void PendulumApplication::buildDoublePendulumRigid()
{
//TODO
btTransform trans;
trans.setIdentity();
trans.setOrigin(btVector3(0,10,0));
btSphereShape * sphere = new btSphereShape(1.);
btRigidBody * pendule = localCreateRigidBody(1.,trans,sphere);
m_cameraTarget = pendule;
m_collisionShapes.push_back(sphere);
btPoint2PointConstraint * constraint = new btPoint2PointConstraint (*pendule, btVector3(0,5,0));
m_dynamicsWorld->addConstraint(constraint);
constraint->setBreakingImpulseThreshold(5.);
pendule->applyCentralImpulse(btVector3(3,0,0));
///------------------------------------------------------
//btTransform trans2;
//trans2.setIdentity();
//trans2.setOrigin(btVector3(0,1,0));
trans.setOrigin(btVector3(0,5,0));
//btSphereShape * sphere2 = new btSphereShape(1.);
btRigidBody * pendule2 = localCreateRigidBody(1.,trans,sphere);
//m_collisionShapes.push_back(sphere2);
btVector3 v = pendule->getWorldTransform().getOrigin() - trans.getOrigin();
btPoint2PointConstraint * constraint2 = new btPoint2PointConstraint (*pendule, *pendule2, btVector3(0,0,0), v);
m_dynamicsWorld->addConstraint(constraint2);
constraint2->setDbgDrawSize(2.f);
}
void PendulumApplication::buildDoublePendulumSoft()
{
//TODO
btTransform trans;
trans.setIdentity();
trans.setOrigin(btVector3(0,10,0));
btSphereShape * sphere = new btSphereShape(1.);
btRigidBody * pendule = localCreateRigidBody(1.,trans,sphere);
m_cameraTarget = pendule;
m_collisionShapes.push_back(sphere);
btSoftBody * corde =
btSoftBodyHelpers::CreateRope(m_softBodyWorldInfo, btVector3(0,15,0),pendule->getWorldTransform().getOrigin(),7,1);
corde->setTotalMass(1.);
this->getSoftDynamicsWorld()->addSoftBody(corde,1,1) ;
//corde->appendAnchor(1,corde,false,1);
m_corde = corde;
corde->appendAnchor(corde->m_nodes.size()-1,pendule,btVector3(0,0.5,0),true,1);
btVector3 beg = corde->m_nodes[0].m_x;
btVector3 end = corde->m_nodes[corde->m_nodes.size()-1].m_x;
m_size_corde = beg - end;
///------------------------------------------------------
trans.setOrigin(btVector3(0,5,0));
btRigidBody * pendule2 = localCreateRigidBody(1.,trans,sphere);
btVector3 v = pendule->getWorldTransform().getOrigin() - trans.getOrigin();
btSoftBody * corde2 =
btSoftBodyHelpers::CreateRope(m_softBodyWorldInfo, pendule->getWorldTransform().getOrigin(),pendule2->getWorldTransform().getOrigin(),7,0);
m_corde2 = corde2;
beg = corde2->m_nodes[0].m_x;
end = corde2->m_nodes[corde2->m_nodes.size()-1].m_x;
m_size_corde2 = beg - end;
corde2->setTotalMass(1.);
this->getSoftDynamicsWorld()->addSoftBody(corde2,1,1) ;
corde2->appendAnchor(0,pendule,btVector3(0,-0.5,0),true,1);
corde2->appendAnchor(corde2->m_nodes.size()-1,pendule2,btVector3(0,0.5,0),true,1);
}
void BenchmarkDemo::createTowerCircle(const btVector3& offsetPosition,int stackSize,int rotSize,const btVector3& boxSize)
{
btBoxShape* blockShape = new btBoxShape(btVector3(boxSize[0]-COLLISION_RADIUS,boxSize[1]-COLLISION_RADIUS,boxSize[2]-COLLISION_RADIUS));
btTransform trans;
trans.setIdentity();
float mass = 1.f;
btVector3 localInertia(0,0,0);
blockShape->calculateLocalInertia(mass,localInertia);
float radius = 1.3f * rotSize * boxSize[0] / SIMD_PI;
// create active boxes
btQuaternion rotY(0,1,0,0);
float posY = boxSize[1];
for(int i=0;i<stackSize;i++) {
for(int j=0;j<rotSize;j++) {
trans.setOrigin(offsetPosition+ rotate(rotY,btVector3(0.0f , posY, radius)));
trans.setRotation(rotY);
localCreateRigidBody(mass,trans,blockShape);
rotY *= btQuaternion(btVector3(0,1,0),SIMD_PI/(rotSize*btScalar(0.5)));
}
posY += boxSize[1] * 2.0f;
rotY *= btQuaternion(btVector3(0,1,0),SIMD_PI/(float)rotSize);
}
}
void BenchmarkDemo::createWall(const btVector3& offsetPosition,int stackSize,const btVector3& boxSize)
{
btBoxShape* blockShape = new btBoxShape(btVector3(boxSize[0]-COLLISION_RADIUS,boxSize[1]-COLLISION_RADIUS,boxSize[2]-COLLISION_RADIUS));
float mass = 1.f;
btVector3 localInertia(0,0,0);
blockShape->calculateLocalInertia(mass,localInertia);
// btScalar diffX = boxSize[0] * 1.0f;
btScalar diffY = boxSize[1] * 1.0f;
btScalar diffZ = boxSize[2] * 1.0f;
btScalar offset = -stackSize * (diffZ * 2.0f) * 0.5f;
btVector3 pos(0.0f, diffY, 0.0f);
btTransform trans;
trans.setIdentity();
while(stackSize) {
for(int i=0;i<stackSize;i++) {
pos[2] = offset + (float)i * (diffZ * 2.0f);
trans.setOrigin(offsetPosition + pos);
localCreateRigidBody(mass,trans,blockShape);
}
offset += diffZ;
pos[1] += (diffY * 2.0f);
stackSize--;
}
}
void BenchmarkDemo::createTest1()
{
// 3000
int size = 8;
const float cubeSize = 1.0f;
float spacing = cubeSize;
btVector3 pos(0.0f, cubeSize * 2,0.f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
btBoxShape* blockShape = new btBoxShape(btVector3(cubeSize-COLLISION_RADIUS,cubeSize-COLLISION_RADIUS,cubeSize-COLLISION_RADIUS));
btVector3 localInertia(0,0,0);
float mass = 2.f;
blockShape->calculateLocalInertia(mass,localInertia);
btTransform trans;
trans.setIdentity();
for(int k=0;k<47;k++) {
for(int j=0;j<size;j++) {
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for(int i=0;i<size;i++) {
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
trans.setOrigin(pos);
btRigidBody* cmbody;
cmbody= localCreateRigidBody(mass,trans,blockShape);
}
}
offset -= 0.05f * spacing * (size-1);
// spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
}
void BenchmarkDemo::createLargeMeshBody()
{
btTransform trans;
trans.setIdentity();
for(int i=0;i<8;i++) {
btTriangleIndexVertexArray* meshInterface = new btTriangleIndexVertexArray();
btIndexedMesh part;
part.m_vertexBase = (const unsigned char*)LandscapeVtx[i];
part.m_vertexStride = sizeof(btScalar) * 3;
part.m_numVertices = LandscapeVtxCount[i];
part.m_triangleIndexBase = (const unsigned char*)LandscapeIdx[i];
part.m_triangleIndexStride = sizeof( short) * 3;
part.m_numTriangles = LandscapeIdxCount[i]/3;
part.m_indexType = PHY_SHORT;
meshInterface->addIndexedMesh(part,PHY_SHORT);
bool useQuantizedAabbCompression = true;
btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,useQuantizedAabbCompression);
btVector3 localInertia(0,0,0);
trans.setOrigin(btVector3(0,-25,0));
btRigidBody* body = localCreateRigidBody(0,trans,trimeshShape);
body->setFriction (btScalar(0.9));
}
}
void shootBox(const btVector3& destination)
{
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
const btScalar BOX_DIMENSIONS = 3.0f;
btBoxShape* box = new btBoxShape( btVector3(BOX_DIMENSIONS, 0.1f, BOX_DIMENSIONS*4/3) );
box->initializePolyhedralFeatures();
m_shootBoxShape = box;
btRigidBody* body = localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.4f);//value should be smaller (embedded) than the half extends of the box (see ::setShootBoxShape)
LOGI("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
LOGI("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
LOGI("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
}
ChainObject::ChainObject(btDynamicsWorld *m_ownerWorld,
const btVector3 &origin,
int edges,
float edgeLength,
float edgeThickness)
:
BaseConstrains(m_ownerWorld),
m_thickness(4.0f)
{
// Setup all the rigid bodies
m_edgeLength = edgeLength;
m_edgeThickness = edgeThickness;
btTransform offset; offset.setIdentity();
offset.setOrigin(origin);
