void PairCollisionFilter::createFloor() {
hkVector4 fixedBoxSize(5.f, .5f, 5.f);
hkpBoxShape* fixedBoxShape = new hkpBoxShape(fixedBoxSize, 0);
hkpRigidBodyCinfo info;
info.m_shape = fixedBoxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
info.m_position.set(0.f, -1.f, 0.f);
hkpRigidBody* lowerFloor = new hkpRigidBody(info);
m_world->addEntity(lowerFloor);
lowerFloor->removeReference();
fixedBoxShape->removeReference();
}
hkpRigidBody* PairCollisionFilter::create2ndFloor() {
hkVector4 fixedBoxSize(3.f, .5f, 3.f);
hkpBoxShape* fixedBoxShape = new hkpBoxShape(fixedBoxSize, 0);
hkpRigidBodyCinfo info;
info.m_shape = fixedBoxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
info.m_position.set(0.f, 4.f, 0.f);
hkpRigidBody* upperFloor = new hkpRigidBody(info);
m_world->addEntity(upperFloor);
upperFloor->removeReference();
fixedBoxShape->removeReference();
return upperFloor;
}
UserCollisionFilterDemo::UserCollisionFilterDemo( hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
//
// Setup the camera
//
{
hkVector4 from(10.0f, 10.0f, 15.0f);
hkVector4 to(0.0f, 3.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
//
// Create the world
//
{
hkpWorldCinfo info;
m_world = new hkpWorld( info );
m_world->lock();
setupGraphics();
}
//
// Register the box-box collision agent
//
{
hkpAgentRegisterUtil::registerAllAgents( m_world->getCollisionDispatcher() );
}
/// To add the filter to the world we simply instantiate a new filter and set it to be active:
//
// Create the my collision filter
//
{
MyCollisionFilter* filter = new MyCollisionFilter();
m_world->setCollisionFilter( filter );
filter->removeReference();
}
// NOTE: You must set the collision filter prior to adding any entities to the world otherwise the pre-filter
// added entities could cause undesirable behaviour before the filter is active.
// All three objects are hkpBoxShape shapes, two of which are fixed and the third dynamic. In order to allow
// our filters work correctly we must assign each of the objects a collision 'group'. Both the lower floor
// and the dynamic box have their collision 'group' set to zero:
//
// Create the floor with collisioninfo = 0
//
{
hkpRigidBodyCinfo info;
hkVector4 fixedBoxSize(5.0f, .5f , 5.0f );
hkpBoxShape* fixedBoxShape = new hkpBoxShape( fixedBoxSize , 0 );
info.m_shape = fixedBoxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
info.m_position.set(0.0f, -1.0f, 0.0f);
// Create fixed box
hkpRigidBody* floor = new hkpRigidBody(info);
floor->setCollisionFilterInfo(0);
m_world->addEntity(floor);
floor->removeReference();
fixedBoxShape->removeReference();
}
// Whereas the upper floor belongs to the 'one' group:
//
// Create the floor with collisioninfo = 1
//
{
hkpRigidBodyCinfo info;
hkVector4 fixedBoxSize(3.0f, .5f , 3.0f );
hkpBoxShape* fixedBoxShape = new hkpBoxShape( fixedBoxSize , 0 );
info.m_shape = fixedBoxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
info.m_position.set(0.0f,4.0f,0.0f);
// Create fixed box
hkpRigidBody* floor = new hkpRigidBody(info);
fixedBoxShape->removeReference();
floor->setCollisionFilterInfo(1);
m_world->addEntity(floor);
floor->removeReference();
}
// In this way only the lower floor and the dynamic box will interact based on the rule we defined in
// MyCollisionFilter::isCollisionEnabled(...).
