bool Bullet::setup()
{
broadphase_ = new btDbvtBroadphase;
ghostPairCallback_ = new btGhostPairCallback;
broadphase_->getOverlappingPairCache()->setInternalGhostPairCallback(ghostPairCallback_);
collisionConfiguration_ = new btDefaultCollisionConfiguration;
dispatcher_ = new btCollisionDispatcher(collisionConfiguration_);
solver_ = new btSequentialImpulseConstraintSolver;
dynamicsWorld_ = new btDiscreteDynamicsWorld(dispatcher_, broadphase_, solver_, collisionConfiguration_);
dynamicsWorld_->setGravity(toBullet(getGravityVector()));
LOG_INFO << "Initialized Bullet " << (btGetVersion() / 100) << "." << (btGetVersion() % 100);
return true;
}
String Bullet::getEngineName() const
{
return String() + "Bullet " + (btGetVersion() / 100) + "." + (btGetVersion() % 100);
}
int main(int argc, char** argv)
{
//#define CHECK_FPU_EXCEPTIONS 1
#ifdef CHECK_FPU_EXCEPTIONS
int cw = _control87(0, 0);
// Set the exception masks off, turn exceptions on
cw &= ~(EM_ZERODIVIDE | EM_INVALID);
printf("control87 = %#x\n", cw);
// Set the control word
_control87(cw, MCW_EM);
#endif //CHECK_FPU_EXCEPTIONS
setDefaultSettings();
int bulletVersion = btGetVersion();
printf("Bullet version %d\n",bulletVersion);
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE |GLUT_DEPTH | GLUT_STENCIL);
glutInitWindowSize(width, height);
mainWindow = glutCreateWindow("http://bulletphysics.com");
#ifdef BT_USE_FREEGLUT
glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
#endif
entry = g_demoEntries + testIndex;
demo = CreatDemo(entry);
glutDisplayFunc(SimulationLoop);
GLUI_Master.set_glutReshapeFunc(Resize);
GLUI_Master.set_glutKeyboardFunc(Keyboard);
GLUI_Master.set_glutSpecialFunc(KeyboardSpecial);
GLUI_Master.set_glutSpecialUpFunc(KeyboardSpecialUp);
GLUI_Master.set_glutMouseFunc(Mouse);
glutMotionFunc(MouseMotion);
glui = GLUI_Master.create_glui_subwindow( mainWindow,
GLUI_SUBWINDOW_RIGHT );
glui->add_statictext("Tests");
GLUI_Listbox* testList =
glui->add_listbox("", &testSelection);
glui->add_button("Next Scene", 0,(GLUI_Update_CB)NextScene);
glui->add_separator();
GLUI_Spinner* iterationSpinner =
glui->add_spinner("Iterations", GLUI_SPINNER_INT, &iterationCount);
iterationSpinner->set_int_limits(1, 250);
/* GLUI_Spinner* hertzSpinner =
glui->add_spinner("Hertz", GLUI_SPINNER_FLOAT, &hz);
hertzSpinner->set_float_limits(5.0f, 200.0f);
*/
glui->add_checkbox("DisableDeactivation", &gDebugNoDeactivation);
glui->add_checkbox("Split Impulse", &gUseSplitImpulse);
GLUI_Spinner* spinner = 0;
spinner = glui->add_spinner("ERP", GLUI_SPINNER_FLOAT, &gErp);
// spinner->set_float_limits(0.f,1.f);
// spinner = glui->add_spinner("ERP2", GLUI_SPINNER_FLOAT, &gErp2);
spinner->set_float_limits(0.f,1.f);
spinner = glui->add_spinner("Slop", GLUI_SPINNER_FLOAT, &gSlop);
spinner->set_float_limits(0.f,1.f);
// spinner = glui->add_spinner("WSP", GLUI_SPINNER_FLOAT,&gWarmStartingParameter);
// spinner->set_float_limits (0.f,1.0);
glui->add_checkbox("Warmstarting", &gUseWarmstarting);
glui->add_checkbox("Randomize Constraints", &gRandomizeConstraints);
glui->add_button("Reset Defaults", 0,(GLUI_Update_CB)setDefaultSettingsAndSync);
glui->add_separator();
GLUI_Panel* drawPanel = glui->add_panel("Debug Draw");
glui->add_checkbox_to_panel(drawPanel, "AABBs", &gDrawAabb);
glui->add_checkbox_to_panel(drawPanel, "Wireframe", &gWireFrame);
glui->add_checkbox_to_panel(drawPanel, "Contacts", &gDebugContacts);
glui->add_checkbox_to_panel(drawPanel, "Textures", &gDrawTextures);
glui->add_checkbox_to_panel(drawPanel, "Shadows", &gDrawShadows);
glui->add_checkbox_to_panel(drawPanel, "Clusters", &gDrawClusters);
int testCount = 0;
btDemoEntry* e = g_demoEntries;
while (e->createFcn)
{
testList->add_item(testCount, e->name);
++testCount;
++e;
}
glui->add_separator();
glui->add_button("Toggle Pause", 0,(GLUI_Update_CB)TogglePause);
glui->add_button("Single Step", 0,(GLUI_Update_CB)SingleSimulationStep);
glui->add_button("Reset Scene", 0,(GLUI_Update_CB)ResetScene);
glui->add_button("Restart Scene", 0,(GLUI_Update_CB)RestartScene);
glui->add_separator();
// glui->add_button("Exit", 0,(GLUI_Update_CB)exit);
glui->set_main_gfx_window( mainWindow );
// Use a timer to control the frame rate.
glutTimerFunc(framePeriod, Timer, 0);
glutMainLoop();
return 0;
}
