int main() {
btDefaultCollisionConfiguration *collisionConfiguration
= new btDefaultCollisionConfiguration();
btCollisionDispatcher *dispatcher = new btCollisionDispatcher(collisionConfiguration);
btBroadphaseInterface *overlappingPairCache = new btDbvtBroadphase();
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
btDiscreteDynamicsWorld *dynamicsWorld = new btDiscreteDynamicsWorld(
dispatcher, overlappingPairCache, solver, collisionConfiguration);
dynamicsWorld->setGravity(btVector3(0, gravity, 0));
dynamicsWorld->setInternalTickCallback(myTickCallback);
btAlignedObjectArray<btCollisionShape*> collisionShapes;
// Ground.
{
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, 0, 0));
btCollisionShape* groundShape;
#if 0
// x / z plane at y = -1 (not 0 to compensate the radius of the falling object).
groundShape = new btStaticPlaneShape(btVector3(groundXNormal, 1, 0), -1);
#else
// A cube of width 10 at y = -6 (upper surface at -1).
// Does not fall because we won't call:
// colShape->calculateLocalInertia
// TODO: remove this from this example into a collision shape example.
groundTransform.setOrigin(btVector3(-5, -6, 0));
groundShape = new btBoxShape(
btVector3(btScalar(5.0), btScalar(5.0), btScalar(5.0)));
#endif
collisionShapes.push_back(groundShape);
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(0, myMotionState, groundShape, btVector3(0, 0, 0));
btRigidBody* body = new btRigidBody(rbInfo);
body->setRestitution(groundRestitution);
dynamicsWorld->addRigidBody(body);
}
// Object.
{
btCollisionShape *colShape;
#if 0
colShape = new btSphereShape(btScalar(1.0));
#else
// Because of numerical instabilities, the cube bumps all over,
// moving on the x and z directions as well as y.
colShape = new btBoxShape(
btVector3(btScalar(1.0), btScalar(1.0), btScalar(1.0)));
#endif
collisionShapes.push_back(colShape);
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(initialX, initialY, initialZ));
btVector3 localInertia(0, 0, 0);
btScalar mass(1.0f);
colShape->calculateLocalInertia(mass, localInertia);
btDefaultMotionState *myMotionState = new btDefaultMotionState(startTransform);
btRigidBody *body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(
mass, myMotionState, colShape, localInertia));
body->setRestitution(objectRestitution);
body->setLinearVelocity(btVector3(initialLinearVelocityX, initialLinearVelocityY, initialLinearVelocityZ));
dynamicsWorld->addRigidBody(body);
}
// Main loop.
std::printf(COMMON_PRINTF_HEADER " collision a b normal\n");
for (std::remove_const<decltype(nSteps)>::type step = 0; step < nSteps; ++step) {
dynamicsWorld->stepSimulation(timeStep);
auto nCollisionObjects = dynamicsWorld->getNumCollisionObjects();
for (decltype(nCollisionObjects) objectIndex = 0; objectIndex < nCollisionObjects; ++objectIndex) {
btRigidBody *body = btRigidBody::upcast(dynamicsWorld->getCollisionObjectArray()[objectIndex]);
commonPrintBodyState(body, step, objectIndex);
auto& manifoldPoints = objectsCollisions[body];
if (manifoldPoints.empty()) {
std::printf("0 ");
} else {
std::printf("1 ");
for (auto& pt : manifoldPoints) {
std::vector<btVector3> data;
data.push_back(pt->getPositionWorldOnA());
data.push_back(pt->getPositionWorldOnB());
data.push_back(pt->m_normalWorldOnB);
for (auto& v : data) {
std::printf(
COMMON_PRINTF_FLOAT " " COMMON_PRINTF_FLOAT " " COMMON_PRINTF_FLOAT " ",
v.getX(), v.getY(), v.getZ()
);
}
}
}
std::printf("\n");
}
}
// Cleanup.
for (int i = dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; --i) {
btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState()) {
delete body->getMotionState();
}
dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
for (int i = 0; i < collisionShapes.size(); ++i) {
delete collisionShapes[i];
}
delete dynamicsWorld;
delete solver;
delete overlappingPairCache;
delete dispatcher;
delete collisionConfiguration;
collisionShapes.clear();
}
int main() {
btDefaultCollisionConfiguration *collisionConfiguration
= new btDefaultCollisionConfiguration();
btCollisionDispatcher *dispatcher = new btCollisionDispatcher(collisionConfiguration);
btBroadphaseInterface *overlappingPairCache = new btDbvtBroadphase();
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
btDiscreteDynamicsWorld *dynamicsWorld = new btDiscreteDynamicsWorld(
dispatcher, overlappingPairCache, solver, collisionConfiguration);
dynamicsWorld->setGravity(btVector3(0, gravity, 0));
dynamicsWorld->setInternalTickCallback(myTickCallback);
btAlignedObjectArray<btCollisionShape*> collisionShapes;
// Object0
{
btCollisionShape *colShape;
#if 0
colShape = new btSphereShape(btScalar(1.0));
#else
// Because of numerical instabilities, the cube bumps all over,
// moving on the x and z directions as well as y.
