void createBulletObject(Shape shape) { switch (shape) { case ConvexHull : { btConvexHullShape* bcs = new btConvexHullShape(); for (size_t i=0; i<data.size(); i++) { glm::vec3& v = data[i].vertex; bcs->addPoint( glmvec3_to_btVector3(v) ); } btScalar mass(ball_mass); btVector3 localInertia(0,0,0); //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects // position and motion btTransform ballTransform; ballTransform.setIdentity(); ballTransform.setOrigin(btVector3(0,ball_initial_height,0)); btDefaultMotionState* bulletMotionState = new btDefaultMotionState(btTransform(ballTransform)); // ball rigidbody info btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,bulletMotionState,bcs,localInertia); // tweak rigidbody info rbInfo.m_restitution = grestitution; rbInfo.m_friction = gfriction; // add ball to the world rigidbody = new btRigidBody(rbInfo); if(!rigidbody) std::cout << "bulletBallBody pointer null" << std::endl; dynamicsWorld->addRigidBody(rigidbody); break; } case TriangleMesh : { // Shape btBvhTriangleMeshShape* boardShape = new btBvhTriangleMeshShape( &bt_triangles, true ); btScalar mass(board_mass); btVector3 localInertia(0,0,0); // transform : default position btTransform boardTransform; boardTransform.setIdentity(); boardTransform.setOrigin(btVector3(0,0,0)); btDefaultMotionState* bulletMotionState = new btDefaultMotionState(btTransform(boardTransform)); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,bulletMotionState,boardShape,localInertia); // tweak rigidbody properties rbInfo.m_restitution = grestitution; rbInfo.m_friction = gfriction; // add to the world rigidbody = new btRigidBody(rbInfo); if(!rigidbody) std::cout << "bulletBoardBody pointer null" << std::endl; rigidbody->setActivationState(DISABLE_DEACTIVATION); dynamicsWorld->addRigidBody(rigidbody); break; } case None : { break; } } // end switch }
void addPickingConstraint(const btVector3& rayFrom, const btVector3& rayTo) { if (!dynamicsWorld) { return; } removePickingConstraint(); if (pickedObjectIndex <= 0 || pickedObjectIndex >= dynamicsWorld->getNumCollisionObjects()) { return; } pickedBody = btRigidBody::upcast(dynamicsWorld->getCollisionObjectArray()[pickedObjectIndex]); btVector3 pickPos = rayTo; btVector3 localPivot = pickedBody->getCenterOfMassTransform().inverse() * pickPos; pickConstraint = new btPoint2PointConstraint(*pickedBody,localPivot); pickedBody->setActivationState(DISABLE_DEACTIVATION); dynamicsWorld->addConstraint(pickConstraint,true); pickingDistance = (rayFrom-rayTo).length(); pickConstraint->m_setting.m_impulseClamp = 3.0f; pickConstraint->m_setting.m_tau = 0.001f; }
bool mouseButtonCallback(int button, int state, float x, float y) { if (state==1) { if(button==0)// && (m_data->m_altPressed==0 && m_data->m_controlPressed==0)) { btVector3 camPos; m_glApp->m_instancingRenderer->getCameraPosition(camPos); btVector3 rayFrom = camPos; btVector3 rayTo = getRayTo(x,y); btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo); m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback); if (rayCallback.hasHit()) { btVector3 pickPos = rayCallback.m_hitPointWorld; btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject); if (body) { //other exclusions? if (!(body->isStaticObject() || body->isKinematicObject())) { m_pickedBody = body; m_pickedBody->setActivationState(DISABLE_DEACTIVATION); //printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ()); btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos; btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot); m_dynamicsWorld->addConstraint(p2p,true); m_pickedConstraint = p2p; btScalar mousePickClamping = 30.f; p2p->m_setting.m_impulseClamp = mousePickClamping; //very weak constraint for picking p2p->m_setting.m_tau = 0.001f; } } else { btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject); if (multiCol && multiCol->m_multiBody) { multiCol->m_multiBody->setCanSleep(false); btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos); btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos); //if you add too much energy to the system, causing high angular velocities, simulation 'explodes' //see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949 //so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply //it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?) p2p->setMaxAppliedImpulse(20*scaling); btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld; world->addMultiBodyConstraint(p2p); m_pickingMultiBodyPoint2Point =p2p; } } // pickObject(pickPos, rayCallback.m_collisionObject); m_oldPickingPos = rayTo; m_hitPos = pickPos; m_oldPickingDist = (pickPos-rayFrom).length(); // printf("hit !