for (int i=0; i<edges; i++) {
btTransform transform = createTransform(i);
m_bodies.push_back(localCreateRigidBody(btScalar(1.0f),
offset*transform,
m_shapes.at(i)));
}
for (int i=0; i<edges-1; i++) {
createConeTwistJoint(m_bodies.at(i),
m_bodies.at(i+1),
btVector3(0.0f, 0.0f, -m_edgeLength),
btVector3(0.0f, 0.0f, m_edgeLength),
0, 0, 0,
0, 0, 0);
}
}
void CcdPhysicsDemo::createStack( btCollisionShape* boxShape, float halfCubeSize, int size, float zPos )
{
btTransform trans;
trans.setIdentity();
for(int i=0; i<size; i++)
{
// This constructs a row, from left to right
int rowSize = size - i;
for(int j=0; j< rowSize; j++)
{
btVector3 pos;
pos.setValue(
-rowSize * halfCubeSize + halfCubeSize + j * 2.0f * halfCubeSize,
halfCubeSize + i * halfCubeSize * 2.0f,
zPos);
trans.setOrigin(pos);
btScalar mass = 1.f;
btRigidBody* body = 0;
body = localCreateRigidBody(mass,trans,boxShape);
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
}
}
}
void CreateBox(int index,
double x, double y, double z,
double length, double width, double height)
{
btCollisionShape* box;
btRigidBody* boxBody;
// Setup the geometry
box = new btBoxShape(btVector3(length, width, height));
//btCollisionShape* geom[9];
//geom[index]= box;
// Setup all the rigid bodies
btTransform offset;
offset.setIdentity();
btTransform transform;
transform.setIdentity();
transform.setOrigin(btVector3(x, y, z));
boxBody = localCreateRigidBody(btScalar(1.), offset*transform, box);
//btRigidBody* body[9];
//body[index]= boxBody;
}
void PendulumApplication::initPhysics()
{
setTexturing(true);
setShadows(true);
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
setCameraDistance(btScalar(20.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
///create a few basic rigid bodies
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
localCreateRigidBody(0,groundTransform,groundShape);
btSphereShape* sphereShape = new btSphereShape(1.);
m_collisionShapes.push_back(sphereShape);
btTransform pendulumTransform;
pendulumTransform.setIdentity();
m_theta.m_value = SIMD_HALF_PI;
m_theta.m_dot = 1.;
m_r.m_value = 10;
m_r.m_dot = 0;
temp = 0;
btVector3 to_Remplace; // to replace with te pendulum position
pendulumTransform.setOrigin( to_Remplace);
m_pendulumBody = localCreateRigidBody(1,pendulumTransform,sphereShape);
m_pendulumBody->setCollisionFlags( m_pendulumBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
}
Swing::Swing( btDynamicsWorld* ownerWorld,
const btVector3& jointPosition,
btScalar scale_swing, btRigidBody *ground ) : m_ownerWorld (ownerWorld)
{
// scale_swing = 1.0;
m_shape = new btCapsuleShape( btScalar(scale_swing * 0.1), btScalar(scale_swing) );
btTransform offset;
offset.setIdentity();
// offset.setOrigin( positionOffset );
btTransform transform;
transform.setIdentity();
transform.setOrigin( btVector3( btScalar(0.0), btScalar(0.0), btScalar(0.0) ) );
m_body = localCreateRigidBody( btScalar(1.0), offset * transform, m_shape );
m_joint = new btPoint2PointConstraint(*m_body, *ground,
btVector3(btScalar(0.), btScalar(0.5 * scale_swing), btScalar(0.)),
jointPosition
);
/* setup the a hinge */
//btGeneric6DofConstraint * joint6DOF;
//btTransform localA, localB;
//bool useLinearReferenceFrameA = true;
//localA.setIdentity();
//localB.setIdentity();
//localA.setOrigin(btVector3(btScalar(0.), btScalar(0.5 * scale_swing), btScalar(0.))); //! hinge relative to capsule centres
//localB.setOrigin(jointPosition); //! hinge relative to ground
//m_joint = new btGeneric6DofConstraint(*m_body, *ground, localA, localB, useLinearReferenceFrameA);
// m_body->setRestitution(2.0f);
