinge2 joint
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// create two rigid bodies
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// static bodyA (parent) on top:
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btRigidBody* pBodyA = this->m_carChassis;
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pBodyA->setActivationState(DISABLE_DEACTIVATION);
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// dynamic bodyB (child) below it :
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(wheelPos[i]);
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btRigidBody* pBodyB = createRigidBody(wheelMass, tr, m_wheelShape);
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pBodyB->setFriction(1110);
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pBodyB->setActivationState(DISABLE_DEACTIVATION);
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// add some data to build constraint frames
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btVector3 parentAxis(0.f, 1.f, 0.f);
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btVector3 childAxis(1.f, 0.f, 0.f);
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btVector3 anchor = tr.getOrigin();
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btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
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//m_guiHelper->get2dCanvasInterface();
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//pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
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//pHinge2->setUpperLimit(SIMD_HALF_PI * 0.5f);
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// add constraint to world
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m_dynamicsWorld->addConstraint(pHinge2, true);
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// Drive engine.
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pHinge2->enableMotor(3, true);
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pHinge2->setMaxMotorForce(3, 1000);
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pHinge2->setTargetVelocity(3, 0);
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// Steering engine.
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pHinge2->enableMotor(5, true);
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pHinge2->setMaxMotorForce(5, 1000);
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pHinge2->setTargetVelocity(5, 0);
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pHinge2->setParam( BT_CONSTRAINT_CFM, 0.15f, 2 );
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pHinge2->setParam( BT_CONSTRAINT_ERP, 0.35f, 2 );
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pHinge2->setDamping( 2, 2.0 );
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pHinge2->setStiffness( 2, 40.0 );
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pHinge2->setDbgDrawSize(btScalar(5.f));
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}
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resetForklift();
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void Hinge2Vehicle::physicsDebugDraw(int debugFlags)
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{
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if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer())
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{
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugFlags);
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m_dynamicsWorld->debugDrawWorld();
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}
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}
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//to be implemented by the demo
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void Hinge2Vehicle::renderScene()
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{
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m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
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m_guiHelper->render(m_dynamicsWorld);
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btVector3 wheelColor(1, 0, 0);
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btVector3 worldBoundsMin, worldBoundsMax;
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getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin, worldBoundsMax);
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}
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void Hinge2Vehicle::stepSimulation(float deltaTime)
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{
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float dt = deltaTime;
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if (m_dynamicsWorld)
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{
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//during idle mode, just run 1 simulation step maximum
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int maxSimSubSteps = 2;
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int numSimSteps;
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numSimSteps = m_dynamicsWorld->stepSimulation(dt, maxSimSubSteps);
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if (m_dynamicsWorld->getConstraintSolver()->getSolverType() == BT_MLCP_SOLVER)
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{
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btMLCPSolver* sol = (btMLCPSolver*)m_dynamicsWorld->getConstraintSolver();
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int numFallbacks = sol->getNumFallbacks();
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if (numFallbacks)
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{
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static int totalFailures = 0;
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totalFailures += numFallbacks;
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printf("MLCP solver failed %d times, falling back to btSequentialImpulseSolver (SI)\n", totalFailures);
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}
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sol->setNumFallbacks(0);
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}
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//#define VERBOSE_FEEDBACK
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#ifdef VERBOSE_FEEDBACK
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if (!numSimSteps)
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printf("Interpolated transforms\n");
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else
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{
