void BulletTestApp::checkPoint()
{
uint32_t i = 0;
for( bullet::Iter object = mWorld->begin(); object != mWorld->end(); ++object, i++ )
{
if( i <= 3 )
continue;
if( object->getUserData())
continue;
// check vertical position
if( object->getPosition().y >= mRing->getPosition().y - 1
&& object->getPosition().y <= mRing->getPosition().y + 1 )
{
// check horizontal position
if( object->getPosition().x >= mRing->getPosition().x - 8
&& object->getPosition().x <= mRing->getPosition().x + 8
&& object->getPosition().z <= mRing->getPosition().z + 8
&& object->getPosition().z >= mRing->getPosition().z - 8 )
{
mPoint++;
object->setUserData( 1 );
}
}
}
}
void BulletTestApp::update()
{
mFrameRate = getAverageFps();
// Update light
mLight->update( mCamera );
// // Set box rotation
// float rotation = math<float>::sin( ( float )getElapsedSeconds() * 0.3333f ) * 0.35f ;
// mGroundTransform.setRotation( btQuaternion( 0.25f, 0.0f, 1.0f + rotation * 0.1f, rotation ) );
// mGroundTransform.setOrigin( btVector3( 0.0f, -60.0f, 0.0f ) );
//
// // Apply rotation to box
// btRigidBody* body = bullet::toBulletRigidBody( mGround );
// body->getMotionState()->setWorldTransform( mGroundTransform );
// body->setWorldTransform( mGroundTransform );
// Update dynamics world
mWorld->update( mFrameRate );
// Remove out of bounds objects
for( bullet::Iter object = mWorld->begin(); object != mWorld->end(); )
{
if ( object != mWorld->begin() && object->getPosition().y < -800.0f )
{
object = mWorld->erase( object );
}
else
{
++object;
}
}
checkPoint();
}
void BulletTestApp::mouseDown( MouseEvent event )
{
Vec2f pos = Vec2f( event.getPos() ) / Vec2f( getWindowSize() );
pos.y = 1.0f - pos.y;
Ray ray = mCamera.generateRay( pos.x, pos.y, getWindowAspectRatio() );
mDragging = mWorld->intersects( ray, mCamera.getFarClip(), &mDragConstraint );
if ( mDragging ) {
mWorld->addConstraint( mDragConstraint, 0.0f, 0.01f );
}
}
void BulletTestApp::mouseUp( MouseEvent event )
{
if ( mDragging ) {
mWorld->removeConstraint( mDragConstraint );
mDragConstraint.reset();
mDragging = false;
}
}
void BulletTestApp::draw()
{
gl::enableDepthRead();
gl::enableDepthWrite();
gl::setViewport( getWindowBounds() );
gl::clear( ColorAf::black() );
gl::setMatrices( mCamera );
gl::pushMatrices();
gl::rotate( Vec3f( -45.0f, 0.0f, 0.0f ) );
uint32_t i = 0;
for ( bullet::Iter iter = mWorld->begin(); iter != mWorld->end(); ++iter, ++i ) {
gl::pushMatrices();
glMultMatrixf( iter->getTransformMatrix() );
bindTexture( i );
switch ( iter->getPrimitiveType() ) {
case CollisionObject::PRIMITIVE_BOX:
gl::draw( mCube );
break;
case CollisionObject::PRIMITIVE_CONE:
gl::draw( mCone );
break;
case CollisionObject::PRIMITIVE_CYLINDER:
gl::draw( mCylinder );
break;
case CollisionObject::PRIMITIVE_SPHERE:
gl::draw( mSphere );
break;
default:
if ( iter->isMeshBody() ) {
gl::draw( bullet::calcTriMesh( iter ) );
}
break;
}
unbindTexture( i );
gl::popMatrices();
}
gl::popMatrices();
mParams.draw();
}
void BulletTestApp::draw()
{
gl::setViewport( getWindowBounds() );
gl::clear( ColorAf::black() );
gl::setMatrices( mCamera );
gl::pushMatrices();
gl::rotate( Vec3f( -45.0f, 0.0f, 0.0f ) );
uint32_t i = 0;
for ( bullet::Iter object = mWorld->begin(); object != mWorld->end(); ++object, i++ ) {
