FluidHfDemo::FluidHfDemo()
{
m_hfFluidShapeDrawer = new FluidHfDemo_GL_ShapeDrawer();
overrideGLShapeDrawer(m_hfFluidShapeDrawer);
setTexturing(true);
setShadows(true);
}
void BasicDemo::initPhysics() {
setTexturing(true);
setShadows(false);
setCameraDistance(btScalar(100.));
// _app = new QApplication(myargc,myargv);
/* this function ( in src/coordinator/coordinator/coorcinator.cpp )
* creates 4 wheels, one robot's body and merges them together.
*
*
*/
m_wheelShape = new btCylinderShapeX(btVector3(1,3,3));
m_dynamicsWorld =(cdn->getPhysicalCalculatorInstance()).getScene();
//cdn->getPhysicalCalculatorInstance().simple_scene_walls(200);
//Mesh::buildBox(QVector3D(10,10,10), 1000, PositionData(0,30,0,0,0,0));
/*
pc->simple_scene_walls(100);
*/
//m_dynamicsWorld = cdn->getPhysicalCalculatorScene();
/*_robot = new Robot(pc->addBox(btVector3(2,0.5,2), btVector3(0,0,0), 8), pc->getScene());
pc->getScene()->addVehicle(_robot);*/
// _MD = new Wheel(_robot, btVector3(1.5,-0.1,0),btVector3(0,-1,0),.5,true);
// _MG = new Wheel(_robot, btVector3(-1.5,-0.1,0),btVector3(0,-1,0),.5,true);
// _ED = new Wheel(_robot, btVector3(1.9,-0.1,0),btVector3(0,-1,0),.5,false);
// _EG = new Wheel(_robot, btVector3(-1.9,-0.1,0),btVector3(0,-1,0),.5,false);
}
void GpuDemo::initPhysics(const ConstructionInfo& ci)
{
setTexturing(true);
setShadows(false);
setCameraDistance(btScalar(SCALING*250.));
///collision configuration contains default setup for memory, collision setup
if (ci.useOpenCL)
{
m_dynamicsWorld = new btGpuDynamicsWorld(ci.preferredOpenCLPlatformIndex,ci.preferredOpenCLDeviceIndex);
} else
{
m_dynamicsWorld = new btCpuDynamicsWorld();
}
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
setupScene(ci);
}
void CcdPhysicsDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
m_ShootBoxInitialSpeed = 4000.f;
m_defaultContactProcessingThreshold = 0.f;
GraphicsPhysicsBridge bridge;
m_physicsSetup.initPhysics(bridge);
m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_RANDMIZE_ORDER;
m_dynamicsWorld ->setDebugDrawer(&sDebugDrawer);
//m_dynamicsWorld->getSolverInfo().m_splitImpulse=false;
if (m_ccdMode==USE_CCD)
{
m_dynamicsWorld->getDispatchInfo().m_useContinuous=true;
} else
{
m_dynamicsWorld->getDispatchInfo().m_useContinuous=false;
}
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
}
void RagdollDemo::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
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->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// 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));
#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
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
spawnRagdoll(startOffset);
startOffset.setValue(-1,0.5,0);
spawnRagdoll(startOffset);
clientResetScene();
}
/** Initializes the physics world and simulation
*
**/
void Physics::initPhysics(){
dead=false;
totaltime=0;
currentBoxIndex=0;
currentJointIndex=0;
noBoxes =0;
fitness=0;
enableEffectors=true;
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(20.));
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
///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->setDebugDrawer(&gDebugDraw);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
//create ground body
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(1000.),btScalar(10.),btScalar(1000.)));
int* userP = new int();
*userP = 0;
groundShape->setUserPointer2((void*)userP);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,0,0));
btRigidBody* ground = localCreateRigidBody(0.,groundTransform,groundShape,COL_GROUND,COL_BOX); //ground collides with boxes only
ground->setUserPointer((void*)(-1));;
groundY = ground->getWorldTransform().getOrigin().getY()+groundShape->getHalfExtentsWithMargin().getY();
currentBoxIndex++;
theNet=NULL;
}
void BasicDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
m_physicsSetup.initPhysics();
m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
}
void ArtificialBirdsDemoApp::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
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->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
m_dynamicsWorld->setInternalTickCallback(pickingPreTickCallback, this, true);
m_dynamicsWorld->getSolverInfo().m_numIterations = kSolverNumIterations;
m_dynamicsWorld->setGravity(btVector3(0,kGravity,0));
// 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));
#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_birdOpt = 0;
m_birdDemo = 0;
//m_birdOpt = new BirdOptimizer(m_dynamicsWorld);
m_birdDemo = new BirdDemo(m_dynamicsWorld);
clientResetScene();
}
void RagdollApp::initPhysics()
{
// Setup the basic world
m_time = 0;
m_CycPerKnee = 2000.f; // in milliseconds
m_CycPerHip = 3000.f; // in milliseconds
m_fMuscleStrength = 0.5f;
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
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->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
m_dynamicsWorld->setInternalTickCallback( forcePreTickCB, this, true );
m_dynamicsWorld->setGravity( btVector3(0,-0,0) );
// create surface
//createSurface();
//// 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));
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
spawnRagdoll(startOffset);
startOffset.setValue(-1,0.1,0);
spawnRagdoll(startOffset);
clientResetScene();
}
void MotorDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
// 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;
setCameraDistance(btScalar(5.));
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);
// 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));
localCreateRigidBody(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);
clientResetScene();
}
Raytracer::Raytracer() : _lightSource(NULL) {
_root = new SceneDagNode();
// defaults
setAAMode(NONE);
setShadingMode(SCENE_MODE_SIGNATURE);
setShadows(NONE);
setReflDepth(0);
setColorSpaceMode(NONE);
_num_ss_samples = 4;
_refractionMode = false;
}
void BasicGpuDemo::initPhysics()
{
gUseLargeBatches = true;//for testing, this option is faster on NVIDIA GPUs
//use the Bullet 2.x btQuickprof for profiling of Bullet 3.x
b3SetCustomEnterProfileZoneFunc(CProfileManager::Start_Profile);
b3SetCustomLeaveProfileZoneFunc(CProfileManager::Stop_Profile);
setTexturing(true);
setShadows(false);//too slow with many objects
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = 0;
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = 0;
m_broadphase = 0;
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
m_solver = 0;
initCL(-1,-1);
if (!m_clData->m_clInitialized)
{
printf("Error: cannot initialize OpenCL\n");
exit(0);
}
b3Config config;
m_np = new b3GpuNarrowPhase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue,config);
m_bp = new b3GpuSapBroadphase(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
b3DynamicBvhBroadphase* broadphaseDbvt = new b3DynamicBvhBroadphase(config.m_maxConvexBodies);
m_rbp = new b3GpuRigidBodyPipeline(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue, m_np, m_bp,broadphaseDbvt,config);
m_dynamicsWorld = new b3GpuDynamicsWorld(m_bp,m_np,m_rbp);
m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
createObjects();
}
void PendulumApplication::initPhysics()
{
setTexturing(true);
setShadows(true);
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
setCameraDistance(btScalar(20.));
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);
///create a few basic rigid bodies
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
localCreateRigidBody(0,groundTransform,groundShape);
btSphereShape* sphereShape = new btSphereShape(1.);
m_collisionShapes.push_back(sphereShape);
btTransform pendulumTransform;
pendulumTransform.setIdentity();
m_theta.m_value = SIMD_HALF_PI;
m_theta.m_dot = 1.;
m_r.m_value = 10;
m_r.m_dot = 0;
temp = 0;
btVector3 to_Remplace; // to replace with te pendulum position
pendulumTransform.setOrigin( to_Remplace);
m_pendulumBody = localCreateRigidBody(1,pendulumTransform,sphereShape);
m_pendulumBody->setCollisionFlags( m_pendulumBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
void BulletXmlImportDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setupEmptyDynamicsWorld();
m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
btBulletXmlWorldImporter* importer = new btBulletXmlWorldImporter(m_dynamicsWorld);
importer->loadFile("bullet_basic.xml");
// importer->loadFile("bulletser.xml");
// importer->loadFile("bullet_constraints.xml");
}
ForkLiftDemo::ForkLiftDemo()
:
m_carChassis(0),
m_liftBody(0),
m_forkBody(0),
m_loadBody(0),
m_indexVertexArrays(0),
m_vertices(0),
m_cameraHeight(4.f),
m_minCameraDistance(3.f),
m_maxCameraDistance(10.f)
{
m_vehicle = 0;
m_wheelShape = 0;
m_cameraPosition = btVector3(30,30,30);
m_useDefaultCamera = false;
setTexturing(true);
setShadows(true);
}
void GenericJointDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
// Setup the basic world
btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
//m_dynamicsWorld->getSolverInfo().m_restingContactRestitutionThreshold = 0.f; // m_singleAxisRollingFrictionThreshold = 0.f;//faster but lower quality
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(0.),btScalar(200.))); //! 0 thickness
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-8,0));
m_ground = localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
}
Swing* swing1 = new Swing( m_dynamicsWorld, btVector3(0,9,0), 4.0f, m_ground );
Swing* swing2 = new Swing( m_dynamicsWorld, btVector3(4,9,0), 4.0f, m_ground );
clientResetScene();
}
void GenericJointDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
// Setup the basic world
btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
m_dynamicsWorld->setGravity(btVector3(0,-30,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-15,0));
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
}
// Spawn one ragdoll
spawnRagdoll();
clientResetScene();
}
BulletOpenGLViewer::BulletOpenGLViewer(DynamicsWorldPtr world)
{
SIMDYNAMICS_ASSERT(world);
m_sundirection = btVector3(1, 1, -2) * 1000;
bulletEngine = boost::dynamic_pointer_cast<BulletEngine>(world->getEngine());
SIMDYNAMICS_ASSERT(bulletEngine);
setTexturing(true);
setShadows(true);
// set Bullet world (defined in bullet's OpenGL helpers)
m_dynamicsWorld = bulletEngine->getBulletWorld();
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
// set up vector for camera
setCameraDistance(btScalar(3.));
setCameraForwardAxis(1);
btVector3 up(0, 0, btScalar(1.));
setCameraUp(up);
clientResetScene();
}
void SerializeDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
setupEmptyDynamicsWorld();
#ifdef DESERIALIZE_SOFT_BODIES
btBulletWorldImporter* fileLoader = new MySoftBulletWorldImporter((btSoftRigidDynamicsWorld*)m_dynamicsWorld);
#else
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
#endif //DESERIALIZE_SOFT_BODIES
// fileLoader->setVerboseMode(true);
if (!fileLoader->loadFile("testFile.bullet"))
{
btAssert(0);
exit(0);
}
}
void ConcaveDemo::initPhysics()
{
setTexturing(true);
setShadows(false);//true);
#define TRISIZE 10.f
gContactAddedCallback = CustomMaterialCombinerCallback;
#define USE_TRIMESH_SHAPE 1
#ifdef USE_TRIMESH_SHAPE
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
gVertices = new btVector3[totalVerts];
gIndices = new int[totalTriangles*3];
int i;
setVertexPositions(waveheight,0.f);
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
//comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
#ifdef SERIALIZE_TO_DISK
btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
m_collisionShapes.push_back(trimeshShape);
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
//serializer->setSerializationFlags(BT_SERIALIZE_NO_BVH);// or BT_SERIALIZE_NO_TRIANGLEINFOMAP
serializer->startSerialization();
//registering a name is optional, it allows you to retrieve the shape by name
//serializer->registerNameForPointer(trimeshShape,"mymesh");
#ifdef SERIALIZE_SHAPE
trimeshShape->serializeSingleShape(serializer);
#else
trimeshShape->serializeSingleBvh(serializer);
#endif
serializer->finishSerialization();
FILE* f2 = fopen("myShape.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
#else
btBulletWorldImporter import(0);//don't store info into the world
if (import.loadFile("myShape.bullet"))
{
int numBvh = import.getNumBvhs();
if (numBvh)
{
btOptimizedBvh* bvh = import.getBvhByIndex(0);
btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax,false);
trimeshShape->setOptimizedBvh(bvh);
//trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
//trimeshShape->setOptimizedBvh(bvh);
}
int numShape = import.getNumCollisionShapes();
if (numShape)
{
trimeshShape = (btBvhTriangleMeshShape*)import.getCollisionShapeByIndex(0);
//if you know the name, you can also try to get the shape by name:
const char* meshName = import.getNameForPointer(trimeshShape);
if (meshName)
trimeshShape = (btBvhTriangleMeshShape*)import.getCollisionShapeByName(meshName);
}
}
#endif
btCollisionShape* groundShape = trimeshShape;
#else
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_collisionShapes.push_back(groundShape);
#endif //USE_TRIMESH_SHAPE
m_collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef USE_PARALLEL_DISPATCHER
#ifdef USE_WIN32_THREADING
int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
"collision",
processCollisionTask,
createCollisionLocalStoreMemory,
maxNumOutstandingTasks));
#else
///@todo show other platform threading
///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
///Libspe2 SPU support will be available soon
///pthreads version
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
#endif
m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
#else
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif//USE_PARALLEL_DISPATCHER
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU=true;
#endif //USE_PARALLEL_DISPATCHER
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
#ifdef USE_BOX_SHAPE
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
#else
btCompoundShape* colShape = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(4,1,1));
btCollisionShape* boxShape = new btBoxShape(btVector3(4,1,1));
btTransform localTransform;
localTransform.setIdentity();
colShape->addChildShape(localTransform,boxShape);
btQuaternion orn(SIMD_HALF_PI,0,0);
localTransform.setRotation(orn);
colShape->addChildShape(localTransform,cylinderShape);
#endif //USE_BOX_SHAPE
m_collisionShapes.push_back(colShape);
{
for (int i=0;i<10;i++)
{
startTransform.setOrigin(btVector3(2,10+i*2,1));
localCreateRigidBody(1, startTransform,colShape);
}
}
startTransform.setIdentity();
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
//enable custom material callback
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
void SliderConstraintDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
// init world
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
#if SLIDER_DEMO_USE_ODE_SOLVER
m_constraintSolver = new btOdeQuickstepConstraintSolver();
#else
m_constraintSolver = new btSequentialImpulseConstraintSolver();
#endif
btDiscreteDynamicsWorld* wp = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
// wp->getSolverInfo().m_numIterations = 20; // default is 10
m_dynamicsWorld = wp;
// add floor
//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-56,0));
btRigidBody* groundBody = localCreateRigidBody(0, groundTransform, groundShape);
// add box shape (will be reused for all bodies)
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
m_collisionShapes.push_back(shape);
// mass of dymamic bodies
btScalar mass = btScalar(1.);
// add dynamic rigid body A1
btTransform trans;
trans.setIdentity();
btVector3 worldPos(0,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape);
pRbA1->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B1
worldPos.setValue(-10,0,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape);
pRbB1->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A1 and B1 and add it to world
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
frameInB = btTransform::getIdentity();
#if SLIDER_DEMO_USE_6DOF
spSlider1 = new btGeneric6DofConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
btVector3 lowerSliderLimit = btVector3(-20,0,0);
btVector3 hiSliderLimit = btVector3(-10,0,0);
// btVector3 lowerSliderLimit = btVector3(-20,-5,-5);
// btVector3 hiSliderLimit = btVector3(-10,5,5);
spSlider1->setLinearLowerLimit(lowerSliderLimit);
spSlider1->setLinearUpperLimit(hiSliderLimit);
spSlider1->setAngularLowerLimit(btVector3(0,0,0));
spSlider1->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
spSlider1->setLowerLinLimit(-15.0F);
spSlider1->setUpperLinLimit(-5.0F);
// spSlider1->setLowerLinLimit(-10.0F);
// spSlider1->setUpperLinLimit(-10.0F);
spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
#endif
m_dynamicsWorld->addConstraint(spSlider1, true);
// add kinematic rigid body A2
worldPos.setValue(0,2,0);
trans.setOrigin(worldPos);
btRigidBody* pRbA2 = localCreateRigidBody(0, trans, shape);
pRbA2->setActivationState(DISABLE_DEACTIVATION);
// add dynamic rigid body B2
worldPos.setValue(-10,2,0);
trans.setOrigin(worldPos);
btRigidBody* pRbB2 = localCreateRigidBody(mass, trans, shape);
pRbB2->setActivationState(DISABLE_DEACTIVATION);
// create slider constraint between A2 and B2 and add it to world
#if SLIDER_DEMO_USE_6DOF
spSlider2 = new btGeneric6DofConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLinearLowerLimit(lowerSliderLimit);
spSlider2->setLinearUpperLimit(hiSliderLimit);
spSlider2->setAngularLowerLimit(btVector3(0,0,0));
spSlider2->setAngularUpperLimit(btVector3(0,0,0));
#else
spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
spSlider2->setLowerLinLimit(-25.0F);
spSlider2->setUpperLinLimit(-5.0F);
spSlider2->setLowerAngLimit(SIMD_PI / 2.0F);
spSlider2->setUpperAngLimit(-SIMD_PI / 2.0F);
// add motors
spSlider2->setPoweredLinMotor(true);
spSlider2->setMaxLinMotorForce(0.1);
spSlider2->setTargetLinMotorVelocity(5.0);
spSlider2->setPoweredAngMotor(true);
// spSlider2->setMaxAngMotorForce(0.01);
spSlider2->setMaxAngMotorForce(10.0);
spSlider2->setTargetAngMotorVelocity(1.0);
// change default damping and restitution
spSlider2->setDampingDirLin(0.005F);
spSlider2->setRestitutionLimLin(1.1F);
// various ODE tests
// spSlider2->setDampingLimLin(0.1F); // linear bounce factor for ODE == 1.0 - DampingLimLin;
// spSlider2->setDampingLimAng(0.1F); // angular bounce factor for ODE == 1.0 - DampingLimAng;
// spSlider2->setSoftnessOrthoAng(0.1);
// spSlider2->setSoftnessOrthoLin(0.1);
// spSlider2->setSoftnessLimLin(0.1);
// spSlider2->setSoftnessLimAng(0.1);
#endif
m_dynamicsWorld->addConstraint(spSlider2, true);
} // SliderConstraintDemo::initPhysics()
void BasicDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
m_acceleratedRigidBodies = 0;
setCameraDistance(btScalar(SCALING*20.));
///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);
#ifdef CL_PLATFORM_AMD
m_dispatcher = new CustomCollisionDispatcher(m_collisionConfiguration, g_cxMainContext,g_clDevice,g_cqCommandQue);
m_dispatcher->registerCollisionCreateFunc(CUSTOM_POLYHEDRAL_SHAPE_TYPE,CUSTOM_POLYHEDRAL_SHAPE_TYPE,new CustomConvexConvexPairCollision::CreateFunc(m_collisionConfiguration->getSimplexSolver(), m_collisionConfiguration->getPenetrationDepthSolver()));
#else
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif
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));
m_dynamicsWorld->setDebugDrawer(&sDebugDraw);
///create a few basic rigid bodies
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
#ifdef CL_PLATFORM_AMD
CustomConvexShape* groundShape = new CustomConvexShape(BoxVtx2,BoxVtxCount,3*sizeof(float));
#else
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),0);
#endif
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-11,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
#ifdef USE_CUSTOM_HEIGHTFIELD_SHAPE
CustomConvexShape* colShape = new CustomConvexShape(BarrelVtx2,BarrelVtxCount2,6*sizeof(float));
//CustomConvexShape* colShape = new CustomConvexShape(BoxVtx,BoxVtxCount,3*sizeof(float));
#else
btConvexHullShape* colShape = new btConvexHullShape(BarrelVtx2,BarrelVtxCount2,6*sizeof(float));
colShape->setLocalScaling(btVector3(0.9,0.9,0.9));
#endif //USE_CUSTOM_HEIGHTFIELD_SHAPE
btScalar scale = 0.5f;
//btScalar scale = 1.f;
//next line is already called inside the CustomConvexShape constructor
//colShape->initializePolyhedralFeatures();
m_collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//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)
colShape->calculateLocalInertia(mass,localInertia);
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
for (int k=0; k<ARRAY_SIZE_Y; k++)
{
for(int j = 0; j<ARRAY_SIZE_Z; j++)
{
for (int i=0; i<ARRAY_SIZE_X; i++)
{
{
// if ((k>0) && ((j<2) || (j>(ARRAY_SIZE_Z-3))))
// continue;
// if ((k>0) && ((i<2) || (i>(ARRAY_SIZE_X-3))))
// continue;
startTransform.setOrigin(SCALING*btVector3(
btScalar(scale*2.0*i + start_x),
btScalar(scale*1+scale*2.0*k + start_y),
btScalar(scale*2.0*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body=0;
if (0)//k==0)
{
btVector3 zeroInertia(0,0,0);
btRigidBody::btRigidBodyConstructionInfo rbInfo(0.f,myMotionState,colShape,zeroInertia);
body = new btRigidBody(rbInfo);
} else
{
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
body = new btRigidBody(rbInfo);
}
//m_acceleratedRigidBodies is used as a mapping to the accelerated rigid body index
body->setCompanionId(m_acceleratedRigidBodies++);
m_dynamicsWorld->addRigidBody(body);
}
}
}
}
}
}
void gkScene::createInstanceImpl(void)
{
if (m_objects.empty())
{
gkPrintf("Scene: '%s' Has no creatable objects.\n", m_name.getName().c_str());
m_instanceState = ST_ERROR;
return;
}
if (!m_window)
setDisplayWindow(gkWindowSystem::getSingleton().getMainWindow());
// generic for now, but later scene properties will be used
// to extract more detailed management information
m_manager = Ogre::Root::getSingleton().createSceneManager(Ogre::ST_GENERIC, m_name.getFullName());
#if OGREKIT_USE_RTSHADER_SYSTEM
Ogre::RTShader::ShaderGenerator::getSingleton().addSceneManager(m_manager);
#endif
m_skybox = gkMaterialLoader::loadSceneSkyMaterial(this, m_baseProps.m_material);
// create the world
(void)getDynamicsWorld();
gkGameObjectHashMap::Iterator it = m_objects.iterator();
while (it.hasMoreElements())
{
gkGameObject* gobj = it.getNext().second;
if (!gobj->isInstanced())
{
// Skip creation of inactive layers
if (m_layers & gobj->getLayer())
{
// call builder
gobj->createInstance();
}
}
}
// Build groups.
gkGroupManager::getSingleton().createGameObjectInstances(this);
if (gkEngine::getSingleton().getUserDefs().buildStaticGeometry)
gkGroupManager::getSingleton().createStaticBatches(this);
// Build parent / child hierarchy.
