void Physics::Init()
{
broadphase = new btDbvtBroadphase();
btVector3 worldAabbMin(-1000, -1000, -1000);
btVector3 worldAabbMax(1000, 1000, 1000);
broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, MAX_PROXIES);
collisionConfiguration =
new btSoftBodyRigidBodyCollisionConfiguration();
dispatcher = new btCollisionDispatcher(collisionConfiguration);
solver = new btSequentialImpulseConstraintSolver();
//new btConstraintSolver()
softBodySolver = new btDefaultSoftBodySolver();
dynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher,
broadphase, solver, collisionConfiguration, softBodySolver);
dynamicsWorld->setGravity(btVector3(0, -10, 0));
softBodyWorldInfo.m_broadphase = broadphase;
softBodyWorldInfo.m_dispatcher = dispatcher;
softBodyWorldInfo.m_gravity.setValue(0, -10, 0);
softBodyWorldInfo.air_density = (btScalar)0.2;
softBodyWorldInfo.water_density = 0;
softBodyWorldInfo.water_offset = 0;
softBodyWorldInfo.water_normal = btVector3(0, 0, 0);
softBodyWorldInfo.m_sparsesdf.Initialize();
blob = nullptr;
}
void startup(gemini::Allocator& allocator)
{
physics_allocator = &allocator;
// TODO@apetrone: set up custom allocation with btAlignedAllocSetCustom.
collision_config = new btDefaultCollisionConfiguration();
dispatcher = new btCollisionDispatcher( collision_config );
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
constraint_solver = new btSequentialImpulseConstraintSolver();
broadphase = new btDbvtBroadphase();
// broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax);
pair_cache = broadphase->getOverlappingPairCache();
// setup ghost pair callback instance
pair_cache->setInternalGhostPairCallback( new CustomGhostPairCallback() );
dynamics_world = new btDiscreteDynamicsWorld(dispatcher, (btBroadphaseInterface*)broadphase, constraint_solver, collision_config);
dynamics_world->setGravity( btVector3( 0, -9.8f, 0 ) );
// dynamics_world->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
// dynamics_world->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01;
dynamics_world->getDispatchInfo().m_allowedCcdPenetration = 0.0001f;
// instance and set the debug renderer
debug_renderer = MEMORY2_NEW(*physics_allocator, bullet::DebugPhysicsRenderer);
dynamics_world->setDebugDrawer(debug_renderer);
}
void PhysicalSystem::initPhysicalSystem()
{
///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration.
collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
//dispatcher =0;
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
dispatcher = new btCollisionDispatcher(collisionConfiguration);
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
broadPhase = new btAxisSweep3(worldAabbMin,worldAabbMax,32766);
softBodyWorldInfo.m_dispatcher = dispatcher;
softBodyWorldInfo.m_broadphase = broadPhase;
softBodyWorldInfo.air_density = (btScalar)1.2;
softBodyWorldInfo.water_density = 0;
softBodyWorldInfo.water_offset = 0;
softBodyWorldInfo.water_normal = btVector3(0,0,0);
softBodyWorldInfo.m_gravity.setValue(0,-10,0);
softBodyWorldInfo.m_sparsesdf.Initialize();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
solver = new btSequentialImpulseConstraintSolver;
dynamicsWorld = new btSoftRigidDynamicsWorld(dispatcher,broadPhase,solver,collisionConfiguration);
//softBodyWorldInfo.m_gravity.setValue(0,-10,0);
}
void DoublePrecisionDemo::initPhysics()
{
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
btMatrix3x3 basisA;
basisA.setIdentity();
btMatrix3x3 basisB;
basisB.setIdentity();
objects[0].getWorldTransform().setBasis(basisA);
objects[1].getWorldTransform().setBasis(basisB);
btBoxShape* boxA = new btBoxShape(btVector3(0.5,0.5,0.5));
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
objects[0].setCollisionShape(boxA);//&hullA;
objects[1].setCollisionShape(boxB);//&hullB;
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
btVector3 worldAabbMin(80000,80000,80000);
btVector3 worldAabbMax(120000,120000,120000);
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
collisionWorld->addCollisionObject(&objects[0]);
collisionWorld->addCollisionObject(&objects[1]);
}
void ColladaDemo::initPhysics(const char* filename)
{
m_cameraUp = SimdVector3(0,0,1);
m_forwardAxis = 1;
///Setup a Physics Simulation Environment
CollisionDispatcher* dispatcher = new CollisionDispatcher();