gl::pushMatrices();
glMultMatrixf( object->getTransformMatrix() );
bindTexture( i );
gl::draw( object->getVboMesh() );
unbindTexture( i );
gl::popMatrices();
}
gl::popMatrices();
mParams.draw();
}
void BulletTestApp::draw()
{
gl::setViewport( getWindowBounds() );
gl::clear( ColorAf::black() );
gl::setMatrices( mCamera );
gl::pushMatrices();
gl::rotate( Vec3f( (float)mViewX, (float)mViewY, (float)mViewZ ) );
uint32_t i = 0;
for( bullet::Iter object = mWorld->begin(); object != mWorld->end(); ++object, i++ )
{
TextureType type = TT_GROUND;
if( i == 0 )
type = TT_GROUND;
else if( i == 1 )
type = TT_BACKBOARD;
else if( i == 2 || i == 3 )
type = TT_RING;
else
type = TT_BASKETBALL;
gl::pushMatrices();
glMultMatrixf( object->getTransformMatrix() );
bindTexture( type );
gl::draw( object->getVboMesh() );
unbindTexture( type );
gl::popMatrices();
}
// draw the same torus
// gl::translate( Vec3f( 0.0f, 13.0f, 0.0f ));
// gl::rotate( Quatf( 0.0f, 0.0f, 1.14f, 1.0f ));
// gl::drawTorus( 20, 3, 200, 200 );
gl::popMatrices();
mParams.draw();
}
void BulletTestApp::update()
{
// Run next test
if ( mTest != mTestPrev ) {
mTestPrev = mTest;
initTest();
}
mFrameRate = getAverageFps();
// Update light
mLight->update( mCamera );
if ( mTest < 3 ) {
// Set box rotation
float rotation = math<float>::sin( ( float )getElapsedSeconds() * 0.3333f ) * 0.35f ;
mGroundTransform.setRotation( btQuaternion( 0.25f, 0.0f, 1.0f + rotation * 0.1f, rotation ) );
mGroundTransform.setOrigin( btVector3( 0.0f, -60.0f, 0.0f ) );
// Apply rotation to box
btRigidBody* body = bullet::toBulletRigidBody( mGround );
body->getMotionState()->setWorldTransform( mGroundTransform );
body->setWorldTransform( mGroundTransform );
} else if ( mTest == 6 ) {
// Read data
Channel32f& input = mTerrain->getData();
// Get image dimensions
int32_t height = input.getHeight();
int32_t width = input.getWidth();
// Create output channel
Channel32f output = Channel32f( width, height );
// Move pixel value over by one
for ( int32_t y = 0; y < height; y++ ) {
for ( int32_t x = 0; x < width; x++ ) {
float value = input.getValue( Vec2i( x, y ) );
Vec2i position( ( x + 1 ) % width, ( y + 1 ) % height );
output.setValue( position, value );
}
}
// Copy new data back to original
input.copyFrom( output, output.getBounds() );
// Shift texture coordinates to match positions
vector<Vec2f>& texCoords = mTerrain->getTexCoords();
Vec2f delta( 1.0f / (float)width, 1.0f / (float)height );
for ( vector<Vec2f>::iterator uv = texCoords.begin(); uv != texCoords.end(); ++uv ) {
*uv -= delta;
}
// Update terrain VBO
mTerrain->updateVbo();
} else if ( mTest == 7 ) {
bool init = !mSurface;
if ( mCapture.isCapturing() && mCapture.checkNewFrame() ) {
mSurface = mCapture.getSurface();
ip::flipVertical( &mSurface );
if ( init ) {
mTerrain = new DynamicTerrain( Channel32f( 160, 160 ), -1.0f, 1.0f, Vec3f( 2.0f, 70.0f, 2.0f ), 0.0f );
mWorld->pushBack( mTerrain );
btRigidBody* terrain = ( btRigidBody* )mTerrain->getBulletBody();
terrain->setAngularFactor( 0.6f );
terrain->setFriction( 0.6f );
} else {
mTerrain->getData().copyFrom( Channel32f( mSurface ), Area( 0, 0, 160, 160 ) );
mTerrain->updateVbo();
}
}
}
// Update dynamics world
mWorld->update( mFrameRate );