_applyBuiltinParents(m_instanceObjects);
// Build physics.
_applyBuiltinPhysics(m_instanceObjects);
if (!m_viewport)
{
// setMainCamera has not been called, try to call
if (m_startCam)
setMainCamera(m_startCam);
else
{
if (!m_cameras.empty())
setMainCamera(m_cameras.at(0));
else
{
m_startCam = createCamera(" -- No Camera -- ");
m_startCam->getProperties().m_transform.set(
gkVector3(0, -5, 0),
gkEuler(90.f, 0.f, 0.f).toQuaternion(),
gkVector3(1.f, 1.f, 1.f)
);
m_startCam->createInstance();
setMainCamera(m_startCam);
}
}
}
GK_ASSERT(m_viewport);
m_viewport->getViewport()->setBackgroundColour(m_baseProps.m_material.m_horizon);
m_manager->setAmbientLight(m_baseProps.m_material.m_ambient);
#if OGRE_NO_VIEWPORT_ORIENTATIONMODE != 0
const gkString& iparam = gkEngine::getSingleton().getUserDefs().viewportOrientation;
if (!iparam.empty())
{
int oparam = Ogre::OR_PORTRAIT;
if (iparam == "landscaperight") //viewport orientation is reversed.
{
oparam = Ogre::OR_LANDSCAPELEFT;
// gkLogger::write("Set Orientation: OR_LANDSCAPELEFT",true);
}
else if (iparam == "landscapeleft") {
oparam = Ogre::OR_LANDSCAPERIGHT;
// gkLogger::write("Set Orientation: OR_LANDSCAPERIGHT",true);
}
try{
m_viewport->getViewport()->setOrientationMode((Ogre::OrientationMode)oparam);
} catch (...) {
gkLogger::write("Problem setting Viewport Orientation");
}
}
#endif
if (m_baseProps.m_fog.m_mode != gkFogParams::FM_NONE)
{
m_manager->setFog( m_baseProps.m_fog.m_mode == gkFogParams::FM_QUAD ? Ogre::FOG_EXP2 :
m_baseProps.m_fog.m_mode == gkFogParams::FM_LIN ? Ogre::FOG_LINEAR :
Ogre::FOG_EXP,
m_baseProps.m_fog.m_color,
m_baseProps.m_fog.m_intensity,
m_baseProps.m_fog.m_start,
m_baseProps.m_fog.m_end);
}
//Enable Shadows
setShadows();
#ifdef OGREKIT_OPENAL_SOUND
// Set sound scene.
gkSoundManager& sndMgr = gkSoundManager::getSingleton();
sndMgr.getProperties() = m_soundScene;
sndMgr.updateSoundProperties();
#endif
// notify main scene
gkEngine::getSingleton().registerActiveScene(this);
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::initPhysics()
{
setTexturing(true);
setShadows(false);
setCameraDistance(45.f);
/// Init Bullet
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
//btOverlappingPairCache* broadphase = new btSimpleBroadphase();
//m_broadphase = new btSimpleBroadphase();
int maxProxies = 1024;
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax( 10000, 10000, 10000);
m_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver,m_collisionConfiguration);
//create trimesh model and shape
initGImpactCollision();
/// Create Scene
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
btCollisionShape* staticboxShape1 = new btBoxShape(btVector3(200,1,200));//floor
m_collisionShapes.push_back(staticboxShape1);
startTransform.setOrigin(btVector3(0,-10,0));
localCreateRigidBody(mass, startTransform,staticboxShape1);
btCollisionShape* staticboxShape2 = new btBoxShape(btVector3(1,50,200));//left wall
m_collisionShapes.push_back(staticboxShape2);
startTransform.setOrigin(btVector3(-200,15,0));
localCreateRigidBody(mass, startTransform,staticboxShape2);
btCollisionShape* staticboxShape3 = new btBoxShape(btVector3(1,50,200));//right wall
m_collisionShapes.push_back(staticboxShape3);
startTransform.setOrigin(btVector3(200,15,0));
localCreateRigidBody(mass, startTransform,staticboxShape3);
btCollisionShape* staticboxShape4 = new btBoxShape(btVector3(200,50,1));//front wall
m_collisionShapes.push_back(staticboxShape4);
startTransform.setOrigin(btVector3(0,15,200));
localCreateRigidBody(mass, startTransform,staticboxShape4);
btCollisionShape* staticboxShape5 = new btBoxShape(btVector3(200,50,1));//back wall
m_collisionShapes.push_back(staticboxShape5);
startTransform.setOrigin(btVector3(0,15,-200));
localCreateRigidBody(mass, startTransform,staticboxShape5);
//static plane
btVector3 normal(-0.5,0.5,0.0);
normal.normalize();
btCollisionShape* staticplaneShape6 = new btStaticPlaneShape(normal,0.0);// A plane
m_collisionShapes.push_back(staticplaneShape6);
startTransform.setOrigin(btVector3(0,-9,0));
btRigidBody* staticBody2 = localCreateRigidBody(mass, startTransform,staticplaneShape6 );
//another static plane
normal.setValue(0.5,0.7,0.0);
//normal.normalize();
btCollisionShape* staticplaneShape7 = new btStaticPlaneShape(normal,0.0);// A plane
m_collisionShapes.push_back(staticplaneShape7);
startTransform.setOrigin(btVector3(0,-10,0));
staticBody2 = localCreateRigidBody(mass, startTransform,staticplaneShape7 );
/// Create Static Torus
float height = 28;
float step = 2.5;
float massT = 1.0;
startTransform.setOrigin(btVector3(0,height,-5));
startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
#ifdef BULLET_GIMPACT
kinematicTorus = localCreateRigidBody(0.0, startTransform,m_trimeshShape);
#else
kinematicTorus = localCreateRigidBody(0.0, startTransform,createTorusShape());
#endif //kinematicTorus->setCollisionFlags(kinematicTorus->getCollisionFlags()|btCollisionObject::CF_STATIC_OBJECT);
//kinematicTorus->setActivationState(ISLAND_SLEEPING);
kinematicTorus->setCollisionFlags( kinematicTorus->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
kinematicTorus->setActivationState(DISABLE_DEACTIVATION);
/// Kinematic