colShape = new btBoxShape(
btVector3(btScalar(1.0), btScalar(1.0), btScalar(1.0)));
#endif
collisionShapes.push_back(colShape);
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(initialX, initialY, initialZ));
btVector3 localInertia(0, 0, 0);
btScalar mass(1.0f);
colShape->calculateLocalInertia(mass, localInertia);
btDefaultMotionState *myMotionState = new btDefaultMotionState(startTransform);
btRigidBody *body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(
mass, myMotionState, colShape, localInertia));
body->setRestitution(objectRestitution);
body->setLinearVelocity(btVector3(initialLinearVelocityX, initialLinearVelocityY, initialLinearVelocityZ));
body->setAngularVelocity(btVector3(initialAngularVelocityX, initialAngularVelocityY, initialAngularVelocityZ));
dynamicsWorld->addRigidBody(body);
}
// Object1
{
btCollisionShape *colShape;
#if 0
colShape = new btSphereShape(btScalar(1.0));
#else
// Because of numerical instabilities, the cube bumps all over,
// moving on the x and z directions as well as y.
colShape = new btBoxShape(
btVector3(btScalar(1.0), btScalar(1.0), btScalar(1.0)));
#endif
collisionShapes.push_back(colShape);
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(initialX, initialY, initialZ));
btVector3 localInertia(0, 0, 0);
btScalar mass(1.0f);
colShape->calculateLocalInertia(mass, localInertia);
btDefaultMotionState *myMotionState = new btDefaultMotionState(startTransform);
btRigidBody *body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(
mass, myMotionState, colShape, localInertia));
body->setRestitution(objectRestitution);
body->setLinearVelocity(btVector3(initialLinearVelocityX, initialLinearVelocityY, initialLinearVelocityZ));
body->setAngularVelocity(btVector3(initialAngularVelocityX, initialAngularVelocityY, initialAngularVelocityZ));
dynamicsWorld->addRigidBody(body);
}
// Main loop.
std::printf(COMMON_PRINTF_HEADER "\n");
for (std::remove_const<decltype(nSteps)>::type step = 0; step < nSteps; ++step) {
dynamicsWorld->stepSimulation(timeStep);
auto nCollisionObjects = dynamicsWorld->getNumCollisionObjects();
for (decltype(nCollisionObjects) objectIndex = 0; objectIndex < nCollisionObjects; ++objectIndex) {
btRigidBody *body = btRigidBody::upcast(dynamicsWorld->getCollisionObjectArray()[objectIndex]);
commonPrintBodyState(body, step, objectIndex);
}
std::printf("\n");
}
// Cleanup.
for (int i = dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; --i) {
btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState()) {
delete body->getMotionState();
}
dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
for (int i = 0; i < collisionShapes.size(); ++i) {
delete collisionShapes[i];
}
delete dynamicsWorld;
delete solver;
delete overlappingPairCache;
delete dispatcher;
delete collisionConfiguration;
collisionShapes.clear();
}
int main() {
btDefaultCollisionConfiguration *collisionConfiguration
= new btDefaultCollisionConfiguration();
btCollisionDispatcher *dispatcher = new btCollisionDispatcher(collisionConfiguration);
btBroadphaseInterface *overlappingPairCache = new btDbvtBroadphase();
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
btDiscreteDynamicsWorld *dynamicsWorld = new btDiscreteDynamicsWorld(
dispatcher, overlappingPairCache, solver, collisionConfiguration);
dynamicsWorld->setGravity(btVector3(0, gravity, 0));
dynamicsWorld->setInternalTickCallback(myTickCallback);
btAlignedObjectArray<btCollisionShape*> collisionShapes;
// Ground.
{
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, 0, 0));
btCollisionShape* groundShape;
groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), -1);
collisionShapes.push_back(groundShape);
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(0, myMotionState, groundShape, btVector3(0, 0, 0));
btRigidBody* body = new btRigidBody(rbInfo);
body->setRestitution(groundRestitution);
dynamicsWorld->addRigidBody(body);
}
// Objects.
std::vector<btRigidBody*> objects;
for (size_t i = 0; i < nObjects; ++i) {
btCollisionShape *colShape;
colShape = new btSphereShape(btScalar(1.0));
collisionShapes.push_back(colShape);
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(initialXs[i], initialYs[i], 0));
btVector3 localInertia(0, 0, 0);
btScalar mass(1.0f);
colShape->calculateLocalInertia(mass, localInertia);
btDefaultMotionState *myMotionState = new btDefaultMotionState(startTransform);
btRigidBody *body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(
mass, myMotionState, colShape, localInertia));
body->setRestitution(objectRestitution);
dynamicsWorld->addRigidBody(body);
objects.push_back(body);
}
// Main loop.
std::printf(COMMON_PRINTF_HEADER " collision1 collision2\n");
for (std::remove_const<decltype(nSteps)>::type step = 0; step < nSteps; ++step) {
dynamicsWorld->stepSimulation(timeStep);
auto nCollisionObjects = dynamicsWorld->getNumCollisionObjects();
for (std::remove_const<decltype(nCollisionObjects)>::type objectIndex = 0; objectIndex < nCollisionObjects; ++objectIndex) {
btRigidBody *body = btRigidBody::upcast(dynamicsWorld->getCollisionObjectArray()[objectIndex]);
commonPrintBodyState(body, step, objectIndex);
// We could use objects[i] here to check for one of the objects we've created.
auto manifoldPoints = objectsCollisions[body];
if (manifoldPoints.empty()) {
std::printf("0");
} else {
std::printf("1");
}
std::printf("\n");
}
}
// Cleanup.
for (int i = dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; --i) {
btCollisionObject *obj = dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody *body = btRigidBody::upcast(obj);
if (body && body->getMotionState()) {
delete body->getMotionState();
}
dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
for (int i = 0; i < collisionShapes.size(); ++i) {
delete collisionShapes[i];
}
delete dynamicsWorld;
delete solver;
delete overlappingPairCache;
delete dispatcher;
delete collisionConfiguration;
collisionShapes.clear();
}
