mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-03-10 07:50:44 +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
|
|
@ -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);
|
||||
}
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue