void btContinuousConvexCollisionDemo::initPhysics()
{
fromTrans[0].setOrigin(btVector3(0,10,20));
toTrans[0].setOrigin(btVector3(0,10,-20));
fromTrans[1].setOrigin(btVector3(-2,7,0));
toTrans[1].setOrigin(btVector3(-2,10,0));
btMatrix3x3 identBasis;
identBasis.setIdentity();
btMatrix3x3 basisA;
basisA.setIdentity();
basisA.setEulerZYX(0.f,-SIMD_HALF_PI,0.f);
fromTrans[0].setBasis(identBasis);
toTrans[0].setBasis(basisA);
fromTrans[1].setBasis(identBasis);
toTrans[1].setBasis(identBasis);
toTrans[1].setBasis(identBasis);
btVector3 boxHalfExtentsA(10,1,1);
btVector3 boxHalfExtentsB(1.1f,1.1f,1.1f);
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btPoint3(-2,0,-2),btPoint3(2,0,-2),btPoint3(0,0,2),btPoint3(0,2,0));
// btBU_Simplex1to4* boxA = new btBU_Simplex1to4(btPoint3(-12,0,0),btPoint3(12,0,0));
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
// btBU_Simplex1to4 boxB(btPoint3(0,10,0),btPoint3(0,-10,0));
shapePtr[0] = boxA;
shapePtr[1] = boxB;
shapePtr[0]->setMargin(0.01f);
shapePtr[1]->setMargin(0.01f);
for (int i=0;i<numObjects;i++)
{
btTransformUtil::calculateVelocity(fromTrans[i],toTrans[i],1.f,linVels[i],angVels[i]);
}
}
void LinearConvexCastDemo::initPhysics()
{
setCameraDistance(30.f);
tr[0].setOrigin(SimdVector3(0,0,0));
tr[1].setOrigin(SimdVector3(0,10,0));
SimdMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
SimdMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
SimdVector3 boxHalfExtentsA(0.2,4,4);
SimdVector3 boxHalfExtentsB(6,6,6);
BoxShape* boxA = new BoxShape(boxHalfExtentsA);
/* BU_Simplex1to4 boxB;
boxB.AddVertex(SimdPoint3(-5,0,-5));
boxB.AddVertex(SimdPoint3(5,0,-5));
boxB.AddVertex(SimdPoint3(0,0,5));
boxB.AddVertex(SimdPoint3(0,5,0));
*/
BoxShape* boxB = new BoxShape(boxHalfExtentsB);
shapePtr[0] = boxA;
shapePtr[1] = boxB;
shapePtr[0]->SetMargin(0.01f);
shapePtr[1]->SetMargin(0.01f);
SimdTransform tr;
tr.setIdentity();
}
int main(int argc,char** argv)
{
setCameraDistance(20.f);
tr[0].setOrigin(SimdVector3(0.0013328250f,8.1363249f,7.0390840f));
tr[1].setOrigin(SimdVector3(0.00000000f,9.1262732f,2.0343180f));
//tr[0].setOrigin(SimdVector3(0,0,0));
//tr[1].setOrigin(SimdVector3(0,10,0));
SimdMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
SimdMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
SimdVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
SimdVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
BoxShape boxA(boxHalfExtentsA);
BoxShape boxB(boxHalfExtentsB);
shapePtr[0] = &boxA;
shapePtr[1] = &boxB;
SimdTransform tr;
tr.setIdentity();
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Demo");
}
void CollisionDemo::initPhysics()
{
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
#ifdef CHECK_GENSHER_TRIANGLE_CASE
m_azi = 140.f;
#else
m_azi = 250.f;
#endif
m_ele = 25.f;
tr[0].setOrigin(btVector3(0.0013328250f,8.1363249f,7.0390840f));
tr[1].setOrigin(btVector3(0.00000000f,9.1262732f,2.0343180f));
//tr[0].setOrigin(btVector3(0,0,0));
//tr[1].setOrigin(btVector3(0,10,0));
btMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
btMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
#ifdef CHECK_GENSHER_TRIANGLE_CASE
tr[0].setIdentity();
tr[1].setIdentity();
#endif //CHECK_GENSHER_TRIANGLE_CASE
btVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
btVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
#ifndef CHECK_GENSHER_TRIANGLE_CASE
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
#endif
float p1[3], p2[3], p3[3], q1[3],q2[3], q3[3];
p1[0] = -3.9242966175;
p1[1] = -0.5582823175;
p1[2] = 2.0101921558;
p2[0] = -3.6731941700;
p2[1] = -0.5604774356;
p2[2] = 2.00301921558;
p3[0] = -3.6698703766;
p3[1] = -0.3097069263;
p3[2] = 2.0073683262;
q1[0] = -2.6317186356;
q1[1] = -1.0000005960;
q1[2] = 1.9999998808;
q2[0] = -2.6317174435;
q2[1] = 0.9999994636;
q2[2] = 1.9999998808;
q3[0] = -4.6317176819;
q3[1] = 1.0f;
q3[2] = 1.9999998808;
btTriangleShape* trishapeA = new btTriangleShape(btVector3(p1[0], p1[1], p1[2]), btVector3(p2[0], p2[1], p2[2]), btVector3(p3[0], p3[1], p3[2]));
trishapeA->setMargin(0.001f);
btTriangleShape* trishapeB = new btTriangleShape(btVector3(q1[0], q1[1], q1[2]), btVector3(q2[0], q2[1], q2[2]), btVector3(q3[0], q3[1], q3[2]));
trishapeB->setMargin(0.001f);
#ifdef CHECK_GENSHER_TRIANGLE_CASE
shapePtr[0] = trishapeA;
shapePtr[1] = trishapeB;
#else
shapePtr[0] = boxA;
shapePtr[1] = boxB;
#endif
}