mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-13 15:44:36 +00:00
* Adjustment: Initial CMake reworking.
This commit is contained in:
Robert MacGregor
parent
516163fd5d
commit
d7cdf54661
5394 changed files with 2615532 additions and 8711 deletions
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Engine/lib/bullet/examples/BasicDemo/BasicExample.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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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.
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||||
*/
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#include "BasicExample.h"
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#include "btBulletDynamicsCommon.h"
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Z 5
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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struct BasicExample : public CommonRigidBodyBase
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{
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BasicExample(struct GUIHelperInterface* helper)
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:CommonRigidBodyBase(helper)
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{
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}
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virtual ~BasicExample(){}
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virtual void initPhysics();
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virtual void renderScene();
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void resetCamera()
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{
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float dist = 4;
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float pitch = 52;
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float yaw = 35;
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float targetPos[3]={0,0,0};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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void BasicExample::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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createEmptyDynamicsWorld();
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//m_dynamicsWorld->setGravity(btVector3(0,0,0));
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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if (m_dynamicsWorld->getDebugDrawer())
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
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///create a few basic rigid bodies
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btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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//groundShape->initializePolyhedralFeatures();
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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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{
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btScalar mass(0.);
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createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
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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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btBoxShape* colShape = createBoxShape(btVector3(.1,.1,.1));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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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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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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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(btVector3(
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btScalar(0.2*i),
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btScalar(2+.2*k),
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btScalar(0.2*j)));
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createRigidBody(mass,startTransform,colShape);
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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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}
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void BasicExample::renderScene()
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{
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CommonRigidBodyBase::renderScene();
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}
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CommonExampleInterface* BasicExampleCreateFunc(CommonExampleOptions& options)
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{
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return new BasicExample(options.m_guiHelper);
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}
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B3_STANDALONE_EXAMPLE(BasicExampleCreateFunc)
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Engine/lib/bullet/examples/BasicDemo/BasicExample.h
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Engine/lib/bullet/examples/BasicDemo/BasicExample.h
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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|
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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:
|
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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.
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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 BASIC_EXAMPLE_H
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#define BASIC_EXAMPLE_H
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class CommonExampleInterface* BasicExampleCreateFunc(struct CommonExampleOptions& options);
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#endif //BASIC_DEMO_PHYSICS_SETUP_H
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Engine/lib/bullet/examples/BasicDemo/CMakeFiles/AppBasicExampleGui.dir/BasicExample.o: \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo/BasicExample.cpp \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo/BasicExample.h \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/btBulletDynamicsCommon.h \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/btBulletCollisionCommon.h \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint64_t.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_intmax_t.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uintmax_t.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_timeval.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/endian.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/endian.h \
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_endian.h \
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/libkern/_OSByteOrder.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/libkern/arm/OSByteOrder.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/arch.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/alloca.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ct_rune_t.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_rune_t.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_wchar_t.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_null.h \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/malloc/_malloc.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_dev_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_mode_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/type_traits \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/cstddef \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/version \
|
||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/stddef.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__nullptr \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__utility/forward.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__utility/move.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__undef_macros \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/limits \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/float.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/float.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/float.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/arm_neon.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/assert.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btMinMax.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btAlignedAllocator.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btTransform.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btMatrix3x3.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btQuaternion.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btQuadWord.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/stdio.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/stdio.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_stdio.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_va_list.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/stdio.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_ctermid.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_off_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ssize_t.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btMotionState.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/new \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__availability \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/cstdlib \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/exception \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__memory/addressof.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btTransformUtil.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBoxShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionMargin.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btAabbUtil2.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConcaveShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleCallback.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btOptimizedBvh.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btHashMap.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btSerializer.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/memory.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/string.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/string.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_rsize_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_errno_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/strings.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTetrahedronShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btEmptyShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btUniformScalingShape.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btDefaultMotionState.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btQuickprof.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btIDebugDraw.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverBody.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Vehicle/btVehicleRaycaster.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Dynamics/btActionInterface.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo/../CommonInterfaces/CommonRigidBodyBase.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo/../CommonInterfaces/CommonExampleInterface.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo/../CommonInterfaces/CommonGUIHelperInterface.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo/../CommonInterfaces/CommonRenderInterface.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo/../CommonInterfaces/CommonCameraInterface.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo/../CommonInterfaces/CommonGraphicsAppInterface.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common/b3Vector3.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common/b3Scalar.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common/b3Logging.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common/b3MinMax.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common/b3AlignedAllocator.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo/../CommonInterfaces/CommonWindowInterface.h
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
|
||||
# Consider dependencies only in project.
|
||||
set(CMAKE_DEPENDS_IN_PROJECT_ONLY OFF)
|
||||
|
||||
# The set of languages for which implicit dependencies are needed:
|
||||
set(CMAKE_DEPENDS_LANGUAGES
|
||||
)
|
||||
|
||||
# The set of dependency files which are needed:
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|
||||
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|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/wait.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_pid_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_id_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/signal.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/appleapiopts.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/signal.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/signal.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/_mcontext.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/_mcontext.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/mach/machine/_structs.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/mach/arm/_structs.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/types.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/types.h \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_u_int32_t.h \
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||||
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|
||||
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|
||||
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_pthread/_pthread_attr_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_sigaltstack.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ucontext.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_sigset_t.h \
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||||
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||||
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||||
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|
||||
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||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/stdint.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/stdint.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint8_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint16_t.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint32_t.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint64_t.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_intmax_t.h \
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||||
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||||
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||||
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||||
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||||
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|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/libkern/_OSByteOrder.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/libkern/arm/OSByteOrder.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/arch.h \
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/malloc/_malloc.h \
|
||||
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|
||||
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|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/type_traits \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/cstddef \
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__undef_macros \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/assert.h \
|
||||
Engine/lib/bullet/src/LinearMath/btMinMax.h \
|
||||
Engine/lib/bullet/src/LinearMath/btAlignedAllocator.h \
|
||||
Engine/lib/bullet/src/LinearMath/btTransform.h \
|
||||
Engine/lib/bullet/src/LinearMath/btMatrix3x3.h \
|
||||
Engine/lib/bullet/src/LinearMath/btQuaternion.h \
|
||||
Engine/lib/bullet/src/LinearMath/btQuadWord.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/stdio.h \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ssize_t.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h \
|
||||
Engine/lib/bullet/src/LinearMath/btMotionState.h \
|
||||
Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/new \
|
||||
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|
||||
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|
||||
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|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__memory/addressof.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
|
||||
Engine/lib/bullet/src/LinearMath/btTransformUtil.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h \
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBoxShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionMargin.h \
|
||||
Engine/lib/bullet/src/LinearMath/btAabbUtil2.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConcaveShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleCallback.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btOptimizedBvh.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h \
|
||||
Engine/lib/bullet/src/LinearMath/btHashMap.h \
|
||||
Engine/lib/bullet/src/LinearMath/btSerializer.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/memory.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/string.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/string.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_rsize_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_errno_t.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/strings.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTetrahedronShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btEmptyShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btUniformScalingShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h \
|
||||
Engine/lib/bullet/src/LinearMath/btDefaultMotionState.h \
|
||||
Engine/lib/bullet/src/LinearMath/btQuickprof.h \
|
||||
Engine/lib/bullet/src/LinearMath/btIDebugDraw.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverBody.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Vehicle/btVehicleRaycaster.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btActionInterface.h \
|
||||
Engine/lib/bullet/examples/CommonInterfaces/CommonRigidBodyBase.h \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
Engine/lib/bullet/examples/CommonInterfaces/CommonWindowInterface.h
|
||||
|
||||
Engine/lib/bullet/examples/BasicDemo/CMakeFiles/App_BasicExample.dir/main.o: Engine/lib/bullet/examples/BasicDemo/main.cpp \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
Engine/lib/bullet/src/LinearMath/btAlignedAllocator.h \
|
||||
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||||
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||||
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|
||||
Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h \
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||||
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||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h \
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h \
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \
|
||||
Engine/lib/bullet/src/LinearMath/btTransformUtil.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h \
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h \
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h \
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h \
|
||||
Engine/lib/bullet/src/LinearMath/btHashMap.h
|
||||
|
||||
|
||||
Engine/lib/bullet/examples/CommonInterfaces/CommonWindowInterface.h:
|
||||
|
||||
Engine/lib/bullet/src/Bullet3Common/b3AlignedAllocator.h:
|
||||
|
||||
Engine/lib/bullet/src/Bullet3Common/b3Scalar.h:
|
||||
|
||||
Engine/lib/bullet/examples/CommonInterfaces/CommonGraphicsAppInterface.h:
|
||||
|
||||
Engine/lib/bullet/examples/CommonInterfaces/CommonGUIHelperInterface.h:
|
||||
|
||||
Engine/lib/bullet/examples/CommonInterfaces/CommonExampleInterface.h:
|
||||
|
||||
Engine/lib/bullet/examples/CommonInterfaces/CommonRigidBodyBase.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/Vehicle/btVehicleRaycaster.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverBody.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h:
|
||||
|
||||
Engine/lib/bullet/src/Bullet3Common/b3MinMax.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_posix_availability.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btEmptyShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btQuickprof.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btDefaultMotionState.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btMotionState.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/strings.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_errno_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/string.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/string.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_sigaltstack.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btHashMap.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/cdefs.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleInfoMap.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCollisionMargin.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/memory.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/float.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_int32_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__config_site:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConcaveShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h:
|
||||
|
||||
Engine/lib/bullet/src/btBulletCollisionCommon.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTetrahedronShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_va_list.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btTransformUtil.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__memory/addressof.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBoxShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/limits:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/cstdlib:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__availability:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/new:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/stdio.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_stdio.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/stdio.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/stdio.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_size_t.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btQuadWord.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/assert.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/float.h:
|
||||
|
||||
Engine/lib/bullet/src/Bullet3Common/b3Logging.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint8_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/lib/clang/13.1.6/include/stddef.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/mach/arm/_structs.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ssize_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_int8_t.h:
|
||||
|
||||
Engine/lib/bullet/examples/CommonInterfaces/CommonCameraInterface.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_uintptr_t.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__undef_macros:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/Availability.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/exception:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__utility/move.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__utility/forward.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleCallback.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_off_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/type_traits:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/_types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_dev_t.h:
|
||||
|
||||
Engine/lib/bullet/examples/BasicDemo/BasicExample.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__nullptr:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_null.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_rune_t.h:
|
||||
|
||||
Engine/lib/bullet/examples/CommonInterfaces/CommonRenderInterface.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_u_int8_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_u_int16_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/version:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uintmax_t.h:
|
||||
|
||||
Engine/lib/bullet/src/Bullet3Common/b3Vector3.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint64_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/arch.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/malloc/_malloc.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_timeval.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/libkern/arm/OSByteOrder.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_endian.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/Dynamics/btActionInterface.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btTransform.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btUniformScalingShape.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btAlignedAllocator.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_int64_t.h:
|
||||
|
||||
Engine/lib/bullet/src/btBulletDynamicsCommon.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint16_t.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h:
|
||||
|
||||
Engine/lib/bullet/examples/BasicDemo/main.cpp:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/endian.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/stdint.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/_mcontext.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_wchar_t.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btQuaternion.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_symbol_aliasing.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ucontext.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/resource.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_uid_t.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btAabbUtil2.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_sigset_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_mode_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_rsize_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/endian.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_id_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/stdint.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_pthread/_pthread_attr_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_ctermid.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_uint32_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/wait.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_u_int32_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_types/_intmax_t.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/libkern/_OSByteOrder.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/stdlib.h:
|
||||
|
||||
Engine/lib/bullet/examples/BasicDemo/BasicExample.cpp:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/cstddef:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btOptimizedBvh.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_pid_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/arm/_mcontext.h:
|
||||
|
||||
Engine/lib/bullet/src/LinearMath/btScalar.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_int16_t.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h:
|
||||
|
||||
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_intptr_t.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/_types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/signal.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/machine/types.h:
|
||||
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/float.h:
|
||||
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||||
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102
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Engine/lib/bullet/examples/BasicDemo/CMakeLists.txt
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|||
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|
||||
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||||
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|
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||||
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|
||||
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
|
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|
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|
||||
|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
|
||||
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|
||||
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||||
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|
||||
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|
||||
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6
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|
||||
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|
||||
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348
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||||
@echo "... all (the default if no target is provided)"
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||||
@echo "... clean"
|
||||
@echo "... depend"
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@echo "... edit_cache"
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||||
@echo "... install"
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||||
@echo "... install/local"
|
||||
@echo "... install/strip"
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@echo "... list_install_components"
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||||
@echo "... rebuild_cache"
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||||
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39
Engine/lib/bullet/examples/BasicDemo/cmake_install.cmake
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39
Engine/lib/bullet/examples/BasicDemo/cmake_install.cmake
Normal file
|
|
@ -0,0 +1,39 @@
|
|||
# Install script for directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/BasicDemo
|
||||
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||||
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|
||||
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|
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string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
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string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
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|
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set(CMAKE_INSTALL_CONFIG_NAME "Release")
|
||||
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|
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message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
|
||||
endif()
|
||||
|
||||
# Set the component getting installed.
|
||||
if(NOT CMAKE_INSTALL_COMPONENT)
|
||||
if(COMPONENT)
|
||||
message(STATUS "Install component: \"${COMPONENT}\"")
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||||
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
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||||
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|
||||
set(CMAKE_INSTALL_COMPONENT)
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||||
endif()
|
||||
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|
||||
|
||||
# Is this installation the result of a crosscompile?
|
||||
if(NOT DEFINED CMAKE_CROSSCOMPILING)
|
||||
set(CMAKE_CROSSCOMPILING "FALSE")
|
||||
endif()
|
||||
|
||||
# Set default install directory permissions.
|
||||
if(NOT DEFINED CMAKE_OBJDUMP)
|
||||
set(CMAKE_OBJDUMP "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/objdump")
|
||||
endif()
|
||||
|
||||
47
Engine/lib/bullet/examples/BasicDemo/main.cpp
Normal file
47
Engine/lib/bullet/examples/BasicDemo/main.cpp
Normal file
|
|
@ -0,0 +1,47 @@
|
|||
/*
|
||||
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 "BasicExample.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonExampleInterface.h"
|
||||
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
|
||||
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
|
||||
DummyGUIHelper noGfx;
|
||||
|
||||
CommonExampleOptions options(&noGfx);
|
||||
CommonExampleInterface* example = BasicExampleCreateFunc(options);
|
||||
|
||||
example->initPhysics();
|
||||
example->stepSimulation(1.f/60.f);
|
||||
example->exitPhysics();
|
||||
|
||||
delete example;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
203
Engine/lib/bullet/examples/BasicDemo/premake4.lua
Normal file
203
Engine/lib/bullet/examples/BasicDemo/premake4.lua
Normal file
|
|
@ -0,0 +1,203 @@
|
|||
|
||||
project "App_BasicExample"
|
||||
|
||||
if _OPTIONS["ios"] then
|
||||
kind "WindowedApp"
|
||||
else
|
||||
kind "ConsoleApp"
|
||||
end
|
||||
|
||||
includedirs {"../../src"}
|
||||
|
||||
links {
|
||||
"BulletDynamics","BulletCollision", "LinearMath"
|
||||
}
|
||||
|
||||
language "C++"
|
||||
|
||||
files {
|
||||
"**.cpp",
|
||||
"**.h",
|
||||
}
|
||||
|
||||
|
||||
project "App_BasicExampleGui"
|
||||
|
||||
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|
||||
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||||
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|
||||
kind "ConsoleApp"
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||||
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||||
defines {"B3_USE_STANDALONE_EXAMPLE"}
|
||||
|
||||
includedirs {"../../src"}
|
||||
|
||||
links {
|
||||
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
|
||||
}
|
||||
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
|
||||
language "C++"
|
||||
|
||||
files {
|
||||
"BasicExample.cpp",
|
||||
"*.h",
|
||||
"../StandaloneMain/main_opengl_single_example.cpp",
|
||||
"../ExampleBrowser/OpenGLGuiHelper.cpp",
|
||||
"../ExampleBrowser/GL_ShapeDrawer.cpp",
|
||||
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
|
||||
"../Utils/b3Clock.cpp",
|
||||
"../Utils/b3Clock.h",
|
||||
}
|
||||
|
||||
if os.is("Linux") then initX11() end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
end
|
||||
|
||||
|
||||
|
||||
|
||||
project "App_BasicExampleGuiWithSoftwareRenderer"
|
||||
|
||||
if _OPTIONS["ios"] then
|
||||
kind "WindowedApp"
|
||||
else
|
||||
kind "ConsoleApp"
|
||||
end
|
||||
defines {"B3_USE_STANDALONE_EXAMPLE"}
|
||||
|
||||
includedirs {"../../src"}
|
||||
|
||||
links {
|
||||
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
|
||||
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|
||||
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
|
||||
language "C++"
|
||||
|
||||
files {
|
||||
"BasicExample.cpp",
|
||||
"*.h",
|
||||
"../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
|
||||
"../ExampleBrowser/OpenGLGuiHelper.cpp",
|
||||
"../ExampleBrowser/GL_ShapeDrawer.cpp",
|
||||
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
|
||||
"../TinyRenderer/geometry.cpp",
|
||||
"../TinyRenderer/model.cpp",
|
||||
"../TinyRenderer/tgaimage.cpp",
|
||||
"../TinyRenderer/our_gl.cpp",
|
||||
"../TinyRenderer/TinyRenderer.cpp",
|
||||
"../Utils/b3ResourcePath.cpp",
|
||||
"../Utils/b3Clock.cpp",
|
||||
"../Utils/b3Clock.h",
|
||||
}
|
||||
|
||||
if os.is("Linux") then initX11() end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
end
|
||||
|
||||
|
||||
project "App_BasicExampleTinyRenderer"
|
||||
|
||||
if _OPTIONS["ios"] then
|
||||
kind "WindowedApp"
|
||||
else
|
||||
kind "ConsoleApp"
|
||||
end
|
||||
defines {"B3_USE_STANDALONE_EXAMPLE"}
|
||||
|
||||
includedirs {"../../src"}
|
||||
|
||||
links {
|
||||
"BulletDynamics","BulletCollision", "LinearMath", "Bullet3Common"
|
||||
}
|
||||
|
||||
|
||||
language "C++"
|
||||
|
||||
files {
|
||||
"BasicExample.cpp",
|
||||
"*.h",
|
||||
"../StandaloneMain/main_tinyrenderer_single_example.cpp",
|
||||
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
|
||||
"../OpenGLWindow/SimpleCamera.cpp",
|
||||
"../TinyRenderer/geometry.cpp",
|
||||
"../TinyRenderer/model.cpp",
|
||||
"../TinyRenderer/tgaimage.cpp",
|
||||
"../TinyRenderer/our_gl.cpp",
|
||||
"../TinyRenderer/TinyRenderer.cpp",
|
||||
"../Utils/b3ResourcePath.cpp",
|
||||
"../Utils/b3Clock.cpp",
|
||||
"../Utils/b3Clock.h",
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if _OPTIONS["enable_openvr"] then
|
||||
|
||||
project "App_BasicExampleVR"
|
||||
|
||||
if _OPTIONS["ios"] then
|
||||
kind "WindowedApp"
|
||||
else
|
||||
kind "ConsoleApp"
|
||||
end
|
||||
defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
|
||||
|
||||
|
||||
|
||||
includedirs {"../../src",
|
||||
"../ThirdPartyLibs/openvr/headers",
|
||||
"../ThirdPartyLibs/openvr/samples/shared"}
|
||||
|
||||
links {
|
||||
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common", "openvr_api"
|
||||
}
|
||||
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
|
||||
language "C++"
|
||||
|
||||
files {
|
||||
"BasicExample.cpp",
|
||||
"*.h",
|
||||
"../StandaloneMain/hellovr_opengl_main.cpp",
|
||||
"../ExampleBrowser/OpenGLGuiHelper.cpp",
|
||||
"../ExampleBrowser/GL_ShapeDrawer.cpp",
|
||||
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
|
||||
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
|
||||
"../Utils/b3Clock.cpp",
|
||||
"../Utils/b3Clock.h",
|
||||
|
||||
}
|
||||
|
||||
if os.is("Windows") then
|
||||
libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then initX11() end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
end
|
||||
|
||||
end
|
||||
1279
Engine/lib/bullet/examples/Benchmarks/BenchmarkDemo.cpp
Normal file
1279
Engine/lib/bullet/examples/Benchmarks/BenchmarkDemo.cpp
Normal file
File diff suppressed because it is too large
Load diff
23
Engine/lib/bullet/examples/Benchmarks/BenchmarkDemo.h
Normal file
23
Engine/lib/bullet/examples/Benchmarks/BenchmarkDemo.h
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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 BENCHMARK_EXAMPLE_H
|
||||
#define BENCHMARK_EXAMPLE_H
|
||||
|
||||
class CommonExampleInterface* BenchmarkCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
|
||||
#endif //BENCHMARK_EXAMPLE_H
|
||||
|
||||
49
Engine/lib/bullet/examples/Benchmarks/TaruData.h
Normal file
49
Engine/lib/bullet/examples/Benchmarks/TaruData.h
Normal file
|
|
@ -0,0 +1,49 @@
|
|||
#define TaruVtxCount 43
|
||||
#define TaruIdxCount 132
|
||||
|
||||
static float TaruVtx[] = {
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.28852f,1.34412e-007f,-1.28852f,
|
||||
1.82224f,1.90735e-007f,0.0f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
-1.28852f,1.34412e-007f,-1.28852f,
|
||||
0.0f,0.0f,-1.82224f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-1.82224f,1.90735e-007f,1.59305e-007f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.28852f,2.47058e-007f,1.28852f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
2.38958e-007f,2.70388e-007f,1.82224f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
1.28852f,2.47058e-007f,1.28852f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,-1.99237f,1.08664f,
|
||||
-0.768369f,-1.99237f,0.76837f,
|
||||
-1.08664f,-1.99237f,1.82086e-007f,
|
||||
-0.768369f,-1.99237f,-0.768369f,
|
||||
0.0f,-1.99237f,-1.08664f,
|
||||
0.768369f,-1.99237f,-0.768369f,
|
||||
1.08664f,-1.99237f,0.0f,
|
||||
0.768369f,-1.99237f,0.768369f,
|
||||
0.768369f,1.99237f,-0.768369f,
|
||||
0.0f,1.99237f,-1.08664f,
|
||||
-0.768369f,1.99237f,-0.768369f,
|
||||
-1.08664f,1.99237f,0.0f,
|
||||
-0.768369f,1.99237f,0.768369f,
|
||||
1.42495e-007f,1.99237f,1.08664f,
|
||||
0.768369f,1.99237f,0.768369f,
|
||||
1.08664f,1.99237f,0.0f,
|
||||
};
|
||||
|
||||
84369
Engine/lib/bullet/examples/Benchmarks/landscapeData.h
Normal file
84369
Engine/lib/bullet/examples/Benchmarks/landscapeData.h
Normal file
File diff suppressed because it is too large
Load diff
|
|
@ -0,0 +1,16 @@
|
|||
# CMAKE generated file: DO NOT EDIT!
|
||||
# Generated by "Unix Makefiles" Generator, CMake Version 3.23
|
||||
|
||||
# Relative path conversion top directories.
|
||||
set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/Users/ragora/Documents/Projects/Torque3D")
|
||||
set(CMAKE_RELATIVE_PATH_TOP_BINARY "/Users/ragora/Documents/Projects/Torque3D")
|
||||
|
||||
# Force unix paths in dependencies.
|
||||
set(CMAKE_FORCE_UNIX_PATHS 1)
|
||||
|
||||
|
||||
# The C and CXX include file regular expressions for this directory.
|
||||
set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
|
||||
set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
|
||||
set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
|
||||
set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
|
||||
1
Engine/lib/bullet/examples/CMakeFiles/progress.marks
Normal file
1
Engine/lib/bullet/examples/CMakeFiles/progress.marks
Normal file
|
|
@ -0,0 +1 @@
|
|||
36
|
||||
7
Engine/lib/bullet/examples/CMakeLists.txt
Normal file
7
Engine/lib/bullet/examples/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,7 @@
|
|||
SUBDIRS( HelloWorld BasicDemo )
|
||||
IF(BUILD_BULLET3)
|
||||
SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
|
||||
ENDIF()
|
||||
IF(BUILD_PYBULLET)
|
||||
SUBDIRS(pybullet)
|
||||
ENDIF(BUILD_PYBULLET)