//
// Create a moving box with collisioninfo = 0, so it will collide with only the "bottom" floor
//
{
hkpRigidBodyCinfo boxInfo;
hkVector4 boxSize( .5f, .5f ,.5f );
hkpShape* boxShape = new hkpBoxShape( boxSize , 0 );
boxInfo.m_shape = boxShape;
boxInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
// Compute the box inertia tensor
hkReal boxMass = 1.0f;
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties( boxSize, boxMass, massProperties );
boxInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
boxInfo.m_mass = boxMass;
boxInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
boxInfo.m_position.set(0.0f, 7.0f, 0.0f);
hkpRigidBody* boxRigidBody = new hkpRigidBody( boxInfo );
boxShape->removeReference();
boxRigidBody->setCollisionFilterInfo(0); // HERE WE SET THE COLLISION FILTER INFO
m_world->addEntity( boxRigidBody );
boxRigidBody->removeReference();
}
m_world->unlock();
}
ExtendedUserDataDemo::ExtendedUserDataDemo( hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
//
// Setup the camera
//
{
hkVector4 from(3.0f, 4.0f, 8.0f);
hkVector4 to(0.0f, 1.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
//
// Create the world
//
{
hkpWorldCinfo info;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
info.setBroadPhaseWorldSize( 100.0f );
info.m_simulationType = info.SIMULATION_TYPE_CONTINUOUS;
// Turn off deactivation so we can see continuous contact point processing
info.m_enableDeactivation = false;
m_world = new hkpWorld( info );
m_world->lock();
setupGraphics();
}
//
// Register the box-box collision agent
//
{
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
}
//
// Create the floor
//
{
hkpRigidBodyCinfo info;
hkVector4 fixedBoxSize(5.0f, 0.5f , 5.0f );
hkpBoxShape* fixedBoxShape = new hkpBoxShape( fixedBoxSize , 0 );
info.m_shape = fixedBoxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
info.m_position.setZero4();
// Add some bounce.
info.m_restitution = 0.8f;
info.m_friction = 1.0f;
// Force this to collide on PPU and raise all callbacks
info.m_forceCollideOntoPpu = true;
// Force this to collide on PPU and raise all callbacks
info.m_forceCollideOntoPpu = true;
// Create fixed box
hkpRigidBody* floor = new hkpRigidBody(info);
m_world->addEntity(floor);
floor->removeReference();
fixedBoxShape->removeReference();
}
// For this demo we simply have two box shapes which are constructed in the usual manner using a hkpRigidBodyCinfo 'blueprint'.
// The dynamic box creation code in presented below. There are two key things to note in this example;
// the 'm_restitution' member variable, which we have explicitly set to value of 0.9.
// The restitution is over twice the default value of
// 0.4 and is set to give the box (the floor has been set likewise) a more 'bouncy' nature.
//
// Create a moving object
//
{
hkpRigidBodyCinfo multiSpheresInfo;
hkVector4 boxSize( .5f, .5f ,.5f );
// Build listShape of spheres
//
{
hkpSphereShape* sphere = new hkpSphereShape(0.2f);
hkReal size = 0.5f;
hkpShape* shapes[8];
for (int i = 0; i < 8; i++)
{
hkReal px = i&0x1 ? -size : size;
hkReal py = i&0x2 ? -size : size;
hkReal pz = i&0x4 ? -size : size;
hkVector4 translation(px, py, pz);
shapes[i] = new hkpConvexTranslateShape(sphere, translation);
}
sphere->removeReference();
hkpListShape* list = new hkpListShape(shapes, 8);
for(int i = 0; i < 8; i++)
{
shapes[i]->removeReference();
}
multiSpheresInfo.m_shape = list;
}
// Compute the box inertia tensor
hkpInertiaTensorComputer::setShapeVolumeMassProperties( multiSpheresInfo.m_shape, 1.0f, multiSpheresInfo );
multiSpheresInfo.m_qualityType = HK_COLLIDABLE_QUALITY_CRITICAL;
multiSpheresInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
// Place the box so it bounces interestingly
multiSpheresInfo.m_position.set(0.0f, 5.0f, 0.0f);
hkVector4 axis(1.0f, 2.0f, 3.0f);
axis.normalize3();
multiSpheresInfo.m_rotation.setAxisAngle(axis, -0.7f);
// Add some bounce.
multiSpheresInfo.m_restitution = 0.5f;
multiSpheresInfo.m_friction = 0.1f;
multiSpheresInfo.m_numUserDatasInContactPointProperties = 3;
hkpRigidBody* multiSphereRigidBody = new hkpRigidBody( multiSpheresInfo );
// remove reference from boxShape since rigid body "owns" it
multiSpheresInfo.m_shape->removeReference();
m_world->addEntity( multiSphereRigidBody );
multiSphereRigidBody->removeReference();
// Add the collision event listener to the rigid body
m_listener = new MyExtendedUserDataListener( multiSphereRigidBody );
}
m_world->unlock();
}
SlidingWorldDemo::SlidingWorldDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env), m_time(0.0f), m_ticks(1), m_currentMode(MANUAL_SHIFT), m_delayBetweenAutomaticShifts(90)
{
// Disable warnings:
hkError::getInstance().setEnabled(0xf0ff00a1, false); //'Attempting to remove an entity twice)'
// Set up the camera.
