int main(int argc, char** argv) {
sf::RenderWindow* RenderWin = new sf::RenderWindow(sf::VideoMode(WIDTH, HEIGHT, 32), "lol test");
RenderWin->UseVerticalSync(true);
// Collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration.
boost::shared_ptr<btDefaultCollisionConfiguration> collisionConfiguration(new btDefaultCollisionConfiguration());
// Use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded).
boost::shared_ptr<btCollisionDispatcher> dispatcher(new btCollisionDispatcher(collisionConfiguration.get()));
// btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep.
boost::shared_ptr<btBroadphaseInterface> broadphase(new btDbvtBroadphase());
// The default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded).
boost::shared_ptr<btVoronoiSimplexSolver> simplex(new btVoronoiSimplexSolver());
boost::shared_ptr<btMinkowskiPenetrationDepthSolver> pd_solver(new btMinkowskiPenetrationDepthSolver());
boost::shared_ptr<btSequentialImpulseConstraintSolver> solver(new btSequentialImpulseConstraintSolver());
boost::shared_ptr<btDiscreteDynamicsWorld> dynamicsWorld(new btDiscreteDynamicsWorld(dispatcher.get(), broadphase.get(), solver.get(), collisionConfiguration.get()));
boost::shared_ptr<btConvex2dConvex2dAlgorithm::CreateFunc> convex_algo_2d(new btConvex2dConvex2dAlgorithm::CreateFunc(simplex.get(),pd_solver.get()));
dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE, convex_algo_2d.get());
dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE, convex_algo_2d.get());
dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE, convex_algo_2d.get());
dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE, new btBox2dBox2dCollisionAlgorithm::CreateFunc());
// Set gravity to 9.8m/s² along y-axis.
dynamicsWorld->setGravity(btVector3(0, 1, 0));
// Get us some debug output. Without this, we'd see nothing at all.
boost::shared_ptr<DebugDraw> debugDraw(new DebugDraw(RenderWin));
debugDraw->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
dynamicsWorld->setDebugDrawer(debugDraw.get());
// Keep track of the shapes, we release memory at exit.
// Make sure to re-use collision shapes among rigid bodies whenever possible!
btAlignedObjectArray<btCollisionShape*> collisionShapes;
// Create a ground body.
btScalar thickness(0.2);
boost::shared_ptr<btCollisionShape> groundShape(new btBoxShape(btVector3(btScalar(WIDTH / 2 * METERS_PER_PIXEL), thickness, btScalar(10))));
collisionShapes.push_back(groundShape.get());
btTransform groundTransform(btQuaternion(0, 0, 0, 1), btVector3(WIDTH / 2 * METERS_PER_PIXEL, HEIGHT * METERS_PER_PIXEL, 0));
// Using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects.
boost::shared_ptr<btDefaultMotionState> groundMotionState(new btDefaultMotionState(groundTransform));
btRigidBody::btRigidBodyConstructionInfo ground_rbInfo(0, groundMotionState.get(), groundShape.get(), btVector3(0, 0, 0));
boost::shared_ptr<btRigidBody> ground_body(new btRigidBody(ground_rbInfo));
ground_body->setLinearFactor(btVector3(1,1,0));
ground_body->setAngularFactor(btVector3(0,0,1));
// Add the body to the dynamics world.
dynamicsWorld->addRigidBody(ground_body.get());
// Create left wall.
btTransform leftWallTransform(btQuaternion(0, 0, 1, 1), btVector3(0, HEIGHT / 2 * METERS_PER_PIXEL, 0));
boost::shared_ptr<btDefaultMotionState> leftWallMotionState(new btDefaultMotionState(leftWallTransform));
btRigidBody::btRigidBodyConstructionInfo leftWall_rbInfo(0, leftWallMotionState.get(), groundShape.get(), btVector3(0, 0, 0));
boost::shared_ptr<btRigidBody> leftwall_body(new btRigidBody(leftWall_rbInfo));
leftwall_body->setLinearFactor(btVector3(1,1,0));
leftwall_body->setAngularFactor(btVector3(0,0,1));
// Add the body to the dynamics world.
dynamicsWorld->addRigidBody(leftwall_body.get());
// Create right wall.
btTransform rightWallTransform(btQuaternion(0, 0, 1, 1), btVector3(WIDTH * METERS_PER_PIXEL, HEIGHT / 2 * METERS_PER_PIXEL, 0));
boost::shared_ptr<btDefaultMotionState> rightWallMotionState(new btDefaultMotionState(rightWallTransform));
btRigidBody::btRigidBodyConstructionInfo rightWall_rbInfo(0, rightWallMotionState.get(), groundShape.get(), btVector3(0, 0, 0));
boost::shared_ptr<btRigidBody> rightwall_body(new btRigidBody(rightWall_rbInfo));
rightwall_body->setLinearFactor(btVector3(1,1,0));
rightwall_body->setAngularFactor(btVector3(0,0,1));
// Add the body to the dynamics world.