// m_body->setRollingFriction(0.0f);
//m_body->setDamping( 0.1f, 0.7f );
//m_body->setDeactivationTime( 0.0f );
m_body->setSleepingThresholds( 0.0f, 0.0f );
m_body->setDamping( 0.05f, 0.85f );
m_body->setDeactivationTime( 0.8f );
//m_body->setSleepingThresholds( 1.6f, 2.5f );
m_body->setActivationState(DISABLE_DEACTIVATION);
//ground->setActivationState(DISABLE_DEACTIVATION);
//ground->setRestitution(0.0f);
//ground->setRollingFriction(0.0f);
#ifdef RIGID
m_joint->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
m_joint->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
/* uncomment these to set the movement limits. */
//joint6DOF->setAngularLowerLimit(btVector3(-SIMD_PI*0.3f,-SIMD_EPSILON,-SIMD_PI*0.3f));
//joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.5f,SIMD_EPSILON,SIMD_PI*0.3f));
#endif
m_ownerWorld->addConstraint(m_joint, true);
}
void PendulumApplication::initPhysics()
{
setCameraDistance(8.);
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
///register some softbody collision algorithms on top of the default btDefaultCollisionConfiguration
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_softBodyWorldInfo.m_dispatcher = m_dispatcher;
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
m_softBodyWorldInfo.m_broadphase = m_broadphase;
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_solver = solver;
btSoftBodySolver* softBodySolver = 0;
btDiscreteDynamicsWorld* world = new btSoftRigidDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration,softBodySolver);
m_dynamicsWorld = world;
m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
m_softBodyWorldInfo.m_sparsesdf.Initialize();
//create a few basic rigid bodies
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
localCreateRigidBody(0,groundTransform,groundShape);
//buildDoublePendulumRigid();
//buildDoublePendulumSoft();
buildFlyingTrapeze();
m_softBodyWorldInfo.m_sparsesdf.Reset();
m_softBodyWorldInfo.air_density = (btScalar)1.2;
m_softBodyWorldInfo.water_density = 0;
m_softBodyWorldInfo.water_offset = 0;
m_softBodyWorldInfo.water_normal = btVector3(0,0,0);
m_softBodyWorldInfo.m_gravity.setValue(0,-10,0);
}
void LogicWorld::CreateFlatFloor()
{
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,0,1), 0);
m_collisionShapes.push_back(groundShape);
float mass = 0.0f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,0,0));
localCreateRigidBody(mass, startTransform, groundShape);
}
void LogicWorld::AddCylinderShape(const btVector3& pos, const btVector3& size)
{
btCollisionShape* cylShape = new btCylinderShapeZ(size);
m_collisionShapes.push_back(cylShape);
float mass = 0.0f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(pos);
localCreateRigidBody(mass, startTransform, cylShape);
}
// -------------------------------------------------------------------------
RagDoll::RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset)
:
m_ownerWorld (ownerWorld)
{
// Setup all the rigid bodies
btTransform offset; offset.setIdentity();
offset.setOrigin(positionOffset);
btTransform transform;
// for
{
transform.setIdentity();
transform.setOrigin(btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
m_bodies.push_back(
localCreateRigidBody(btScalar(1.),
offset*transform,
new btCapsuleShape(btScalar(0.15), btScalar(0.20))
)
);
}
// Setup some damping on the m_bodies
for(std::vector<btRigidBody* >::iterator i=m_bodies.begin();
i!=m_bodies.end();
++i)
{
(*i)->setDamping(0.05f, 0.85f);
(*i)->setDeactivationTime(0.8f);
(*i)->setSleepingThresholds(1.6f, 2.5f);
}
// Now setup the constraints
btHingeConstraint* hingeC;