{
hkVector4 from(0.0f, 75.0f, 30.0f);
hkVector4 to(0.0f, 3.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
m_centers[0].set(10, 0, 0);
m_centers[1].set(10, 0, 10);
m_centers[2].set(0, 0, 10);
m_centers[3].set(-10, 0, 10);
m_centers[4].set(-10, 0, 0);
m_centers[5].set(-10, 0, -10);
m_centers[6].set(0, 0, -10);
m_centers[7].set(10, 0, -10);
m_currentCenter.setAll(0);
// Create the world.
{
hkpWorldCinfo info;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
//info.setBroadPhaseWorldSize( 120.0f );
info.setBroadPhaseWorldSize( 30.0f );
m_world = new hkpWorld( info );
m_world->m_wantDeactivation = true;
m_world->lock();
// N.B. We need this border 'for safety': it should play no part in the 'broadphase moving' or the 'coordinate shfting' -
// the border callbacks are *not* fired as a result of calls to hkBroadphase::shiftBroadPhase() or hkBroadphase::shiftAllObjects().
// They will be fired as a result of body addition or world stepping, so this will ensure that bodies added or moved
// (under integration) get correctly removed from simulation so that the only body not fully contained inside the broadphase
// is a single fixed body (assumed to be a large, level-encompassing landscape tile.
SlidingWorldBroadphaseBorder *border = new SlidingWorldBroadphaseBorder( m_world );
m_world->setBroadPhaseBorder(border);
border->removeReference();
// Setup the rest of the default viewers:
setupGraphics();
// Register all collision agents
hkpAgentRegisterUtil::registerAllAgents( m_world->getCollisionDispatcher() );
}
// Create the fixed floor box.
{
hkVector4 fixedBoxSize(30.0f, .5f , 30.0f );
hkpRigidBodyCinfo info;
info.m_shape = new hkpBoxShape( fixedBoxSize , 0 );
info.m_motionType = hkpMotion::MOTION_FIXED;
// Create fixed box.
hkpRigidBody* box = new hkpRigidBody(info);
m_world->addEntity(box)->removeReference();
info.m_shape->removeReference();
}
{
// Create a single shape, and reuse it for all bodies.
hkVector4 boxSize( .75f, .75f ,.75f );
hkpShape* boxShape = new hkpBoxShape( boxSize , 0 );
hkpRigidBodyCinfo boxInfo;
boxInfo.m_shape = boxShape;
boxInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
// Compute the box inertia tensor.
hkpInertiaTensorComputer::setShapeVolumeMassProperties(boxInfo.m_shape, 5.0f, boxInfo);
boxInfo.m_rigidBodyDeactivatorType = hkpRigidBodyDeactivator::DEACTIVATOR_NEVER;
for (int i = -20; i <= 20; i += 5)
{
for (int j = -20; j <= 20; j += 5)
{
boxInfo.m_position.set( (hkReal)i, 2.0f, (hkReal)j );
hkpRigidBody* boxRigidBody = new hkpRigidBody(boxInfo);
m_world->addEntity( boxRigidBody);
m_boxes.pushBack(boxRigidBody);
}
}
boxShape->removeReference();
}
m_world->unlock();
}
PhantomEventsDemo::PhantomEventsDemo( hkDemoEnvironment* env )
: hkDefaultPhysicsDemo(env, DEMO_FLAGS_NO_SERIALIZE)
{
//
// Setup the camera
//
{
hkVector4 from(13.0f, 10.0f, 13.0f);
hkVector4 to (0.0f, 0.0f, 0.0f);
hkVector4 up (0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
//
// Create the world
//
{
hkpWorldCinfo info;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
info.setBroadPhaseWorldSize( 100.0f );
info.m_enableDeactivation = false;
m_world = new hkpWorld( info );
m_world->lock();
setupGraphics();
}
//
// Register the collision agents
//
{
hkpAgentRegisterUtil::registerAllAgents( m_world->getCollisionDispatcher() );
}
// In this demo we have three different objects; the wall, the sphere and a phantom volume. Both the wall, which is simply a box,
// and the sphere are created in the usual manner using a hkpRigidBodyCinfo 'blueprint' and are added to the world.