|
||||
12
Engine/lib/bullet/examples/CTestTestfile.cmake
Normal file
12
Engine/lib/bullet/examples/CTestTestfile.cmake
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
# CMake generated Testfile for
|
||||
# Source directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples
|
||||
# Build directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples
|
||||
#
|
||||
# This file includes the relevant testing commands required for
|
||||
# testing this directory and lists subdirectories to be tested as well.
|
||||
subdirs("HelloWorld")
|
||||
subdirs("BasicDemo")
|
||||
subdirs("ExampleBrowser")
|
||||
subdirs("ThirdPartyLibs/Gwen")
|
||||
subdirs("ThirdPartyLibs/BussIK")
|
||||
subdirs("OpenGLWindow")
|
||||
130
Engine/lib/bullet/examples/Collision/CollisionSdkC_Api.cpp
Normal file
130
Engine/lib/bullet/examples/Collision/CollisionSdkC_Api.cpp
Normal file
|
|
@ -0,0 +1,130 @@
|
|||
#include "CollisionSdkC_Api.h"
|
||||
#include "Internal/CollisionSdkInterface.h"
|
||||
#include "Internal/Bullet2CollisionSdk.h"
|
||||
#include "Internal/RealTimeBullet3CollisionSdk.h"
|
||||
|
||||
/* Collision World */
|
||||
|
||||
plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle, int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
return sdk->createCollisionWorld( maxNumObjsCapacity, maxNumShapesCapacity, maxNumPairsCapacity);
|
||||
}
|
||||
|
||||
void plDeleteCollisionWorld(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
if (sdk && worldHandle)
|
||||
{
|
||||
sdk->deleteCollisionWorld(worldHandle);
|
||||
}
|
||||
}
|
||||
|
||||
plCollisionSdkHandle plCreateBullet2CollisionSdk()
|
||||
{
|
||||
#ifndef DISABLE_BULLET2_COLLISION_SDK
|
||||
return Bullet2CollisionSdk::createBullet2SdkHandle();
|
||||
#else
|
||||
return 0;
|
||||
#endif //DISABLE_BULLET2_COLLISION_SDK
|
||||
}
|
||||
|
||||
plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk()
|
||||
{
|
||||
#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
|
||||
return RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle();
|
||||
#else
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
delete sdk;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plReal radius)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
return sdk->createSphereShape(worldHandle,radius);
|
||||
|
||||
}
|
||||
|
||||
plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
return sdk->createPlaneShape(worldHandle,planeNormalX,planeNormalY,planeNormalZ,planeConstant);
|
||||
}
|
||||
|
||||
plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
return sdk->createCapsuleShape(worldHandle,radius,height,capsuleAxis);
|
||||
}
|
||||
|
||||
plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle collisionSdkHandle,plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
return sdk->createCompoundShape(worldHandle);
|
||||
}
|
||||
void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
sdk->addChildShape(worldHandle,compoundShape,childShape,childPos,childOrn);
|
||||
}
|
||||
|
||||
void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shapeHandle)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
sdk->deleteShape(worldHandle,shapeHandle);
|
||||
}
|
||||
|
||||
plCollisionObjectHandle plCreateCollisionObject( plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, void* userData, int userIndex, plCollisionShapeHandle cshape ,plVector3 childPos,plQuaternion childOrn)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
return sdk->createCollisionObject(worldHandle, userData, userIndex, cshape, childPos, childOrn);
|
||||
|
||||
}
|
||||
|
||||
void plDeleteCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle body)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
sdk->deleteCollisionObject(body);
|
||||
}
|
||||
|
||||
void plSetCollisionObjectTransform( plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle objHandle, plVector3 position,plQuaternion orientation)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
sdk->setCollisionObjectTransform(worldHandle,objHandle,position,orientation);
|
||||
}
|
||||
|
||||
void plAddCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
sdk->addCollisionObject(world,object);
|
||||
}
|
||||
void plRemoveCollisionObject(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
sdk->removeCollisionObject(world,object);
|
||||
}
|
||||
|
||||
/* Collision Queries */
|
||||
int plCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
return sdk->collide(worldHandle, colA,colB,pointsOut,pointCapacity);
|
||||
}
|
||||
|
||||
void plWorldCollide(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle world,
|
||||
plNearCallback filter, void* userData)
|
||||
{
|
||||
CollisionSdkInterface* sdk = (CollisionSdkInterface*) collisionSdkHandle;
|
||||
sdk->collideWorld(world,filter,userData);
|
||||
}
|
||||
111
Engine/lib/bullet/examples/Collision/CollisionSdkC_Api.h
Normal file
111
Engine/lib/bullet/examples/Collision/CollisionSdkC_Api.h
Normal file
|
|
@ -0,0 +1,111 @@
|
|||
#ifndef LW_COLLISION_C_API_H
|
||||
#define LW_COLLISION_C_API_H
|
||||
|
||||
|
||||
#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
|
||||
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
typedef double plReal;
|
||||
#else
|
||||
typedef float plReal;
|
||||
#endif
|
||||
|
||||
typedef plReal plVector3[3];
|
||||
typedef plReal plQuaternion[4];
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/** Particular collision SDK (C-API) */
|
||||
PL_DECLARE_HANDLE(plCollisionSdkHandle);
|
||||
|
||||
/** Collision world, belonging to some collision SDK (C-API)*/
|
||||
PL_DECLARE_HANDLE(plCollisionWorldHandle);
|
||||
|
||||
/** Collision object that can be part of a collision World (C-API)*/
|
||||
PL_DECLARE_HANDLE(plCollisionObjectHandle);
|
||||
|
||||
/** Collision Shape/Geometry, property of a collision object (C-API)*/
|
||||
PL_DECLARE_HANDLE(plCollisionShapeHandle);
|
||||
|
||||
/* Collision SDK */
|
||||
|
||||
extern plCollisionSdkHandle plCreateBullet2CollisionSdk();
|
||||
|
||||
#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
|
||||
extern plCollisionSdkHandle plCreateRealTimeBullet3CollisionSdk();
|
||||
#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
|
||||
|
||||
// extern plCollisionSdkHandle plCreateCustomCollisionSdk();
|
||||
|
||||
extern void plDeleteCollisionSdk(plCollisionSdkHandle collisionSdkHandle);
|
||||
|
||||
//extern int plGetSdkWorldCreationIntParameter();
|
||||
//extern int plSetSdkWorldCreationIntParameter(int newValue);
|
||||
|
||||
/* Collision World */
|
||||
|
||||
extern plCollisionWorldHandle plCreateCollisionWorld(plCollisionSdkHandle collisionSdkHandle, int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
|
||||
extern void plDeleteCollisionWorld(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world);
|
||||
|
||||
|
||||
extern void plAddCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
extern void plRemoveCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
|
||||
|
||||
/* Collision Object */
|
||||
|
||||
extern plCollisionObjectHandle plCreateCollisionObject( plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape , plVector3 startPosition,plQuaternion startOrientation);
|
||||
extern void plDeleteCollisionObject(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle body);
|
||||
extern void plSetCollisionObjectTransform( plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle objHandle, plVector3 startPosition,plQuaternion startOrientation);
|
||||
|
||||
/* Collision Shape definition */
|
||||
|
||||
extern plCollisionShapeHandle plCreateSphereShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius);
|
||||
extern plCollisionShapeHandle plCreateCapsuleShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle, plReal radius, plReal height, int capsuleAxis);
|
||||
extern plCollisionShapeHandle plCreatePlaneShape(plCollisionSdkHandle sdk, plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant);
|
||||
extern plCollisionShapeHandle plCreateCompoundShape(plCollisionSdkHandle sdk,plCollisionWorldHandle worldHandle);
|
||||
extern void plAddChildShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
|
||||
|
||||
extern void plDeleteShape(plCollisionSdkHandle collisionSdkHandle, plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
|
||||
|
||||
|
||||
|
||||
/* Contact Results */
|
||||
|
||||
struct lwContactPoint
|
||||
{
|
||||
plVector3 m_ptOnAWorld;
|
||||
plVector3 m_ptOnBWorld;
|
||||
plVector3 m_normalOnB;
|
||||
plReal m_distance;
|
||||
};
|
||||
|
||||
/* Collision Filtering */
|
||||
typedef void(*plNearCallback)(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData,
|
||||
plCollisionObjectHandle objA, plCollisionObjectHandle objB);
|
||||
|
||||
|
||||
/* Collision Queries */
|
||||
extern int plCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity);
|
||||
|
||||
extern void plWorldCollide(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle world,
|
||||
plNearCallback filter, void* userData);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#endif //LW_COLLISION_C_API_H
|
||||
|
||||
|
|
@ -0,0 +1,391 @@
|
|||
|
||||
#include "CollisionTutorialBullet2.h"
|
||||
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
|
||||
#include "../CommonInterfaces/CommonRenderInterface.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonExampleInterface.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
|
||||
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "../RenderingExamples/TimeSeriesCanvas.h"
|
||||
#include "stb_image/stb_image.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3Matrix3x3.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "CollisionSdkC_Api.h"
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
|
||||
///Not Invented Here link reminder http://www.joelonsoftware.com/articles/fog0000000007.html
|
||||
|
||||
///todo: use the 'userData' to prevent this use of global variables
|
||||
static int gTotalPoints = 0;
|
||||
const int sPointCapacity = 10000;
|
||||
const int sNumCompounds = 10;
|
||||
const int sNumSpheres = 10;
|
||||
|
||||
lwContactPoint pointsOut[sPointCapacity];
|
||||
int numNearCallbacks = 0;
|
||||
static btVector4 sColors[4] =
|
||||
{
|
||||
btVector4(1,0.7,0.7,1),
|
||||
btVector4(1,1,0.7,1),
|
||||
btVector4(0.7,1,0.7,1),
|
||||
btVector4(0.7,1,1,1),
|
||||
};
|
||||
|
||||
void myNearCallback(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
|
||||
{
|
||||
numNearCallbacks++;
|
||||
int remainingCapacity = sPointCapacity-gTotalPoints;
|
||||
btAssert(remainingCapacity>0);
|
||||
|
||||
if (remainingCapacity>0)
|
||||
{
|
||||
lwContactPoint* pointPtr = &pointsOut[gTotalPoints];
|
||||
int numNewPoints = plCollide(sdkHandle, worldHandle, objA,objB,pointPtr,remainingCapacity);
|
||||
btAssert(numNewPoints <= remainingCapacity);
|
||||
gTotalPoints+=numNewPoints;
|
||||
}
|
||||
}
|
||||
|
||||
class CollisionTutorialBullet2 : public CommonExampleInterface
|
||||
{
|
||||
CommonGraphicsApp* m_app;
|
||||
GUIHelperInterface* m_guiHelper;
|
||||
int m_tutorialIndex;
|
||||
|
||||
TimeSeriesCanvas* m_timeSeriesCanvas0;
|
||||
|
||||
plCollisionSdkHandle m_collisionSdkHandle;
|
||||
plCollisionWorldHandle m_collisionWorldHandle;
|
||||
|
||||
int m_stage;
|
||||
int m_counter;
|
||||
|
||||
public:
|
||||
|
||||
CollisionTutorialBullet2(GUIHelperInterface* guiHelper, int tutorialIndex)
|
||||
:m_app(guiHelper->getAppInterface()),
|
||||
m_guiHelper(guiHelper),
|
||||
m_tutorialIndex(tutorialIndex),
|
||||
m_collisionSdkHandle(0),
|
||||
m_collisionWorldHandle(0),
|
||||
m_stage(0),
|
||||
m_counter(0),
|
||||
m_timeSeriesCanvas0(0)
|
||||
{
|
||||
|
||||
gTotalPoints = 0;
|
||||
m_app->setUpAxis(1);
|
||||
m_app->m_renderer->enableBlend(true);
|
||||
|
||||
switch (m_tutorialIndex)
|
||||
{
|
||||
case TUT_SPHERE_PLANE_RTB3:
|
||||
case TUT_SPHERE_PLANE_BULLET2:
|
||||
{
|
||||
|
||||
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
|
||||
{
|
||||
m_collisionSdkHandle = plCreateBullet2CollisionSdk();
|
||||
} else
|
||||
{
|
||||
#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
|
||||
m_collisionSdkHandle = plCreateRealTimeBullet3CollisionSdk();
|
||||
#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
|
||||
}
|
||||
if (m_collisionSdkHandle)
|
||||
{
|
||||
int maxNumObjsCapacity=1024;
|
||||
int maxNumShapesCapacity=1024;
|
||||
int maxNumPairsCapacity=16384;
|
||||
btAlignedObjectArray<plCollisionObjectHandle> colliders;
|
||||
m_collisionWorldHandle = plCreateCollisionWorld(m_collisionSdkHandle,maxNumObjsCapacity,maxNumShapesCapacity,maxNumPairsCapacity);
|
||||
//create objects, do query etc
|
||||
{
|
||||
float radius = 1.f;
|
||||
|
||||
void* userPointer = 0;
|
||||
{
|
||||
for (int j=0;j<sNumCompounds;j++)
|
||||
{
|
||||
plCollisionShapeHandle compoundShape = plCreateCompoundShape(m_collisionSdkHandle,m_collisionWorldHandle);
|
||||
|
||||
for (int i=0;i<sNumSpheres;i++)
|
||||
{
|
||||
btVector3 childPos(i*1.5,0,0);
|
||||
btQuaternion childOrn(0,0,0,1);
|
||||
|
||||
btVector3 scaling(radius,radius,radius);
|
||||
|
||||
plCollisionShapeHandle childShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle,radius);
|
||||
plAddChildShape(m_collisionSdkHandle,m_collisionWorldHandle,compoundShape, childShape,childPos,childOrn);
|
||||
|
||||
|
||||
//m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
|
||||
|
||||
}
|
||||
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
|
||||
{
|
||||
btCollisionShape* colShape = (btCollisionShape*) compoundShape;
|
||||
m_guiHelper->createCollisionShapeGraphicsObject(colShape);
|
||||
} else
|
||||
{
|
||||
}
|
||||
|
||||
{
|
||||
btVector3 pos(j*sNumSpheres*1.5,-2.4,0);
|
||||
btQuaternion orn(0,0,0,1);
|
||||
plCollisionObjectHandle colObjHandle = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, -1,compoundShape,pos,orn);
|
||||
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
|
||||
{
|
||||
btCollisionObject* colObj = (btCollisionObject*) colObjHandle;
|
||||
btVector4 color=sColors[j&3];
|
||||
m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
|
||||
colliders.push_back(colObjHandle);
|
||||
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObjHandle);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle,0,1,0,-3.5);
|
||||
btVector3 pos(0,0,0);
|
||||
btQuaternion orn(0,0,0,1);
|
||||
void* userPointer = 0;
|
||||
plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, 0,colShape,pos,orn);
|
||||
colliders.push_back(colObj);
|
||||
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
|
||||
}
|
||||
|
||||
int numContacts = plCollide(m_collisionSdkHandle,m_collisionWorldHandle,colliders[0],colliders[1],pointsOut,sPointCapacity);
|
||||
printf("numContacts = %d\n", numContacts);
|
||||
void* myUserPtr = 0;
|
||||
|
||||
plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
|
||||
printf("total points=%d\n",gTotalPoints);
|
||||
|
||||
//plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj);
|
||||
//plDeleteCollisionObject(m_collisionSdkHandle,colObj);
|
||||
//plDeleteShape(m_collisionSdkHandle,colShape);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
|
||||
|
||||
m_timeSeriesCanvas0 ->setupTimeSeries(2,60, 0);
|
||||
m_timeSeriesCanvas0->addDataSource("X position (m)", 255,0,0);
|
||||
m_timeSeriesCanvas0->addDataSource("X velocity (m/s)", 0,0,255);
|
||||
m_timeSeriesCanvas0->addDataSource("dX/dt (m/s)", 0,0,0);
|
||||
*/
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
default:
|
||||
{
|
||||
|
||||
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Unknown");
|
||||
m_timeSeriesCanvas0 ->setupTimeSeries(1,60, 0);
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
{
|
||||
|
||||
int boxId = m_app->registerCubeShape(100,0.01,100);
|
||||
b3Vector3 pos = b3MakeVector3(0,-3.5,0);
|
||||
b3Quaternion orn(0,0,0,1);
|
||||
b3Vector4 color = b3MakeVector4(1,1,1,1);
|
||||
b3Vector3 scaling = b3MakeVector3(1,1,1);
|
||||
m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
int textureIndex = -1;
|
||||
|
||||
if (1)
|
||||
{
|
||||
int width,height,n;
|
||||
|
||||
const char* filename = "data/cube.png";
|
||||
const unsigned char* image=0;
|
||||
|
||||
const char* prefix[]={"./","../","../../","../../../","../../../../"};
|
||||
int numprefix = sizeof(prefix)/sizeof(const char*);
|
||||
|
||||
for (int i=0;!image && i<numprefix;i++)
|
||||
{
|
||||
char relativeFileName[1024];
|
||||
sprintf(relativeFileName,"%s%s",prefix[i],filename);
|
||||
image = stbi_load(relativeFileName, &width, &height, &n, 3);
|
||||
}
|
||||
|
||||
b3Assert(image);
|
||||
if (image)
|
||||
{
|
||||
textureIndex = m_app->m_renderer->registerTexture(image,width,height);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
m_app->m_renderer->writeTransforms();
|
||||
}
|
||||
virtual ~CollisionTutorialBullet2()
|
||||
{
|
||||
delete m_timeSeriesCanvas0;
|
||||
|
||||
plDeleteCollisionWorld(m_collisionSdkHandle,m_collisionWorldHandle);
|
||||
|
||||
plDeleteCollisionSdk(m_collisionSdkHandle);
|
||||
|
||||
m_timeSeriesCanvas0 = 0;
|
||||
|
||||
m_app->m_renderer->enableBlend(false);
|
||||
}
|
||||
|
||||
|
||||
virtual void initPhysics()
|
||||
{
|
||||
}
|
||||
virtual void exitPhysics()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
#ifndef BT_NO_PROFILE
|
||||
CProfileManager::Reset();
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
void* myUserPtr = 0;
|
||||
|
||||
gTotalPoints = 0;
|
||||
numNearCallbacks = 0;
|
||||
{
|
||||
BT_PROFILE("plWorldCollide");
|
||||
if (m_collisionSdkHandle && m_collisionWorldHandle)
|
||||
{
|
||||
plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
|
||||
}
|
||||
}
|
||||
|
||||
#if 0
|
||||
switch (m_tutorialIndex)
|
||||
{
|
||||
case TUT_SPHERE_SPHERE:
|
||||
{
|
||||
if (m_timeSeriesCanvas0)
|
||||
{
|
||||
float xPos = 0.f;
|
||||
float xVel = 1.f;
|
||||
m_timeSeriesCanvas0->insertDataAtCurrentTime(xPos,0,true);
|
||||
m_timeSeriesCanvas0->insertDataAtCurrentTime(xVel,1,true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
default:
|
||||
{
|
||||
}
|
||||
|
||||
};
|
||||
#endif
|
||||
|
||||
if (m_timeSeriesCanvas0)
|
||||
m_timeSeriesCanvas0->nextTick();
|
||||
|
||||
|
||||
|
||||
// m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
|
||||
|
||||
|
||||
m_app->m_renderer->writeTransforms();
|
||||
#ifndef BT_NO_PROFILE
|
||||
CProfileManager::Increment_Frame_Counter();
|
||||
#endif
|
||||
}
|
||||
virtual void renderScene()
|
||||
{
|
||||
if (m_app && m_app->m_renderer)
|
||||
{
|
||||
m_app->m_renderer->renderScene();
|
||||
|
||||
m_app->m_renderer->clearZBuffer();
|
||||
|
||||
m_app->drawText3D("X",1,0,0,1);
|
||||
m_app->drawText3D("Y",0,1,0,1);
|
||||
m_app->drawText3D("Z",0,0,1,1);
|
||||
|
||||
|
||||
for (int i=0;i<gTotalPoints;i++)
|
||||
{
|
||||
const lwContactPoint& contact = pointsOut[i];
|
||||
btVector3 color(1,1,0);
|
||||
btScalar lineWidth=3;
|
||||
if (contact.m_distance<0)
|
||||
{
|
||||
color.setValue(1,0,0);
|
||||
}
|
||||
m_app->m_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
virtual void physicsDebugDraw(int debugDrawFlags)
|
||||
{
|
||||
|
||||
|
||||
}
|
||||
virtual bool mouseMoveCallback(float x,float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 10.5;
|
||||
float pitch = 136;
|
||||
float yaw = 32;
|
||||
float targetPos[3]={0,0,0};
|
||||
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
|
||||
{
|
||||
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
|
||||
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
class CommonExampleInterface* CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new CollisionTutorialBullet2(options.m_guiHelper, options.m_option);
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
#ifndef COLLISION_TUTORIAL_H
|
||||
#define COLLISION_TUTORIAL_H
|
||||
|
||||
enum EnumCollisionTutorialTypes
|
||||
{
|
||||
TUT_SPHERE_PLANE_BULLET2=0,
|
||||
TUT_SPHERE_PLANE_RTB3,
|
||||
};
|
||||
|
||||
class CommonExampleInterface* CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //COLLISION_TUTORIAL_H
|
||||
|
|
@ -0,0 +1,278 @@
|
|||
#include "Bullet2CollisionSdk.h"
|
||||
#include "btBulletCollisionCommon.h"
|
||||
|
||||
struct Bullet2CollisionSdkInternalData
|
||||
{
|
||||
btCollisionConfiguration* m_collisionConfig;
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
btBroadphaseInterface* m_aabbBroadphase;
|
||||
|
||||
btCollisionWorld* m_collisionWorld;
|
||||
|
||||
Bullet2CollisionSdkInternalData()
|
||||
:m_aabbBroadphase(0),
|
||||
m_dispatcher(0),
|
||||
m_collisionWorld(0)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
Bullet2CollisionSdk::Bullet2CollisionSdk()
|
||||
{
|
||||
m_internalData = new Bullet2CollisionSdkInternalData;
|
||||
}
|
||||
|
||||
Bullet2CollisionSdk::~Bullet2CollisionSdk()
|
||||
{
|
||||
delete m_internalData;
|
||||
m_internalData = 0;
|
||||
}
|
||||
|
||||
plCollisionWorldHandle Bullet2CollisionSdk::createCollisionWorld(int /*maxNumObjsCapacity*/, int /*maxNumShapesCapacity*/, int /*maxNumPairsCapacity*/)
|
||||
{
|
||||
m_internalData->m_collisionConfig = new btDefaultCollisionConfiguration;
|
||||
|
||||
m_internalData->m_dispatcher = new btCollisionDispatcher(m_internalData->m_collisionConfig);
|
||||
m_internalData->m_aabbBroadphase = new btDbvtBroadphase();
|
||||
m_internalData->m_collisionWorld = new btCollisionWorld(m_internalData->m_dispatcher,
|
||||
m_internalData->m_aabbBroadphase,
|
||||
m_internalData->m_collisionConfig);
|
||||
return (plCollisionWorldHandle) m_internalData->m_collisionWorld;
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
|
||||
btAssert(m_internalData->m_collisionWorld == world);
|
||||
|
||||
if (m_internalData->m_collisionWorld == world)
|
||||
{
|
||||
delete m_internalData->m_collisionWorld;
|
||||
m_internalData->m_collisionWorld=0;
|
||||
delete m_internalData->m_aabbBroadphase;
|
||||
m_internalData->m_aabbBroadphase=0;
|
||||
delete m_internalData->m_dispatcher;
|
||||
m_internalData->m_dispatcher=0;
|
||||
delete m_internalData->m_collisionConfig;
|
||||
m_internalData->m_collisionConfig=0;
|
||||
}
|
||||
}
|
||||
|
||||
plCollisionShapeHandle Bullet2CollisionSdk::createSphereShape(plCollisionWorldHandle /*worldHandle*/, plReal radius)
|
||||
{
|
||||
btSphereShape* sphereShape = new btSphereShape(radius);
|
||||
return (plCollisionShapeHandle) sphereShape;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle Bullet2CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant)
|
||||
{
|
||||
btStaticPlaneShape* planeShape = new btStaticPlaneShape(btVector3(planeNormalX,planeNormalY,planeNormalZ),planeConstant);
|
||||
return (plCollisionShapeHandle) planeShape;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle Bullet2CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis)
|
||||
{
|
||||
btCapsuleShape* capsule = 0;
|
||||
|
||||
switch (capsuleAxis)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
capsule = new btCapsuleShapeX(radius,height);
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
capsule = new btCapsuleShape(radius,height);
|
||||
break;
|
||||
}
|
||||
case 2:
|
||||
{
|
||||
capsule = new btCapsuleShapeZ(radius,height);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
}
|
||||
return (plCollisionShapeHandle)capsule;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle Bullet2CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
return (plCollisionShapeHandle) new btCompoundShape();
|
||||
}
|
||||
void Bullet2CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShapeHandle, plCollisionShapeHandle childShapeHandle,plVector3 childPos,plQuaternion childOrn)
|
||||
{
|
||||
btCompoundShape* compound = (btCompoundShape*) compoundShapeHandle;
|
||||
btCollisionShape* childShape = (btCollisionShape*) childShapeHandle;
|
||||
btTransform localTrans;
|
||||
localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
|
||||
localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
|
||||
compound->addChildShape(localTrans,childShape);
|
||||
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::deleteShape(plCollisionWorldHandle /*worldHandle*/, plCollisionShapeHandle shapeHandle)
|
||||
{
|
||||
btCollisionShape* shape = (btCollisionShape*) shapeHandle;
|
||||
delete shape;
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::addCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
|
||||
{
|
||||
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
|
||||
btCollisionObject* colObj = (btCollisionObject*) objectHandle;
|
||||
btAssert(world && colObj);
|
||||
if (world == m_internalData->m_collisionWorld && colObj)
|
||||
{
|
||||
world->addCollisionObject(colObj);
|
||||
}
|
||||
}
|
||||
void Bullet2CollisionSdk::removeCollisionObject(plCollisionWorldHandle worldHandle, plCollisionObjectHandle objectHandle)
|
||||
{
|
||||
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
|
||||
btCollisionObject* colObj = (btCollisionObject*) objectHandle;
|
||||
btAssert(world && colObj);
|
||||
if (world == m_internalData->m_collisionWorld && colObj)
|
||||
{
|
||||
world->removeCollisionObject(colObj);
|
||||
}
|
||||
}
|
||||
|
||||
plCollisionObjectHandle Bullet2CollisionSdk::createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle shapeHandle ,
|
||||
plVector3 startPosition,plQuaternion startOrientation )
|
||||
|
||||
{
|
||||
btCollisionShape* colShape = (btCollisionShape*) shapeHandle;
|
||||
btAssert(colShape);
|
||||
if (colShape)
|
||||
{
|
||||
btCollisionObject* colObj= new btCollisionObject;
|
||||
colObj->setUserIndex(userIndex);
|
||||
colObj->setUserPointer(userPointer);
|
||||
colObj->setCollisionShape(colShape);
|
||||
btTransform tr;
|
||||
tr.setOrigin(btVector3(startPosition[0],startPosition[1],startPosition[2]));
|
||||
tr.setRotation(btQuaternion(startOrientation[0],startOrientation[1],startOrientation[2],startOrientation[3]));
|
||||
colObj->setWorldTransform(tr);
|
||||
return (plCollisionObjectHandle) colObj;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::deleteCollisionObject(plCollisionObjectHandle bodyHandle)
|
||||
{
|
||||
btCollisionObject* colObj = (btCollisionObject*) bodyHandle;
|
||||
delete colObj;
|
||||
}
|
||||
void Bullet2CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle /*worldHandle*/, plCollisionObjectHandle bodyHandle,
|
||||
plVector3 position,plQuaternion orientation )
|
||||
{
|
||||
btCollisionObject* colObj = (btCollisionObject*) bodyHandle;
|
||||
btTransform tr;
|
||||
tr.setOrigin(btVector3(position[0],position[1],position[2]));
|
||||
tr.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
|
||||
colObj->setWorldTransform(tr);
|
||||
}
|
||||
|
||||
|
||||
struct Bullet2ContactResultCallback : public btCollisionWorld::ContactResultCallback
|
||||
{
|
||||
int m_numContacts;
|
||||
lwContactPoint* m_pointsOut;
|
||||
int m_pointCapacity;
|
||||
|
||||
Bullet2ContactResultCallback(lwContactPoint* pointsOut, int pointCapacity) :
|
||||
m_numContacts(0),
|
||||
m_pointsOut(pointsOut),
|
||||
m_pointCapacity(pointCapacity)
|
||||
{
|
||||
}
|
||||
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
|
||||
{
|
||||
if (m_numContacts<m_pointCapacity)
|
||||
{
|
||||
lwContactPoint& ptOut = m_pointsOut[m_numContacts];
|
||||
ptOut.m_distance = cp.m_distance1;
|
||||
ptOut.m_normalOnB[0] = cp.m_normalWorldOnB.getX();
|
||||
ptOut.m_normalOnB[1] = cp.m_normalWorldOnB.getY();
|
||||
ptOut.m_normalOnB[2] = cp.m_normalWorldOnB.getZ();
|
||||
ptOut.m_ptOnAWorld[0] = cp.m_positionWorldOnA[0];
|
||||
ptOut.m_ptOnAWorld[1] = cp.m_positionWorldOnA[1];
|
||||
ptOut.m_ptOnAWorld[2] = cp.m_positionWorldOnA[2];
|
||||
ptOut.m_ptOnBWorld[0] = cp.m_positionWorldOnB[0];
|
||||
ptOut.m_ptOnBWorld[1] = cp.m_positionWorldOnB[1];
|
||||
ptOut.m_ptOnBWorld[2] = cp.m_positionWorldOnB[2];
|
||||
m_numContacts++;
|
||||
}
|
||||
|
||||
return 1.f;
|
||||
}
|
||||
};
|
||||
|
||||
int Bullet2CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity)
|
||||
{
|
||||
|
||||
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
|
||||
btCollisionObject* colObjA = (btCollisionObject*) colA;
|
||||
btCollisionObject* colObjB = (btCollisionObject*) colB;
|
||||
btAssert(world && colObjA && colObjB);
|
||||
if (world == m_internalData->m_collisionWorld && colObjA && colObjB)
|
||||
{
|
||||
Bullet2ContactResultCallback cb(pointsOut,pointCapacity);
|
||||
world->contactPairTest(colObjA,colObjB,cb);
|
||||
return cb.m_numContacts;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
static plNearCallback gTmpFilter;
|
||||
static int gNearCallbackCount = 0;
|
||||
static plCollisionSdkHandle gCollisionSdk = 0;
|
||||
static plCollisionWorldHandle gCollisionWorldHandle = 0;
|
||||
|
||||
static void* gUserData = 0;
|
||||
|
||||
void Bullet2NearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
|
||||
{
|
||||
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
|
||||
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
|
||||
plCollisionObjectHandle obA =(plCollisionObjectHandle) colObj0;
|
||||
plCollisionObjectHandle obB =(plCollisionObjectHandle) colObj1;
|
||||
if(gTmpFilter)
|
||||
{
|
||||
gTmpFilter(gCollisionSdk,gCollisionWorldHandle, gUserData,obA,obB);
|
||||
gNearCallbackCount++;
|
||||
}
|
||||
}
|
||||
|
||||
void Bullet2CollisionSdk::collideWorld( plCollisionWorldHandle worldHandle,
|
||||
plNearCallback filter, void* userData)
|
||||
{
|
||||
btCollisionWorld* world = (btCollisionWorld*) worldHandle;
|
||||
//chain the near-callback
|
||||
gTmpFilter = filter;
|
||||
gNearCallbackCount = 0;
|
||||
gUserData = userData;
|
||||
gCollisionSdk = (plCollisionSdkHandle)this;
|
||||
gCollisionWorldHandle = worldHandle;
|
||||
m_internalData->m_dispatcher->setNearCallback(Bullet2NearCallback);
|
||||
world->performDiscreteCollisionDetection();
|
||||
gTmpFilter = 0;
|
||||
}
|
||||
|
||||
plCollisionSdkHandle Bullet2CollisionSdk::createBullet2SdkHandle()
|
||||
{
|
||||
return (plCollisionSdkHandle) new Bullet2CollisionSdk;
|
||||
}
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
#ifndef BULLET2_COLLISION_SDK_H
|
||||
#define BULLET2_COLLISION_SDK_H
|
||||
|
||||
#include "CollisionSdkInterface.h"
|
||||
|
||||
class Bullet2CollisionSdk : public CollisionSdkInterface
|
||||
{
|
||||
struct Bullet2CollisionSdkInternalData* m_internalData;
|
||||
|
||||
public:
|
||||
|
||||
Bullet2CollisionSdk();
|
||||
|
||||
virtual ~Bullet2CollisionSdk();
|
||||
|
||||
virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
|
||||
|
||||
virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle);
|
||||
|
||||
virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius);
|
||||
|
||||
virtual plCollisionShapeHandle createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant);
|
||||
|
||||
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis);
|
||||
|
||||
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
|
||||
virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn);
|
||||
|
||||
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
|
||||
|
||||
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
|
||||
virtual plCollisionObjectHandle createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape ,
|
||||
plVector3 startPosition,plQuaternion startOrientation );
|
||||
virtual void deleteCollisionObject(plCollisionObjectHandle body);
|
||||
virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
|
||||
plVector3 position,plQuaternion orientation );
|
||||
|
||||
virtual int collide(plCollisionWorldHandle world,plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity);
|
||||
|
||||
virtual void collideWorld( plCollisionWorldHandle world,
|
||||
plNearCallback filter, void* userData);
|
||||
|
||||
static plCollisionSdkHandle createBullet2SdkHandle();
|
||||
};
|
||||
|
||||
#endif //BULLET2_COLLISION_SDK_H
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
#ifndef COLLISION_SDK_INTERFACE_H
|
||||
#define COLLISION_SDK_INTERFACE_H
|
||||
|
||||
#include "../CollisionSdkC_Api.h"
|
||||
|
||||
class CollisionSdkInterface
|
||||
{
|
||||
public:
|
||||
|
||||
virtual ~CollisionSdkInterface()
|
||||
{
|
||||
}
|
||||
|
||||
virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity) = 0;
|
||||
|
||||
virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle) = 0;
|
||||
|
||||
virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius) = 0;
|
||||
|
||||
virtual plCollisionShapeHandle createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant) = 0;
|
||||
|
||||
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis) = 0;
|
||||
|
||||
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle) = 0;
|
||||
virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn)=0;
|
||||
|
||||
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape) = 0;
|
||||
|
||||
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0;
|
||||
virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)=0;
|
||||
|
||||
virtual plCollisionObjectHandle createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape ,
|
||||
plVector3 startPosition,plQuaternion startOrientation )=0;
|
||||
virtual void deleteCollisionObject(plCollisionObjectHandle body)=0;
|
||||
virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
|
||||
plVector3 position,plQuaternion orientation )=0;
|
||||
|
||||
virtual int collide(plCollisionWorldHandle world,plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity)=0;
|
||||
|
||||
virtual void collideWorld( plCollisionWorldHandle world,
|
||||
plNearCallback filter, void* userData)=0;
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //COLLISION_SDK_INTERFACE_H
|
||||
|
||||
|
|
@ -0,0 +1,481 @@
|
|||
#define BLAAT
|
||||
#include "RealTimeBullet3CollisionSdk.h"
|
||||
#include "Bullet3Common/b3AlignedObjectArray.h"
|
||||
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
|
||||
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
|
||||
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
|
||||
|
||||
//convert the opaque pointer to int
|
||||
struct RTB3_ColliderOpaque2Int
|
||||
{
|
||||
union
|
||||
{
|
||||
plCollisionObjectHandle m_ptrValue;
|
||||
int m_intValue;
|
||||
};
|
||||
};
|
||||
struct RTB3_ShapeOpaque2Int
|
||||
{
|
||||
union
|
||||
{
|
||||
plCollisionShapeHandle m_ptrValue;
|
||||
int m_intValue;
|
||||
};
|
||||
};
|
||||
|
||||
enum RTB3ShapeTypes
|
||||
{
|
||||
RTB3_SHAPE_SPHERE=0,
|
||||
RTB3_SHAPE_PLANE,
|
||||
RTB3_SHAPE_CAPSULE,
|
||||
MAX_NUM_SINGLE_SHAPE_TYPES,
|
||||
RTB3_SHAPE_COMPOUND_INTERNAL,
|
||||
|
||||
|
||||
};
|
||||
|
||||
//we start at 1, so that the 0 index is 'invalid' just like a nullptr
|
||||
#define START_COLLIDABLE_INDEX 1
|
||||
#define START_SHAPE_INDEX 1
|
||||
|
||||
struct RTB3CollisionWorld
|
||||
{
|
||||
b3AlignedObjectArray<void*> m_collidableUserPointers;
|
||||
b3AlignedObjectArray<int> m_collidableUserIndices;
|
||||
b3AlignedObjectArray<b3Float4> m_collidablePositions;
|
||||
b3AlignedObjectArray<b3Quaternion> m_collidableOrientations;
|
||||
b3AlignedObjectArray<b3Transform> m_collidableTransforms;
|
||||
|
||||
b3AlignedObjectArray<b3Collidable> m_collidables;
|
||||
|
||||
b3AlignedObjectArray<b3GpuChildShape> m_childShapes;
|
||||
b3AlignedObjectArray<b3Aabb> m_localSpaceAabbs;
|
||||
b3AlignedObjectArray<b3Aabb> m_worldSpaceAabbs;
|
||||
b3AlignedObjectArray<b3GpuFace> m_planeFaces;
|
||||
b3AlignedObjectArray<b3CompoundOverlappingPair> m_compoundOverlappingPairs;
|
||||
int m_nextFreeShapeIndex;
|
||||
int m_nextFreeCollidableIndex;
|
||||
int m_nextFreePlaneFaceIndex;
|
||||
|
||||
RTB3CollisionWorld()
|
||||
:m_nextFreeCollidableIndex(START_COLLIDABLE_INDEX),
|
||||
m_nextFreeShapeIndex(START_SHAPE_INDEX),
|
||||
m_nextFreePlaneFaceIndex(0)//this value is never exposed to the user, so we can start from 0
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
struct RealTimeBullet3CollisionSdkInternalData
|
||||
{
|
||||
b3AlignedObjectArray<RTB3CollisionWorld*> m_collisionWorlds;
|
||||
};
|
||||
|
||||
RealTimeBullet3CollisionSdk::RealTimeBullet3CollisionSdk()
|
||||
{
|
||||
// int szCol = sizeof(b3Collidable);
|
||||
// int szShap = sizeof(b3GpuChildShape);
|
||||
// int szComPair = sizeof(b3CompoundOverlappingPair);
|
||||
m_internalData = new RealTimeBullet3CollisionSdkInternalData;
|
||||
}
|
||||
|
||||
RealTimeBullet3CollisionSdk::~RealTimeBullet3CollisionSdk()
|
||||
{
|
||||
delete m_internalData;
|
||||
m_internalData=0;
|
||||
}
|
||||
|
||||
plCollisionWorldHandle RealTimeBullet3CollisionSdk::createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity)
|
||||
{
|
||||
RTB3CollisionWorld* world = new RTB3CollisionWorld();
|
||||
world->m_collidables.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
|
||||
world->m_collidablePositions.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
|
||||
world->m_collidableOrientations.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
|
||||
world->m_collidableTransforms.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
|
||||
world->m_collidableUserPointers.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
|
||||
world->m_collidableUserIndices.resize(maxNumObjsCapacity+START_COLLIDABLE_INDEX);
|
||||
world->m_childShapes.resize(maxNumShapesCapacity+START_SHAPE_INDEX);
|
||||
world->m_planeFaces.resize(maxNumShapesCapacity);
|
||||
|
||||
world->m_compoundOverlappingPairs.resize(maxNumPairsCapacity);
|
||||
|
||||
m_internalData->m_collisionWorlds.push_back(world);
|
||||
return (plCollisionWorldHandle) world;
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::deleteCollisionWorld(plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
int loc = m_internalData->m_collisionWorlds.findLinearSearch(world);
|
||||
b3Assert(loc >=0 && loc<m_internalData->m_collisionWorlds.size());
|
||||
if (loc >=0 && loc<m_internalData->m_collisionWorlds.size())
|
||||
{
|
||||
m_internalData->m_collisionWorlds.remove(world);
|
||||
delete world;
|
||||
}
|
||||
}
|
||||
|
||||
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createSphereShape(plCollisionWorldHandle worldHandle, plReal radius)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
b3Assert(world->m_nextFreeShapeIndex<world->m_childShapes.size());
|
||||
if (world->m_nextFreeShapeIndex<world->m_childShapes.size())
|
||||
{
|
||||
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
|
||||
shape.m_childPosition.setZero();
|
||||
shape.m_childOrientation.setValue(0,0,0,1);
|
||||
shape.m_radius = radius;
|
||||
shape.m_shapeType = RTB3_SHAPE_SPHERE;
|
||||
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
|
||||
|
||||
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
|
||||
{
|
||||
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
|
||||
shape.m_childPosition.setZero();
|
||||
shape.m_childOrientation.setValue(0,0,0,1);
|
||||
world->m_planeFaces[world->m_nextFreePlaneFaceIndex].m_plane = b3MakeVector4(planeNormalX,planeNormalY,planeNormalZ,planeConstant);
|
||||
shape.m_shapeIndex = world->m_nextFreePlaneFaceIndex++;
|
||||
shape.m_shapeType = RTB3_SHAPE_PLANE;
|
||||
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
|
||||
|
||||
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
|
||||
{
|
||||
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
|
||||
shape.m_childPosition.setZero();
|
||||
shape.m_childOrientation.setValue(0,0,0,1);
|
||||
shape.m_radius = radius;
|
||||
shape.m_height = height;
|
||||
shape.m_shapeIndex = capsuleAxis;
|
||||
shape.m_shapeType = RTB3_SHAPE_CAPSULE;
|
||||
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle RealTimeBullet3CollisionSdk::createCompoundShape(plCollisionWorldHandle worldHandle)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
b3Assert(world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size());
|
||||
|
||||
if (world->m_nextFreeShapeIndex < world->m_childShapes.size() && world->m_nextFreePlaneFaceIndex < world->m_planeFaces.size())
|
||||
{
|
||||
b3GpuChildShape& shape = world->m_childShapes[world->m_nextFreeShapeIndex];
|
||||
shape.m_childPosition.setZero();
|
||||
shape.m_childOrientation.setValue(0,0,0,1);
|
||||
shape.m_numChildShapes = 0;
|
||||
shape.m_shapeType = RTB3_SHAPE_COMPOUND_INTERNAL;
|
||||
return (plCollisionShapeHandle) world->m_nextFreeShapeIndex++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn)
|
||||
{
|
||||
|
||||
}
|
||||
void RealTimeBullet3CollisionSdk::deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape)
|
||||
{
|
||||
///todo
|
||||
//deleting shapes would involve a garbage collection phase, and mess up all user indices
|
||||
//this would be solved by one more in-direction, at some performance penalty for certain operations
|
||||
//for now, we don't delete and eventually run out-of-shapes
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
|
||||
{
|
||||
///createCollisionObject already adds it to the world
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object)
|
||||
{
|
||||
///todo, see deleteShape
|
||||
}
|
||||
|
||||
plCollisionObjectHandle RealTimeBullet3CollisionSdk::createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer,
|
||||
int userIndex, plCollisionShapeHandle shapeHandle ,
|
||||
plVector3 startPosition,plQuaternion startOrientation )
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
b3Assert(world->m_nextFreeCollidableIndex < world->m_collidables.size());
|
||||
if (world->m_nextFreeCollidableIndex < world->m_collidables.size())
|
||||
{
|
||||
b3Collidable& collidable = world->m_collidables[world->m_nextFreeCollidableIndex];
|
||||
world->m_collidablePositions[world->m_nextFreeCollidableIndex].setValue(startPosition[0],startPosition[1],startPosition[2]);
|
||||
world->m_collidableOrientations[world->m_nextFreeCollidableIndex].setValue(startOrientation[0],startOrientation[1],startOrientation[2],startOrientation[3]);
|
||||
world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setOrigin(world->m_collidablePositions[world->m_nextFreeCollidableIndex]);
|
||||
world->m_collidableTransforms[world->m_nextFreeCollidableIndex].setRotation(world->m_collidableOrientations[world->m_nextFreeCollidableIndex]);
|
||||
world->m_collidableUserPointers[world->m_nextFreeCollidableIndex] = userPointer;
|
||||
world->m_collidableUserIndices[world->m_nextFreeCollidableIndex] = userIndex;
|
||||
RTB3_ShapeOpaque2Int caster;
|
||||
caster.m_ptrValue = shapeHandle;
|
||||
int shapeIndex = caster.m_intValue;
|
||||
collidable.m_shapeIndex = shapeIndex;
|
||||
b3GpuChildShape& shape = world->m_childShapes[shapeIndex];
|
||||
collidable.m_shapeType = shape.m_shapeType;
|
||||
collidable.m_numChildShapes = 1;
|
||||
|
||||
switch (collidable.m_shapeType)
|
||||
{
|
||||
case RTB3_SHAPE_SPHERE:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case RTB3_SHAPE_PLANE:
|
||||
{
|
||||
break;
|
||||
}
|
||||
case RTB3_SHAPE_COMPOUND_INTERNAL:
|
||||
{
|
||||
|
||||
break;
|
||||
}
|
||||
default:
|
||||
{
|
||||
b3Assert(0);
|
||||
}
|
||||
}
|
||||
|
||||
/*case SHAPE_COMPOUND_OF_CONVEX_HULLS:
|
||||
case SHAPE_COMPOUND_OF_SPHERES:
|
||||
case SHAPE_COMPOUND_OF_CAPSULES:
|
||||
{
|
||||
collidable.m_numChildShapes = shape.m_numChildShapes;
|
||||
collidable.m_shapeIndex = shape.m_shapeIndex;
|
||||
break;
|
||||
*/
|
||||
return (plCollisionObjectHandle)world->m_nextFreeCollidableIndex++;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::deleteCollisionObject(plCollisionObjectHandle body)
|
||||
{
|
||||
///todo, see deleteShape
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
|
||||
plVector3 position,plQuaternion orientation )
|
||||
{
|
||||
}
|
||||
|
||||
struct plContactCache
|
||||
{
|
||||
lwContactPoint* pointsOut;
|
||||
int pointCapacity;
|
||||
int numAddedPoints;
|
||||
};
|
||||
|
||||
typedef void (*plDetectCollisionFunc)(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache);
|
||||
|
||||
void detectCollisionDummy(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
(void)world;
|
||||
(void)colA,(void)colB;
|
||||
(void)contactCache;
|
||||
}
|
||||
|
||||
void plVecCopy(float* dst,const b3Vector3& src)
|
||||
{
|
||||
dst[0] = src.x;
|
||||
dst[1] = src.y;
|
||||
dst[2] = src.z;
|
||||
}
|
||||
void plVecCopy(double* dst,const b3Vector3& src)
|
||||
{
|
||||
dst[0] = src.x;
|
||||
dst[1] = src.y;
|
||||
dst[2] = src.z;
|
||||
}
|
||||
|
||||
void ComputeClosestPointsPlaneSphere(const b3Vector3& planeNormalWorld, b3Scalar planeConstant, const b3Vector3& spherePosWorld,b3Scalar sphereRadius, plContactCache* contactCache)
|
||||
{
|
||||
if (contactCache->numAddedPoints < contactCache->pointCapacity)
|
||||
{
|
||||
lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
|
||||
b3Scalar t = -(spherePosWorld.dot(-planeNormalWorld)+planeConstant);
|
||||
b3Vector3 intersectionPoint = spherePosWorld+t*-planeNormalWorld;
|
||||
b3Scalar distance = t-sphereRadius;
|
||||
if (distance<=0)
|
||||
{
|
||||
pointOut.m_distance = distance;
|
||||
plVecCopy(pointOut.m_ptOnBWorld,intersectionPoint);
|
||||
plVecCopy(pointOut.m_ptOnAWorld,spherePosWorld+sphereRadius*-planeNormalWorld);
|
||||
plVecCopy(pointOut.m_normalOnB,planeNormalWorld);
|
||||
contactCache->numAddedPoints++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ComputeClosestPointsSphereSphere(b3Scalar sphereARadius, const b3Vector3& sphereAPosWorld, b3Scalar sphereBRadius, const b3Vector3& sphereBPosWorld, plContactCache* contactCache) {
|
||||
|
||||
if (contactCache->numAddedPoints < contactCache->pointCapacity)
|
||||
{
|
||||
lwContactPoint& pointOut = contactCache->pointsOut[contactCache->numAddedPoints];
|
||||
b3Vector3 diff = sphereAPosWorld-sphereBPosWorld;
|
||||
|
||||
b3Scalar len = diff.length();
|
||||
pointOut.m_distance = len - (sphereARadius+sphereBRadius);
|
||||
if (pointOut.m_distance<=0)
|
||||
{
|
||||
b3Vector3 normOnB = b3MakeVector3(1,0,0);
|
||||
if (len > B3_EPSILON) {
|
||||
normOnB = diff / len;
|
||||
}
|
||||
|
||||
plVecCopy(pointOut.m_normalOnB,normOnB);
|
||||
b3Vector3 ptAWorld = sphereAPosWorld - sphereARadius*normOnB;
|
||||
plVecCopy(pointOut.m_ptOnAWorld,ptAWorld);
|
||||
plVecCopy(pointOut.m_ptOnBWorld,ptAWorld-normOnB*pointOut.m_distance);
|
||||
|
||||
contactCache->numAddedPoints++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
B3_FORCE_INLINE void detectCollisionSphereSphere(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
|
||||
const b3Scalar radiusA = world->m_childShapes[shapeIndexA].m_radius;
|
||||
const b3Scalar radiusB = world->m_childShapes[shapeIndexB].m_radius;
|
||||
|
||||
const b3Transform& trA = world->m_collidableTransforms[colA];
|
||||
const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
|
||||
b3Vector3 spherePosAWorld = trA(sphereALocalPos);
|
||||
//b3Vector3 spherePosAWorld = b3QuatRotate( world->m_collidableOrientations[colA], sphereALocalPos ) + (world->m_collidablePositions[colA]);
|
||||
|
||||
const b3Transform& trB = world->m_collidableTransforms[colB];
|
||||
const b3Vector3& sphereBLocalPos = world->m_childShapes[shapeIndexB].m_childPosition;
|
||||
b3Vector3 spherePosBWorld = trB(sphereBLocalPos);
|
||||
//b3Vector3 spherePosBWorld = b3QuatRotate( world->m_collidableOrientations[colB], sphereBLocalPos ) + (world->m_collidablePositions[colB]);
|
||||
|
||||
ComputeClosestPointsSphereSphere(radiusA,spherePosAWorld,radiusB,spherePosBWorld,contactCache);
|
||||
}
|
||||
|
||||
void detectCollisionSpherePlane(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
const b3Transform& trA = world->m_collidableTransforms[colA];
|
||||
const b3Vector3& sphereALocalPos = world->m_childShapes[shapeIndexA].m_childPosition;
|
||||
b3Vector3 spherePosAWorld = trA(sphereALocalPos);
|
||||
|
||||
|
||||
int planeFaceIndex = world->m_childShapes[shapeIndexB].m_shapeIndex;