/*if ( mGround ) {
Iter iter = mWorld->find( mGround );
OutputDebugStringA( toString( iter->getPosition().x ).c_str() );
OutputDebugStringA( "\n" );
}*/
// Remove out of bounbds objects
for ( bullet::Iter object = mWorld->begin(); object != mWorld->end(); ) {
if ( object != mWorld->begin() && object->getPosition().y < -800.0f ) {
object = mWorld->erase( object );
} else {
++object;
}
}
// Remove objects when count is too high
uint32_t max = mTest >= 4 ? MAX_OBJECTS_TERRAIN : MAX_OBJECTS;
if ( mWorld->getNumObjects() > max + 1 ) {
for ( uint32_t i = 1; i < mWorld->getNumObjects() - MAX_OBJECTS_TERRAIN; i++ ) {
mWorld->erase( mWorld->begin() + 1 );
}
}
}
void BulletTestApp::initTest()
{
// Clean up last test
if ( mWorld ) {
mWorld->clear();
}
// Used when generating terrain
Channel32f heightField;
// Create and add the wobbly box
mGroundTransform.setIdentity();
switch ( mTest ) {
case 0:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
bullet::createRigidSphere( mWorld, 50.0f, 64, 0.0f, Vec3f( 0.0f, -50.0f, 0.0f ) );
break;
case 1:
mGround = bullet::createRigidHull( mWorld, mConvex, Vec3f::one() * 50.0f, 0.0f );
break;
case 2:
mGround = bullet::createRigidMesh( mWorld, mConcave, Vec3f( 10.0f, 1.0f, 10.0f ), 0.0f, 0.0f );
break;
case 3:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
break;
case 4:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
break;
case 5:
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD_SM ) ) );
mGround = bullet::createRigidTerrain( mWorld, heightField, -1.0f, 1.0f, Vec3f( 6.0f, 80.0f, 6.0f ), 0.0f );
break;
case 6:
// ADVANCED: To add a custom class, create a standard pointer to it and
// pushBack it into your world. Be sure to delete this pointer when you no loinger need it
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD ) ) );
mTerrain = new DynamicTerrain( heightField, -1.0f, 1.0f, Vec3f( 2.0f, 50.0f, 2.0f ), 0.0f );
mWorld->pushBack( mTerrain );
break;
case 7:
// Start capture
if ( !mCapture ) {
mCapture = Capture( 320, 240 );
mCapture.start();
}
break;
}
// Set friction for box
if ( mTest < 5 ) {
btRigidBody* boxBody = bullet::toBulletRigidBody( mGround );
boxBody->setFriction( 0.95f );
}
}
void BulletTestApp::initTest()
{
// Clean up last test
if ( mWorld ) {
mWorld->clear();
mWorld->getInfo().m_sparsesdf.Reset();
}
// Used when generating terrain
Channel32f heightField;
// Create and add the wobbly box
btSoftBody* body = 0;
btSoftBody::Material* material = 0;
mGroundTransform.setIdentity();
switch ( mTest ) {
case 0:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
bullet::createRigidSphere( mWorld, 50.0f, 0.0f, Vec3f( 0.0f, -50.0f, 0.0f ) );
break;
case 1:
mGround = bullet::createRigidHull( mWorld, mConvex, Vec3f::one() * 50.0f, 0.0f );
break;
case 2:
mGround = bullet::createRigidMesh( mWorld, mConcave, Vec3f( 10.0f, 1.0f, 10.0f ), 0.0f, 0.0f );
break;
case 5:
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD_SM ) ) );
mGround = bullet::createRigidTerrain( mWorld, heightField, -1.0f, 1.0f, Vec3f( 6.0f, 80.0f, 6.0f ), 0.0f );
break;
case 6:
// ADVANCED: To add a custom class, create a standard pointer to it and
// pushBack it into your world. Be sure to delete this pointer when you no longer need it.