\n"); //add p2p } } } else { if (button==0) { if (m_pickedConstraint) { m_dynamicsWorld->removeConstraint(m_pickedConstraint); delete m_pickedConstraint; m_pickedConstraint=0; m_pickedBody = 0; } if (m_pickingMultiBodyPoint2Point) { m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(true); btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld; world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point); delete m_pickingMultiBodyPoint2Point; m_pickingMultiBodyPoint2Point = 0; } //remove p2p } } //printf("button=%d, state=%d\n",button,state); return false; }
void ForkLiftDemo::initPhysics() { int upAxis = 1; m_guiHelper->setUpAxis(upAxis); btVector3 groundExtents(50,50,50); groundExtents[upAxis]=3; btCollisionShape* groundShape = new btBoxShape(groundExtents); m_collisionShapes.push_back(groundShape); m_collisionConfiguration = new btDefaultCollisionConfiguration(); m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); btVector3 worldMin(-1000,-1000,-1000); btVector3 worldMax(1000,1000,1000); m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax); if (useMCLPSolver) { btDantzigSolver* mlcp = new btDantzigSolver(); //btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel; btMLCPSolver* sol = new btMLCPSolver(mlcp); m_constraintSolver = sol; } else { m_constraintSolver = new btSequentialImpulseConstraintSolver(); } m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration); if (useMCLPSolver) { m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 1;//for direct solver it is better to have a small A matrix } else { m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 128;//for direct solver, it is better to solve multiple objects together, small batches have high overhead } m_dynamicsWorld->getSolverInfo().m_globalCfm = 0.00001; m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); //m_dynamicsWorld->setGravity(btVector3(0,0,0)); btTransform tr; tr.setIdentity(); tr.setOrigin(btVector3(0,-3,0)); //either use heightfield or triangle mesh //create ground object localCreateRigidBody(0,tr,groundShape); btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f)); m_collisionShapes.push_back(chassisShape); btCompoundShape* compound = new btCompoundShape(); m_collisionShapes.push_back(compound); btTransform localTrans; localTrans.setIdentity(); //localTrans effectively shifts the center of mass with respect to the chassis localTrans.setOrigin(btVector3(0,1,0)); compound->addChildShape(localTrans,chassisShape); { btCollisionShape* suppShape = new btBoxShape(btVector3(0.5f,0.1f,0.5f)); btTransform suppLocalTrans; suppLocalTrans.setIdentity(); //localTrans effectively shifts the center of mass with respect to the chassis suppLocalTrans.setOrigin(btVector3(0,1.0,2.5)); compound->addChildShape(suppLocalTrans, suppShape); } tr.setOrigin(btVector3(0,0.f,0)); m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape); //m_carChassis->setDamping(0.2,0.2); m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius)); m_guiHelper->createCollisionShapeGraphicsObject(m_wheelShape); int wheelGraphicsIndex = m_wheelShape->getUserIndex(); const float position[4]={0,10,10,0}; const float quaternion[4]={0,0,0,1}; const float color[4]={0,1,0,1}; const float scaling[4] = {1,1,1,1}; for (int i=0;i<4;i++) { m_wheelInstances[i] = m_guiHelper->registerGraphicsInstance(wheelGraphicsIndex, position, quaternion, color, scaling); } { btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f)); m_collisionShapes.push_back(liftShape); btTransform liftTrans; m_liftStartPos = btVector3(0.0f, 2.5f, 3.05f); liftTrans.setIdentity(); liftTrans.setOrigin(m_liftStartPos); m_liftBody = localCreateRigidBody(10,liftTrans, liftShape); btTransform localA, localB; localA.setIdentity(); localB.setIdentity(); localA.getBasis().setEulerZYX(0, M_PI_2, 0); localA.setOrigin(btVector3(0.0, 1.0, 3.05)); localB.getBasis().setEulerZYX(0, M_PI_2, 