|
||||
b3Vector3 planeNormal = world->m_planeFaces[planeFaceIndex].m_plane;
|
||||
b3Scalar planeConstant = planeNormal[3];
|
||||
planeNormal[3] = 0.f;
|
||||
|
||||
ComputeClosestPointsPlaneSphere(planeNormal, planeConstant, spherePosAWorld,world->m_childShapes[shapeIndexA].m_radius, contactCache);
|
||||
|
||||
}
|
||||
|
||||
void detectCollisionPlaneSphere(RTB3CollisionWorld* world,int colA, int shapeIndexA, int colB, int shapeIndexB,
|
||||
plContactCache* contactCache)
|
||||
{
|
||||
(void)world;
|
||||
(void)colA,(void)shapeIndexA,(void)colB,(void)shapeIndexB;
|
||||
(void)contactCache;
|
||||
}
|
||||
|
||||
|
||||
|
||||
#ifdef RTB3_SHAPE_CAPSULE
|
||||
plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES,][MAX_NUM_SINGLE_SHAPE_TYPES,] = {
|
||||
{detectCollisionSphereSphere ,detectCollisionSpherePlane ,detectCollisionSphereCapsule},
|
||||
{detectCollisionPlaneSphere ,detectCollisionDummy ,detectCollisionPlaneCapsule},
|
||||
{detectCollisionCapsuleSphere ,detectCollisionCapsulePlane ,detectCollisionCapsuleCapsule},
|
||||
};
|
||||
#else
|
||||
plDetectCollisionFunc funcTbl_detectCollision[MAX_NUM_SINGLE_SHAPE_TYPES][MAX_NUM_SINGLE_SHAPE_TYPES] = {
|
||||
{detectCollisionSphereSphere ,detectCollisionSpherePlane},
|
||||
{detectCollisionPlaneSphere ,detectCollisionDummy },
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
int RealTimeBullet3CollisionSdk::collide(plCollisionWorldHandle worldHandle,plCollisionObjectHandle colAHandle, plCollisionObjectHandle colBHandle,
|
||||
lwContactPoint* pointsOutOrg, int pointCapacity)
|
||||
{
|
||||
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
RTB3_ColliderOpaque2Int caster;
|
||||
caster.m_ptrValue =colAHandle;
|
||||
int colAIndex = caster.m_intValue;
|
||||
caster.m_ptrValue = colBHandle;
|
||||
int colBIndex = caster.m_intValue;
|
||||
const b3Collidable& colA = world->m_collidables[colAIndex];
|
||||
const b3Collidable& colB = world->m_collidables[colBIndex];
|
||||
|
||||
plContactCache contactCache;
|
||||
contactCache.pointCapacity = pointCapacity;
|
||||
contactCache.pointsOut = pointsOutOrg;
|
||||
contactCache.numAddedPoints = 0;
|
||||
|
||||
for (int i=0;i<colA.m_numChildShapes;i++)
|
||||
{
|
||||
for (int j=0;j<colB.m_numChildShapes;j++)
|
||||
{
|
||||
if (contactCache.numAddedPoints<pointCapacity)
|
||||
{
|
||||
//funcTbl_detectCollision[world->m_childShapes[colA.m_shapeIndex+i].m_shapeType]
|
||||
// [world->m_childShapes[colB.m_shapeIndex+j].m_shapeType](world,colAIndex,colA.m_shapeIndex+i,colBIndex,colB.m_shapeIndex+j,&contactCache);
|
||||
}
|
||||
}
|
||||
return contactCache.numAddedPoints;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void RealTimeBullet3CollisionSdk::collideWorld( plCollisionWorldHandle worldHandle,
|
||||
plNearCallback filter, void* userData)
|
||||
{
|
||||
RTB3CollisionWorld* world = (RTB3CollisionWorld*) worldHandle;
|
||||
if (filter)
|
||||
{
|
||||
RTB3_ColliderOpaque2Int caster;
|
||||
plCollisionObjectHandle colA;
|
||||
plCollisionObjectHandle colB;
|
||||
for (int i=START_COLLIDABLE_INDEX;i<world->m_nextFreeCollidableIndex;i++)
|
||||
{
|
||||
|
||||
for (int j=i+1;j<world->m_nextFreeCollidableIndex;j++)
|
||||
{
|
||||
caster.m_intValue = i;
|
||||
colA = caster.m_ptrValue;
|
||||
caster.m_intValue = j;
|
||||
colB = caster.m_ptrValue;
|
||||
filter((plCollisionSdkHandle)this,worldHandle,userData,colA,colB);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
plCollisionSdkHandle RealTimeBullet3CollisionSdk::createRealTimeBullet3CollisionSdkHandle()
|
||||
{
|
||||
return (plCollisionSdkHandle) new RealTimeBullet3CollisionSdk();
|
||||
}
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
#ifndef REAL_TIME_COLLISION_SDK_H
|
||||
#define REAL_TIME_COLLISION_SDK_H
|
||||
|
||||
#include "CollisionSdkInterface.h"
|
||||
|
||||
class RealTimeBullet3CollisionSdk : public CollisionSdkInterface
|
||||
{
|
||||
struct RealTimeBullet3CollisionSdkInternalData* m_internalData;
|
||||
|
||||
public:
|
||||
|
||||
RealTimeBullet3CollisionSdk();
|
||||
|
||||
virtual ~RealTimeBullet3CollisionSdk();
|
||||
|
||||
virtual plCollisionWorldHandle createCollisionWorld(int maxNumObjsCapacity, int maxNumShapesCapacity, int maxNumPairsCapacity);
|
||||
|
||||
virtual void deleteCollisionWorld(plCollisionWorldHandle worldHandle);
|
||||
|
||||
virtual plCollisionShapeHandle createSphereShape(plCollisionWorldHandle worldHandle, plReal radius);
|
||||
virtual plCollisionShapeHandle createPlaneShape(plCollisionWorldHandle worldHandle,
|
||||
plReal planeNormalX,
|
||||
plReal planeNormalY,
|
||||
plReal planeNormalZ,
|
||||
plReal planeConstant);
|
||||
virtual plCollisionShapeHandle createCapsuleShape(plCollisionWorldHandle worldHandle,
|
||||
plReal radius,
|
||||
plReal height,
|
||||
int capsuleAxis);
|
||||
|
||||
virtual plCollisionShapeHandle createCompoundShape(plCollisionWorldHandle worldHandle);
|
||||
virtual void addChildShape(plCollisionWorldHandle worldHandle,plCollisionShapeHandle compoundShape, plCollisionShapeHandle childShape,plVector3 childPos,plQuaternion childOrn);
|
||||
|
||||
virtual void deleteShape(plCollisionWorldHandle worldHandle, plCollisionShapeHandle shape);
|
||||
|
||||
virtual void addCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
virtual void removeCollisionObject(plCollisionWorldHandle world, plCollisionObjectHandle object);
|
||||
|
||||
virtual plCollisionObjectHandle createCollisionObject( plCollisionWorldHandle worldHandle, void* userPointer, int userIndex, plCollisionShapeHandle cshape ,
|
||||
plVector3 startPosition,plQuaternion startOrientation );
|
||||
virtual void deleteCollisionObject(plCollisionObjectHandle body);
|
||||
virtual void setCollisionObjectTransform(plCollisionWorldHandle world, plCollisionObjectHandle body,
|
||||
plVector3 position,plQuaternion orientation );
|
||||
|
||||
virtual int collide(plCollisionWorldHandle world,plCollisionObjectHandle colA, plCollisionObjectHandle colB,
|
||||
lwContactPoint* pointsOut, int pointCapacity);
|
||||
|
||||
virtual void collideWorld( plCollisionWorldHandle world,
|
||||
plNearCallback filter, void* userData);
|
||||
|
||||
static plCollisionSdkHandle createRealTimeBullet3CollisionSdkHandle();
|
||||
};
|
||||
|
||||
|
||||
#endif //REAL_TIME_COLLISION_SDK_H
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
#ifndef COMMON_2D_CANVAS_INTERFACE_H
|
||||
#define COMMON_2D_CANVAS_INTERFACE_H
|
||||
|
||||
struct Common2dCanvasInterface
|
||||
{
|
||||
virtual ~Common2dCanvasInterface() {}
|
||||
virtual int createCanvas(const char* canvasName, int width, int height)=0;
|
||||
virtual void destroyCanvas(int canvasId)=0;
|
||||
virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)=0;
|
||||
virtual void getPixel(int canvasId, int x, int y, unsigned char& red, unsigned char& green,unsigned char& blue, unsigned char& alpha)=0;
|
||||
|
||||
virtual void refreshImageData(int canvasId)=0;
|
||||
|
||||
};
|
||||
|
||||
#endif //COMMON_2D_CANVAS_INTERFACE_H
|
||||
|
||||
|
|
@ -0,0 +1,41 @@
|
|||
#ifndef COMMON_CAMERA_INTERFACE_H
|
||||
#define COMMON_CAMERA_INTERFACE_H
|
||||
|
||||
struct CommonCameraInterface
|
||||
{
|
||||
virtual void getCameraProjectionMatrix(float m[16])const = 0;
|
||||
virtual void getCameraViewMatrix(float m[16]) const = 0;
|
||||
|
||||
virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
|
||||
virtual void disableVRCamera()=0;
|
||||
virtual bool isVRCamera() const =0;
|
||||
virtual void setVRCameraOffsetTransform(const float offset[16])=0;
|
||||
|
||||
virtual void getCameraTargetPosition(float pos[3]) const = 0;
|
||||
virtual void getCameraPosition(float pos[3]) const = 0;
|
||||
|
||||
virtual void getCameraTargetPosition(double pos[3]) const = 0;
|
||||
virtual void getCameraPosition(double pos[3]) const = 0;
|
||||
|
||||
virtual void setCameraTargetPosition(float x,float y,float z) = 0;
|
||||
virtual void setCameraDistance(float dist) = 0;
|
||||
virtual float getCameraDistance() const = 0;
|
||||
|
||||
virtual void setCameraUpVector(float x,float y, float z) = 0;
|
||||
virtual void getCameraUpVector(float up[3]) const = 0;
|
||||
///the setCameraUpAxis will call the 'setCameraUpVector' and 'setCameraForwardVector'
|
||||
virtual void setCameraUpAxis(int axis) = 0;
|
||||
virtual int getCameraUpAxis() const = 0;
|
||||
|
||||
virtual void setCameraYaw(float yaw) = 0;
|
||||
virtual float getCameraYaw() const = 0;
|
||||
|
||||
virtual void setCameraPitch(float pitch) = 0;
|
||||
virtual float getCameraPitch() const = 0;
|
||||
|
||||
virtual void setAspectRatio(float ratio) = 0;
|
||||
virtual float getAspectRatio() const = 0;
|
||||
};
|
||||
|
||||
#endif //COMMON_CAMERA_INTERFACE_H
|
||||
|
||||
|
|
@ -0,0 +1,93 @@
|
|||
|
||||
|
||||
#ifndef COMMON_EXAMPLE_INTERFACE_H
|
||||
#define COMMON_EXAMPLE_INTERFACE_H
|
||||
|
||||
struct CommonExampleOptions
|
||||
{
|
||||
struct GUIHelperInterface* m_guiHelper;
|
||||
|
||||
//Those are optional, some examples will use them others don't. Each example should work with them being 0.
|
||||
int m_option;
|
||||
const char* m_fileName;
|
||||
class SharedMemoryInterface* m_sharedMem;
|
||||
|
||||
|
||||
CommonExampleOptions(struct GUIHelperInterface* helper, int option=0)
|
||||
:m_guiHelper(helper),
|
||||
m_option(option),
|
||||
m_fileName(0),
|
||||
m_sharedMem(0)
|
||||
{
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
class CommonExampleInterface
|
||||
{
|
||||
public:
|
||||
|
||||
typedef class CommonExampleInterface* (CreateFunc)(CommonExampleOptions& options);
|
||||
|
||||
virtual ~CommonExampleInterface()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
virtual void initPhysics()=0;
|
||||
virtual void exitPhysics()=0;
|
||||
virtual void stepSimulation(float deltaTime)=0;
|
||||
virtual void renderScene()=0;
|
||||
virtual void physicsDebugDraw(int debugFlags)=0;//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h
|
||||
//reset camera is only called when switching demo. this way you can restart (initPhysics) and watch in a specific location easier
|
||||
virtual void resetCamera(){};
|
||||
virtual bool mouseMoveCallback(float x,float y)=0;
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)=0;
|
||||
virtual bool keyboardCallback(int key, int state)=0;
|
||||
|
||||
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis) {}
|
||||
virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
|
||||
|
||||
virtual void processCommandLineArgs(int argc, char* argv[]){};
|
||||
};
|
||||
|
||||
class ExampleEntries
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
virtual ~ExampleEntries() {}
|
||||
|
||||
|
||||
virtual void initExampleEntries()=0;
|
||||
|
||||
virtual void initOpenCLExampleEntries()=0;
|
||||
|
||||
virtual int getNumRegisteredExamples()=0;
|
||||
|
||||
virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
|
||||
|
||||
virtual const char* getExampleName(int index)=0;
|
||||
|
||||
virtual const char* getExampleDescription(int index)=0;
|
||||
|
||||
virtual int getExampleOption(int index)=0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options);
|
||||
|
||||
#ifdef B3_USE_STANDALONE_EXAMPLE
|
||||
#define B3_STANDALONE_EXAMPLE(ExampleFunc) CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options)\
|
||||
{\
|
||||
return ExampleFunc(options);\
|
||||
}
|
||||
#else//B3_USE_STANDALONE_EXAMPLE
|
||||
#define B3_STANDALONE_EXAMPLE(ExampleFunc)
|
||||
#endif //B3_USE_STANDALONE_EXAMPLE
|
||||
|
||||
|
||||
|
||||
#endif //COMMON_EXAMPLE_INTERFACE_H
|
||||
|
|
@ -0,0 +1,148 @@
|
|||
#ifndef GUI_HELPER_INTERFACE_H
|
||||
#define GUI_HELPER_INTERFACE_H
|
||||
|
||||
|
||||
class btRigidBody;
|
||||
class btVector3;
|
||||
class btCollisionObject;
|
||||
class btDiscreteDynamicsWorld;
|
||||
class btCollisionShape;
|
||||
struct Common2dCanvasInterface;
|
||||
struct CommonParameterInterface;
|
||||
struct CommonRenderInterface;
|
||||
struct CommonGraphicsApp;
|
||||
|
||||
///The Bullet 2 GraphicsPhysicsBridge let's the graphics engine create graphics representation and synchronize
|
||||
struct GUIHelperInterface
|
||||
{
|
||||
virtual ~GUIHelperInterface() {}
|
||||
|
||||
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color) = 0;
|
||||
|
||||
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color) = 0;
|
||||
|
||||
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)=0;
|
||||
|
||||
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)=0;
|
||||
|
||||
virtual void render(const btDiscreteDynamicsWorld* rbWorld)=0;
|
||||
|
||||
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=0;
|
||||
|
||||
virtual int registerTexture(const unsigned char* texels, int width, int height)=0;
|
||||
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
|
||||
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
|
||||
virtual void removeAllGraphicsInstances()=0;
|
||||
|
||||
virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
|
||||
|
||||
virtual CommonParameterInterface* getParameterInterface()=0;
|
||||
|
||||
virtual CommonRenderInterface* getRenderInterface()=0;
|
||||
|
||||
virtual CommonGraphicsApp* getAppInterface()=0;
|
||||
|
||||
virtual void setUpAxis(int axis)=0;
|
||||
|
||||
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
|
||||
|
||||
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
|
||||
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
|
||||
float* depthBuffer, int depthBufferSizeInPixels,
|
||||
int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
|
||||
{
|
||||
copyCameraImageData(viewMatrix,projectionMatrix,pixelsRGBA,rgbaBufferSizeInPixels,
|
||||
depthBuffer,depthBufferSizeInPixels,
|
||||
0,0,
|
||||
startPixelIndex,destinationWidth,
|
||||
destinationHeight,numPixelsCopied);
|
||||
}
|
||||
|
||||
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
|
||||
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
|
||||
float* depthBuffer, int depthBufferSizeInPixels,
|
||||
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
|
||||
int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)=0;
|
||||
|
||||
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
|
||||
|
||||
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
///the DummyGUIHelper does nothing, so we can test the examples without GUI/graphics (in 'console mode')
|
||||
struct DummyGUIHelper : public GUIHelperInterface
|
||||
{
|
||||
DummyGUIHelper() {}
|
||||
virtual ~DummyGUIHelper() {}
|
||||
|
||||
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
|
||||
|
||||
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color) {}
|
||||
|
||||
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape){}
|
||||
|
||||
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld){}
|
||||
|
||||
virtual void render(const btDiscreteDynamicsWorld* rbWorld) {}
|
||||
|
||||
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
|
||||
|
||||
virtual int registerTexture(const unsigned char* texels, int width, int height){return -1;}
|
||||
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId){return -1;}
|
||||
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
|
||||
virtual void removeAllGraphicsInstances(){}
|
||||
|
||||
virtual Common2dCanvasInterface* get2dCanvasInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonParameterInterface* getParameterInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonRenderInterface* getRenderInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonGraphicsApp* getAppInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
virtual void setUpAxis(int axis)
|
||||
{
|
||||
}
|
||||
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
|
||||
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
|
||||
float* depthBuffer, int depthBufferSizeInPixels,
|
||||
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
|
||||
int startPixelIndex, int width, int height, int* numPixelsCopied)
|
||||
|
||||
{
|
||||
if (numPixelsCopied)
|
||||
*numPixelsCopied = 0;
|
||||
}
|
||||
|
||||
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
|
||||
{
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //GUI_HELPER_INTERFACE_H
|
||||
|
||||
|
|
@ -0,0 +1,283 @@
|
|||
#ifndef COMMON_GRAPHICS_APP_H
|
||||
#define COMMON_GRAPHICS_APP_H
|
||||
|
||||
|
||||
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "CommonRenderInterface.h"
|
||||
#include "CommonWindowInterface.h"
|
||||
#include "CommonCameraInterface.h"
|
||||
|
||||
struct DrawGridData
|
||||
{
|
||||
int gridSize;
|
||||
float upOffset;
|
||||
int upAxis;
|
||||
float gridColor[4];
|
||||
|
||||
DrawGridData(int upAxis=1)
|
||||
:gridSize(10),
|
||||
upOffset(0.001f),
|
||||
upAxis(upAxis)
|
||||
{
|
||||
gridColor[0] = 0.6f;
|
||||
gridColor[1] = 0.6f;
|
||||
gridColor[2] = 0.6f;
|
||||
gridColor[3] = 1.f;
|
||||
}
|
||||
};
|
||||
|
||||
enum EnumSphereLevelOfDetail
|
||||
{
|
||||
SPHERE_LOD_POINT_SPRITE=0,
|
||||
SPHERE_LOD_LOW,
|
||||
SPHERE_LOD_MEDIUM,
|
||||
SPHERE_LOD_HIGH,
|
||||
|
||||
};
|
||||
struct CommonGraphicsApp
|
||||
{
|
||||
class CommonWindowInterface* m_window;
|
||||
struct CommonRenderInterface* m_renderer;
|
||||
struct CommonParameterInterface* m_parameterInterface;
|
||||
struct Common2dCanvasInterface* m_2dCanvasInterface;
|
||||
|
||||
bool m_leftMouseButton;
|
||||
bool m_middleMouseButton;
|
||||
bool m_rightMouseButton;
|
||||
float m_wheelMultiplier;
|
||||
float m_mouseMoveMultiplier;
|
||||
float m_mouseXpos;
|
||||
float m_mouseYpos;
|
||||
bool m_mouseInitialized;
|
||||
float m_backgroundColorRGB[3];
|
||||
|
||||
CommonGraphicsApp()
|
||||
:m_window(0),
|
||||
m_renderer(0),
|
||||
m_parameterInterface(0),
|
||||
m_2dCanvasInterface(0),
|
||||
m_leftMouseButton(false),
|
||||
m_middleMouseButton(false),
|
||||
m_rightMouseButton(false),
|
||||
m_wheelMultiplier(0.01f),
|
||||
m_mouseMoveMultiplier(0.4f),
|
||||
m_mouseXpos(0.f),
|
||||
m_mouseYpos(0.f),
|
||||
m_mouseInitialized(false)
|
||||
{
|
||||
m_backgroundColorRGB[0] = 0.7;
|
||||
m_backgroundColorRGB[1] = 0.7;
|
||||
m_backgroundColorRGB[2] = 0.8;
|
||||
}
|
||||
virtual ~CommonGraphicsApp()
|
||||
{
|
||||
}
|
||||
|
||||
virtual void dumpNextFrameToPng(const char* pngFilename){}
|
||||
virtual void dumpFramesToVideo(const char* mp4Filename){}
|
||||
|
||||
virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes, float* depthBuffer, int depthBufferSizeInBytes){}
|
||||
|
||||
virtual void getBackgroundColor(float* red, float* green, float* blue) const
|
||||
{
|
||||
if (red)
|
||||
*red = m_backgroundColorRGB[0];
|
||||
if (green)
|
||||
*green = m_backgroundColorRGB[1];
|
||||
if (blue)
|
||||
*blue = m_backgroundColorRGB[2];
|
||||
}
|
||||
virtual void setBackgroundColor(float red, float green, float blue)
|
||||
{
|
||||
m_backgroundColorRGB[0] = red;
|
||||
m_backgroundColorRGB[1] = green;
|
||||
m_backgroundColorRGB[2] = blue;
|
||||
}
|
||||
virtual void setMouseWheelMultiplier(float mult)
|
||||
{
|
||||
m_wheelMultiplier = mult;
|
||||
}
|
||||
virtual float getMouseWheelMultiplier() const
|
||||
{
|
||||
return m_wheelMultiplier;
|
||||
}
|
||||
|
||||
virtual void setMouseMoveMultiplier(float mult)
|
||||
{
|
||||
m_mouseMoveMultiplier = mult;
|
||||
}
|
||||
|
||||
virtual float getMouseMoveMultiplier() const
|
||||
{
|
||||
return m_mouseMoveMultiplier;
|
||||
}
|
||||
|
||||
|
||||
|
||||
virtual void drawGrid(DrawGridData data=DrawGridData()) = 0;
|
||||
virtual void setUpAxis(int axis) = 0;
|
||||
virtual int getUpAxis() const = 0;
|
||||
|
||||
virtual void swapBuffer() = 0;
|
||||
virtual void drawText( const char* txt, int posX, int posY) = 0;
|
||||
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
|
||||
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0;
|
||||
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)=0;
|
||||
virtual int registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1) = 0;
|
||||
|
||||
|
||||
virtual void registerGrid(int xres, int yres, float color0[4], float color1[4])=0;
|
||||
|
||||
void defaultMouseButtonCallback( int button, int state, float x, float y)
|
||||
{
|
||||
if (button==0)
|
||||
m_leftMouseButton= (state==1);
|
||||
if (button==1)
|
||||
m_middleMouseButton= (state==1);
|
||||
|
||||
if (button==2)
|
||||
m_rightMouseButton= (state==1);
|
||||
|
||||
m_mouseXpos = x;
|
||||
m_mouseYpos = y;
|
||||
m_mouseInitialized = true;
|
||||
}
|
||||
void defaultMouseMoveCallback( float x, float y)
|
||||
{
|
||||
|
||||
if (m_window && m_renderer)
|
||||
{
|
||||
CommonCameraInterface* camera = m_renderer->getActiveCamera();
|
||||
|
||||
bool isAltPressed = m_window->isModifierKeyPressed(B3G_ALT);
|
||||
bool isControlPressed = m_window->isModifierKeyPressed(B3G_CONTROL);
|
||||
|
||||
|
||||
if (isAltPressed || isControlPressed)
|
||||
{
|
||||
float xDelta = x-m_mouseXpos;
|
||||
float yDelta = y-m_mouseYpos;
|
||||
float cameraDistance = camera->getCameraDistance();
|
||||
float pitch = camera->getCameraPitch();
|
||||
float yaw = camera->getCameraYaw();
|
||||
|
||||
float targPos[3];
|
||||
float camPos[3];
|
||||
|
||||
camera->getCameraTargetPosition(targPos);
|
||||
camera->getCameraPosition(camPos);
|
||||
|
||||
b3Vector3 cameraPosition = b3MakeVector3(b3Scalar(camPos[0]),
|
||||
b3Scalar(camPos[1]),
|
||||
b3Scalar(camPos[2]));
|
||||
|
||||
b3Vector3 cameraTargetPosition = b3MakeVector3( b3Scalar(targPos[0]),
|
||||
b3Scalar(targPos[1]),
|
||||
b3Scalar(targPos[2]));
|
||||
b3Vector3 cameraUp = b3MakeVector3(0,0,0);
|
||||
cameraUp[camera->getCameraUpAxis()] = 1.f;
|
||||
|
||||
if (m_leftMouseButton)
|
||||
{
|
||||
// if (b3Fabs(xDelta)>b3Fabs(yDelta))
|
||||
// {
|
||||
pitch -= xDelta*m_mouseMoveMultiplier;
|
||||
// } else
|
||||
// {
|
||||
yaw += yDelta*m_mouseMoveMultiplier;
|
||||
// }
|
||||
}
|
||||
|
||||
if (m_middleMouseButton)
|
||||
{
|
||||
cameraTargetPosition += cameraUp * yDelta*0.01;
|
||||
|
||||
|
||||
b3Vector3 fwd = cameraTargetPosition-cameraPosition;
|
||||
b3Vector3 side = cameraUp.cross(fwd);
|
||||
side.normalize();
|
||||
cameraTargetPosition += side * xDelta*0.01;
|
||||
|
||||
}
|
||||
if (m_rightMouseButton)
|
||||
{
|
||||
cameraDistance -= xDelta*0.01f;
|
||||
cameraDistance -= yDelta*0.01f;
|
||||
if (cameraDistance<1)
|
||||
cameraDistance=1;
|
||||
if (cameraDistance>1000)
|
||||
cameraDistance=1000;
|
||||
}
|
||||
camera->setCameraDistance(cameraDistance);
|
||||
camera->setCameraPitch(pitch);
|
||||
camera->setCameraYaw(yaw);
|
||||
camera->setCameraTargetPosition(cameraTargetPosition[0],cameraTargetPosition[1],cameraTargetPosition[2]);
|
||||
|
||||
}
|
||||
|
||||
}//m_window && m_renderer
|
||||
|
||||
m_mouseXpos = x;
|
||||
m_mouseYpos = y;
|
||||
m_mouseInitialized = true;
|
||||
}
|
||||
// void defaultKeyboardCallback(int key, int state)
|
||||
// {
|
||||
// }
|
||||
void defaultWheelCallback( float deltax, float deltay)
|
||||
{
|
||||
|
||||
if (m_renderer)
|
||||
{
|
||||
b3Vector3 cameraTargetPosition, cameraPosition, cameraUp = b3MakeVector3(0,0,0);
|
||||
cameraUp[getUpAxis()] = 1;
|
||||
CommonCameraInterface* camera = m_renderer->getActiveCamera();
|
||||
|
||||
camera->getCameraPosition(cameraPosition);
|
||||
camera->getCameraTargetPosition(cameraTargetPosition);
|
||||
|
||||
if (!m_leftMouseButton)
|
||||
{
|
||||
|
||||
float cameraDistance = camera->getCameraDistance();
|
||||
if (deltay<0 || cameraDistance>1)
|
||||
{
|
||||
cameraDistance -= deltay*0.01f;
|
||||
if (cameraDistance<1)
|
||||
cameraDistance=1;
|
||||
camera->setCameraDistance(cameraDistance);
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
b3Vector3 fwd = cameraTargetPosition-cameraPosition;
|
||||
fwd.normalize();
|
||||
cameraTargetPosition += fwd*deltay*m_wheelMultiplier;//todo: expose it in the GUI?
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (b3Fabs(deltax)>b3Fabs(deltay))
|
||||
{
|
||||
b3Vector3 fwd = cameraTargetPosition-cameraPosition;
|
||||
b3Vector3 side = cameraUp.cross(fwd);
|
||||
side.normalize();
|
||||
cameraTargetPosition += side * deltax*m_wheelMultiplier;
|
||||
|
||||
} else
|
||||
{
|
||||
cameraTargetPosition -= cameraUp * deltay*m_wheelMultiplier;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
camera->setCameraTargetPosition(cameraTargetPosition[0],cameraTargetPosition[1],cameraTargetPosition[2]);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //COMMON_GRAPHICS_APP_H
|
||||
|
|
@ -0,0 +1,472 @@
|
|||
|
||||
#ifndef COMMON_MULTI_BODY_SETUP_H
|
||||
#define COMMON_MULTI_BODY_SETUP_H
|
||||
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "CommonExampleInterface.h"
|
||||
#include "CommonGUIHelperInterface.h"
|
||||
#include "CommonRenderInterface.h"
|
||||
#include "CommonGraphicsAppInterface.h"
|
||||
#include "CommonWindowInterface.h"
|
||||
#include "CommonCameraInterface.h"
|
||||
|
||||
struct CommonMultiBodyBase : public CommonExampleInterface
|
||||
{
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
btMultiBodyConstraintSolver* m_solver;
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
btMultiBodyDynamicsWorld* m_dynamicsWorld;
|
||||
|
||||
//data for picking objects
|
||||
class btRigidBody* m_pickedBody;
|
||||
class btTypedConstraint* m_pickedConstraint;
|
||||
class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
|
||||
|
||||
btVector3 m_oldPickingPos;
|
||||
btVector3 m_hitPos;
|
||||
btScalar m_oldPickingDist;
|
||||
bool m_prevCanSleep;
|
||||
|
||||
struct GUIHelperInterface* m_guiHelper;
|
||||
|
||||
CommonMultiBodyBase(GUIHelperInterface* helper)
|
||||
:m_broadphase(0),
|
||||
m_dispatcher(0),
|
||||
m_solver(0),
|
||||
m_collisionConfiguration(0),
|
||||
m_dynamicsWorld(0),
|
||||
m_pickedBody(0),
|
||||
m_pickedConstraint(0),
|
||||
m_pickingMultiBodyPoint2Point(0),
|
||||
m_prevCanSleep(false),
|
||||
m_guiHelper(helper)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void createEmptyDynamicsWorld()
|
||||
{
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();//btSimpleBroadphase();
|
||||
|
||||
m_solver = new btMultiBodyConstraintSolver;
|
||||
|
||||
m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
|
||||
}
|
||||
|
||||
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
virtual void exitPhysics()
|
||||
{
|
||||
removePickingConstraint();
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
|
||||
int i;
|
||||
for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
|
||||
{
|
||||
m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
|
||||
}
|
||||
|
||||
for (i = m_dynamicsWorld->getNumMultiBodyConstraints() - 1; i >= 0; i--)
|
||||
{
|
||||
btMultiBodyConstraint* mbc = m_dynamicsWorld->getMultiBodyConstraint(i);
|
||||
m_dynamicsWorld->removeMultiBodyConstraint(mbc);
|
||||
delete mbc;
|
||||
}
|
||||
|
||||
for (i = m_dynamicsWorld->getNumMultibodies() - 1; i >= 0; i--)
|
||||
{
|
||||
btMultiBody* mb = m_dynamicsWorld->getMultiBody(i);
|
||||
m_dynamicsWorld->removeMultiBody(mb);
|
||||
delete mb;
|
||||
}
|
||||
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject(obj);
|
||||
delete obj;
|
||||
}
|
||||
}
|
||||
//delete collision shapes
|
||||
for (int j = 0; j<m_collisionShapes.size(); j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
m_collisionShapes.clear();
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
m_dynamicsWorld = 0;
|
||||
|
||||
delete m_solver;
|
||||
m_solver=0;
|
||||
|
||||
delete m_broadphase;
|
||||
m_broadphase=0;
|
||||
|
||||
delete m_dispatcher;
|
||||
m_dispatcher=0;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
m_collisionConfiguration=0;
|
||||
}
|
||||
|
||||
virtual void syncPhysicsToGraphics()
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
|
||||
|
||||
m_guiHelper->render(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
virtual void physicsDebugDraw(int debugDrawFlags)
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
if (m_dynamicsWorld->getDebugDrawer())
|
||||
{
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
|
||||
}
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;//don't handle this key
|
||||
}
|
||||
|
||||
|
||||
btVector3 getRayTo(int x,int y)
|
||||
{
|
||||
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
|
||||
|
||||
if (!renderer)
|
||||
{
|
||||
btAssert(0);
|
||||
return btVector3(0,0,0);
|
||||
}
|
||||
|
||||
float top = 1.f;
|
||||
float bottom = -1.f;
|
||||
float nearPlane = 1.f;
|
||||
float tanFov = (top-bottom)*0.5f / nearPlane;
|
||||
float fov = btScalar(2.0) * btAtan(tanFov);
|
||||
|
||||
btVector3 camPos,camTarget;
|
||||
renderer->getActiveCamera()->getCameraPosition(camPos);
|
||||
renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
|
||||
|
||||
btVector3 rayFrom = camPos;
|
||||
btVector3 rayForward = (camTarget-camPos);
|
||||
rayForward.normalize();
|
||||
float farPlane = 10000.f;
|
||||
rayForward*= farPlane;
|
||||
|
||||
btVector3 rightOffset;
|
||||
btVector3 cameraUp=btVector3(0,0,0);
|
||||
cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1;
|
||||
|
||||
btVector3 vertical = cameraUp;
|
||||
|
||||
btVector3 hor;
|
||||
hor = rayForward.cross(vertical);
|
||||
hor.normalize();
|
||||
vertical = hor.cross(rayForward);
|
||||
vertical.normalize();
|
||||
|
||||
float tanfov = tanf(0.5f*fov);
|
||||
|
||||
|
||||
hor *= 2.f * farPlane * tanfov;
|
||||
vertical *= 2.f * farPlane * tanfov;
|
||||
|
||||
btScalar aspect;
|
||||
float width = float(renderer->getScreenWidth());
|
||||
float height = float (renderer->getScreenHeight());
|
||||
|
||||
aspect = width / height;
|
||||
|
||||
hor*=aspect;
|
||||
|
||||
|
||||
btVector3 rayToCenter = rayFrom + rayForward;
|
||||
btVector3 dHor = hor * 1.f/width;
|
||||
btVector3 dVert = vertical * 1.f/height;
|
||||
|
||||
|
||||
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
|
||||
rayTo += btScalar(x) * dHor;
|
||||
rayTo -= btScalar(y) * dVert;
|
||||
return rayTo;
|
||||
}
|
||||
|
||||
virtual bool mouseMoveCallback(float x,float y)
|
||||
{
|
||||
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
|
||||
|
||||
if (!renderer)
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
btVector3 rayTo = getRayTo(int(x), int(y));
|
||||
btVector3 rayFrom;
|
||||
renderer->getActiveCamera()->getCameraPosition(rayFrom);
|
||||
movePickedBody(rayFrom,rayTo);
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
|
||||
|
||||
if (!renderer)
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
|
||||
|
||||
|
||||
if (state==1)
|
||||
{
|
||||
if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) ))
|
||||
{
|
||||
btVector3 camPos;
|
||||
renderer->getActiveCamera()->getCameraPosition(camPos);
|
||||
|
||||
btVector3 rayFrom = camPos;
|
||||
btVector3 rayTo = getRayTo(int(x),int(y));
|
||||
|
||||
pickBody(rayFrom, rayTo);
|
||||
|
||||
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (button==0)
|
||||
{
|
||||
removePickingConstraint();
|
||||
//remove p2p
|
||||
}
|
||||
}
|
||||
|
||||
//printf("button=%d, state=%d\n",button,state);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
if (m_dynamicsWorld==0)
|
||||
return false;
|
||||
|
||||
btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
|
||||
|
||||
m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
|
||||
if (rayCallback.hasHit())
|
||||
{
|
||||
|
||||
btVector3 pickPos = rayCallback.m_hitPointWorld;
|
||||
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
|
||||
if (body)
|
||||
{
|
||||
//other exclusions?
|
||||
if (!(body->isStaticObject() || body->isKinematicObject()))
|
||||
{
|
||||
m_pickedBody = body;
|
||||
m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
|
||||
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
|
||||
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);
|
||||
m_dynamicsWorld->addConstraint(p2p, true);
|
||||
m_pickedConstraint = p2p;
|
||||
btScalar mousePickClamping = 30.f;
|
||||
p2p->m_setting.m_impulseClamp = mousePickClamping;
|
||||
//very weak constraint for picking
|
||||
p2p->m_setting.m_tau = 0.001f;
|
||||
}
|
||||
} else
|
||||
{
|
||||
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
|
||||
if (multiCol && multiCol->m_multiBody)
|
||||
{
|
||||
|
||||
m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
|
||||
multiCol->m_multiBody->setCanSleep(false);
|
||||
|
||||
btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);
|
||||
|
||||
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos);
|
||||
//if you add too much energy to the system, causing high angular velocities, simulation 'explodes'
|
||||
//see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949
|
||||
//so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply
|
||||
//it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?)
|
||||
btScalar scaling=1;
|
||||
p2p->setMaxAppliedImpulse(2*scaling);
|
||||
|
||||
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
|
||||
world->addMultiBodyConstraint(p2p);
|
||||
m_pickingMultiBodyPoint2Point =p2p;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// pickObject(pickPos, rayCallback.m_collisionObject);
|
||||
m_oldPickingPos = rayToWorld;
|
||||
m_hitPos = pickPos;
|
||||
m_oldPickingDist = (pickPos - rayFromWorld).length();
|
||||
// printf("hit !\n");
|
||||
//add p2p
|
||||
}
|
||||
return false;
|
||||
}
|
||||
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
if (m_pickedBody && m_pickedConstraint)
|
||||
{
|
||||
btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
|
||||
if (pickCon)
|
||||
{
|
||||
//keep it at the same picking distance
|
||||
|
||||
btVector3 dir = rayToWorld-rayFromWorld;
|
||||
dir.normalize();
|
||||
dir *= m_oldPickingDist;
|
||||
|
||||
btVector3 newPivotB = rayFromWorld + dir;
|
||||
pickCon->setPivotB(newPivotB);
|
||||
}
|
||||
}
|
||||
|
||||
if (m_pickingMultiBodyPoint2Point)
|
||||
{
|
||||
//keep it at the same picking distance
|
||||
|
||||
|
||||
btVector3 dir = rayToWorld-rayFromWorld;
|
||||
dir.normalize();
|
||||
dir *= m_oldPickingDist;
|
||||
|
||||
btVector3 newPivotB = rayFromWorld + dir;
|
||||
|
||||
m_pickingMultiBodyPoint2Point->setPivotInB(newPivotB);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
virtual void removePickingConstraint()
|
||||
{
|
||||
if (m_pickedConstraint)
|
||||
{
|
||||
m_dynamicsWorld->removeConstraint(m_pickedConstraint);
|
||||
delete m_pickedConstraint;
|
||||
m_pickedConstraint = 0;
|
||||
m_pickedBody = 0;
|
||||
}
|
||||
if (m_pickingMultiBodyPoint2Point)
|
||||
{
|
||||
m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(m_prevCanSleep);
|
||||
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
|
||||
world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point);
|
||||
delete m_pickingMultiBodyPoint2Point;
|
||||
m_pickingMultiBodyPoint2Point = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
btBoxShape* createBoxShape(const btVector3& halfExtents)
|
||||
{
|
||||
btBoxShape* box = new btBoxShape(halfExtents);
|
||||
return box;
|
||||
}
|
||||
|
||||
btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
|
||||
{
|
||||
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//
|
||||
|
||||
body->setUserIndex(-1);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
return body;
|
||||
}
|
||||
};
|
||||
|
||||
#endif //COMMON_MULTI_BODY_SETUP_H
|
||||
|
||||
|
|
@ -0,0 +1,91 @@
|
|||
|
||||
#ifndef PARAM_INTERFACE_H
|
||||
#define PARAM_INTERFACE_H
|
||||
|
||||
#pragma once
|
||||
|
||||
typedef void (*SliderParamChangedCallback) (float newVal);
|
||||
#include "LinearMath/btScalar.h"
|
||||
|
||||
struct SliderParams
|
||||
{
|
||||
const char* m_name;
|
||||
float m_minVal;
|
||||
float m_maxVal;
|
||||
SliderParamChangedCallback m_callback;
|
||||
btScalar* m_paramValuePointer;
|
||||
void* m_userPointer;
|
||||
bool m_clampToNotches;
|
||||
bool m_showValues;
|
||||
|
||||
SliderParams(const char* name, btScalar* targetValuePointer)
|
||||
:m_name(name),
|
||||
m_minVal(-100),
|
||||
m_maxVal(100),
|
||||
m_callback(0),
|
||||
m_paramValuePointer(targetValuePointer),
|
||||
m_userPointer(0),
|
||||
m_clampToNotches(true),
|
||||
m_showValues(true)
|
||||
{
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
typedef void (*ButtonParamChangedCallback) (int buttonId, bool buttonState, void* userPointer);
|
||||
typedef void (*ComboBoxCallback) (int combobox, const char* item, void* userPointer);
|
||||
|
||||
struct ButtonParams
|
||||
{
|
||||
const char* m_name;
|
||||
int m_buttonId;
|
||||
void* m_userPointer;
|
||||
bool m_isTrigger;
|
||||
|
||||
ButtonParamChangedCallback m_callback;
|
||||
ButtonParams(const char* name, int buttonId, bool isTrigger)
|
||||
:m_name(name),
|
||||
m_buttonId(buttonId),
|
||||
m_userPointer(0),
|
||||
m_isTrigger(isTrigger),
|
||||
m_callback(0)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
struct ComboBoxParams
|
||||
{
|
||||
int m_comboboxId;
|
||||
int m_numItems;
|
||||
const char** m_items;
|
||||
int m_startItem;
|
||||
ComboBoxCallback m_callback;
|
||||
void* m_userPointer;
|
||||
|
||||
ComboBoxParams()
|
||||
:m_comboboxId(-1),
|
||||
m_numItems(0),
|
||||
m_items(0),
|
||||
m_startItem(0),
|
||||
m_callback(0),
|
||||
m_userPointer(0)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
struct CommonParameterInterface
|
||||
{
|
||||
|
||||
virtual ~CommonParameterInterface() {}
|
||||
virtual void registerSliderFloatParameter(SliderParams& params)=0;
|
||||
virtual void registerButtonParameter(ButtonParams& params)=0;
|
||||
virtual void registerComboBox(ComboBoxParams& params)=0;
|
||||
|
||||
virtual void syncParameters()=0;
|
||||
virtual void removeAllParameters()=0;
|
||||
virtual void setSliderValue(int sliderIndex, double sliderValue)=0;
|
||||
|
||||
};
|
||||
|
||||
#endif //PARAM_INTERFACE_H
|
||||
|
|
@ -0,0 +1,119 @@
|
|||
#ifndef COMMON_RENDER_INTERFACE_H
|
||||
#define COMMON_RENDER_INTERFACE_H
|
||||
|
||||
struct CommonCameraInterface;
|
||||
|
||||
enum
|
||||
{
|
||||
B3_GL_TRIANGLES = 1,
|
||||
B3_GL_POINTS
|
||||
};
|
||||
|
||||
enum
|
||||
{
|
||||
B3_DEFAULT_RENDERMODE=1,
|
||||
//B3_WIREFRAME_RENDERMODE,
|
||||
B3_CREATE_SHADOWMAP_RENDERMODE,
|
||||
B3_USE_SHADOWMAP_RENDERMODE,
|
||||
};
|
||||
|
||||
struct CommonRenderInterface
|
||||
{
|
||||
virtual void init()=0;
|
||||
virtual void updateCamera(int upAxis)=0;
|
||||
virtual void removeAllInstances() = 0;
|
||||
|
||||
virtual const CommonCameraInterface* getActiveCamera() const =0;
|
||||
virtual CommonCameraInterface* getActiveCamera()=0;
|
||||
virtual void setActiveCamera(CommonCameraInterface* cam)=0;
|
||||
|
||||
|
||||
virtual void renderScene()=0;
|
||||
virtual void renderSceneInternal(int renderMode=B3_DEFAULT_RENDERMODE){};
|
||||
virtual int getScreenWidth() = 0;
|
||||
virtual int getScreenHeight() = 0;
|
||||
|
||||
virtual void resize(int width, int height) = 0;
|
||||
|
||||
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)=0;
|
||||
virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling)=0;
|
||||
virtual void drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize)=0;
|
||||
virtual void drawLine(const float from[4], const float to[4], const float color[4], float lineWidth) = 0;
|
||||
virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth) = 0;
|
||||
virtual void drawPoint(const float* position, const float color[4], float pointDrawSize)=0;
|
||||
virtual void drawPoint(const double* position, const double color[4], double pointDrawSize)=0;
|
||||
virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1)=0;
|
||||
virtual void updateShape(int shapeIndex, const float* vertices)=0;
|
||||
|
||||
virtual int registerTexture(const unsigned char* texels, int width, int height)=0;
|
||||
virtual void updateTexture(int textureIndex, const unsigned char* texels)=0;
|
||||
virtual void activateTexture(int textureIndex)=0;
|
||||
|
||||
virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)=0;
|
||||
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
|
||||
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
|
||||
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
|
||||
virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex)=0;
|
||||
virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex)=0;
|
||||
|
||||
virtual int getTotalNumInstances() const = 0;
|
||||
|
||||
virtual void writeTransforms()=0;
|
||||
virtual void enableBlend(bool blend)=0;
|
||||
virtual void clearZBuffer()=0;
|
||||
|
||||
//This is internal access to OpenGL3+ features, mainly used for OpenCL-OpenGL interop
|
||||
//Only the GLInstancingRenderer supports it, just return 0 otherwise.