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD ) ) );
mTerrain = new DynamicTerrain( heightField, -1.0f, 1.0f, Vec3f( 2.0f, 50.0f, 2.0f ), 0.0f );
mWorld->pushBack( mTerrain );
break;
case 7:
// Start capture
if ( !mCapture ) {
mCapture = Capture( 320, 240 );
mCapture.start();
}
break;
case 8:
mWorld->getInfo().m_gravity = toBulletVector3( Vec3f( 0.0f, -0.5f, 0.0f ) );
mGround = bullet::createSoftCloth( mWorld, Vec2f::one() * 180.0f, Vec2i( 18, 20 ), SoftCloth::CLOTH_ATTACH_CORNER_ALL, Vec3f( 0.0f, 0.0f, 40.0f ), Quatf( 0.0f, 0.0f, 0.0f, 0.1f ) );
body = toBulletSoftBody( mGround );
body->m_materials[ 0 ]->m_kAST = 0.2f;
body->m_materials[ 0 ]->m_kLST = 0.2f;
body->m_materials[ 0 ]->m_kVST = 0.2f;
body->m_cfg.kDF = 0.9f;
body->m_cfg.kSRHR_CL = 1.0f;
body->m_cfg.kSR_SPLT_CL = 0.0f;
body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS;
body->getCollisionShape()->setMargin( 0.0001f );
body->setTotalMass( 500.0f );
body->generateClusters( 0 );
material = body->appendMaterial();
material->m_kAST = 0.5f;
material->m_kLST = 0.5f;
material->m_kVST = 1.0f;
body->generateBendingConstraints( 1, material );
break;
case 9:
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD_SM ) ) );
mGround = bullet::createRigidTerrain( mWorld, heightField, -1.0f, 1.0f, Vec3f( 6.0f, 80.0f, 6.0f ), 0.0f );
break;
default:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
break;
}
// Set friction for box
if ( mTest < 5 ) {
btRigidBody* boxBody = bullet::toBulletRigidBody( mGround );
boxBody->setFriction( 0.95f );
}
}
void BulletTestApp::initTest()
{
// Clean up last test
if ( mWorld )
{
mWorld->clear();
}
mGroundTransform.setIdentity();
// Create the ground
{
mGround = bullet::createRigidBox( mWorld, Vec3f( 357.0f, 1.0f, 600.0f ), 0.0f );
btRigidBody* boxBody = bullet::toBulletRigidBody( mGround );
boxBody->setFriction( 0.95f );
boxBody->setRestitution( .65f );
}
// Create the backboard
{
mBackBaord = bullet::createRigidBox( mWorld, Vec3f( 110.0f, 70.0f, 1.0f ), 0.0f, Vec3f( 0.0f, 100.f, 250.f ));
btRigidBody* boxBody = bullet::toBulletRigidBody( mBackBaord );
boxBody->setFriction( 0.95f );
boxBody->setRestitution( .65f );
}
// {
// mTest = bullet::createRigidCylinder( mWorld, Vec3f( 10.0f, 50.0f, 10.0f ), 16, 0.0f, Vec3f( 0.0f, 50.0f, 0.0f ));
// btRigidBody* boxBody = bullet::toBulletRigidBody( mBackBaord );
// boxBody->setFriction( 0.95f );
// boxBody->setRestitution( .65f );
// }
// Create the ring box
{
mBox = bullet::createRigidBox( mWorld, Vec3f( 5.f, 1.0f, 5.0f ), 0.0f, Vec3f( 0.0f, 75.0f, 247.5f ));
btRigidBody* boxBody = bullet::toBulletRigidBody( mBox );
boxBody->setFriction( 0.95f );
boxBody->setRestitution( .65f );
}
// Create the ring
{
mRing = bullet::createRigidTorus( mWorld, 0.5f, 10.f, 200, 0.0f, Vec3f( 0.0f, 75.0f, 234.0f ), Quatf( Vec3f::xAxis(), M_PI / 2. ) );
btRigidBody* boxBody = bullet::toBulletRigidBody( mRing );
boxBody->setFriction( 0.95f );
boxBody->setRestitution( .65f );
// mRing = bullet::createRigidMesh( mWorld, mTorus, Vec3f( 1.0f, 2.0f, 1.0f ), 0.0f, 0.0f, Vec3f( 0.0f, 50.0f, 0.0f ));
// btRigidBody* boxBody = bullet::toBulletRigidBody( mRing );
// boxBody->setFriction( 0.95f );
// boxBody->setRestitution( .65f );
// float radiusIn = 0.5f;
// float radiusOut = 8.0f;
// float subdivisions = 36.f;
// Vec3f forward( 0.0 , 0.0, 1.0 );
// Vec3f side ( radiusOut, 0.0, 0.0 );
//
// float gap = sqrt( 2.0f * radiusOut * radiusOut - 2.0f * radiusIn * radiusIn * cos(( 2.0f * SIMD_PI ) / subdivisions ));
//
// btTransform t;
// for( int x = 0; x < (int)subdivisions; x++ )
// {
// float angle = ( x * 2.0f * SIMD_PI ) / subdivisions;
// Vec3f position = side;
// position.rotate( forward, angle );
// Quatf q( forward, angle );
//
// mRing = bullet::createRigidCylinder( mWorld, Vec3f( radiusIn, 3* ( SIMD_PI / subdivisions ) + 0.5f * gap, radiusIn ), subdivisions, 0.0f, position, q );
// btRigidBody* boxBody = bullet::toBulletRigidBody( mRing );
// boxBody->setFriction( 0.95f );
// boxBody->setRestitution( .65f );
// }
// mRing = bullet::createRigidCylinder( mWorld, Vec3f( 1, 1, 1 ), 16, 0.0f, Vec3f( 0, 10, 0 ), Quatf( Vec3f::xAxis(), M_PI / 2 ));
}
}