kinTorusTran = btVector3(-0.1,0,0);
kinTorusRot = btQuaternion(0,3.14159265*0.01,0);
#ifdef TEST_GIMPACT_TORUS
#ifdef BULLET_GIMPACT
/// Create dynamic Torus
for (int i=0;i<6;i++)
{
height -= step;
startTransform.setOrigin(btVector3(0,height,-5));
startTransform.setRotation(btQuaternion(0,0,3.14159265*0.5));
btRigidBody* bodyA = localCreateRigidBody(massT, startTransform,m_trimeshShape);
height -= step;
startTransform.setOrigin(btVector3(0,height,-5));
startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
btRigidBody* bodyB = localCreateRigidBody(massT, startTransform,m_trimeshShape);
}
#else
/// Create dynamic Torus
for (int i=0;i<6;i++)
{
height -= step;
startTransform.setOrigin(btVector3(0,height,-5));
startTransform.setRotation(btQuaternion(0,0,3.14159265*0.5));
btRigidBody* bodyA = localCreateRigidBody(massT, startTransform,createTorusShape());
height -= step;
startTransform.setOrigin(btVector3(0,height,-5));
startTransform.setRotation(btQuaternion(3.14159265*0.5,0,3.14159265*0.5));
btRigidBody* bodyB = localCreateRigidBody(massT, startTransform,createTorusShape());
}
#endif //no BULLET_GIMPACT
#endif
startTransform.setIdentity();
/// Create Dynamic Boxes
{
for (int i=0;i<8;i++)
{
btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
m_collisionShapes.push_back(boxShape);
startTransform.setOrigin(btVector3(2*i-5,2,-3));
localCreateRigidBody(1, startTransform,boxShape);
}
}
//m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
}
void BasicDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(10.0));
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
///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));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setRestitution(btScalar(0.8f));
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
// Here are the dynamic bodies
{
btCollisionShape* colShape = new btSphereShape(1);
m_collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(fMass);
//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)
colShape->calculateLocalInertia(mass,localInertia);
float start_x[] = {0.0, 1.9}; // collision angle
float start_y[] = {1.0, 1.0};
float start_z[] = {-4.0, 4.0};
// set up 2 rigid bodies and put them into the btAlignedObjectArray called m_rigidBody
for(int ii = 0; ii < 2; ii++){
startTransform.setOrigin(btVector3( start_x[ii], start_y[ii], start_z[ii] ));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* ball = new btRigidBody(rbInfo);
ball->setActivationState(ISLAND_SLEEPING);
ball->setRestitution(fCoefficientOfRestitution);
m_dynamicsWorld->addRigidBody(ball);
ball->setActivationState(ISLAND_SLEEPING);
m_rigidBody.push_back(ball);
}
for(int i = 0; i < 2; i++)
{
float start_velx[] = {0,0};
float start_vely[] = {0,0};
float start_velz[] = {3,0};
m_vAcceleration[i] = btVector3();
m_vAngularVelocity[i] = btVector3();
m_vPosition[i] = btVector3();
m_vTorque[i] = btVector3();
m_vVelocity[i] = btVector3();
m_qOrientation[i] = btQuaternion();
m_qOrientation[i].setValue(0.0,0.0,0.0,1.0);
m_vAcceleration[i].setValue(0.0,0.0,0.0);
m_vAngularVelocity[i].setValue(0.0,0.0,0.0);
m_vVelocity[i].setValue(start_velx[i],start_vely[i], start_velz[i]);
m_vPosition[i].setValue(start_x[i],start_y[i],start_z[i]);
m_vTorque[i].setValue(0.0,0.0,0.0);
}
}
clientResetScene();
}
void ConstraintDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
m_Time = 0;
setupEmptyDynamicsWorld();
//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= localCreateRigidBody(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
//point to point constraint (ball socket)
{
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
// btRigidBody* body1 = localCreateRigidBody( 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
//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 = localCreateRigidBody( mass,trans,shape);
d6body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = localCreateRigidBody(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 = localCreateRigidBody( 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 = localCreateRigidBody( 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 = localCreateRigidBody( mass, tr, shape);
btRigidBody* pBodyA = localCreateRigidBody( 0.0, tr, shape);
// btRigidBody* pBodyA = localCreateRigidBody( 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 = localCreateRigidBody(mass, tr, shape);
// btRigidBody* pBodyB = localCreateRigidBody(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 = localCreateRigidBody( 1.0, tr, shape);
// btRigidBody* pBodyA = localCreateRigidBody( 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 = localCreateRigidBody(0.0, tr, shape);
// btRigidBody* pBodyB = localCreateRigidBody(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 = localCreateRigidBody( 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 = localCreateRigidBody( 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 = localCreateRigidBody(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 = localCreateRigidBody( 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 = localCreateRigidBody(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 = localCreateRigidBody( 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 = localCreateRigidBody(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 = localCreateRigidBody( 1.0f, tr, shape);