|
||||
virtual struct GLInstanceRendererInternalData* getInternalData()=0;
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
inline int projectWorldCoordToScreen(T objx, T objy, T objz,
|
||||
const T modelMatrix[16],
|
||||
const T projMatrix[16],
|
||||
const int viewport[4],
|
||||
T *winx, T *winy, T *winz)
|
||||
{
|
||||
int i;
|
||||
T in2[4];
|
||||
T tmp[4];
|
||||
|
||||
in2[0]=objx;
|
||||
in2[1]=objy;
|
||||
in2[2]=objz;
|
||||
in2[3]=T(1.0);
|
||||
|
||||
for (i=0; i<4; i++)
|
||||
{
|
||||
tmp[i] = in2[0] * modelMatrix[0*4+i] + in2[1] * modelMatrix[1*4+i] +
|
||||
in2[2] * modelMatrix[2*4+i] + in2[3] * modelMatrix[3*4+i];
|
||||
}
|
||||
|
||||
T out[4];
|
||||
for (i=0; i<4; i++)
|
||||
{
|
||||
out[i] = tmp[0] * projMatrix[0*4+i] + tmp[1] * projMatrix[1*4+i] + tmp[2] * projMatrix[2*4+i] + tmp[3] * projMatrix[3*4+i];
|
||||
}
|
||||
|
||||
if (out[3] == T(0.0))
|
||||
return 0;
|
||||
out[0] /= out[3];
|
||||
out[1] /= out[3];
|
||||
out[2] /= out[3];
|
||||
/* Map x, y and z to range 0-1 */
|
||||
out[0] = out[0] * T(0.5) + T(0.5);
|
||||
out[1] = out[1] * T(0.5) + T(0.5);
|
||||
out[2] = out[2] * T(0.5) + T(0.5);
|
||||
|
||||
/* Map x,y to viewport */
|
||||
out[0] = out[0] * viewport[2] + viewport[0];
|
||||
out[1] = out[1] * viewport[3] + viewport[1];
|
||||
|
||||
*winx=out[0];
|
||||
*winy=out[1];
|
||||
*winz=out[2];
|
||||
return 1;
|
||||
}
|
||||
|
||||
#endif//COMMON_RENDER_INTERFACE_H
|
||||
|
||||
|
|
@ -0,0 +1,462 @@
|
|||
|
||||
#ifndef COMMON_RIGID_BODY_BASE_H
|
||||
#define COMMON_RIGID_BODY_BASE_H
|
||||
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "CommonExampleInterface.h"
|
||||
#include "CommonGUIHelperInterface.h"
|
||||
#include "CommonRenderInterface.h"
|
||||
#include "CommonCameraInterface.h"
|
||||
|
||||
#include "CommonGraphicsAppInterface.h"
|
||||
#include "CommonWindowInterface.h"
|
||||
|
||||
struct CommonRigidBodyBase : public CommonExampleInterface
|
||||
{
|
||||
//keep the collision shapes, for deletion/cleanup
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
btBroadphaseInterface* m_broadphase;
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
btConstraintSolver* m_solver;
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
btDiscreteDynamicsWorld* m_dynamicsWorld;
|
||||
|
||||
//data for picking objects
|
||||
class btRigidBody* m_pickedBody;
|
||||
class btTypedConstraint* m_pickedConstraint;
|
||||
int m_savedState;
|
||||
btVector3 m_oldPickingPos;
|
||||
btVector3 m_hitPos;
|
||||
btScalar m_oldPickingDist;
|
||||
struct GUIHelperInterface* m_guiHelper;
|
||||
|
||||
CommonRigidBodyBase(struct GUIHelperInterface* helper)
|
||||
:m_broadphase(0),
|
||||
m_dispatcher(0),
|
||||
m_solver(0),
|
||||
m_collisionConfiguration(0),
|
||||
m_dynamicsWorld(0),
|
||||
m_pickedBody(0),
|
||||
m_pickedConstraint(0),
|
||||
m_guiHelper(helper)
|
||||
{
|
||||
}
|
||||
virtual ~CommonRigidBodyBase()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
btDiscreteDynamicsWorld* getDynamicsWorld()
|
||||
{
|
||||
return m_dynamicsWorld;
|
||||
}
|
||||
|
||||
virtual void createEmptyDynamicsWorld()
|
||||
{
|
||||
///collision configuration contains default setup for memory, collision setup
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
//m_collisionConfiguration->setConvexConvexMultipointIterations();
|
||||
|
||||
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
|
||||
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
|
||||
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = sol;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
|
||||
}
|
||||
|
||||
|
||||
virtual void stepSimulation(float deltaTime)
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void physicsDebugDraw(int debugFlags)
|
||||
{
|
||||
if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer())
|
||||
{
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugFlags);
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
}
|
||||
|
||||
virtual void exitPhysics()
|
||||
{
|
||||
removePickingConstraint();
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
|
||||
int i;
|
||||
for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
|
||||
{
|
||||
m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
|
||||
}
|
||||
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject(obj);
|
||||
delete obj;
|
||||
}
|
||||
}
|
||||
//delete collision shapes
|
||||
for (int j = 0; j<m_collisionShapes.size(); j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
m_collisionShapes.clear();
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
m_dynamicsWorld=0;
|
||||
|
||||
delete m_solver;
|
||||
m_solver=0;
|
||||
|
||||
delete m_broadphase;
|
||||
m_broadphase=0;
|
||||
|
||||
delete m_dispatcher;
|
||||
m_dispatcher=0;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
m_collisionConfiguration=0;
|
||||
}
|
||||
|
||||
|
||||
virtual void debugDraw(int debugDrawFlags)
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
if (m_dynamicsWorld->getDebugDrawer())
|
||||
{
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
|
||||
}
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
virtual bool keyboardCallback(int key, int state)
|
||||
{
|
||||
if ((key==B3G_F3) && state && m_dynamicsWorld)
|
||||
{
|
||||
btDefaultSerializer* serializer = new btDefaultSerializer();
|
||||
m_dynamicsWorld->serialize(serializer);
|
||||
|
||||
FILE* file = fopen("testFile.bullet","wb");
|
||||
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
|
||||
fclose(file);
|
||||
//b3Printf("btDefaultSerializer wrote testFile.bullet");
|
||||
delete serializer;
|
||||
return true;
|
||||
|
||||
}
|
||||
return false;//don't handle this key
|
||||
}
|
||||
|
||||
|
||||
btVector3 getRayTo(int x,int y)
|
||||
{
|
||||
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
|
||||
|
||||
if (!renderer)
|
||||
{
|
||||
btAssert(0);
|
||||
return btVector3(0,0,0);
|
||||
}
|
||||
|
||||
float top = 1.f;
|
||||
float bottom = -1.f;
|
||||
float nearPlane = 1.f;
|
||||
float tanFov = (top-bottom)*0.5f / nearPlane;
|
||||
float fov = btScalar(2.0) * btAtan(tanFov);
|
||||
|
||||
btVector3 camPos,camTarget;
|
||||
|
||||
renderer->getActiveCamera()->getCameraPosition(camPos);
|
||||
renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
|
||||
|
||||
btVector3 rayFrom = camPos;
|
||||
btVector3 rayForward = (camTarget-camPos);
|
||||
rayForward.normalize();
|
||||
float farPlane = 10000.f;
|
||||
rayForward*= farPlane;
|
||||
|
||||
btVector3 rightOffset;
|
||||
btVector3 cameraUp=btVector3(0,0,0);
|
||||
cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1;
|
||||
|
||||
btVector3 vertical = cameraUp;
|
||||
|
||||
btVector3 hor;
|
||||
hor = rayForward.cross(vertical);
|
||||
hor.safeNormalize();
|
||||
vertical = hor.cross(rayForward);
|
||||
vertical.safeNormalize();
|
||||
|
||||
float tanfov = tanf(0.5f*fov);
|
||||
|
||||
|
||||
hor *= 2.f * farPlane * tanfov;
|
||||
vertical *= 2.f * farPlane * tanfov;
|
||||
|
||||
btScalar aspect;
|
||||
float width = float(renderer->getScreenWidth());
|
||||
float height = float (renderer->getScreenHeight());
|
||||
|
||||
aspect = width / height;
|
||||
|
||||
hor*=aspect;
|
||||
|
||||
|
||||
btVector3 rayToCenter = rayFrom + rayForward;
|
||||
btVector3 dHor = hor * 1.f/width;
|
||||
btVector3 dVert = vertical * 1.f/height;
|
||||
|
||||
|
||||
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
|
||||
rayTo += btScalar(x) * dHor;
|
||||
rayTo -= btScalar(y) * dVert;
|
||||
return rayTo;
|
||||
}
|
||||
|
||||
virtual bool mouseMoveCallback(float x,float y)
|
||||
{
|
||||
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
|
||||
|
||||
if (!renderer)
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
btVector3 rayTo = getRayTo(int(x), int(y));
|
||||
btVector3 rayFrom;
|
||||
renderer->getActiveCamera()->getCameraPosition(rayFrom);
|
||||
movePickedBody(rayFrom,rayTo);
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
|
||||
|
||||
if (!renderer)
|
||||
{
|
||||
btAssert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
|
||||
|
||||
#if 0
|
||||
if (window->isModifierKeyPressed(B3G_ALT))
|
||||
{
|
||||
printf("ALT pressed\n");
|
||||
} else
|
||||
{
|
||||
printf("NO ALT pressed\n");
|
||||
}
|
||||
|
||||
if (window->isModifierKeyPressed(B3G_SHIFT))
|
||||
{
|
||||
printf("SHIFT pressed\n");
|
||||
} else
|
||||
{
|
||||
printf("NO SHIFT pressed\n");
|
||||
}
|
||||
|
||||
if (window->isModifierKeyPressed(B3G_CONTROL))
|
||||
{
|
||||
printf("CONTROL pressed\n");
|
||||
} else
|
||||
{
|
||||
printf("NO CONTROL pressed\n");
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
if (state==1)
|
||||
{
|
||||
if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) ))
|
||||
{
|
||||
btVector3 camPos;
|
||||
renderer->getActiveCamera()->getCameraPosition(camPos);
|
||||
|
||||
btVector3 rayFrom = camPos;
|
||||
btVector3 rayTo = getRayTo(int(x),int(y));
|
||||
|
||||
pickBody(rayFrom, rayTo);
|
||||
|
||||
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (button==0)
|
||||
{
|
||||
removePickingConstraint();
|
||||
//remove p2p
|
||||
}
|
||||
}
|
||||
|
||||
//printf("button=%d, state=%d\n",button,state);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
if (m_dynamicsWorld==0)
|
||||
return false;
|
||||
|
||||
btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
|
||||
|
||||
m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
|
||||
if (rayCallback.hasHit())
|
||||
{
|
||||
|
||||
btVector3 pickPos = rayCallback.m_hitPointWorld;
|
||||
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
|
||||
if (body)
|
||||
{
|
||||
//other exclusions?
|
||||
if (!(body->isStaticObject() || body->isKinematicObject()))
|
||||
{
|
||||
m_pickedBody = body;
|
||||
m_savedState = m_pickedBody->getActivationState();
|
||||
m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
|
||||
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
|
||||
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);
|
||||
m_dynamicsWorld->addConstraint(p2p, true);
|
||||
m_pickedConstraint = p2p;
|
||||
btScalar mousePickClamping = 30.f;
|
||||
p2p->m_setting.m_impulseClamp = mousePickClamping;
|
||||
//very weak constraint for picking
|
||||
p2p->m_setting.m_tau = 0.001f;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// pickObject(pickPos, rayCallback.m_collisionObject);
|
||||
m_oldPickingPos = rayToWorld;
|
||||
m_hitPos = pickPos;
|
||||
m_oldPickingDist = (pickPos - rayFromWorld).length();
|
||||
// printf("hit !\n");
|
||||
//add p2p
|
||||
}
|
||||
return false;
|
||||
}
|
||||
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
if (m_pickedBody && m_pickedConstraint)
|
||||
{
|
||||
btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
|
||||
if (pickCon)
|
||||
{
|
||||
//keep it at the same picking distance
|
||||
|
||||
btVector3 newPivotB;
|
||||
|
||||
btVector3 dir = rayToWorld - rayFromWorld;
|
||||
dir.normalize();
|
||||
dir *= m_oldPickingDist;
|
||||
|
||||
newPivotB = rayFromWorld + dir;
|
||||
pickCon->setPivotB(newPivotB);
|
||||
return true;
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
virtual void removePickingConstraint()
|
||||
{
|
||||
if (m_pickedConstraint)
|
||||
{
|
||||
m_pickedBody->forceActivationState(m_savedState);
|
||||
m_pickedBody->activate();
|
||||
m_dynamicsWorld->removeConstraint(m_pickedConstraint);
|
||||
delete m_pickedConstraint;
|
||||
m_pickedConstraint = 0;
|
||||
m_pickedBody = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
btBoxShape* createBoxShape(const btVector3& halfExtents)
|
||||
{
|
||||
btBoxShape* box = new btBoxShape(halfExtents);
|
||||
return box;
|
||||
}
|
||||
|
||||
btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
|
||||
{
|
||||
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//
|
||||
|
||||
body->setUserIndex(-1);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
return body;
|
||||
}
|
||||
|
||||
|
||||
|
||||
virtual void renderScene()
|
||||
{
|
||||
{
|
||||
|
||||
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
{
|
||||
|
||||
m_guiHelper->render(m_dynamicsWorld);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
#endif //COMMON_RIGID_BODY_SETUP_H
|
||||
|
||||
|
|
@ -0,0 +1,130 @@
|
|||
#ifndef B3G_WINDOW_INTERFACE_H
|
||||
#define B3G_WINDOW_INTERFACE_H
|
||||
|
||||
|
||||
typedef void (*b3WheelCallback)(float deltax, float deltay);
|
||||
typedef void (*b3ResizeCallback)( float width, float height);
|
||||
typedef void (*b3MouseMoveCallback)( float x, float y);
|
||||
typedef void (*b3MouseButtonCallback)(int button, int state, float x, float y);
|
||||
typedef void (*b3KeyboardCallback)(int keycode, int state);
|
||||
typedef void (*b3RenderCallback) ();
|
||||
|
||||
enum {
|
||||
B3G_ESCAPE = 27,
|
||||
B3G_F1 = 0xff00,
|
||||
B3G_F2,
|
||||
B3G_F3,
|
||||
B3G_F4,
|
||||
B3G_F5,
|
||||
B3G_F6,
|
||||
B3G_F7,
|
||||
B3G_F8,
|
||||
B3G_F9,
|
||||
B3G_F10,
|
||||
B3G_F11,
|
||||
B3G_F12,
|
||||
B3G_F13,
|
||||
B3G_F14,
|
||||
B3G_F15,
|
||||
B3G_LEFT_ARROW,
|
||||
B3G_RIGHT_ARROW,
|
||||
B3G_UP_ARROW,
|
||||
B3G_DOWN_ARROW,
|
||||
B3G_PAGE_UP,
|
||||
B3G_PAGE_DOWN,
|
||||
B3G_END,
|
||||
B3G_HOME,
|
||||
B3G_INSERT,
|
||||
B3G_DELETE,
|
||||
B3G_BACKSPACE,
|
||||
B3G_SHIFT,
|
||||
B3G_CONTROL,
|
||||
B3G_ALT,
|
||||
B3G_RETURN
|
||||
};
|
||||
|
||||
struct b3gWindowConstructionInfo
|
||||
{
|
||||
int m_width;
|
||||
int m_height;
|
||||
bool m_fullscreen;
|
||||
int m_colorBitsPerPixel;
|
||||
void* m_windowHandle;
|
||||
const char* m_title;
|
||||
int m_openglVersion;
|
||||
|
||||
|
||||
b3gWindowConstructionInfo(int width=1024, int height=768)
|
||||
:m_width(width),
|
||||
m_height(height),
|
||||
m_fullscreen(false),
|
||||
m_colorBitsPerPixel(32),
|
||||
m_windowHandle(0),
|
||||
m_title("title"),
|
||||
m_openglVersion(3)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
class CommonWindowInterface
|
||||
{
|
||||
public:
|
||||
|
||||
virtual ~CommonWindowInterface()
|
||||
{
|
||||
}
|
||||
|
||||
virtual void createDefaultWindow(int width, int height, const char* title)
|
||||
{
|
||||
b3gWindowConstructionInfo ci(width,height);
|
||||
ci.m_title = title;
|
||||
createWindow(ci);
|
||||
}
|
||||
|
||||
virtual void createWindow(const b3gWindowConstructionInfo& ci)=0;
|
||||
|
||||
virtual void closeWindow()=0;
|
||||
|
||||
virtual void runMainLoop()=0;
|
||||
virtual float getTimeInSeconds()=0;
|
||||
|
||||
virtual bool requestedExit() const = 0;
|
||||
virtual void setRequestExit() = 0;
|
||||
|
||||
virtual void startRendering()=0;
|
||||
|
||||
virtual void endRendering()=0;
|
||||
|
||||
virtual bool isModifierKeyPressed(int key) = 0;
|
||||
|
||||
virtual void setMouseMoveCallback(b3MouseMoveCallback mouseCallback)=0;
|
||||
virtual b3MouseMoveCallback getMouseMoveCallback()=0;
|
||||
|
||||
virtual void setMouseButtonCallback(b3MouseButtonCallback mouseCallback)=0;
|
||||
virtual b3MouseButtonCallback getMouseButtonCallback()=0;
|
||||
|
||||
virtual void setResizeCallback(b3ResizeCallback resizeCallback)=0;
|
||||
virtual b3ResizeCallback getResizeCallback()=0;
|
||||
|
||||
virtual void setWheelCallback(b3WheelCallback wheelCallback)=0;
|
||||
virtual b3WheelCallback getWheelCallback()=0;
|
||||
|
||||
virtual void setKeyboardCallback( b3KeyboardCallback keyboardCallback)=0;
|
||||
virtual b3KeyboardCallback getKeyboardCallback()=0;
|
||||
|
||||
virtual void setRenderCallback( b3RenderCallback renderCallback) = 0;
|
||||
|
||||
virtual void setWindowTitle(const char* title)=0;
|
||||
|
||||
virtual float getRetinaScale() const =0;
|
||||
virtual void setAllowRetina(bool allow) =0;
|
||||
|
||||
virtual int getWidth() const = 0;
|
||||
virtual int getHeight() const = 0;
|
||||
|
||||
virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif //B3G_WINDOW_INTERFACE_H
|
||||
885
Engine/lib/bullet/examples/Constraints/ConstraintDemo.cpp
Normal file
885
Engine/lib/bullet/examples/Constraints/ConstraintDemo.cpp
Normal file
|
|
@ -0,0 +1,885 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2015 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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 "ConstraintDemo.h"
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
|
||||
#include <stdio.h> //printf debugging
|
||||
|
||||
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
///AllConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
|
||||
class AllConstraintDemo : public CommonRigidBodyBase
|
||||
{
|
||||
//keep track of variables to delete memory at the end
|
||||
|
||||
void setupEmptyDynamicsWorld();
|
||||
|
||||
|
||||
public:
|
||||
|
||||
AllConstraintDemo(struct GUIHelperInterface* helper);
|
||||
|
||||
virtual ~AllConstraintDemo();
|
||||
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void exitPhysics();
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 27;
|
||||
float pitch = 720;
|
||||
float yaw = 30;
|
||||
float targetPos[3]={2,0,-10};
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
// for cone-twist motor driving
|
||||
float m_Time;
|
||||
class btConeTwistConstraint* m_ctc;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
const int numObjects = 3;
|
||||
|
||||
#define ENABLE_ALL_DEMOS 1
|
||||
|
||||
#define CUBE_HALF_EXTENTS 1.f
|
||||
|
||||
#define SIMD_PI_2 ((SIMD_PI)*0.5f)
|
||||
#define SIMD_PI_4 ((SIMD_PI)*0.25f)
|
||||
|
||||
|
||||
|
||||
|
||||
btTransform sliderTransform;
|
||||
btVector3 lowerSliderLimit = btVector3(-10,0,0);
|
||||
btVector3 hiSliderLimit = btVector3(10,0,0);
|
||||
|
||||
btRigidBody* d6body0 =0;
|
||||
|
||||
btHingeConstraint* spDoorHinge = NULL;
|
||||
btHingeConstraint* spHingeDynAB = NULL;
|
||||
btGeneric6DofConstraint* spSlider6Dof = NULL;
|
||||
|
||||
static bool s_bTestConeTwistMotor = false;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void AllConstraintDemo::setupEmptyDynamicsWorld()
|
||||
{
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
m_solver = new btSequentialImpulseConstraintSolver();
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
}
|
||||
|
||||
|
||||
void AllConstraintDemo::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
m_Time = 0;
|
||||
|
||||
setupEmptyDynamicsWorld();
|
||||
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
|
||||
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40);
|
||||
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-56,0));
|
||||
btRigidBody* groundBody;
|
||||
groundBody= createRigidBody(0, groundTransform, groundShape);
|
||||
|
||||
|
||||
|
||||
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
|
||||
m_collisionShapes.push_back(shape);
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
trans.setOrigin(btVector3(0,20,0));
|
||||
|
||||
float mass = 1.f;
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
///gear constraint demo
|
||||
|
||||
#define THETA SIMD_PI/4.f
|
||||
#define L_1 (2 - tan(THETA))
|
||||
#define L_2 (1 / cos(THETA))
|
||||
#define RATIO L_2 / L_1
|
||||
|
||||
btRigidBody* bodyA=0;
|
||||
btRigidBody* bodyB=0;
|
||||
|
||||
{
|
||||
btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.25,0.2));
|
||||
btCollisionShape* cylB = new btCylinderShape(btVector3(L_1,0.025,L_1));
|
||||
btCompoundShape* cyl0 = new btCompoundShape();
|
||||
cyl0->addChildShape(btTransform::getIdentity(),cylA);
|
||||
cyl0->addChildShape(btTransform::getIdentity(),cylB);
|
||||
|
||||
btScalar mass = 6.28;
|
||||
btVector3 localInertia;
|
||||
cyl0->calculateLocalInertia(mass,localInertia);
|
||||
btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
|
||||
ci.m_startWorldTransform.setOrigin(btVector3(-8,1,-8));
|
||||
|
||||
btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
body->setLinearFactor(btVector3(0,0,0));
|
||||
body->setAngularFactor(btVector3(0,1,0));
|
||||
bodyA = body;
|
||||
}
|
||||
|
||||
{
|
||||
btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.26,0.2));
|
||||
btCollisionShape* cylB = new btCylinderShape(btVector3(L_2,0.025,L_2));
|
||||
btCompoundShape* cyl0 = new btCompoundShape();
|
||||
cyl0->addChildShape(btTransform::getIdentity(),cylA);
|
||||
cyl0->addChildShape(btTransform::getIdentity(),cylB);
|
||||
|
||||
btScalar mass = 6.28;
|
||||
btVector3 localInertia;
|
||||
cyl0->calculateLocalInertia(mass,localInertia);
|
||||
btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
|
||||
ci.m_startWorldTransform.setOrigin(btVector3(-10,2,-8));
|
||||
|
||||
|
||||
btQuaternion orn(btVector3(0,0,1),-THETA);
|
||||
ci.m_startWorldTransform.setRotation(orn);
|
||||
|
||||
btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
|
||||
body->setLinearFactor(btVector3(0,0,0));
|
||||
btHingeConstraint* hinge = new btHingeConstraint(*body,btVector3(0,0,0),btVector3(0,1,0),true);
|
||||
m_dynamicsWorld->addConstraint(hinge);
|
||||
bodyB= body;
|
||||
body->setAngularVelocity(btVector3(0,3,0));
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
btVector3 axisA(0,1,0);
|
||||
btVector3 axisB(0,1,0);
|
||||
btQuaternion orn(btVector3(0,0,1),-THETA);
|
||||
btMatrix3x3 mat(orn);
|
||||
axisB = mat.getRow(1);
|
||||
|
||||
btGearConstraint* gear = new btGearConstraint(*bodyA,*bodyB, axisA,axisB,RATIO);
|
||||
m_dynamicsWorld->addConstraint(gear,true);
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
//point to point constraint with a breaking threshold
|
||||
{
|
||||
trans.setIdentity();
|
||||
trans.setOrigin(btVector3(1,30,-5));
|
||||
createRigidBody( mass,trans,shape);
|
||||
trans.setOrigin(btVector3(0,0,-5));
|
||||
|
||||
btRigidBody* body0 = createRigidBody( mass,trans,shape);
|
||||
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
|
||||
mass = 1.f;
|
||||
// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
|
||||
btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
|
||||
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
|
||||
m_dynamicsWorld->addConstraint(p2p);
|
||||
p2p ->setBreakingImpulseThreshold(10.2);
|
||||
p2p->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
//point to point constraint (ball socket)
|
||||
{
|
||||
btRigidBody* body0 = createRigidBody( mass,trans,shape);
|
||||
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
|
||||
|
||||
mass = 1.f;
|
||||
// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
|
||||
// btRigidBody* body1 = createRigidBody( 0.0,trans,0);
|
||||
//body1->setActivationState(DISABLE_DEACTIVATION);
|
||||
//body1->setDamping(0.3,0.3);
|
||||
|
||||
btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
|
||||
btVector3 axisInA(0,0,1);
|
||||
|
||||
// btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
|
||||
// btVector3 axisInB = body1?