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
//BroadphaseInterface* broadphase = new SimpleBroadphase();
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
m_physicsEnvironmentPtr->setDeactivationTime(2.f);
m_physicsEnvironmentPtr->setGravity(0,0,-10);
m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
MyColladaConverter* converter = new MyColladaConverter(this);
bool result = converter->load(filename);
if (result)
{
result = converter->convert();
}
if (result)
{
gColladaConverter = converter;
} else
{
gColladaConverter = 0;
}
}
void PendulumApplication::initPhysics()
{
setCameraDistance(8.);
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
///register some softbody collision algorithms on top of the default btDefaultCollisionConfiguration
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_softBodyWorldInfo.m_dispatcher = m_dispatcher;
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
m_softBodyWorldInfo.m_broadphase = m_broadphase;
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_solver = solver;
btSoftBodySolver* softBodySolver = 0;
btDiscreteDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration,softBodySolver);
m_dynamicsWorld = world;
m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
m_softBodyWorldInfo.m_sparsesdf.Initialize();
//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);
//buildDoublePendulumRigid();
//buildDoublePendulumSoft();
buildFlyingTrapeze();
m_softBodyWorldInfo.m_sparsesdf.Reset();
m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_softBodyWorldInfo.water_density = 0;
m_softBodyWorldInfo.water_offset = 0;
m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
}
World::World() : m_root(new osg::Group) {
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher *dispatcher = new btCollisionDispatcher(collisionConfiguration);
btConstraintSolver *solver = new btSequentialImpulseConstraintSolver();
btVector3 worldAabbMin(-10000, -10000, -10000);
btVector3 worldAabbMax(10000, 10000, 10000);
btBroadphaseInterface *inter = new btDbvtBroadphase();
m_dynamics = new btDiscreteDynamicsWorld(dispatcher, inter, solver, collisionConfiguration);
m_dynamics->setGravity(btVector3(0, 0, -10));
}
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();
}
btCollisionWorld* initCollision()
{
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher( collisionConfiguration );
btVector3 worldAabbMin( -10000, -10000, -10000 );
btVector3 worldAabbMax( 10000, 10000, 10000 );
btBroadphaseInterface* inter = new btAxisSweep3( worldAabbMin, worldAabbMax, 1000 );
btCollisionWorld* collisionWorld = new btCollisionWorld( dispatcher, inter, collisionConfiguration );
return( collisionWorld );
}
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();
}
void PhysicsEngine::Init() {
srand(GetTickCount());
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
const int maxProxies = 32766;
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_solver = new btSequentialImpulseConstraintSolver();
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
Reset();
}
PhysicsEngine::PhysicsEngine() {
m_CollisionConfig = new btDefaultCollisionConfiguration();
m_Dispatcher = new btCollisionDispatcher(m_CollisionConfig);
double scene_size = 1000.0;
btScalar sscene_size = (btScalar)scene_size;
btVector3 worldAabbMin(-sscene_size, -sscene_size, -sscene_size);
btVector3 worldAabbMax(sscene_size, sscene_size, sscene_size);
//This is one type of broadphase, bullet has others that might be faster depending on the application
m_Broadphase = new bt32BitAxisSweep3(worldAabbMin, worldAabbMax, 16000, 0, true); // true for disabling raycast accelerator
m_Solver = new btSequentialImpulseConstraintSolver();
m_World = new btDiscreteDynamicsWorld(m_Dispatcher, m_Broadphase, m_Solver, m_CollisionConfig);
m_World->setGravity(btVector3(0.0f, -9.18f, 0.0f));
}
//--------------------------------------------------------------
void ofxBulletWorldSoft::setup() {
if(broadphase == NULL) {
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
}
if(collisionConfig == NULL) collisionConfig = new btSoftBodyRigidBodyCollisionConfiguration();
if(dispatcher == NULL) dispatcher = new btCollisionDispatcher( collisionConfig );
if(solver == NULL) solver = new btSequentialImpulseConstraintSolver;
