virtual void createBodyForCompoundShape(btCompoundShape* compoundTmpShape,bool addConstraint, const btTransform& worldTransform, btScalar mass)
{
btDefaultMotionState* myMotionState= 0;
btVector3 aabbMin,aabbMax;
compoundTmpShape->getAabb(btTransform::getIdentity(),aabbMin,aabbMax);
int numSpheres = compoundTmpShape->getNumChildShapes();
btAssert(numSpheres>0);
if (numSpheres>8)
{
printf("error: exceeded 8 spheres\n");
return;
}
btVector3* positions = new btVector3[numSpheres];
btScalar* radii = new btScalar[numSpheres];
for (int i=0;i<numSpheres;i++)
{
btAssert(compoundTmpShape->getChildShape(i)->getShapeType()== SPHERE_SHAPE_PROXYTYPE);
btSphereShape* sphereShape = (btSphereShape*)compoundTmpShape->getChildShape(i);
radii[i]=sphereShape->getRadius();
positions[i] = compoundTmpShape->getChildTransform(i).getOrigin();
}
btMultiSphereShape* multiSphere = new btMultiSphereShape(positions,radii,numSpheres);
m_demo->addCollisionShape(multiSphere);
btVector3 localInertia(0,0,0);
if (mass)
{
myMotionState = new btDefaultMotionState(worldTransform);
multiSphere->calculateLocalInertia(mass,localInertia);
}
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btRigidBody* body = new btRigidBody(mass,myMotionState,multiSphere,localInertia);
body->setLinearFactor(btVector3(1,1,0));
body->setAngularFactor(btVector3(0,0,1));
body->setWorldTransform(worldTransform);
m_demo->getDynamicsWorld()->addRigidBody(body);
if (addConstraint)
{
btVector3 pivotInA(0,0,0);
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,pivotInA);
m_demo->getDynamicsWorld()->addConstraint(p2p);
}
}
int main(int argc, char* argv[])
{
#ifdef __APPLE__
MacOpenGLWindow* window = new MacOpenGLWindow();
#else
Win32OpenGLWindow* window = new Win32OpenGLWindow();
#endif
btgWindowConstructionInfo wci(g_OpenGLWidth,g_OpenGLHeight);
wci.m_openglVersion = 2;
window->createWindow(wci);
window->setWindowTitle("MyTest");
#ifdef _WIN32
glewInit();
#endif
window->startRendering();
float color[4] = {1,1,1,1};
// prim.drawRect(0,0,200,200,color);
window->endRendering();
window->setKeyboardCallback(MyKeyboardCallback);
{
BasicDemo* demo = new BasicDemo;
demo->myinit();
demo->initPhysics();
do
{
window->startRendering();
demo->clientMoveAndDisplay();
render.init();
render.renderPhysicsWorld(demo->getDynamicsWorld());
window->endRendering();
} while (!window->requestedExit());
demo->exitPhysics();
delete demo;
}
window->closeWindow();
delete window;
return 0;
}
int main(int argc,char** argv)
{
GLDebugDrawer gDebugDrawer;
///testing the btHashMap
btHashMap<btHashKey<OurValue>,OurValue> map;
OurValue value1(btVector3(2,3,4));
btHashKey<OurValue> key1(value1.getUid());
map.insert(key1,value1);
OurValue value2(btVector3(5,6,7));
btHashKey<OurValue> key2(value2.getUid());
map.insert(key2,value2);
{
OurValue value3(btVector3(7,8,9));
btHashKey<OurValue> key3(value3.getUid());
map.insert(key3,value3);
}
map.remove(key2);
const OurValue* ourPtr = map.find(key1);
for (int i=0;i<map.size();i++)
{
OurValue* tmp = map.getAtIndex(i);
//printf("tmp value=%f,%f,%f\n",tmp->m_position.getX(),tmp->m_position.getY(),tmp->m_position.getZ());
}
BasicDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();
#else
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&ccdDemo);
#endif
//default glut doesn't return from mainloop
return 0;
}