|
||||
// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
|
||||
body0->getCenterOfMassTransform().getBasis() * axisInA;
|
||||
|
||||
#define P2P
|
||||
#ifdef P2P
|
||||
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
|
||||
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
|
||||
//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
|
||||
m_dynamicsWorld->addConstraint(p2p);
|
||||
p2p->setDbgDrawSize(btScalar(5.f));
|
||||
#else
|
||||
btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
|
||||
|
||||
//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
|
||||
//float targetVelocity = 0.f;
|
||||
//float maxMotorImpulse = 0.01;
|
||||
float targetVelocity = 1.f;
|
||||
float maxMotorImpulse = 1.0f;
|
||||
hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
|
||||
m_dynamicsWorld->addConstraint(hinge);
|
||||
hinge->setDbgDrawSize(btScalar(5.f));
|
||||
#endif //P2P
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
btVector3 worldPos(-20,0,30);
|
||||
trans.setOrigin(worldPos);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInB = btTransform::getIdentity();
|
||||
|
||||
btRigidBody* pRbA1 = createRigidBody(mass, trans, shape);
|
||||
// btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape);
|
||||
pRbA1->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
// add dynamic rigid body B1
|
||||
worldPos.setValue(-30,0,30);
|
||||
trans.setOrigin(worldPos);
|
||||
btRigidBody* pRbB1 = createRigidBody(mass, trans, shape);
|
||||
// btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape);
|
||||
pRbB1->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
// create slider constraint between A1 and B1 and add it to world
|
||||
|
||||
btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
|
||||
// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
|
||||
spSlider1->setLowerLinLimit(-15.0F);
|
||||
spSlider1->setUpperLinLimit(-5.0F);
|
||||
// spSlider1->setLowerLinLimit(5.0F);
|
||||
// spSlider1->setUpperLinLimit(15.0F);
|
||||
// spSlider1->setLowerLinLimit(-10.0F);
|
||||
// spSlider1->setUpperLinLimit(-10.0F);
|
||||
|
||||
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
|
||||
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
|
||||
|
||||
|
||||
m_dynamicsWorld->addConstraint(spSlider1, true);
|
||||
spSlider1->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
//create a slider, using the generic D6 constraint
|
||||
{
|
||||
mass = 1.f;
|
||||
btVector3 sliderWorldPos(0,10,0);
|
||||
btVector3 sliderAxis(1,0,0);
|
||||
btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f;
|
||||
btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
|
||||
trans.setIdentity();
|
||||
trans.setOrigin(sliderWorldPos);
|
||||
//trans.setBasis(sliderOrientation);
|
||||
sliderTransform = trans;
|
||||
|
||||
d6body0 = createRigidBody( mass,trans,shape);
|
||||
d6body0->setActivationState(DISABLE_DEACTIVATION);
|
||||
btRigidBody* fixedBody1 = createRigidBody(0,trans,0);
|
||||
m_dynamicsWorld->addRigidBody(fixedBody1);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInA.setOrigin(btVector3(0., 5., 0.));
|
||||
frameInB.setOrigin(btVector3(0., 5., 0.));
|
||||
|
||||
// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
|
||||
bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
|
||||
spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
|
||||
spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
|
||||
spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
|
||||
|
||||
//range should be small, otherwise singularities will 'explode' the constraint
|
||||
// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
|
||||
// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
|
||||
// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
|
||||
// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
|
||||
spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
|
||||
spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
|
||||
|
||||
spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
|
||||
spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
|
||||
|
||||
|
||||
m_dynamicsWorld->addConstraint(spSlider6Dof);
|
||||
spSlider6Dof->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a door using hinge constraint attached to the world
|
||||
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
|
||||
m_collisionShapes.push_back(pDoorShape);
|
||||
btTransform doorTrans;
|
||||
doorTrans.setIdentity();
|
||||
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
|
||||
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
|
||||
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
|
||||
btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
|
||||
|
||||
spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
|
||||
|
||||
// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
|
||||
// test problem values
|
||||
// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
|
||||
|
||||
// spDoorHinge->setLimit( 1.f, -1.f);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
|
||||
// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
|
||||
spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
|
||||
// spDoorHinge->setLimit( 0.0f, 0.0f );
|
||||
m_dynamicsWorld->addConstraint(spDoorHinge);
|
||||
spDoorHinge->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
|
||||
//btRigidBody* pDropBody = createRigidBody( 10.0, doorTrans, shape);
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a generic 6DOF constraint
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
// btRigidBody* pBodyA = createRigidBody( mass, tr, shape);
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyB = createRigidBody(mass, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(0.f, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
|
||||
|
||||
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
|
||||
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
|
||||
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
|
||||
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
|
||||
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
|
||||
|
||||
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
|
||||
|
||||
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
|
||||
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
|
||||
|
||||
|
||||
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
|
||||
|
||||
m_dynamicsWorld->addConstraint(pGen6DOF, true);
|
||||
pGen6DOF->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a ConeTwist constraint
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyA = createRigidBody( 1.0, tr, shape);
|
||||
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyB = createRigidBody(0.0, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
|
||||
frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.getBasis().setEulerZYX(0,0, SIMD_PI_2);
|
||||
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
|
||||
|
||||
m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
|
||||
m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
|
||||
m_dynamicsWorld->addConstraint(m_ctc, true);
|
||||
m_ctc->setDbgDrawSize(btScalar(5.f));
|
||||
// s_bTestConeTwistMotor = true; // use only with old solver for now
|
||||
s_bTestConeTwistMotor = false;
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
|
||||
pBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
|
||||
btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
|
||||
|
||||
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
|
||||
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
|
||||
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
|
||||
m_dynamicsWorld->addConstraint(pHinge);
|
||||
pHinge->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a universal joint using generic 6DOF constraint
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB (child) below it :
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some (arbitrary) data to build constraint frames
|
||||
btVector3 parentAxis(1.f, 0.f, 0.f);
|
||||
btVector3 childAxis(0.f, 0.f, 1.f);
|
||||
btVector3 anchor(20.f, 2.f, 0.f);
|
||||
|
||||
btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
|
||||
pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
|
||||
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(pUniv, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
pUniv->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a generic 6DOF constraint with springs
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
|
||||
|
||||
btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
|
||||
pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.));
|
||||
pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.));
|
||||
|
||||
pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f));
|
||||
pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f));
|
||||
|
||||
m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
|
||||
pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
pGen6DOFSpring->enableSpring(0, true);
|
||||
pGen6DOFSpring->setStiffness(0, 39.478f);
|
||||
pGen6DOFSpring->setDamping(0, 0.5f);
|
||||
pGen6DOFSpring->enableSpring(5, true);
|
||||
pGen6DOFSpring->setStiffness(5, 39.478f);
|
||||
pGen6DOFSpring->setDamping(0, 0.3f);
|
||||
pGen6DOFSpring->setEquilibriumPoint();
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a Hinge2 joint
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB (child) below it :
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some data to build constraint frames
|
||||
btVector3 parentAxis(0.f, 1.f, 0.f);
|
||||
btVector3 childAxis(1.f, 0.f, 0.f);
|
||||
btVector3 anchor(-20.f, 0.f, 0.f);
|
||||
btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
|
||||
pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
|
||||
pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(pHinge2, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
pHinge2->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a Hinge joint between two dynamic bodies
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 1.0f, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB:
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
|
||||
btRigidBody* pBodyB = createRigidBody(10.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some data to build constraint frames
|
||||
btVector3 axisA(0.f, 1.f, 0.f);
|
||||
btVector3 axisB(0.f, 1.f, 0.f);
|
||||
btVector3 pivotA(-5.f, 0.f, 0.f);
|
||||
btVector3 pivotB( 5.f, 0.f, 0.f);
|
||||
spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
|
||||
spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(spHingeDynAB, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
spHingeDynAB->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // 6DOF connected to the world, with motor
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.)));
|
||||
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
|
||||
pBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
btTransform frameB;
|
||||
frameB.setIdentity();
|
||||
btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint( *pBody, frameB, false );
|
||||
m_dynamicsWorld->addConstraint(pGen6Dof);
|
||||
pGen6Dof->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
pGen6Dof->setAngularLowerLimit(btVector3(0,0,0));
|
||||
pGen6Dof->setAngularUpperLimit(btVector3(0,0,0));
|
||||
pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0));
|
||||
pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0));
|
||||
|
||||
pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
|
||||
pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
|
||||
}
|
||||
#endif
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void AllConstraintDemo::exitPhysics()
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
//removed/delete constraints
|
||||
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
|
||||
{
|
||||
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
|
||||
m_dynamicsWorld->removeConstraint(constraint);
|
||||
delete constraint;
|
||||
}
|
||||
m_ctc = NULL;
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
|
||||
m_collisionShapes.clear();
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
m_dynamicsWorld=0;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
m_solver=0;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
m_broadphase=0;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
}
|
||||
|
||||
AllConstraintDemo::AllConstraintDemo(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
|
||||
AllConstraintDemo::~AllConstraintDemo()
|
||||
{
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
btAssert(m_dynamicsWorld==0);
|
||||
|
||||
}
|
||||
|
||||
#if 0
|
||||
void AllConstraintDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
|
||||
//printf("dt = %f: ",dt);
|
||||
|
||||
// drive cone-twist motor
|
||||
m_Time += 0.03f;
|
||||
if (s_bTestConeTwistMotor)
|
||||
{ // this works only for obsolete constraint solver for now
|
||||
// build cone target
|
||||
btScalar t = 1.25f*m_Time;
|
||||
btVector3 axis(0,sin(t),cos(t));
|
||||
axis.normalize();
|
||||
btQuaternion q1(axis, 0.75f*SIMD_PI);
|
||||
|
||||
// build twist target
|
||||
//btQuaternion q2(0,0,0);
|
||||
//btQuaternion q2(btVehictor3(1,0,0), -0.3*sin(m_Time));
|
||||
btQuaternion q2(btVector3(1,0,0), -1.49f*btSin(1.5f*m_Time));
|
||||
|
||||
// compose cone + twist and set target
|
||||
q1 = q1 * q2;
|
||||
m_ctc->enableMotor(true);
|
||||
m_ctc->setMotorTargetInConstraintSpace(q1);
|
||||
}
|
||||
|
||||
{
|
||||
static bool once = true;
|
||||
if ( m_dynamicsWorld->getDebugDrawer() && once)
|
||||
{
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
once=false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//during idle mode, just run 1 simulation step maximum
|
||||
int maxSimSubSteps = m_idle ? 1 : 1;
|
||||
if (m_idle)
|
||||
dt = 1.0f/420.f;
|
||||
|
||||
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
bool verbose = false;
|
||||
if (verbose)
|
||||
{
|
||||
if (!numSimSteps)
|
||||
printf("Interpolated transforms\n");
|
||||
else
|
||||
{
|
||||
if (numSimSteps > maxSimSubSteps)
|
||||
{
|
||||
//detect dropping frames
|
||||
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
|
||||
} else
|
||||
{
|
||||
printf("Simulated (%i) steps\n",numSimSteps);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
renderme();
|
||||
|
||||
// drawLimit();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void AllConstraintDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
// drawLimit();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
#endif
|
||||
|
||||
void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
(void)x;
|
||||
(void)y;
|
||||
switch (key)
|
||||
{
|
||||
case 'O' :
|
||||
{
|
||||
bool offectOnOff;
|
||||
if(spDoorHinge)
|
||||
{
|
||||
offectOnOff = spDoorHinge->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spDoorHinge->setUseFrameOffset(offectOnOff);
|
||||
printf("DoorHinge %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if(spHingeDynAB)
|
||||
{
|
||||
offectOnOff = spHingeDynAB->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spHingeDynAB->setUseFrameOffset(offectOnOff);
|
||||
printf("HingeDynAB %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if(spSlider6Dof)
|
||||
{
|
||||
offectOnOff = spSlider6Dof->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spSlider6Dof->setUseFrameOffset(offectOnOff);
|
||||
printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
}
|
||||
break;
|
||||
default :
|
||||
{
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new AllConstraintDemo(options.m_guiHelper);
|
||||
}
|
||||
22
Engine/lib/bullet/examples/Constraints/ConstraintDemo.h
Normal file
22
Engine/lib/bullet/examples/Constraints/ConstraintDemo.h
Normal file
|
|
@ -0,0 +1,22 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
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 ALL_CONSTRAINT_DEMO_H
|
||||
#define ALL_CONSTRAINT_DEMO_H
|
||||
|
||||
class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif //ALL_CONSTRAINT_DEMO_H
|
||||
|
||||
|
|
@ -0,0 +1,161 @@
|
|||
#include "ConstraintPhysicsSetup.h"
|
||||
|
||||
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
|
||||
|
||||
|
||||
struct ConstraintPhysicsSetup : public CommonRigidBodyBase
|
||||
{
|
||||
ConstraintPhysicsSetup(struct GUIHelperInterface* helper);
|
||||
virtual ~ConstraintPhysicsSetup();
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 7;
|
||||
float pitch = 721;
|
||||
float yaw = 44;
|
||||
float targetPos[3]={8,1,-11};
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
ConstraintPhysicsSetup::ConstraintPhysicsSetup(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
ConstraintPhysicsSetup::~ConstraintPhysicsSetup()
|
||||
{
|
||||
}
|
||||
|
||||
static btScalar val;
|
||||
static btScalar targetVel=0;
|
||||
static btScalar maxImpulse=10000;
|
||||
static btHingeAccumulatedAngleConstraint* spDoorHinge=0;
|
||||
static btScalar actualHingeVelocity=0.f;
|
||||
|
||||
static btVector3 btAxisA(0,1,0);
|
||||
|
||||
void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
|
||||
{
|
||||
val=spDoorHinge->getAccumulatedHingeAngle()*SIMD_DEGS_PER_RAD;
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
spDoorHinge->enableAngularMotor(true,targetVel,maxImpulse);
|
||||
|
||||
m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
|
||||
|
||||
|
||||
btHingeConstraint* hinge = spDoorHinge;
|
||||
|
||||
if (hinge)
|
||||
{
|
||||
|
||||
const btRigidBody& bodyA = hinge->getRigidBodyA();
|
||||
const btRigidBody& bodyB = hinge->getRigidBodyB();
|
||||
|
||||
|
||||
btTransform trA = bodyA.getWorldTransform();
|
||||
btVector3 angVelA = bodyA.getAngularVelocity();
|
||||
btVector3 angVelB = bodyB.getAngularVelocity();
|
||||
|
||||
{
|
||||
btVector3 ax1 = trA.getBasis()*hinge->getFrameOffsetA().getBasis().getColumn(2);
|
||||
btScalar vel = angVelA.dot(ax1);
|
||||
vel -= angVelB.dot(ax1);
|
||||
printf("hinge velocity (q) = %f\n", vel);
|
||||
actualHingeVelocity=vel;
|
||||
}
|
||||
btVector3 ortho0,ortho1;
|
||||
btPlaneSpace1(btAxisA,ortho0,ortho1);
|
||||
{
|
||||
|
||||
btScalar vel2 = angVelA.dot(ortho0);
|
||||
vel2 -= angVelB.dot(ortho0);
|
||||
printf("hinge orthogonal1 velocity (q) = %f\n", vel2);
|
||||
}
|
||||
{
|
||||
|
||||
btScalar vel0 = angVelA.dot(ortho1);
|
||||
vel0 -= angVelB.dot(ortho1);
|
||||
printf("hinge orthogonal0 velocity (q) = %f\n", vel0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ConstraintPhysicsSetup::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
createEmptyDynamicsWorld();
|
||||
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
int mode = btIDebugDraw::DBG_DrawWireframe
|
||||
+btIDebugDraw::DBG_DrawConstraints
|
||||
+btIDebugDraw::DBG_DrawConstraintLimits;
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
|
||||
|
||||
|
||||
{
|
||||
SliderParams slider("target vel",&targetVel);
|
||||
slider.m_minVal=-4;
|
||||
slider.m_maxVal=4;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
{
|
||||
SliderParams slider("max impulse",&maxImpulse);
|
||||
slider.m_minVal=0;
|
||||
slider.m_maxVal=1000;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
{
|
||||
SliderParams slider("actual vel",&actualHingeVelocity);
|
||||
slider.m_minVal=-4;
|
||||
slider.m_maxVal=4;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
val=1.f;
|
||||
{
|
||||
SliderParams slider("angle",&val);
|
||||
slider.m_minVal=-720;
|
||||
slider.m_maxVal=720;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
{ // create a door using hinge constraint attached to the world
|
||||
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
|
||||
m_collisionShapes.push_back(pDoorShape);
|
||||
btTransform doorTrans;
|
||||
doorTrans.setIdentity();
|
||||
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
|
||||
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
|
||||
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
|
||||
|
||||
spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA );
|
||||
|
||||
m_dynamicsWorld->addConstraint(spDoorHinge);
|
||||
|
||||
spDoorHinge->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
class CommonExampleInterface* ConstraintCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new ConstraintPhysicsSetup(options.m_guiHelper);
|
||||
}
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#ifndef CONSTAINT_PHYSICS_SETUP_H
|
||||
#define CONSTAINT_PHYSICS_SETUP_H
|
||||
|
||||
class CommonExampleInterface* ConstraintCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //CONSTAINT_PHYSICS_SETUP_H
|
||||
503
Engine/lib/bullet/examples/Constraints/Dof6Spring2Setup.cpp
Normal file
503
Engine/lib/bullet/examples/Constraints/Dof6Spring2Setup.cpp
Normal file
|
|
@ -0,0 +1,503 @@
|
|||
#include "Dof6Spring2Setup.h"
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
|
||||
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI 3.14159265358979323846
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_2
|
||||
#define M_PI_2 1.57079632679489661923
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_4
|
||||
#define M_PI_4 0.785398163397448309616
|
||||
#endif
|
||||
|
||||
|
||||
extern float g_additionalBodyMass;
|
||||
|
||||
//comment this out to compare with original spring constraint
|
||||
#define USE_6DOF2
|
||||
#ifdef USE_6DOF2
|
||||
#define CONSTRAINT_TYPE btGeneric6DofSpring2Constraint
|
||||
#define EXTRAPARAMS
|
||||
#else
|
||||
#define CONSTRAINT_TYPE btGeneric6DofSpringConstraint
|
||||
#define EXTRAPARAMS ,true
|
||||
#endif
|
||||
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
|
||||
|
||||
|
||||
|
||||
struct Dof6Spring2Setup : public CommonRigidBodyBase
|
||||
{
|
||||
struct Dof6Spring2SetupInternalData* m_data;
|
||||
|
||||
Dof6Spring2Setup(struct GUIHelperInterface* helper);
|
||||
virtual ~Dof6Spring2Setup();
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
void animate();
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 5;
|
||||
float pitch = 722;
|
||||
float yaw = 35;
|
||||
float targetPos[3]={4,2,-11};
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct Dof6Spring2SetupInternalData
|
||||
{
|
||||
btRigidBody* m_TranslateSpringBody;
|
||||
btRigidBody* m_TranslateSpringBody2;
|
||||
btRigidBody* m_RotateSpringBody;
|
||||
btRigidBody* m_RotateSpringBody2;
|
||||
btRigidBody* m_BouncingTranslateBody;
|
||||
btRigidBody* m_MotorBody;
|
||||
btRigidBody* m_ServoMotorBody;
|
||||
btRigidBody* m_ChainLeftBody;
|
||||
btRigidBody* m_ChainRightBody;
|
||||
CONSTRAINT_TYPE* m_ServoMotorConstraint;
|
||||
CONSTRAINT_TYPE* m_ChainLeftConstraint;
|
||||
CONSTRAINT_TYPE* m_ChainRightConstraint;
|
||||
|
||||
|
||||
float mDt;
|
||||
|
||||
unsigned int frameID;
|
||||
Dof6Spring2SetupInternalData()
|
||||
: mDt(1./60.),frameID(0)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
Dof6Spring2Setup::Dof6Spring2Setup(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper)
|
||||
{
|
||||
m_data = new Dof6Spring2SetupInternalData;
|
||||
}
|
||||
Dof6Spring2Setup::~Dof6Spring2Setup()
|
||||
{
|
||||
exitPhysics();
|
||||
delete m_data;
|
||||
}
|
||||
void Dof6Spring2Setup::initPhysics()
|
||||
{
|
||||
// Setup the basic world
|
||||
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
btVector3 worldAabbMin(-10000,-10000,-10000);
|
||||
btVector3 worldAabbMax(10000,10000,10000);
|
||||
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
||||
|
||||
/////// uncomment the corresponding line to test a solver.
|
||||
//m_solver = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = new btNNCGConstraintSolver;
|
||||
//m_solver = new btMLCPSolver(new btSolveProjectedGaussSeidel());
|
||||
//m_solver = new btMLCPSolver(new btDantzigSolver());
|
||||
//m_solver = new btMLCPSolver(new btLemkeSolver());
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld->getDispatchInfo().m_useContinuous = true;
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,0,0));
|
||||
|
||||
// Setup a big ground box
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(5.),btScalar(200.)));
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-10,0));
|
||||
#define CREATE_GROUND_COLLISION_OBJECT 1
|
||||
#ifdef CREATE_GROUND_COLLISION_OBJECT
|
||||
btCollisionObject* fixedGround = new btCollisionObject();
|
||||
fixedGround->setCollisionShape(groundShape);
|
||||
fixedGround->setWorldTransform(groundTransform);
|
||||
m_dynamicsWorld->addCollisionObject(fixedGround);
|
||||
#else
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
#endif //CREATE_GROUND_COLLISION_OBJECT
|
||||
}
|
||||
|
||||
m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
|
||||
|
||||
btCollisionShape* shape;
|
||||
btVector3 localInertia(0,0,0);
|
||||
btDefaultMotionState* motionState;
|
||||
btTransform bodyTransform;
|
||||
btScalar mass;
|
||||
btTransform localA;
|
||||
btTransform localB;
|
||||
CONSTRAINT_TYPE* constraint;
|
||||
|
||||
//static body centered in the origo
|
||||
mass = 0.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
localInertia = btVector3(0,0,0);
|
||||
bodyTransform.setIdentity();
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
btRigidBody* staticBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
|
||||
/////////// box with undamped translate spring attached to static body
|
||||
/////////// the box should oscillate left-to-right forever
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(-2,0,-5));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_TranslateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_TranslateSpringBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_TranslateSpringBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(0,0,-5);
|
||||
localB.setIdentity();
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_TranslateSpringBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, 1,-1);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 0, 0);
|
||||
constraint->enableSpring(0, true);
|
||||
constraint->setStiffness(0, 100);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->setDamping(0, 0);
|
||||
#else
|
||||
constraint->setDamping(0, 1);
|
||||
#endif
|
||||
constraint->setEquilibriumPoint(0, 0);
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
}
|
||||
|
||||
/////////// box with rotate spring, attached to static body
|
||||
/////////// box should swing (rotate) left-to-right forever
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.getBasis().setEulerZYX(0,0,M_PI_2);
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_RotateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_RotateSpringBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_RotateSpringBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
|
||||
localB.setIdentity();localB.setOrigin(btVector3(0,0.5,0));
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_RotateSpringBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, 0, 0);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 1, -1);
|
||||
constraint->enableSpring(5, true);
|
||||
constraint->setStiffness(5, 100);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->setDamping(5, 0);
|
||||
#else
|
||||
constraint->setDamping(5, 1);
|
||||
#endif
|
||||
constraint->setEquilibriumPoint(0, 0);
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
}
|
||||
|
||||
/////////// box with bouncing constraint, translation is bounced at the positive x limit, but not at the negative limit
|
||||
/////////// bouncing can not be set independently at low and high limits, so two constraints will be created: one that defines the low (non bouncing) limit, and one that defines the high (bouncing) limit
|
||||
/////////// the box should move to the left (as an impulse will be applied to it periodically) until it reaches its limit, then bounce back
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(0,0,-3));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_BouncingTranslateBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_BouncingTranslateBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_data->m_BouncingTranslateBody->setDeactivationTime(btScalar(20000000));
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_BouncingTranslateBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
|
||||
localB.setIdentity();
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, -2, SIMD_INFINITY);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, -3, -3);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 0, 0);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->setBounce(0,0);
|
||||
#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
|
||||
constraint->getTranslationalLimitMotor()->m_restitution = 0.0;
|
||||
#endif
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, -SIMD_INFINITY, 2);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, -3, -3);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 0, 0);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->setBounce(0,1);
|
||||
#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
|
||||
constraint->getTranslationalLimitMotor()->m_restitution = 1.0;
|
||||
#endif
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
}
|
||||
|
||||
/////////// box with rotational motor, attached to static body
|
||||
/////////// the box should rotate around the y axis
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(4,0,0));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_MotorBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_MotorBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_MotorBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(4,0,0);
|
||||
localB.setIdentity();
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_MotorBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, 0, 0);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 1,-1);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->enableMotor(5,true);
|
||||
constraint->setTargetVelocity(5,3.f);
|
||||
constraint->setMaxMotorForce(5,10.f);
|
||||
#else
|
||||
constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
|
||||
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
|
||||
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
|
||||
#endif
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
}
|
||||
|
||||
/////////// box with rotational servo motor, attached to static body
|
||||
/////////// the box should rotate around the y axis until it reaches its target
|
||||
/////////// the target will be negated periodically
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(7,0,0));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_ServoMotorBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_ServoMotorBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_ServoMotorBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(7,0,0);
|
||||
localB.setIdentity();
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ServoMotorBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, 0, 0);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 1,-1);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->enableMotor(5,true);
|
||||
constraint->setTargetVelocity(5,3.f);
|
||||
constraint->setMaxMotorForce(5,10.f);
|
||||
constraint->setServo(5,true);
|
||||
constraint->setServoTarget(5, M_PI_2);
|
||||
#else
|
||||
constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
|
||||
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
|
||||
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
|
||||
//servo motor is not implemented in 6dofspring constraint
|
||||
#endif
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
m_data->m_ServoMotorConstraint = constraint;
|
||||
}
|
||||
|
||||
////////// chain of boxes linked together with fully limited rotational and translational constraints
|
||||
////////// the chain will be pulled to the left and to the right periodically. They should strictly stick together.