if(world == NULL) world = new btSoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
// default gravity //
setGravity(ofVec3f(0.f, 9.8f, 0.f));
world->getDispatchInfo().m_enableSPU = true;
world->getWorldInfo().m_sparsesdf.Initialize();
world->getWorldInfo().air_density = (btScalar)1.2;
world->getWorldInfo().m_sparsesdf.Reset();
/*
Nodes = 0x0001,
Links = 0x0002,
Faces = 0x0004,
Tetras = 0x0008,
Normals = 0x0010,
Contacts = 0x0020,
Anchors = 0x0040,
Notes = 0x0080,
Clusters = 0x0100,
NodeTree = 0x0200,
FaceTree = 0x0400,
ClusterTree = 0x0800,
Joints = 0x1000,
Std = Links+Faces+Tetras+Anchors+Notes+Joints,
StdTetra = Std-Faces+Tetras*/
world->setDrawFlags(fDrawFlags::Links | fDrawFlags::Normals | fDrawFlags::Joints | fDrawFlags::Anchors | fDrawFlags::Contacts | fDrawFlags::Faces );
}
//-----------------------------------
void CollisionManager::init()
{
m_pCollisionConfig = new btDefaultCollisionConfiguration();
///the maximum size of the collision world. Make sure objects stay within these boundaries
///Don't make the world AABB size too large, it will harm simulation quality and performance
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_pBroadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,MAX_PROXIES);
m_pCollisionDispatcher = new btCollisionDispatcher(m_pCollisionConfig);
m_pConstraintSolver = new btSequentialImpulseConstraintSolver;
m_pDynamicsWorld = new btDiscreteDynamicsWorld(m_pCollisionDispatcher,m_pBroadphase,m_pConstraintSolver,m_pCollisionConfig);
m_pDynamicsWorld->setGravity(btVector3(0,0,0));
}
btDynamicsWorld * initPhysics()
{
btDefaultCollisionConfiguration * collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher * dispatcher = new btCollisionDispatcher( collisionConfiguration );
btConstraintSolver * solver = new btSequentialImpulseConstraintSolver;
btVector3 worldAabbMin( -10000, -10000, -10000 );// 进行aabb算法的范围？
btVector3 worldAabbMax( 10000, 10000, 10000 );
btBroadphaseInterface * inter = new btAxisSweep3( worldAabbMin, worldAabbMax, 1000 );//采用的碰撞检测算法
btDynamicsWorld * dynamicsWorld = new btDiscreteDynamicsWorld( dispatcher, inter, solver, collisionConfiguration );
dynamicsWorld->setGravity( btVector3( 0, 0, -10 ) );
return( dynamicsWorld );
}
void ChainBtDynamics::initPhysics()
{
// Setup the basic world
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->setGravity(btVector3(0.0f, -9.8f*GRAVITY_SCALE, 0.0f));
//m_dynamicsWorld->setGravity(btVector3(0.0f, 0.1f*GRAVITY_SCALE, 0.0f));
//m_dynamicsWorld->setGravity(btVector3(0.0f, -3.0f*GRAVITY_SCALE, 0.0f));
m_dynamicsWorld->setGravity(btVector3(0.0f, 0.00f*GRAVITY_SCALE, 0.0f));
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
//{
// //btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(1.5),btScalar(0.1),btScalar(1.5)));
//
// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(3000.0f),
// btScalar(600.0f),
// btScalar(3000.0f)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// //groundTransform.setOrigin(btVector3(0,-10,0));
// groundTransform.setOrigin(btVector3(0,-600.0f,0));
//
// btCollisionObject* fixedGround = new btCollisionObject();
// fixedGround->setCollisionShape(groundShape);
// fixedGround->setWorldTransform(groundTransform);
// m_groundInfo.isGround = true;
// fixedGround->setUserPointer(&m_groundInfo);
//
// m_dynamicsWorld->addCollisionObject(fixedGround);
//}
btVector3 startOffset(0,100,0);
clientResetScene();
}
BulletPhysics::BulletPhysics(double configGravity[3],osgOcean::OceanTechnique* oceanSurf,PhysicsWater physicsWater) {
collisionConfiguration = new btHfFluidRigidCollisionConfiguration();
dispatcher = new btCollisionDispatcher( collisionConfiguration );
solver = new btSequentialImpulseConstraintSolver();
btVector3 worldAabbMin( -10000, -10000, -10000 );
btVector3 worldAabbMax( 10000, 10000, 10000 );
inter = new btAxisSweep3( worldAabbMin, worldAabbMax, 1000 );
dynamicsWorld = new btHfFluidRigidDynamicsWorld( dispatcher, inter, solver, collisionConfiguration );
dynamicsWorld->getDispatchInfo().m_enableSPU = true;
btVector3 gravity(configGravity[0],configGravity[1],configGravity[2]);
if(configGravity[0]==0 && configGravity[1]==0 && configGravity[2]==0){
gravity=UWSIM_DEFAULT_GRAVITY;
}
dynamicsWorld->setGravity( gravity);
oceanSurface=oceanSurf;
if(physicsWater.enable){