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if (numSimSteps > maxSimSubSteps)
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{
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//detect dropping frames
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printf("Dropped (%i) simulation steps out of %i\n", numSimSteps - maxSimSubSteps, numSimSteps);
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}
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else
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{
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printf("Simulated (%i) steps\n", numSimSteps);
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}
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}
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#endif //VERBOSE_FEEDBACK
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}
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}
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void Hinge2Vehicle::displayCallback(void)
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{
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// glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//renderme();
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//optional but useful: debug drawing
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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// glFlush();
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// glutSwapBuffers();
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}
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void Hinge2Vehicle::clientResetScene()
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{
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exitPhysics();
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initPhysics();
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}
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void Hinge2Vehicle::resetForklift()
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{
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gVehicleSteering = 0.f;
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gBreakingForce = defaultBreakingForce;
|
||||
gEngineForce = 0.f;
|
||||
|
||||
m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
|
||||
m_carChassis->setLinearVelocity(btVector3(0, 0, 0));
|
||||
m_carChassis->setAngularVelocity(btVector3(0, 0, 0));
|
||||
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle(), getDynamicsWorld()->getDispatcher());
|
||||
}
|
||||
|
||||
bool Hinge2Vehicle::keyboardCallback(int key, int state)
|
||||
{
|
||||
bool handled = false;
|
||||
bool isShiftPressed = m_guiHelper->getAppInterface()->m_window->isModifierKeyPressed(B3G_SHIFT);
|
||||
|
||||
if (state)
|
||||
{
|
||||
if (isShiftPressed)
|
||||
{
|
||||
}
|
||||
else
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case B3G_LEFT_ARROW:
|
||||
{
|
||||
handled = true;
|
||||
gVehicleSteering += steeringIncrement;
|
||||
if (gVehicleSteering > steeringClamp)
|
||||
gVehicleSteering = steeringClamp;
|
||||
|
||||
break;
|
||||
}
|
||||
case B3G_RIGHT_ARROW:
|
||||
{
|
||||
handled = true;
|
||||
gVehicleSteering -= steeringIncrement;
|
||||
if (gVehicleSteering < -steeringClamp)
|
||||
gVehicleSteering = -steeringClamp;
|
||||
|
||||
break;
|
||||
}
|
||||
case B3G_UP_ARROW:
|
||||
{
|
||||
handled = true;
|
||||
gEngineForce = maxEngineForce;
|
||||
gBreakingForce = 0.f;
|
||||
break;
|
||||
}
|
||||
case B3G_DOWN_ARROW:
|
||||
{
|
||||
handled = true;
|
||||
gEngineForce = -maxEngineForce;
|
||||
gBreakingForce = 0.f;
|
||||
break;
|
||||
}
|
||||
|
||||
case B3G_F7:
|
||||
{
|
||||
handled = true;
|
||||
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*)m_dynamicsWorld;
|
||||
world->setLatencyMotionStateInterpolation(!world->getLatencyMotionStateInterpolation());
|
||||
printf("world latencyMotionStateInterpolation = %d\n", world->getLatencyMotionStateInterpolation());
|
||||
break;
|
||||
}
|
||||
case B3G_F6:
|
||||
{
|
||||
handled = true;
|
||||
//switch solver (needs demo restart)
|
||||
useMCLPSolver = !useMCLPSolver;
|
||||
printf("switching to useMLCPSolver = %d\n", useMCLPSolver);
|
||||
|
||||
delete m_solver;
|
||||
if (useMCLPSolver)
|
||||
{
|
||||
btDantzigSolver* mlcp = new btDantzigSolver();
|
||||
//btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel;
|
||||
btMLCPSolver* sol = new btMLCPSolver(mlcp);
|
||||
m_solver = sol;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_solver = new btSequentialImpulseConstraintSolver();
|
||||
}
|
||||
|
||||
m_dynamicsWorld->setConstraintSolver(m_solver);
|
||||
|
||||
//exitPhysics();
|
||||
//initPhysics();
|
||||
break;
|
||||
}
|
||||
|
||||
case B3G_F5:
|
||||
handled = true;
|
||||
m_useDefaultCamera = !m_useDefaultCamera;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
}
|
||||
return handled;
|
||||
}
|
||||
|
||||
void Hinge2Vehicle::specialKeyboardUp(int key, int x, int y)
|
||||
{
|
||||
}
|
||||
|
||||
void Hinge2Vehicle::specialKeyboard(int key, int x, int y)
|
||||
{
|
||||
}
|
||||
|
||||
btRigidBody* Hinge2Vehicle::localCreateRigidBody(btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
||||
{
|
||||
btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
|
||||
|
||||
//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)
|
||||
shape->calculateLocalInertia(mass, localInertia);
|
||||
|
||||
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
|
||||
|
||||
#define USE_MOTIONSTATE 1
|
||||
#ifdef USE_MOTIONSTATE
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
|
||||
btRigidBody::btRigidBodyConstructionInfo cInfo(mass, myMotionState, shape, localInertia);
|
||||
|
||||
btRigidBody* body = new btRigidBody(cInfo);
|
||||
//body->setContactProcessingThreshold(m_defaultContactProcessingThreshold);
|
||||
|
||||
#else
|
||||
btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia);
|
||||
body->setWorldTransform(startTransform);
|
||||
#endif //
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
return body;
|
||||
}
|
||||
|
||||
CommonExampleInterface* Hinge2VehicleCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new Hinge2Vehicle(options.m_guiHelper);
|
||||
}
|
||||
21
Engine/lib/bullet/examples/Vehicles/Hinge2Vehicle.h
Normal file
21
Engine/lib/bullet/examples/Vehicles/Hinge2Vehicle.h
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2015 Erwin Coumans https://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 HINGE2_VEHICLE_H
|
||||
#define HINGE2_VEHICLE_H
|
||||
|
||||
class CommonExampleInterface* Hinge2VehicleCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif // HINGE2_VEHICLE_H
|
||||
Loading…
Add table
Add a link
Reference in a new issue