|
||||
{
|
||||
btScalar limitConstraintStrength = 0.6;
|
||||
int bodycount = 10;
|
||||
btRigidBody* prevBody = 0;
|
||||
for(int i = 0; i < bodycount; ++i)
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(- i,0,3));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
btRigidBody* body = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
body->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
if(prevBody != 0)
|
||||
{
|
||||
localB.setIdentity();
|
||||
localB.setOrigin(btVector3(0.5,0,0));
|
||||
btTransform localA;
|
||||
localA.setIdentity();
|
||||
localA.setOrigin(btVector3(-0.5,0,0));
|
||||
CONSTRAINT_TYPE* constraint = new CONSTRAINT_TYPE(*prevBody, *body, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, -0.01, 0.01);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 0, 0);
|
||||
for(int a = 0; a < 6; ++a)
|
||||
{
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.9,a);
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
|
||||
}
|
||||
constraint->setDbgDrawSize(btScalar(1.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
|
||||
if(i < bodycount - 1)
|
||||
{
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(0,0,3);
|
||||
localB.setIdentity();
|
||||
CONSTRAINT_TYPE* constraintZY = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
|
||||
constraintZY->setLimit(0, 1, -1);
|
||||
constraintZY->setDbgDrawSize(btScalar(1.f));
|
||||
m_dynamicsWorld->addConstraint(constraintZY, true);
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(bodycount,0,3);
|
||||
localB.setIdentity();
|
||||
localB.setOrigin(btVector3(0,0,0));
|
||||
m_data->m_ChainLeftBody = body;
|
||||
m_data->m_ChainLeftConstraint = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
|
||||
m_data->m_ChainLeftConstraint->setLimit(3,0,0);
|
||||
m_data->m_ChainLeftConstraint->setLimit(4,0,0);
|
||||
m_data->m_ChainLeftConstraint->setLimit(5,0,0);
|
||||
for(int a = 0; a < 6; ++a)
|
||||
{
|
||||
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
|
||||
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
|
||||
}
|
||||
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(1.f));
|
||||
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
|
||||
}
|
||||
prevBody = body;
|
||||
}
|
||||
m_data->m_ChainRightBody = prevBody;
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(-bodycount,0,3);
|
||||
localB.setIdentity();
|
||||
localB.setOrigin(btVector3(0,0,0));
|
||||
m_data->m_ChainRightConstraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ChainRightBody, localA, localB EXTRAPARAMS);
|
||||
m_data->m_ChainRightConstraint->setLimit(3,0,0);
|
||||
m_data->m_ChainRightConstraint->setLimit(4,0,0);
|
||||
m_data->m_ChainRightConstraint->setLimit(5,0,0);
|
||||
for(int a = 0; a < 6; ++a)
|
||||
{
|
||||
m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
|
||||
m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
|
||||
}
|
||||
}
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
|
||||
void Dof6Spring2Setup::animate()
|
||||
{
|
||||
|
||||
/////// servo motor: flip its target periodically
|
||||
#ifdef USE_6DOF2
|
||||
static float servoNextFrame = -1;
|
||||
btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
|
||||
btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
|
||||
if(servoNextFrame < 0)
|
||||
{
|
||||
m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
|
||||
servoNextFrame = 3.0;
|
||||
}
|
||||
servoNextFrame -= m_data->mDt;
|
||||
#endif
|
||||
|
||||
/////// constraint chain: pull the chain left and right periodically
|
||||
static float chainNextFrame = -1;
|
||||
static bool left = true;
|
||||
if(chainNextFrame < 0)
|
||||
{
|
||||
if(!left)
|
||||
{
|
||||
m_data->m_ChainRightBody->setActivationState(ACTIVE_TAG);
|
||||
m_dynamicsWorld->removeConstraint(m_data->m_ChainRightConstraint);
|
||||
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_data->m_ChainLeftBody->setActivationState(ACTIVE_TAG);
|
||||
m_dynamicsWorld->removeConstraint(m_data->m_ChainLeftConstraint);
|
||||
m_data->m_ChainRightConstraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(m_data->m_ChainRightConstraint, true);
|
||||
}
|
||||
chainNextFrame = 3.0;
|
||||
left = !left;
|
||||
}
|
||||
chainNextFrame -= m_data->mDt;
|
||||
|
||||
/////// bouncing constraint: push the box periodically
|
||||
m_data->m_BouncingTranslateBody->setActivationState(ACTIVE_TAG);
|
||||
static float bounceNextFrame = -1;
|
||||
if(bounceNextFrame < 0)
|
||||
{
|
||||
m_data->m_BouncingTranslateBody->applyCentralImpulse(btVector3(10,0,0));
|
||||
bounceNextFrame = 3.0;
|
||||
}
|
||||
bounceNextFrame -= m_data->mDt;
|
||||
|
||||
m_data->frameID++;
|
||||
}
|
||||
|
||||
|
||||
void Dof6Spring2Setup::stepSimulation(float deltaTime)
|
||||
{
|
||||
animate();
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
}
|
||||
|
||||
class CommonExampleInterface* Dof6Spring2CreateFunc( CommonExampleOptions& options)
|
||||
{
|
||||
return new Dof6Spring2Setup(options.m_guiHelper);
|
||||
}
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#ifndef GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H
|
||||
#define GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H
|
||||
|
||||
class CommonExampleInterface* Dof6Spring2CreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H
|
||||
243
Engine/lib/bullet/examples/Constraints/TestHingeTorque.cpp
Normal file
243
Engine/lib/bullet/examples/Constraints/TestHingeTorque.cpp
Normal file
|
|
@ -0,0 +1,243 @@
|
|||
#include "TestHingeTorque.h"
|
||||
|
||||
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
|
||||
short collisionFilterGroup = short(btBroadphaseProxy::CharacterFilter);
|
||||
short collisionFilterMask = short(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
|
||||
static btScalar radius(0.2);
|
||||
|
||||
struct TestHingeTorque : public CommonRigidBodyBase
|
||||
{
|
||||
bool m_once;
|
||||
btAlignedObjectArray<btJointFeedback*> m_jointFeedback;
|
||||
|
||||
TestHingeTorque(struct GUIHelperInterface* helper);
|
||||
virtual ~ TestHingeTorque();
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
|
||||
float dist = 5;
|
||||
float pitch = 270;
|
||||
float yaw = 21;
|
||||
float targetPos[3]={-1.34,3.4,-0.44};
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
TestHingeTorque::TestHingeTorque(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper),
|
||||
m_once(true)
|
||||
{
|
||||
}
|
||||
TestHingeTorque::~ TestHingeTorque()
|
||||
{
|
||||
for (int i=0;i<m_jointFeedback.size();i++)
|
||||
{
|
||||
delete m_jointFeedback[i];
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void TestHingeTorque::stepSimulation(float deltaTime)
|
||||
{
|
||||
if (0)//m_once)
|
||||
{
|
||||
m_once=false;
|
||||
btHingeConstraint* hinge = (btHingeConstraint*)m_dynamicsWorld->getConstraint(0);
|
||||
|
||||
btRigidBody& bodyA = hinge->getRigidBodyA();
|
||||
btTransform trA = bodyA.getWorldTransform();
|
||||
btVector3 hingeAxisInWorld = trA.getBasis()*hinge->getFrameOffsetA().getBasis().getColumn(2);
|
||||
hinge->getRigidBodyA().applyTorque(-hingeAxisInWorld*10);
|
||||
hinge->getRigidBodyB().applyTorque(hingeAxisInWorld*10);
|
||||
|
||||
}
|
||||
|
||||
m_dynamicsWorld->stepSimulation(1./240,0);
|
||||
|
||||
static int count = 0;
|
||||
if ((count& 0x0f)==0)
|
||||
{
|
||||
btRigidBody* base = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[0]);
|
||||
|
||||
b3Printf("base angvel = %f,%f,%f",base->getAngularVelocity()[0],
|
||||
base->getAngularVelocity()[1],
|
||||
|
||||
base->getAngularVelocity()[2]);
|
||||
|
||||
btRigidBody* child = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[1]);
|
||||
|
||||
|
||||
b3Printf("child angvel = %f,%f,%f",child->getAngularVelocity()[0],
|
||||
child->getAngularVelocity()[1],
|
||||
|
||||
child->getAngularVelocity()[2]);
|
||||
|
||||
for (int i=0;i<m_jointFeedback.size();i++)
|
||||
{
|
||||
b3Printf("Applied force at the COM/Inertial frame B[%d]:(%f,%f,%f), torque B:(%f,%f,%f)\n", i,
|
||||
|
||||
|
||||
m_jointFeedback[i]->m_appliedForceBodyB.x(),
|
||||
m_jointFeedback[i]->m_appliedForceBodyB.y(),
|
||||
m_jointFeedback[i]->m_appliedForceBodyB.z(),
|
||||
m_jointFeedback[i]->m_appliedTorqueBodyB.x(),
|
||||
m_jointFeedback[i]->m_appliedTorqueBodyB.y(),
|
||||
m_jointFeedback[i]->m_appliedTorqueBodyB.z());
|
||||
}
|
||||
}
|
||||
count++;
|
||||
|
||||
//CommonRigidBodyBase::stepSimulation(deltaTime);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void TestHingeTorque::initPhysics()
|
||||
{
|
||||
int upAxis = 1;
|
||||
m_guiHelper->setUpAxis(upAxis);
|
||||
|
||||
createEmptyDynamicsWorld();
|
||||
m_dynamicsWorld->getSolverInfo().m_splitImpulse = false;
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
|
||||
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
int mode = btIDebugDraw::DBG_DrawWireframe
|
||||
+btIDebugDraw::DBG_DrawConstraints
|
||||
+btIDebugDraw::DBG_DrawConstraintLimits;
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
|
||||
|
||||
|
||||
{ // create a door using hinge constraint attached to the world
|
||||
|
||||
int numLinks = 2;
|
||||
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
||||
bool canSleep = false;
|
||||
bool selfCollide = false;
|
||||
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
|
||||
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
|
||||
|
||||
btBoxShape* baseBox = new btBoxShape(baseHalfExtents);
|
||||
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
|
||||
btTransform baseWorldTrans;
|
||||
baseWorldTrans.setIdentity();
|
||||
baseWorldTrans.setOrigin(basePosition);
|
||||
|
||||
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 0.f;
|
||||
float linkMass = 1.f;
|
||||
|
||||
btRigidBody* base = createRigidBody(baseMass,baseWorldTrans,baseBox);
|
||||
m_dynamicsWorld->removeRigidBody(base);
|
||||
base->setDamping(0,0);
|
||||
m_dynamicsWorld->addRigidBody(base,collisionFilterGroup,collisionFilterMask);
|
||||
btBoxShape* linkBox1 = new btBoxShape(linkHalfExtents);
|
||||
btSphereShape* linkSphere = new btSphereShape(radius);
|
||||
|
||||
btRigidBody* prevBody = base;
|
||||
|
||||
for (int i=0;i<numLinks;i++)
|
||||
{
|
||||
btTransform linkTrans;
|
||||
linkTrans = baseWorldTrans;
|
||||
|
||||
linkTrans.setOrigin(basePosition-btVector3(0,linkHalfExtents[1]*2.f*(i+1),0));
|
||||
|
||||
btCollisionShape* colOb = 0;
|
||||
|
||||
if (i==0)
|
||||
{
|
||||
colOb = linkBox1;
|
||||
} else
|
||||
{
|
||||
colOb = linkSphere;
|
||||
}
|
||||
btRigidBody* linkBody = createRigidBody(linkMass,linkTrans,colOb);
|
||||
m_dynamicsWorld->removeRigidBody(linkBody);
|
||||
m_dynamicsWorld->addRigidBody(linkBody,collisionFilterGroup,collisionFilterMask);
|
||||
linkBody->setDamping(0,0);
|
||||
btTypedConstraint* con = 0;
|
||||
|
||||
if (i==0)
|
||||
{
|
||||
//create a hinge constraint
|
||||
btVector3 pivotInA(0,-linkHalfExtents[1],0);
|
||||
btVector3 pivotInB(0,linkHalfExtents[1],0);
|
||||
btVector3 axisInA(1,0,0);
|
||||
btVector3 axisInB(1,0,0);
|
||||
bool useReferenceA = true;
|
||||
btHingeConstraint* hinge = new btHingeConstraint(*prevBody,*linkBody,
|
||||
pivotInA,pivotInB,
|
||||
axisInA,axisInB,useReferenceA);
|
||||
con = hinge;
|
||||
} else
|
||||
{
|
||||
|
||||
btTransform pivotInA(btQuaternion::getIdentity(),btVector3(0, -radius, 0)); //par body's COM to cur body's COM offset
|
||||
btTransform pivotInB(btQuaternion::getIdentity(),btVector3(0, radius, 0)); //cur body's COM to cur body's PIV offset
|
||||
btGeneric6DofSpring2Constraint* fixed = new btGeneric6DofSpring2Constraint(*prevBody, *linkBody,
|
||||
pivotInA,pivotInB);
|
||||
fixed->setLinearLowerLimit(btVector3(0,0,0));
|
||||
fixed->setLinearUpperLimit(btVector3(0,0,0));
|
||||
fixed->setAngularLowerLimit(btVector3(0,0,0));
|
||||
fixed->setAngularUpperLimit(btVector3(0,0,0));
|
||||
|
||||
con = fixed;
|
||||
|
||||
}
|
||||
btAssert(con);
|
||||
if (con)
|
||||
{
|
||||
btJointFeedback* fb = new btJointFeedback();
|
||||
m_jointFeedback.push_back(fb);
|
||||
con->setJointFeedback(fb);
|
||||
|
||||
m_dynamicsWorld->addConstraint(con,true);
|
||||
}
|
||||
prevBody = linkBody;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (1)
|
||||
{
|
||||
btVector3 groundHalfExtents(1,1,0.2);
|
||||
groundHalfExtents[upAxis]=1.f;
|
||||
btBoxShape* box = new btBoxShape(groundHalfExtents);
|
||||
box->initializePolyhedralFeatures();
|
||||
|
||||
btTransform start; start.setIdentity();
|
||||
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
|
||||
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
|
||||
btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
|
||||
|
||||
groundOrigin[upAxis] -=.5;
|
||||
groundOrigin[2]-=0.6;
|
||||
start.setOrigin(groundOrigin);
|
||||
// start.setRotation(groundOrn);
|
||||
btRigidBody* body = createRigidBody(0,start,box);
|
||||
body->setFriction(0);
|
||||
|
||||
}
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
class CommonExampleInterface* TestHingeTorqueCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new TestHingeTorque(options.m_guiHelper);
|
||||
}
|
||||
7
Engine/lib/bullet/examples/Constraints/TestHingeTorque.h
Normal file
7
Engine/lib/bullet/examples/Constraints/TestHingeTorque.h
Normal file
|
|
@ -0,0 +1,7 @@
|
|||
#ifndef TEST_HINGE_TORQUE_H
|
||||
#define TEST_HINGE_TORQUE_H
|
||||
|
||||
class CommonExampleInterface* TestHingeTorqueCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //TEST_HINGE_TORQUE_H
|
||||
|
||||
450
Engine/lib/bullet/examples/DynamicControlDemo/MotorDemo.cpp
Normal file
450
Engine/lib/bullet/examples/DynamicControlDemo/MotorDemo.cpp
Normal file
|
|
@ -0,0 +1,450 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
|
||||
Motor Demo
|
||||
|
||||
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 "btBulletDynamicsCommon.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "MotorDemo.h"
|
||||
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
class btBroadphaseInterface;
|
||||
class btCollisionShape;
|
||||
class btOverlappingPairCache;
|
||||
class btCollisionDispatcher;
|
||||
class btConstraintSolver;
|
||||
struct btCollisionAlgorithmCreateFunc;
|
||||
class btDefaultCollisionConfiguration;
|
||||
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
|
||||
class MotorDemo : public CommonRigidBodyBase
|
||||
{
|
||||
float m_Time;
|
||||
float m_fCyclePeriod; // in milliseconds
|
||||
float m_fMuscleStrength;
|
||||
|
||||
btAlignedObjectArray<class TestRig*> m_rigs;
|
||||
|
||||
|
||||
public:
|
||||
MotorDemo(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void exitPhysics();
|
||||
|
||||
virtual ~MotorDemo()
|
||||
{
|
||||
}
|
||||
|
||||
void spawnTestRig(const btVector3& startOffset, bool bFixed);
|
||||
|
||||
// virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
void setMotorTargets(btScalar deltaTime);
|
||||
|
||||
void resetCamera()
|
||||
{
|
||||
float dist = 11;
|
||||
float pitch = 52;
|
||||
float yaw = 35;
|
||||
float targetPos[3]={0,0.46,0};
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI 3.14159265358979323846
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_2
|
||||
#define M_PI_2 1.57079632679489661923
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_4
|
||||
#define M_PI_4 0.785398163397448309616
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_8
|
||||
#define M_PI_8 0.5 * M_PI_4
|
||||
#endif
|
||||
|
||||
|
||||
// /LOCAL FUNCTIONS
|
||||
|
||||
|
||||
|
||||
#define NUM_LEGS 6
|
||||
#define BODYPART_COUNT 2 * NUM_LEGS + 1
|
||||
#define JOINT_COUNT BODYPART_COUNT - 1
|
||||
|
||||
class TestRig
|
||||
{
|
||||
btDynamicsWorld* m_ownerWorld;
|
||||
btCollisionShape* m_shapes[BODYPART_COUNT];
|
||||
btRigidBody* m_bodies[BODYPART_COUNT];
|
||||
btTypedConstraint* m_joints[JOINT_COUNT];
|
||||
|
||||
btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
|
||||
{
|
||||
bool isDynamic = (mass != 0.f);
|
||||
|
||||
btVector3 localInertia(0,0,0);
|
||||
if (isDynamic)
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
m_ownerWorld->addRigidBody(body);
|
||||
|
||||
return body;
|
||||
}
|
||||
|
||||
|
||||
public:
|
||||
TestRig (btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
|
||||
: m_ownerWorld (ownerWorld)
|
||||
{
|
||||
btVector3 vUp(0, 1, 0);
|
||||
|
||||
//
|
||||
// Setup geometry
|
||||
//
|
||||
float fBodySize = 0.25f;
|
||||
float fLegLength = 0.45f;
|
||||
float fForeLegLength = 0.75f;
|
||||
m_shapes[0] = new btCapsuleShape(btScalar(fBodySize), btScalar(0.10));
|
||||
int i;
|
||||
for ( i=0; i<NUM_LEGS; i++)
|
||||
{
|
||||
m_shapes[1 + 2*i] = new btCapsuleShape(btScalar(0.10), btScalar(fLegLength));
|
||||
m_shapes[2 + 2*i] = new btCapsuleShape(btScalar(0.08), btScalar(fForeLegLength));
|
||||
}
|
||||
|
||||
//
|
||||
// Setup rigid bodies
|
||||
//
|
||||
float fHeight = 0.5;
|
||||
btTransform offset; offset.setIdentity();
|
||||
offset.setOrigin(positionOffset);
|
||||
|
||||
// root
|
||||
btVector3 vRoot = btVector3(btScalar(0.), btScalar(fHeight), btScalar(0.));
|
||||
btTransform transform;
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(vRoot);
|
||||
if (bFixed)
|
||||
{
|
||||
m_bodies[0] = localCreateRigidBody(btScalar(0.), offset*transform, m_shapes[0]);
|
||||
} else
|
||||
{
|
||||
m_bodies[0] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[0]);
|
||||
}
|
||||
// legs
|
||||
for ( i=0; i<NUM_LEGS; i++)
|
||||
{
|
||||
float fAngle = 2 * M_PI * i / NUM_LEGS;
|
||||
float fSin = sin(fAngle);
|
||||
float fCos = cos(fAngle);
|
||||
|
||||
transform.setIdentity();
|
||||
btVector3 vBoneOrigin = btVector3(btScalar(fCos*(fBodySize+0.5*fLegLength)), btScalar(fHeight), btScalar(fSin*(fBodySize+0.5*fLegLength)));
|
||||
transform.setOrigin(vBoneOrigin);
|
||||
|
||||
// thigh
|
||||
btVector3 vToBone = (vBoneOrigin - vRoot).normalize();
|
||||
btVector3 vAxis = vToBone.cross(vUp);
|
||||
transform.setRotation(btQuaternion(vAxis, M_PI_2));
|
||||
m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[1+2*i]);
|
||||
|
||||
// shin
|
||||
transform.setIdentity();
|
||||
transform.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(fHeight-0.5*fForeLegLength), btScalar(fSin*(fBodySize+fLegLength))));
|
||||
m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[2+2*i]);
|
||||
}
|
||||
|
||||
// Setup some damping on the m_bodies
|
||||
for (i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_bodies[i]->setDamping(0.05, 0.85);
|
||||
m_bodies[i]->setDeactivationTime(0.8);
|
||||
//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
|
||||
m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
|
||||
}
|
||||
|
||||
|
||||
//
|
||||
// Setup the constraints
|
||||
//
|
||||
btHingeConstraint* hingeC;
|
||||
//btConeTwistConstraint* coneC;
|
||||
|
||||
btTransform localA, localB, localC;
|
||||
|
||||
for ( i=0; i<NUM_LEGS; i++)
|
||||
{
|
||||
float fAngle = 2 * M_PI * i / NUM_LEGS;
|
||||
float fSin = sin(fAngle);
|
||||
float fCos = cos(fAngle);
|
||||
|
||||
// hip joints
|
||||
localA.setIdentity(); localB.setIdentity();
|
||||
localA.getBasis().setEulerZYX(0,-fAngle,0); localA.setOrigin(btVector3(btScalar(fCos*fBodySize), btScalar(0.), btScalar(fSin*fBodySize)));
|
||||
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
|
||||
hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
|
||||
hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8));
|
||||
//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
|
||||
m_joints[2*i] = hingeC;
|
||||
m_ownerWorld->addConstraint(m_joints[2*i], true);
|
||||
|
||||
// knee joints
|
||||
localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
|
||||
localA.getBasis().setEulerZYX(0,-fAngle,0); localA.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(0.), btScalar(fSin*(fBodySize+fLegLength))));
|
||||
localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
|
||||
localC = m_bodies[2+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
|
||||
hingeC = new btHingeConstraint(*m_bodies[1+2*i], *m_bodies[2+2*i], localB, localC);
|
||||
//hingeC->setLimit(btScalar(-0.01), btScalar(0.01));
|
||||
hingeC->setLimit(btScalar(-M_PI_8), btScalar(0.2));
|
||||
m_joints[1+2*i] = hingeC;
|
||||
m_ownerWorld->addConstraint(m_joints[1+2*i], true);
|
||||
}
|
||||
}
|
||||
|
||||
virtual ~TestRig ()
|
||||
{
|
||||
int i;
|
||||
|
||||
// Remove all constraints
|
||||
for ( i = 0; i < JOINT_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeConstraint(m_joints[i]);
|
||||
delete m_joints[i]; m_joints[i] = 0;
|
||||
}
|
||||
|
||||
// Remove all bodies and shapes
|
||||
for ( i = 0; i < BODYPART_COUNT; ++i)
|
||||
{
|
||||
m_ownerWorld->removeRigidBody(m_bodies[i]);
|
||||
|
||||
delete m_bodies[i]->getMotionState();
|
||||
|
||||
delete m_bodies[i]; m_bodies[i] = 0;
|
||||
delete m_shapes[i]; m_shapes[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
btTypedConstraint** GetJoints() {return &m_joints[0];}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
void motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
|
||||
{
|
||||
MotorDemo* motorDemo = (MotorDemo*)world->getWorldUserInfo();
|
||||
|
||||
motorDemo->setMotorTargets(timeStep);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void MotorDemo::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
// Setup the basic world
|
||||
|
||||
m_Time = 0;
|
||||
m_fCyclePeriod = 2000.f; // in milliseconds
|
||||
|
||||
// m_fMuscleStrength = 0.05f;
|
||||
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
|
||||
// should be (numberOfsolverIterations * oldLimits)
|
||||
// currently solver uses 10 iterations, so:
|
||||
m_fMuscleStrength = 0.5f;
|
||||
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
|
||||
btVector3 worldAabbMin(-10000,-10000,-10000);
|
||||
btVector3 worldAabbMax(10000,10000,10000);
|
||||
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
||||
|
||||
m_solver = new btSequentialImpulseConstraintSolver;
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
|
||||
m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true);
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
|
||||
// Setup a big ground box
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
|
||||
m_collisionShapes.push_back(groundShape);
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-10,0));
|
||||
createRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
}
|
||||
|
||||
// Spawn one ragdoll
|
||||
btVector3 startOffset(1,0.5,0);
|
||||
spawnTestRig(startOffset, false);
|
||||
startOffset.setValue(-2,0.5,0);
|
||||
spawnTestRig(startOffset, true);
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
|
||||
void MotorDemo::spawnTestRig(const btVector3& startOffset, bool bFixed)
|
||||
{
|
||||
TestRig* rig = new TestRig(m_dynamicsWorld, startOffset, bFixed);
|
||||
m_rigs.push_back(rig);
|
||||
}
|
||||
|
||||
void PreStep()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void MotorDemo::setMotorTargets(btScalar deltaTime)
|
||||
{
|
||||
|
||||
float ms = deltaTime*1000000.;
|
||||
float minFPS = 1000000.f/60.f;
|
||||
if (ms > minFPS)
|
||||
ms = minFPS;
|
||||
|
||||
m_Time += ms;
|
||||
|
||||
//
|
||||
// set per-frame sinusoidal position targets using angular motor (hacky?)
|
||||
//
|
||||
for (int r=0; r<m_rigs.size(); r++)
|
||||
{
|
||||
for (int i=0; i<2*NUM_LEGS; i++)
|
||||
{
|
||||
btHingeConstraint* hingeC = static_cast<btHingeConstraint*>(m_rigs[r]->GetJoints()[i]);
|
||||
btScalar fCurAngle = hingeC->getHingeAngle();
|
||||
|
||||
btScalar fTargetPercent = (int(m_Time / 1000) % int(m_fCyclePeriod)) / m_fCyclePeriod;
|
||||
btScalar fTargetAngle = 0.5 * (1 + sin(2 * M_PI * fTargetPercent));
|
||||
btScalar fTargetLimitAngle = hingeC->getLowerLimit() + fTargetAngle * (hingeC->getUpperLimit() - hingeC->getLowerLimit());
|
||||
btScalar fAngleError = fTargetLimitAngle - fCurAngle;
|
||||
btScalar fDesiredAngularVel = 1000000.f * fAngleError/ms;
|
||||
hingeC->enableAngularMotor(true, fDesiredAngularVel, m_fMuscleStrength);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
#if 0
|
||||
void MotorDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case '+': case '=':
|
||||
m_fCyclePeriod /= 1.1f;
|
||||
if (m_fCyclePeriod < 1.f)
|
||||
m_fCyclePeriod = 1.f;
|
||||
break;
|
||||
case '-': case '_':
|
||||
m_fCyclePeriod *= 1.1f;
|
||||
break;
|
||||
case '[':
|
||||
m_fMuscleStrength /= 1.1f;
|
||||
break;
|
||||
case ']':
|
||||
m_fMuscleStrength *= 1.1f;
|
||||
break;
|
||||
default:
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
void MotorDemo::exitPhysics()
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
for (i=0;i<m_rigs.size();i++)
|
||||
{
|
||||
TestRig* rig = m_rigs[i];
|
||||
delete rig;
|
||||
}
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
|
||||
|
||||
class CommonExampleInterface* MotorControlCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new MotorDemo(options.m_guiHelper);
|
||||
}
|
||||
23
Engine/lib/bullet/examples/DynamicControlDemo/MotorDemo.h
Normal file
23
Engine/lib/bullet/examples/DynamicControlDemo/MotorDemo.h
Normal file
|
|
@ -0,0 +1,23 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library Copyright (c) 2007 Erwin Coumans
|
||||
Motor Demo
|
||||
|
||||
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 MOTORDEMO_H
|
||||
#define MOTORDEMO_H
|
||||
|
||||
class CommonExampleInterface* MotorControlCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif
|
||||
BIN
Engine/lib/bullet/examples/ExampleBrowser/App_ExampleBrowser
Executable file
BIN
Engine/lib/bullet/examples/ExampleBrowser/App_ExampleBrowser
Executable file
Binary file not shown.
|
|
@ -0,0 +1,146 @@
|
|||
|
||||
# Consider dependencies only in project.
|
||||
set(CMAKE_DEPENDS_IN_PROJECT_ONLY OFF)
|
||||
|
||||
# The set of languages for which implicit dependencies are needed:
|
||||
set(CMAKE_DEPENDS_LANGUAGES
|
||||
)
|
||||
|
||||
# The set of dependency files which are needed:
|
||||
set(CMAKE_DEPENDS_DEPENDENCY_FILES
|
||||
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btQuadWord.h \
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/stdio.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/stdio.h \
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_stdio.h \
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_va_list.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/stdio.h \
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||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/_ctermid.h \
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_off_t.h \
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/sys/_types/_ssize_t.h \
|
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/Collision/../CommonInterfaces/CommonGUIHelperInterface.h \
|
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/Collision/../RenderingExamples/TimeSeriesCanvas.h \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/ThirdPartyLibs/stb_image/stb_image.h \
|
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common/b3Quaternion.h \
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common/b3QuadWord.h \
|
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/Bullet3Common/b3Matrix3x3.h \
|
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/Collision/../CommonInterfaces/CommonParameterInterface.h \
|
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btAlignedObjectArray.h \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/new \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__availability \
|
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/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/cstdlib \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/exception \
|
||||
/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX12.3.sdk/usr/include/c++/v1/__memory/addressof.h \
|
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/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/examples/Collision/CollisionSdkC_Api.h \
|
||||
/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/LinearMath/btQuickprof.h
|
||||
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