0); localB.setOrigin(btVector3(0.0, -1.5, -0.05)); m_liftHinge = new btHingeConstraint(*m_carChassis,*m_liftBody, localA, localB); // m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS); m_liftHinge->setLimit(0.0f, 0.0f); m_dynamicsWorld->addConstraint(m_liftHinge, true); btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f)); m_collisionShapes.push_back(forkShapeA); btCompoundShape* forkCompound = new btCompoundShape(); m_collisionShapes.push_back(forkCompound); btTransform forkLocalTrans; forkLocalTrans.setIdentity(); forkCompound->addChildShape(forkLocalTrans, forkShapeA); btCollisionShape* forkShapeB = new btBoxShape(btVector3(0.1f,0.02f,0.6f)); m_collisionShapes.push_back(forkShapeB); forkLocalTrans.setIdentity(); forkLocalTrans.setOrigin(btVector3(-0.9f, -0.08f, 0.7f)); forkCompound->addChildShape(forkLocalTrans, forkShapeB); btCollisionShape* forkShapeC = new btBoxShape(btVector3(0.1f,0.02f,0.6f)); m_collisionShapes.push_back(forkShapeC); forkLocalTrans.setIdentity(); forkLocalTrans.setOrigin(btVector3(0.9f, -0.08f, 0.7f)); forkCompound->addChildShape(forkLocalTrans, forkShapeC); btTransform forkTrans; m_forkStartPos = btVector3(0.0f, 0.6f, 3.2f); forkTrans.setIdentity(); forkTrans.setOrigin(m_forkStartPos); m_forkBody = localCreateRigidBody(5, forkTrans, forkCompound); localA.setIdentity(); localB.setIdentity(); localA.getBasis().setEulerZYX(0, 0, M_PI_2); localA.setOrigin(btVector3(0.0f, -1.9f, 0.05f)); localB.getBasis().setEulerZYX(0, 0, M_PI_2); localB.setOrigin(btVector3(0.0, 0.0, -0.1)); m_forkSlider = new btSliderConstraint(*m_liftBody, *m_forkBody, localA, localB, true); m_forkSlider->setLowerLinLimit(0.1f); m_forkSlider->setUpperLinLimit(0.1f); // m_forkSlider->setLowerAngLimit(-LIFT_EPS); // m_forkSlider->setUpperAngLimit(LIFT_EPS); m_forkSlider->setLowerAngLimit(0.0f); m_forkSlider->setUpperAngLimit(0.0f); m_dynamicsWorld->addConstraint(m_forkSlider, true); btCompoundShape* loadCompound = new btCompoundShape(); m_collisionShapes.push_back(loadCompound); btCollisionShape* loadShapeA = new btBoxShape(btVector3(2.0f,0.5f,0.5f)); m_collisionShapes.push_back(loadShapeA); btTransform loadTrans; loadTrans.setIdentity(); loadCompound->addChildShape(loadTrans, loadShapeA); btCollisionShape* loadShapeB = new btBoxShape(btVector3(0.1f,1.0f,1.0f)); m_collisionShapes.push_back(loadShapeB); loadTrans.setIdentity(); loadTrans.setOrigin(btVector3(2.1f, 0.0f, 0.0f)); loadCompound->addChildShape(loadTrans, loadShapeB); btCollisionShape* loadShapeC = new btBoxShape(btVector3(0.1f,1.0f,1.0f)); m_collisionShapes.push_back(loadShapeC); loadTrans.setIdentity(); loadTrans.setOrigin(btVector3(-2.1f, 0.0f, 0.0f)); loadCompound->addChildShape(loadTrans, loadShapeC); loadTrans.setIdentity(); m_loadStartPos = btVector3(0.0f, 3.5f, 7.0f); loadTrans.setOrigin(m_loadStartPos); m_loadBody = localCreateRigidBody(loadMass, loadTrans, loadCompound); } /// create vehicle { m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld); m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster); ///never deactivate the vehicle m_carChassis->setActivationState(DISABLE_DEACTIVATION); m_dynamicsWorld->addVehicle(m_vehicle); float connectionHeight = 1.2f; bool isFrontWheel=true; //choose coordinate system m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex); btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius); m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel); connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius); m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel); connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius); isFrontWheel = false; m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel); connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius); m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel); for (int i=0;i<m_vehicle->getNumWheels();i++) { btWheelInfo& wheel = m_vehicle->getWheelInfo(i); wheel.m_suspensionStiffness = suspensionStiffness; wheel.m_wheelsDampingRelaxation = suspensionDamping; wheel.m_wheelsDampingCompression = suspensionCompression; wheel.m_frictionSlip = wheelFriction; wheel.m_rollInfluence = rollInfluence; } } resetForklift(); // setCameraDistance(26.f); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); }