pBodyA->setActivationState(DISABLE_DEACTIVATION);
// dynamic bodyB:
tr.setIdentity();
tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
btRigidBody* pBodyB = localCreateRigidBody(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
#ifdef TEST_SERIALIZATION
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
exitPhysics();
setupEmptyDynamicsWorld();
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
fileLoader->loadFile("testFile.bullet");
#endif //TEST_SERIALIZATION
}
void RagdollDemo::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
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->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// 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));
#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
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
//spawnRagdoll(startOffset);
startOffset.setValue(-1,0.5,0);
//spawnRagdoll(startOffset);
CreateBox(0, 0., 2., 0., 1., 0.2, 1.); // Create the box
//leg components
CreateCylinder(1, 2. , 2., 0., .2, 1., 0., 0., M_PI_2); //xleft horizontal
CreateCylinder(2, -2., 2., 0., .2, 1., 0., 0., M_PI_2); //xright (negative) horizontal
CreateCylinder(3, 0, 2., 2., .2, 1., M_PI_2, 0., 0.); //zpositive (into screen)
CreateCylinder(4, 0, 2., -2., .2, 1., M_PI_2, 0., 0.); //znegative (out of screen)
CreateCylinder(5, 3.0, 1., 0., .2, 1., 0., 0., 0.); //xleft vertical
CreateCylinder(6, -3.0, 1., 0., .2, 1., 0., 0., 0.); //xright vertical
CreateCylinder(7, 0., 1., 3.0, .2, 1., 0., 0., 0.); //zpositive vertical
CreateCylinder(8, 0., 1., -3.0, .2, 1., 0., 0., 0.); //znegative vertical
//The axisworldtolocal defines a vector perpendicular to the plane that you want the bodies to rotate in
//hinge the legs together
//xnegative -- right
//two bodies should rotate in y-plane through x--give axisworldtolocal it a z vector
btVector3 local2 = PointWorldToLocal(2, btVector3(-3., 2., 0));
btVector3 local6 = PointWorldToLocal(6, btVector3(-3., 2., 0));
btVector3 axis2 = AxisWorldToLocal(2, btVector3(0., 0., 1.));
btVector3 axis6 = AxisWorldToLocal(6, btVector3( 0., 0., 1.));
CreateHinge(0, *body[2], *body[6], local2, local6, axis2, axis6);
joints[0]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
//positive -- left
//give axisworldtolocal a z vector
btVector3 local1 = PointWorldToLocal(1, btVector3(3., 2., 0));
btVector3 local5 = PointWorldToLocal(5, btVector3(3., 2., 0));
btVector3 axis1 = AxisWorldToLocal(1, btVector3( 0., 0., 1.));
btVector3 axis5 = AxisWorldToLocal(5, btVector3(0., 0., 1.));
CreateHinge(1, *body[1], *body[5], local1, local5, axis1, axis5);
joints[1]->setLimit(btScalar(M_PI_4), btScalar(M_PI_4));
//zpositive -- back
//rotates in y-plane through z--give it an x vector
btVector3 local3 = PointWorldToLocal(3, btVector3(0, 2., 3.));
btVector3 local7 = PointWorldToLocal(7, btVector3(0, 2., 3.));
btVector3 axis3 = AxisWorldToLocal(3, btVector3(1., 0., 0.));
btVector3 axis7 = AxisWorldToLocal(7, btVector3(1., 0., 0.));
CreateHinge(2, *body[3], *body[7], local3, local7, axis3, axis7);
joints[2]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
//znegative -- front
btVector3 local4 = PointWorldToLocal(4, btVector3(0, 2., -3.));
btVector3 local8 = PointWorldToLocal(8, btVector3(0, 2., -3.));
btVector3 axis4 = AxisWorldToLocal(4, btVector3(1., 0., 0.));
btVector3 axis8 = AxisWorldToLocal(8, btVector3(1., 0., 0.));
CreateHinge(3, *body[4], *body[8], local4, local8, axis4, axis8);
joints[3]->setLimit(btScalar(M_PI_4), btScalar(M_PI_4));
//hinge the legs to the body
//xright to main
btVector3 localHinge2 = PointWorldToLocal(2, btVector3(-1, 2., 0));
btVector3 mainHinge2 = PointWorldToLocal(0, btVector3(-1, 2., 0));
btVector3 localAxis2 = AxisWorldToLocal(2, btVector3(0., 0., 1.));
btVector3 mainAxis2 = AxisWorldToLocal(0, btVector3( 0., 0., 1.));
CreateHinge(4, *body[0], *body[2], mainHinge2, localHinge2, mainAxis2, localAxis2);
//joints[4]->setLimit(btScalar(-M_PI_2-M_PI_4), btScalar(M_PI_4));
//xleft to main
btVector3 localHinge1 = PointWorldToLocal(1, btVector3(1, 2., 0));
btVector3 mainHinge1 = PointWorldToLocal(0, btVector3(1, 2., 0));
btVector3 localAxis1 = AxisWorldToLocal(1, btVector3(0., 0., 1.));
btVector3 mainAxis1 = AxisWorldToLocal(0, btVector3( 0., 0., 1.));
CreateHinge(5, *body[0], *body[1], mainHinge1, localHinge1, mainAxis1, localAxis1);
//joints[5]->setLimit(btScalar(-M_PI_2), btScalar(M_PI_2));
//zpositive (back) to main
btVector3 localHinge3 = PointWorldToLocal(3, btVector3(0., 2., 1));
btVector3 mainHinge3 = PointWorldToLocal(0, btVector3(0., 2., 1));
btVector3 localAxis3 = AxisWorldToLocal(3, btVector3(1., 0., 0.));
btVector3 mainAxis3 = AxisWorldToLocal(0, btVector3( 1., 0., 0.));
CreateHinge(6, *body[0], *body[3], mainHinge3, localHinge3, mainAxis3, localAxis3);
//joints[6]->setLimit(btScalar(-M_PI_2-M_PI_4), btScalar(M_PI_4));
btVector3 localHinge4 = PointWorldToLocal(4, btVector3(0., 2., -1));
btVector3 mainHinge4= PointWorldToLocal(0, btVector3(0., 2., -1));
btVector3 localAxis4 = AxisWorldToLocal(4, btVector3(1., 0., 0. ));