//btConeTwistConstraint* coneC;
btTransform localA, localB;
// for
{
localA.setIdentity(); localB.setIdentity();
localA.getBasis().setEulerZYX(0, Ogre::Math::TWO_PI,0);
localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
localB.getBasis().setEulerZYX(0,Ogre::Math::TWO_PI,0);
localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1],
localA, localB);
hingeC->setLimit(btScalar(-Ogre::Math::TWO_PI*2), btScalar(Ogre::Math::TWO_PI));
m_joints.push_back(hingeC);
m_ownerWorld->addConstraint(hingeC, true);
}
}
void RagdollDemo::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
spawnRagdoll(startOffset);
startOffset.setValue(-1,0.5,0);
spawnRagdoll(startOffset);
clientResetScene();
}
void BenchmarkDemo::createTest6()
{
setCameraDistance(btScalar(250.));
btVector3 boxSize(1.5f,1.5f,1.5f);
btConvexHullShape* convexHullShape = new btConvexHullShape();
for (int i=0;i<TaruVtxCount;i++)
{
btVector3 vtx(TaruVtx[i*3],TaruVtx[i*3+1],TaruVtx[i*3+2]);
convexHullShape->addPoint(vtx);
}
btTransform trans;
trans.setIdentity();
float mass = 1.f;
btVector3 localInertia(0,0,0);
convexHullShape->calculateLocalInertia(mass,localInertia);
{
int size = 10;
int height = 10;
const float cubeSize = boxSize[0];
float spacing = 2.0f;
btVector3 pos(0.0f, 20.0f, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
for(int k=0;k<height;k++) {
for(int j=0;j<size;j++) {
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for(int i=0;i<size;i++) {
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
btVector3 bpos = btVector3(0,25,0) + btVector3(5.0f,1.0f,5.0f)*pos;
trans.setOrigin(bpos);
localCreateRigidBody(mass,trans,convexHullShape);
}
}
offset -= 0.05f * spacing * (size-1);
spacing *= 1.1f;
pos[1] += (cubeSize * 2.0f + spacing);
}
}
createLargeMeshBody();
}
/** Initializes the physics world and simulation
*
**/
void Physics::initPhysics(){
dead=false;
totaltime=0;
currentBoxIndex=0;
currentJointIndex=0;
noBoxes =0;
fitness=0;
enableEffectors=true;
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(20.));
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
//create ground body
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(1000.),btScalar(10.),btScalar(1000.)));
int* userP = new int();
*userP = 0;
groundShape->setUserPointer2((void*)userP);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,0,0));
btRigidBody* ground = localCreateRigidBody(0.,groundTransform,groundShape,COL_GROUND,COL_BOX); //ground collides with boxes only
ground->setUserPointer((void*)(-1));;
groundY = ground->getWorldTransform().getOrigin().getY()+groundShape->getHalfExtentsWithMargin().getY();
currentBoxIndex++;
theNet=NULL;
}
//phsics
void PhsicsAttrib::init(btDynamicsWorld *world, float mass, const btTransform& startTransform, SHAPE_TYPE type)
{
switch(type)
{
case SHAPE_TYPE_BOX:
mpShape = new btBoxShape(btVector3(50,3,50));
break;
default:
return;
}
mpOwnerWorld = world;
localCreateRigidBody(mass, startTransform, mpShape);
}
KeplerCube::KeplerCube(btDynamicsWorld* ownerWorld, const btVector3& positionOffset)
: m_ownerWorld (ownerWorld)
{
// const int R = 3.0f;
const int L = R_LENGTH/2.0f;
//
// const float d = L/2.0f;
// for (int i=0; i<N_EDGES; i++)
// m_shapes.push_back(new btBoxShape(btVector3());
// Setup all the rigid bodies
btTransform offset; offset.setIdentity();
offset.setOrigin(positionOffset);
for (int i=0; i<N_EDGES; i++) {
btTransform transform = createBoxTransform(i);
m_bodies.push_back(localCreateRigidBody(btScalar(1.0f), offset*transform, m_shapes.at(i)));
}
// Setup some damping on the m_bodies
for (int i = 0; i < m_bodies.size(); ++i) {