fluid = new btHfFluid (physicsWater.resolution, physicsWater.size[0], physicsWater.size[1],physicsWater.size[2], physicsWater.size[3],physicsWater.size[4] , physicsWater.size[5]);
//fluid = new btHfFluid (btScalar(0.25), 100,100);
btTransform xform;
xform.setIdentity ();
xform.getOrigin() = btVector3(physicsWater.position[0], physicsWater.position[1], physicsWater.position[2]);
//xform.setRotation(btQuaternion(0,1.57,0));
fluid->setWorldTransform (xform);
fluid->setHorizontalVelocityScale (btScalar(0.0f));
fluid->setVolumeDisplacementScale (btScalar(0.0f));
dynamicsWorld->addHfFluid (fluid);
for (int i = 0; i < fluid->getNumNodesLength()*fluid->getNumNodesWidth(); i++){
fluid->setFluidHeight(i, btScalar(0.0f));
}
fluid->prep ();
}
else
fluid=NULL;
/*debugDrawer.setDebugMode(btIDebugDraw::DBG_DrawContactPoints|| btIDebugDraw::DBG_DrawWireframe || btIDebugDraw::DBG_DrawText);
dynamicsWorld->setDebugDrawer(&debugDrawer);
debugDrawer.BeginDraw();
debugDrawer.setEnabled(true);*/
}
// init
void MBulletContext::init(const MVector3 & worldMin, const MVector3 & worldMax)
{
clear();
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
int maxProxies = 1024;
btVector3 worldAabbMin(worldMin.x, worldMin.y, worldMin.z);
btVector3 worldAabbMax(worldMax.x, worldMax.y, worldMax.z);
//m_overlappingPairCache = new btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies);
m_overlappingPairCache = new btDbvtBroadphase();
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_overlappingPairCache, m_solver, m_collisionConfiguration);
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
}
void CollisionInterfaceDemo::initPhysics()
{
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
btMatrix3x3 basisA;
basisA.setIdentity();
btMatrix3x3 basisB;
basisB.setIdentity();
objects[0].getWorldTransform().setBasis(basisA);
objects[1].getWorldTransform().setBasis(basisB);
btBoxShape* boxA = new btBoxShape(btVector3(1,1,1));
boxA->setMargin(0.f);
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
boxB->setMargin(0.f);
//ConvexHullShape hullA(points0,3);
//hullA.setLocalScaling(btVector3(3,3,3));
//ConvexHullShape hullB(points1,4);
//hullB.setLocalScaling(btVector3(4,4,4));
objects[0].setCollisionShape(boxA);//&hullA;
objects[1].setCollisionShape(boxB);//&hullB;
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
//SimpleBroadphase is a brute force alternative, performing N^2 aabb overlap tests
//SimpleBroadphase* broadphase = new btSimpleBroadphase;
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
collisionWorld->setDebugDrawer(&debugDrawer);
#ifdef TEST_NOT_ADDING_OBJECTS_TO_WORLD
// collisionWorld->addCollisionObject(&objects[0]);
collisionWorld->addCollisionObject(&objects[1]);
#endif //TEST_NOT_ADDING_OBJECTS_TO_WORLD
}
void ConvexDecompositionDemo::setupEmptyDynamicsWorld()
{
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 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
gCompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset.setValue(10,0,0);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
//m_broadphase = new btSimpleBroadphase();
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
}
Physics::Physics() {
body_max_ = 16384; /* Maximum number of rigid bodies */
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
broadphase_ = new btAxisSweep3(worldAabbMin,worldAabbMax,body_max_);
collisionConfiguration_ = new btDefaultCollisionConfiguration();
dispatcher_ = new btCollisionDispatcher(collisionConfiguration_);
solver_ = new btSequentialImpulseConstraintSolver;
dynamicsWorld_ = new btDiscreteDynamicsWorld(dispatcher_,
broadphase_, solver_, collisionConfiguration_);
setGravity(GRAVITY_EARTH);
//gDebugDrawer_.setDebugMode(1);
//dynamicsWorld_->setDebugDrawer(&gDebugDrawer_);
body_count_ = 0;
}
void BulletSoftObject::init() {
btDefaultCollisionConfiguration* m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
btCollisionDispatcher* m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
getEnvironment()->bullet->dispatcher = m_dispatcher;
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
btBroadphaseInterface* m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,32766);
getEnvironment()->bullet->broadphase = m_broadphase;
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
getEnvironment()->bullet->solver = solver;
//btSoftRigidDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher,m_broadphase,solver,m_collisionConfiguration);
//getEnvironment()->bullet->dynamicsWorld = world;
//m_dynamicsWorld->setInternalTickCallback(pickingPreTickCallback,this,true);
//getEnvironment()->bullet->dynamicsWorld->getDispatchInfo().m_enableSPU = true;
//getEnvironment()->bullet->dynamicsWorld->setGravity(btVector3(0,0,-10));
//m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
getEnvironment()->bullet->dynamicsWorld->addSoftBody(softBody.get());
vertices = new osg::Vec3Array;
normals = new osg::Vec3Array;
geom = new osg::Geometry;
geom->setDataVariance(osg::Object::DYNAMIC);
geom->setUseDisplayList(false);
geom->setUseVertexBufferObjects(true);
geom->setVertexArray(vertices.get());
geom->setNormalArray(normals.get());
geom->setNormalBinding(osg::Geometry::BIND_PER_VERTEX);
osg::ref_ptr<osg::Geode> geode = new osg::Geode;
geode->addDrawable(geom);
transform = new osg::MatrixTransform;
transform->addChild(geode);
getEnvironment()->osg->root->addChild(transform);
}
void Simulation::initPhysics()
{
// setup the ANN
ANN* neuralNet = new ANN();
neuralNet->loadXML();
// Setup the basic world
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);
//tick = 0;
m_dynamicsWorld->setInternalTickCallback(robotPreTickCallback, 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));
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);
}
// Bullet engine initialisation
btDynamicsWorld* Scene::initBulletEngine()
{
btDefaultCollisionConfiguration * collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher * dispatcher = new btCollisionDispatcher( collisionConfiguration );
btConstraintSolver * solver = new btSequentialImpulseConstraintSolver;
solver->reset();
// Anything outside this area won't be taken into account by bullet
btVector3 worldAabbMin( -10000, -10000, -10000 );
btVector3 worldAabbMax( 10000, 10000, 10000 );
btBroadphaseInterface * inter = new btAxisSweep3( worldAabbMin, worldAabbMax, 1000 );
// You can now use: dynamicsWorld->addRigidBody( btRigidBody ); to add an object the simulation
btDynamicsWorld * dynamicsWorld = new btDiscreteDynamicsWorld( dispatcher, inter, solver, collisionConfiguration );
dynamicsWorld->getPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
dynamicsWorld->setGravity( btVector3( 0, 0, -250 ) );
return( dynamicsWorld );
}
int main(int argc,char** argv)
{
clientResetScene();
SimdMatrix3x3 basisA;
basisA.setIdentity();
SimdMatrix3x3 basisB;
basisB.setIdentity();
objects[0].m_worldTransform.setBasis(basisA);
objects[1].m_worldTransform.setBasis(basisB);
SimdPoint3 points0[3]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1)};
SimdPoint3 points1[5]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1),SimdPoint3(0,0,-1),SimdPoint3(-1,-1,0)};
BoxShape boxA(SimdVector3(1,1,1));
BoxShape boxB(SimdVector3(0.5,0.5,0.5));
//ConvexHullShape hullA(points0,3);
//hullA.setLocalScaling(SimdVector3(3,3,3));
//ConvexHullShape hullB(points1,4);
//hullB.setLocalScaling(SimdVector3(4,4,4));
objects[0].m_collisionShape = &boxA;//&hullA;
objects[1].m_collisionShape = &boxB;//&hullB;
CollisionDispatcher dispatcher;
//SimpleBroadphase broadphase;
SimdVector3 worldAabbMin(-1000,-1000,-1000);
SimdVector3 worldAabbMax(1000,1000,1000);
AxisSweep3 broadphase(worldAabbMin,worldAabbMax);
collisionWorld = new CollisionWorld(&dispatcher,&broadphase);
collisionWorld->AddCollisionObject(&objects[0]);
collisionWorld->AddCollisionObject(&objects[1]);
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Interface Demo");
}
BB_World* BB_NewWorld() {
BB_World* ret = new BB_World();
ret->collisionConfiguration = new btDefaultCollisionConfiguration();
ret->dispatcher = new btCollisionDispatcher(ret->collisionConfiguration);
btVector3 worldAabbMin(-100, -100, -100);
btVector3 worldAabbMax(100, 100, 100);
ret->broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax);
ret->solver = new btSequentialImpulseConstraintSolver();
ret->dynamicsWorld =
new btDiscreteDynamicsWorld(
ret->dispatcher,
ret->broadphase,
ret->solver,
ret->collisionConfiguration);
ret->broadphase->getOverlappingPairCache()->setInternalGhostPairCallback(new btGhostPairCallback());
return ret;
}
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();
}