void BulletTestApp::initTest()
{
// Clean up last test
if ( mWorld ) {
mWorld->clear();
}
// Used when generating terrain
Channel32f heightField;
// Create and add the wobbly box
mGroundTransform.setIdentity();
switch ( mTest ) {
case 0:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
bullet::createRigidSphere( mWorld, 50.0f, 64, 0.0f, Vec3f( 0.0f, -50.0f, 0.0f ) );
break;
case 1:
mGround = bullet::createRigidHull( mWorld, mConvex, Vec3f::one() * 50.0f, 0.0f );
break;
case 2:
mGround = bullet::createRigidMesh( mWorld, mConcave, Vec3f( 10.0f, 1.0f, 10.0f ), 0.0f, 0.0f );
break;
case 3:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
break;
case 4:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
break;
case 5:
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD_SM ) ) );
mGround = bullet::createRigidTerrain( mWorld, heightField, -1.0f, 1.0f, Vec3f( 6.0f, 80.0f, 6.0f ), 0.0f );
break;
case 6:
// ADVANCED: To add a custom class, create a standard pointer to it and
// pushBack it into your world. Be sure to delete this pointer when you no loinger need it
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD ) ) );
mTerrain = new DynamicTerrain( heightField, -1.0f, 1.0f, Vec3f( 2.0f, 50.0f, 2.0f ), 0.0f );
mWorld->pushBack( mTerrain );
break;
case 7:
// Start capture
if ( !mCapture ) {
mCapture = Capture( 320, 240 );
mCapture.start();
}
break;
}
// Set friction for box
if ( mTest < 5 ) {
btRigidBody* boxBody = bullet::toBulletRigidBody( mGround );
boxBody->setFriction( 0.95f );
}
}
void BulletTestApp::update()
{
// Run next test
if ( mTest != mTestPrev ) {
mTestPrev = mTest;
initTest();
}
mFrameRate = getAverageFps();
// Update light
mLight->update( mCamera );
if ( mTest < 3 ) {
// Set box rotation
float rotation = math<float>::sin( ( float )getElapsedSeconds() * 0.3333f ) * 0.35f ;
mGroundTransform.setRotation( btQuaternion( 0.25f, 0.0f, 1.0f + rotation * 0.1f, rotation ) );
mGroundTransform.setOrigin( btVector3( 0.0f, -60.0f, 0.0f ) );
// Apply rotation to box
btRigidBody* body = bullet::toBulletRigidBody( mGround );
body->getMotionState()->setWorldTransform( mGroundTransform );
body->setWorldTransform( mGroundTransform );
} else if ( mTest == 6 ) {
// Read data
Channel32f& input = mTerrain->getData();
// Get image dimensions
int32_t height = input.getHeight();
int32_t width = input.getWidth();
// Create output channel
Channel32f output = Channel32f( width, height );
// Move pixel value over by one
for ( int32_t y = 0; y < height; y++ ) {
for ( int32_t x = 0; x < width; x++ ) {
float value = input.getValue( Vec2i( x, y ) );
Vec2i position( ( x + 1 ) % width, ( y + 1 ) % height );
output.setValue( position, value );
}
}
// Copy new data back to original
input.copyFrom( output, output.getBounds() );
// Shift texture coordinates to match positions
vector<Vec2f>& texCoords = mTerrain->getTexCoords();
Vec2f delta( 1.0f / (float)width, 1.0f / (float)height );
for ( vector<Vec2f>::iterator uv = texCoords.begin(); uv != texCoords.end(); ++uv ) {
*uv -= delta;
}
// Update terrain VBO
mTerrain->updateVbo();
} else if ( mTest == 7 ) {
bool init = !mSurface;
if ( mCapture.isCapturing() && mCapture.checkNewFrame() ) {
mSurface = mCapture.getSurface();
ip::flipVertical( &mSurface );
if ( init ) {
mTerrain = new DynamicTerrain( Channel32f( 160, 160 ), -1.0f, 1.0f, Vec3f( 2.0f, 70.0f, 2.0f ), 0.0f );
mWorld->pushBack( mTerrain );
btRigidBody* terrain = ( btRigidBody* )mTerrain->getBulletBody();