// m_bodies.at(i)->setDamping(0.05, 0.85);
// m_bodies.at(i)->setDeactivationTime(0.8);
// m_bodies.at(i)->setSleepingThresholds(1.6, 2.5);
// m_bodies.at(i)->setActivationState(DISABLE_DEACTIVATION);
// m_bodies.at(i)->setCollisionFlags(m_bodies.at(i)->getCollisionFlags() |
// btCollisionObject::CF_KINEMATIC_OBJECT);
}
createJoint(m_bodies.at(0), m_bodies.at(1), btVector3( 0, 0,-L), btVector3(-L, 0, 0), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(1), m_bodies.at(2), btVector3( L, 0, 0), btVector3( 0, 0,-L), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(2), m_bodies.at(3), btVector3( 0, 0, L), btVector3( L, 0, 0), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(3), m_bodies.at(0), btVector3(-L, 0, 0), btVector3( 0, 0, L), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(4), m_bodies.at(0), btVector3( 0,-L, 0), btVector3( 0, 0,-L), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(5), m_bodies.at(1), btVector3( 0,-L, 0), btVector3( L, 0, 0), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(6), m_bodies.at(2), btVector3( 0,-L, 0), btVector3( 0, 0, L), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(7), m_bodies.at(3), btVector3( 0,-L, 0), btVector3(-L, 0, 0), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(4), m_bodies.at( 8), btVector3( 0, L, 0), btVector3( 0, 0,-L), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(5), m_bodies.at( 9), btVector3( 0, L, 0), btVector3( L, 0, 0), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(6), m_bodies.at(10), btVector3( 0, L, 0), btVector3( 0, 0, L), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(7), m_bodies.at(11), btVector3( 0, L, 0), btVector3(-L, 0, 0), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at( 8), m_bodies.at( 9), btVector3( 0, 0,-L), btVector3(-L, 0, 0), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at( 9), m_bodies.at(10), btVector3( L, 0, 0), btVector3( 0, 0,-L), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(10), m_bodies.at(11), btVector3( 0, 0, L), btVector3( L, 0, 0), 0, 0, 0, 0, 0, 0);
createJoint(m_bodies.at(11), m_bodies.at( 8), btVector3(-L, 0, 0), btVector3( 0, 0, L), 0, 0, 0, 0, 0, 0);
}
void ArtificialBirdsDemoApp::initPhysics()
{
// Setup the basic world
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
//m_dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
//m_dynamicsWorld->getDispatchInfo().m_convexConservativeDistanceThreshold = 0.01f;
m_dynamicsWorld->setInternalTickCallback(pickingPreTickCallback, this, true);
m_dynamicsWorld->getSolverInfo().m_numIterations = kSolverNumIterations;
m_dynamicsWorld->setGravity(btVector3(0,kGravity,0));
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
m_birdOpt = 0;
m_birdDemo = 0;
//m_birdOpt = new BirdOptimizer(m_dynamicsWorld);
m_birdDemo = new BirdDemo(m_dynamicsWorld);
clientResetScene();
}
void MotorDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
// Setup the basic world
m_Time = 0;
m_fCyclePeriod = 2000.f; // in milliseconds
// m_fMuscleStrength = 0.05f;
// new SIMD solver for joints clips accumulated impulse, so the new limits for the motor
// should be (numberOfsolverIterations * oldLimits)
// currently solver uses 10 iterations, so:
m_fMuscleStrength = 0.5f;
setCameraDistance(btScalar(5.));
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true);
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
}
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
spawnTestRig(startOffset, false);
startOffset.setValue(-2,0.5,0);
spawnTestRig(startOffset, true);
clientResetScene();
}