//
// Create the wall box
//
{
hkpRigidBodyCinfo info;
hkVector4 fixedBoxSize( 0.5f, 5.0f , 5.0f );
hkpBoxShape* fixedBoxShape = new hkpBoxShape( fixedBoxSize , 0 );
info.m_shape = fixedBoxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
info.m_position.set(-2.0f, 0.0f ,0.0f);
// Add some bounce.
info.m_restitution = 0.9f;
// Create fixed box
hkpRigidBody* floor = new hkpRigidBody(info);
m_world->addEntity(floor);
floor->removeReference();
fixedBoxShape->removeReference();
}
//
// Create a moving sphere
//
{
hkReal radius = 0.5f;
hkpConvexShape* sphereShape = new hkpSphereShape(radius);
// To illustrate using the shape, create a rigid body.
hkpRigidBodyCinfo sphereInfo;
sphereInfo.m_shape = sphereShape;
sphereInfo.m_position.set(2.0f, 0.0f, 0.0f);
sphereInfo.m_restitution = 0.9f;
sphereInfo.m_motionType = hkpMotion::MOTION_SPHERE_INERTIA;
// If we need to compute mass properties, we'll do this using the hkpInertiaTensorComputer.
if (sphereInfo.m_motionType != hkpMotion::MOTION_FIXED)
{
sphereInfo.m_mass = 10.0f;
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(radius, sphereInfo.m_mass, massProperties);
sphereInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
sphereInfo.m_centerOfMass = massProperties.m_centerOfMass;
sphereInfo.m_mass = massProperties.m_mass;
}
// Create a rigid body (using the template above)
hkpRigidBody* sphereRigidBody = new hkpRigidBody(sphereInfo);
// Remove reference since the body now "owns" the Shape
sphereShape->removeReference();
// Finally add body so we can see it, and remove reference since the world now "owns" it.
m_world->addEntity(sphereRigidBody);
sphereRigidBody->removeReference();
}
// Given below is the construction code for the phantom volume:
//
// Create a PHANTOM floor
//
{
hkpRigidBodyCinfo boxInfo;
hkVector4 boxSize( 4.0f, 1.5f , 2.0f );
hkpShape* boxShape = new hkpBoxShape( boxSize , 0 );
boxInfo.m_motionType = hkpMotion::MOTION_FIXED;
boxInfo.m_position.set(2.0f, -4.0f, 0.0f);
MyPhantomShape* myPhantomShape = new MyPhantomShape();
hkpBvShape* bvShape = new hkpBvShape( boxShape, myPhantomShape );
boxShape->removeReference();
myPhantomShape->removeReference();
boxInfo.m_shape = bvShape;
hkpRigidBody* boxRigidBody = new hkpRigidBody( boxInfo );
bvShape->removeReference();
m_world->addEntity( boxRigidBody );
// the color can only be changed after the entity has been added to the world
HK_SET_OBJECT_COLOR((hkUlong)boxRigidBody->getCollidable(), hkColor::rgbFromChars(255, 255, 255, 50));
boxRigidBody->removeReference();
}
// The phantom volume is created using a hkpBvShape using a hkpBoxShape as the bounding volume and a
// hkpPhantomCallbackShape as the child shape. The volume is set to be fixed in space and coloured with a slight alpha blend.
//
// Once the simulation starts the ball drops into the phantom volume, upon notification of this event we colour the ball
// RED and wait for an exit event. As soon as this event is raised we colour the ball GREEN and apply an impulse upwards
// back towards the wall and the simulation repeats.
m_world->unlock();
}
// A demo which shows drag being applied to several objects.
PrevailingWindDemo::PrevailingWindDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
// X and Z are the half-extents of the floor, and Y is the height of the walls.
hkReal x = 20.0f;
hkReal y = 4.0f;
hkReal z = 20.0f;
//
// Setup the camera.
//
{
hkVector4 from( 0.0f, y * (4.0f), z * 2.0f );
hkVector4 to(0.0f, 0.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
//
// Create the world.
//
{
hkpWorldCinfo info;
m_world = new hkpWorld( info );
m_world->lock();
setupGraphics();
}
//
// Register all collision agents.