btVector3 mainAxis4 = AxisWorldToLocal(0, btVector3( 1., 0., 0.));
CreateHinge(7, *body[0], *body[4], mainHinge4, localHinge4, mainAxis4, localAxis4);
//joints[7]->setLimit(btScalar(-M_PI_2), btScalar(M_PI_2));
clientResetScene();
}
void CcdPhysicsDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
m_ShootBoxInitialSpeed = 4000.f;
m_defaultContactProcessingThreshold = 0.f;
///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_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_collisionConfiguration->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,CONVEX_SHAPE_PROXYTYPE));
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->getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_RANDMIZE_ORDER;
m_dynamicsWorld ->setDebugDrawer(&sDebugDrawer);
//m_dynamicsWorld->getSolverInfo().m_splitImpulse=false;
if (m_ccdMode==USE_CCD)
{
m_dynamicsWorld->getDispatchInfo().m_useContinuous=true;
} else
{
m_dynamicsWorld->getDispatchInfo().m_useContinuous=false;
}
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
btBoxShape* box = new btBoxShape(btVector3(btScalar(110.),btScalar(1.),btScalar(110.)));
// box->initializePolyhedralFeatures();
btCollisionShape* groundShape = box;
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
//m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
btTransform groundTransform;
groundTransform.setIdentity();
//groundTransform.setOrigin(btVector3(5,5,5));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(0.5);
//body->setRollingFriction(0.3);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//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)
colShape->calculateLocalInertia(mass,localInertia);
int gNumObjects = 120;//120;
int i;
for (i=0;i<gNumObjects;i++)
{
btCollisionShape* shape = m_collisionShapes[1];
btTransform trans;
trans.setIdentity();
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
if (col>3)
{
col=11;
row2 |=1;
}
btVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
trans.setOrigin(pos);
float mass = 1.f;
btRigidBody* body = localCreateRigidBody(mass,trans,shape);
body->setAnisotropicFriction(shape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
body->setFriction(0.5);
//body->setRollingFriction(.3);
///when using m_ccdMode
if (m_ccdMode==USE_CCD)
{
body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
body->setCcdSweptSphereRadius(0.9*CUBE_HALF_EXTENTS);
}
}
}
}
void BasicDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
///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));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//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)
colShape->calculateLocalInertia(mass,localInertia);
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(SCALING*btVector3(
btScalar(2.0*i + start_x),
btScalar(20+2.0*k + start_y),
btScalar(2.0*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
}
}
}
}
}
void SerializeDemo::initPhysics()
{
setTexturing(true);
setShadows(false);//true);
setCameraDistance(btScalar(SCALING*30.));
setupEmptyDynamicsWorld();
#ifdef DESERIALIZE_SOFT_BODIES
m_fileLoader = new MySoftBulletWorldImporter((btSoftRigidDynamicsWorld*)m_dynamicsWorld);
#else
m_fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
#endif //DESERIALIZE_SOFT_BODIES
m_fileLoader->setVerboseMode(m_verboseMode);
if (!m_fileLoader->loadFile("testFile.bullet"))
// if (!m_fileLoader->loadFile("../SoftDemo/testFile.bullet"))
{
///create a few basic rigid bodies and save them to testFile.bullet
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionObject* groundObject = 0;
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
groundObject = body;
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
int numSpheres = 2;
btVector3 positions[2] = {btVector3(0.1f,0.2f,0.3f),btVector3(0.4f,0.5f,0.6f)};
btScalar radii[2] = {0.3f,0.4f};
btMultiSphereShape* colShape = new btMultiSphereShape(positions,radii,numSpheres);
//btCollisionShape* colShape = new btCapsuleShapeZ(SCALING*1,SCALING*1);
//btCollisionShape* colShape = new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,SCALING*1));
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//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)
colShape->calculateLocalInertia(mass,localInertia);
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(SCALING*btVector3(
btScalar(2.0*i + start_x),
btScalar(20+2.0*k + start_y),
btScalar(2.0*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
//body->setActivationState(ISLAND_SLEEPING);
}
}
}
}
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
static const char* groundName = "GroundName";
serializer->registerNameForPointer(groundObject, groundName);
for (int i=0;i<m_collisionShapes.size();i++)
{
char* name = new char[20];
sprintf(name,"name%d",i);
serializer->registerNameForPointer(m_collisionShapes[i],name);
}
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*(btRigidBody*)getDynamicsWorld()->getCollisionObjectArray()[2],btVector3(0,1,0));
m_dynamicsWorld->addConstraint(p2p);
const char* name = "constraintje";
serializer->registerNameForPointer(p2p,name);
m_dynamicsWorld->serialize(serializer);
#if 1
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
#endif
}
//clientResetScene();
}