terrain->setAngularFactor( 0.6f );
terrain->setFriction( 0.6f );
} else {
mTerrain->getData().copyFrom( Channel32f( mSurface ), Area( 0, 0, 160, 160 ) );
mTerrain->updateVbo();
}
}
}
// Update dynamics world
mWorld->update( mFrameRate );
/*if ( mGround ) {
Iter iter = mWorld->find( mGround );
OutputDebugStringA( toString( iter->getPosition().x ).c_str() );
OutputDebugStringA( "\n" );
}*/
// Remove out of bounbds objects
for ( bullet::Iter object = mWorld->begin(); object != mWorld->end(); ) {
if ( object != mWorld->begin() && object->getPosition().y < -800.0f ) {
object = mWorld->erase( object );
} else {
++object;
}
}
// Remove objects when count is too high
uint32_t max = mTest >= 4 ? MAX_OBJECTS_TERRAIN : MAX_OBJECTS;
if ( mWorld->getNumObjects() > max + 1 ) {
for ( uint32_t i = 1; i < mWorld->getNumObjects() - MAX_OBJECTS_TERRAIN; i++ ) {
mWorld->erase( mWorld->begin() + 1 );
}
}
}
void BulletTestApp::initTest()
{
// Clean up last test
if ( mWorld ) {
mWorld->clear();
mWorld->getInfo().m_sparsesdf.Reset();
}
// Used when generating terrain
Channel32f heightField;
// Create and add the wobbly box
btSoftBody* body = 0;
btSoftBody::Material* material = 0;
mGroundTransform.setIdentity();
switch ( mTest ) {
case 0:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
bullet::createRigidSphere( mWorld, 50.0f, 0.0f, Vec3f( 0.0f, -50.0f, 0.0f ) );
break;
case 1:
mGround = bullet::createRigidHull( mWorld, mConvex, Vec3f::one() * 50.0f, 0.0f );
break;
case 2:
mGround = bullet::createRigidMesh( mWorld, mConcave, Vec3f( 10.0f, 1.0f, 10.0f ), 0.0f, 0.0f );
break;
case 5:
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD_SM ) ) );
mGround = bullet::createRigidTerrain( mWorld, heightField, -1.0f, 1.0f, Vec3f( 6.0f, 80.0f, 6.0f ), 0.0f );
break;
case 6:
// ADVANCED: To add a custom class, create a standard pointer to it and
// pushBack it into your world. Be sure to delete this pointer when you no longer need it.
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD ) ) );
mTerrain = new DynamicTerrain( heightField, -1.0f, 1.0f, Vec3f( 2.0f, 50.0f, 2.0f ), 0.0f );
mWorld->pushBack( mTerrain );
break;
case 7:
// Start capture
if ( !mCapture ) {
mCapture = Capture( 320, 240 );
mCapture.start();
}
break;
case 8:
mWorld->getInfo().m_gravity = toBulletVector3( Vec3f( 0.0f, -0.5f, 0.0f ) );
mGround = bullet::createSoftCloth( mWorld, Vec2f::one() * 180.0f, Vec2i( 18, 20 ), SoftCloth::CLOTH_ATTACH_CORNER_ALL, Vec3f( 0.0f, 0.0f, 40.0f ), Quatf( 0.0f, 0.0f, 0.0f, 0.1f ) );
body = toBulletSoftBody( mGround );
body->m_materials[ 0 ]->m_kAST = 0.2f;
body->m_materials[ 0 ]->m_kLST = 0.2f;
body->m_materials[ 0 ]->m_kVST = 0.2f;
body->m_cfg.kDF = 0.9f;
body->m_cfg.kSRHR_CL = 1.0f;
body->m_cfg.kSR_SPLT_CL = 0.0f;
body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS;
body->getCollisionShape()->setMargin( 0.0001f );
body->setTotalMass( 500.0f );
body->generateClusters( 0 );
material = body->appendMaterial();
material->m_kAST = 0.5f;
material->m_kLST = 0.5f;
material->m_kVST = 1.0f;
body->generateBendingConstraints( 1, material );
break;
case 9:
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD_SM ) ) );
mGround = bullet::createRigidTerrain( mWorld, heightField, -1.0f, 1.0f, Vec3f( 6.0f, 80.0f, 6.0f ), 0.0f );
break;
default:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
break;
}
// Set friction for box
if ( mTest < 5 ) {
btRigidBody* boxBody = bullet::toBulletRigidBody( mGround );
boxBody->setFriction( 0.95f );
}
}