//
{
hkpAgentRegisterUtil::registerAllAgents( m_world->getCollisionDispatcher() );
}
// Create the wind
{
m_wind = new hkpPrevailingWind( hkVector4( 1.0f, 0.5f, 0.5f ) );
m_wind->addOscillation( hkVector4( 0.6f, 0.0f, 0.2f ), 5.0f, 1.0f, 0.75f);
m_wind->addOscillation( hkVector4( 1.5f, 1.0f, 0.0f ), 13.0f);
m_wind->addOscillation( hkVector4( 2.5f, 0.0f, 1.0f ), 31.0f, 2.0f );
// Let the wind update the oscillators.
m_world->addWorldPostSimulationListener( m_wind );
}
hkVector4 areaSize( x, y, z );
// Create the floor
{
hkpRigidBody* lowerFloor;
hkVector4 fixedBoxSize( 15.0f , 0.5f , 15.0f );
hkpBoxShape* fixedBoxShape = new hkpBoxShape( fixedBoxSize , 0 );
hkpRigidBodyCinfo info;
{
info.m_shape = fixedBoxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
info.m_position.set(0.0f, -0.5f, 0.0f);
}
lowerFloor = new hkpRigidBody(info);
m_world->addEntity(lowerFloor);
lowerFloor->removeReference();
fixedBoxShape->removeReference();
}
createWindmill ( m_world, m_wind, hkVector4( -4.0f, 0.0f, 2.0f ) );
createPalmTree ( m_world, m_wind, hkVector4( 4.0f, 0.0f, -3.0f ) );
createPalmTree ( m_world, m_wind, hkVector4( 8.0f, 0.0f, 5.0f ) );
m_world->unlock();
}
CollisionEventsDemo::CollisionEventsDemo( hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
//
// Setup the camera
//
{
hkVector4 from(3.0f, 4.0f, 8.0f);
hkVector4 to(0.0f, 1.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
//
// Create the world
//
{
hkpWorldCinfo info;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
info.setBroadPhaseWorldSize( 100.0f );
info.m_simulationType = info.SIMULATION_TYPE_CONTINUOUS;
// Turn off deactivation so we can see continuous contact point processing
info.m_enableDeactivation = false;
m_world = new hkpWorld( info );
m_world->lock();
setupGraphics();
}
//
// Register the box-box collision agent
//
{
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
}
//
// Create the floor
//
{
hkpRigidBodyCinfo info;
hkVector4 fixedBoxSize(5.0f, 0.5f , 5.0f );
hkpBoxShape* fixedBoxShape = new hkpBoxShape( fixedBoxSize , 0 );
info.m_shape = fixedBoxShape;
info.m_motionType = hkpMotion::MOTION_FIXED;
info.m_position.setZero4();
// Add some bounce.
info.m_restitution = 0.8f;
info.m_friction = 1.0f;
// Create fixed box
hkpRigidBody* floor = new hkpRigidBody(info);
m_world->addEntity(floor);
floor->removeReference();
fixedBoxShape->removeReference();
}
// For this demo we simply have two box shapes which are constructed in the usual manner using a hkpRigidBodyCinfo 'blueprint'.
// The dynamic box creation code in presented below. There are two key things to note in this example;
// the 'm_restitution' member variable, which we have explicitly set to value of 0.9.
// The restitution is over twice the default value of
// 0.4 and is set to give the box (the floor has been set likewise) a more 'bouncy' nature.
//
// Create a moving box
//
{
hkpRigidBodyCinfo boxInfo;
hkVector4 boxSize( .5f, .5f ,.5f );
boxInfo.m_shape = new hkpBoxShape( boxSize , 0 );
// Compute the box inertia tensor
hkpInertiaTensorComputer::setShapeVolumeMassProperties( boxInfo.m_shape, 1.0f, boxInfo );
boxInfo.m_qualityType = HK_COLLIDABLE_QUALITY_DEBRIS;
boxInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
// Place the box so it bounces interestingly
boxInfo.m_position.set(0.0f, 5.0f, 0.0f);
hkVector4 axis(1.0f, 2.0f, 3.0f);
axis.normalize3();
boxInfo.m_rotation.setAxisAngle(axis, -0.7f);
// Add some bounce.
boxInfo.m_restitution = 0.5f;
boxInfo.m_friction = 0.1f;
hkpRigidBody* boxRigidBody = new hkpRigidBody( boxInfo );
// remove reference from boxShape since rigid body "owns" it
boxInfo.m_shape->removeReference();
m_world->addEntity( boxRigidBody );
boxRigidBody->removeReference();
// Add the collision event listener to the rigid body
MyCollisionListener* listener = new MyCollisionListener( boxRigidBody );
listener->m_reportLevel = m_env->m_reportingLevel;
}
m_world->unlock();
}