dynamicsWorld->addRigidBody(rightwall_body.get());
// Create ceiling
btTransform topWallTransform(btQuaternion(0, 0, 0, 1), btVector3(WIDTH / 2 * METERS_PER_PIXEL, 0, 0));
boost::shared_ptr<btDefaultMotionState> topWallMotionState(new btDefaultMotionState(topWallTransform));
btRigidBody::btRigidBodyConstructionInfo topWall_rbInfo(0, topWallMotionState.get(), groundShape.get(), btVector3(0, 0, 0));
boost::shared_ptr<btRigidBody> topwall_body(new btRigidBody(topWall_rbInfo));
topwall_body->setLinearFactor(btVector3(1,1,0));
topwall_body->setAngularFactor(btVector3(0,0,1));
// Add the body to the dynamics world.
dynamicsWorld->addRigidBody(topwall_body.get());
// Create dynamic rigid body.
//btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
boost::shared_ptr<btCollisionShape> colShape(new btSphereShape(btScalar(0.6)));
collisionShapes.push_back(colShape.get());
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(1.f);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0, 0, 0);
if (isDynamic)
colShape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(btVector3(2, 5, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
boost::shared_ptr<btDefaultMotionState> myMotionState(new btDefaultMotionState(startTransform));
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState.get(),colShape.get(),localInertia);
boost::shared_ptr<btRigidBody> body(new btRigidBody(rbInfo));
body->setLinearFactor(btVector3(1,1,0));
body->setAngularFactor(btVector3(0,0,1));
dynamicsWorld->addRigidBody(body.get());
// Create lulz
boost::ptr_list<btRigidBody> body_list;
boost::ptr_list<btDefaultMotionState> motionstate_list;
boost::ptr_list<btCollisionShape> colshape_list;
for (int i=0;i <= 10; ++i) {
if (i < 5)
colshape_list.push_back(new btSphereShape(btScalar(sf::Randomizer::Random(0.1f, 0.8f))));
else
colshape_list.push_back(new btBoxShape(btVector3(sf::Randomizer::Random(0.1f,0.8f), sf::Randomizer::Random(0.1f,0.8f), 10)));
if (isDynamic)
colshape_list.back().calculateLocalInertia(mass,localInertia);
collisionShapes.push_back(&(colshape_list.back()));
startTransform.setIdentity();
startTransform.setOrigin(btVector3(i,i,0));
motionstate_list.push_back(new btDefaultMotionState(startTransform));
btRigidBody* lol = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(mass,&(motionstate_list.back()),&(colshape_list.back()),localInertia));
lol->setLinearFactor(btVector3(1,1,0));
lol->setAngularFactor(btVector3(0,0,1));
body_list.push_back(lol);
}
BOOST_FOREACH (btRigidBody& body, body_list) {
dynamicsWorld->addRigidBody(&body);
}
void BulletEngineTest::initPhysics()
{
BulletEngine::initPhysics();
// ----------------------------------------------------------------------------------------------------------------
// Create the ground collider.
LOG(" Creating ground collider");
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(110.), btScalar(1.), btScalar(110.)));
//groundShape->initializePolyhedralFeatures();
//btStaticPlaneShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 50);
_collisionShapes.push_back(groundShape);
btTransform groundTransform(btTransform::getIdentity());
//groundTransform.setOrigin(btVector3(5, 5, 5));
btRigidBody* body = localCreateRigidBody(0., groundTransform, groundShape);
_models.push_back(_makeModelCB());
body->setFriction(0.5);
//body->setRollingFriction(0.3);
// ----------------------------------------------------------------------------------------------------------------
// Create a few dynamic rigidbodies.
// Re-using the same collision shape is better for memory usage and performance.
LOG(" Creating rigid bodies");
//btCollisionShape* shape = new btSphereShape(btScalar(1.));
//btCollisionShape* shape = new btCylinderShape(btVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS, CUBE_HALF_EXTENTS));
_collisionShapes.push_back(shape);
int gNumObjects = 120; //120;
int i;
for(i = 0; i < gNumObjects; i++)
{
btTransform trans;
trans.setIdentity();
// stack them
int colsize = 10;
int row = (i * CUBE_HALF_EXTENTS * 2) / (colsize * 2 * CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i % colsize) - (colsize / 2);
if(col > 3)
{
col = 11;
row2 |= 1;
}
btVector3 pos(
(col * 2 * CUBE_HALF_EXTENTS) + ((row2 % 2) * CUBE_HALF_EXTENTS),
(row * 2 * CUBE_HALF_EXTENTS) + CUBE_HALF_EXTENTS + EXTRA_HEIGHT,
0
);
trans.setOrigin(pos);
btScalar mass(1.);
btRigidBody* body = localCreateRigidBody(mass, trans, shape);
_models.push_back(_makeModelCB());
body->setAnisotropicFriction(shape->getAnisotropicRollingFrictionDirection(),
btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
body->setFriction(.5);
//body->setRollingFriction(.3);
// When using CCD:
if(_useCCD)
{
body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
body->setCcdSweptSphereRadius(0.9 * CUBE_HALF_EXTENTS);
} // end if
} // end for
LOG(" Done");
} // end BulletEngineTest::initPhysics