btRigidBody* RagdollDemo::create_kinematic_box(double x, double y, double z, double length, double width, double height) {
btTransform offset;
offset.setIdentity();
offset.setOrigin(btVector3(btScalar(x), btScalar(y), btScalar(z)));
btCollisionShape* geom = new btBoxShape(btVector3(btScalar(length / 2), btScalar(width / 2), btScalar(height / 2)));
btRigidBody* body = localCreateRigidBody(btScalar(0.), offset, geom);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
//body->setActivationState(DISABLE_DEACTIVATION);
body->setUserPointer(0);
m_dynamicsWorld->addRigidBody(body);
return body;
}
btRigidBody* RagdollDemo::create_kinematic_cylinder(double x, double y, double z, double len, double rad,
double rot_X, double rot_Y, double rot_Z) {
btTransform offset;
offset.setIdentity();
offset.setOrigin(btVector3(btScalar(x), btScalar(y), btScalar(z)));
offset.getBasis().setEulerZYX(rot_X, rot_Y, rot_Z);
btVector3 half_extents(rad, len / 2, 0);
btCollisionShape* geom = new btCylinderShape(half_extents);
btRigidBody* body = localCreateRigidBody(btScalar(0.), offset, geom);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
body->setUserPointer(0);
m_dynamicsWorld->addRigidBody(body);
return body;
}
void BenchmarkDemo::createTest4()
{
setCameraDistance(btScalar(50.));
int size = 8;
const float cubeSize = 1.5f;
float spacing = cubeSize;
btVector3 pos(0.0f, cubeSize * 2, 0.0f);
float offset = -size * (cubeSize * 2.0f + spacing) * 0.5f;
btConvexHullShape* convexHullShape = new btConvexHullShape();
btScalar scaling(1);
convexHullShape->setLocalScaling(btVector3(scaling,scaling,scaling));
for (int i=0;i<TaruVtxCount;i++)
{
btVector3 vtx(TaruVtx[i*3],TaruVtx[i*3+1],TaruVtx[i*3+2]);
convexHullShape->addPoint(vtx*btScalar(1./scaling));
}
//this will enable polyhedral contact clipping, better quality, slightly slower
//convexHullShape->initializePolyhedralFeatures();
btTransform trans;
trans.setIdentity();
float mass = 1.f;
btVector3 localInertia(0,0,0);
convexHullShape->calculateLocalInertia(mass,localInertia);
for(int k=0;k<15;k++) {
for(int j=0;j<size;j++) {
pos[2] = offset + (float)j * (cubeSize * 2.0f + spacing);
for(int i=0;i<size;i++) {
pos[0] = offset + (float)i * (cubeSize * 2.0f + spacing);
trans.setOrigin(pos);
localCreateRigidBody(mass,trans,convexHullShape);
}
}
offset -= 0.05f * spacing * (size-1);
spacing *= 1.01f;
pos[1] += (cubeSize * 2.0f + spacing);
}
}
//Assignment 5
void RagdollDemo::CreateBox(int index,double x, double y, double z,double length,
double width, double height)
{
geom[index] = new btBoxShape(btVector3(btScalar(length),btScalar(width),btScalar(height)));
btTransform offset;
offset.setIdentity();
offset.setOrigin(btVector3(btScalar(x),btScalar(y),btScalar(z)));
body[index] = localCreateRigidBody(btScalar(1.0),offset,geom[index]);
body[index]->setCollisionFlags(body[index]->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
collisionID[currentIndex] = new collisionObject(currentIndex, body[index]);
body[index]->setUserPointer(collisionID[currentIndex]);
cout << "OBJECT ID: " << collisionID[currentIndex]->id;
cout << " | POINTER ID: " << ((collisionObject*)body[index]->getUserPointer())->id;
cout << " | ADDRESS " << collisionID[currentIndex];
cout << " | FLAGS " << collisionID[currentIndex]->body->getCollisionFlags() << endl;
currentIndex++;
}
//creates a box with side lengths x,y,z
int Physics::createBox(int x1, int y1, int z1){
if(noBoxes==0){scews.push_back(new btQuaternion(0,0,0));}
noBoxes++;
if(noBoxes>maxBoxes){
fitness= -999999;
dead=true;
totaltime=simulationTime;
}
// max 10 & min 0.05
if(x1==0){x1=95;}
if(y1==0){y1=95;}
if(z1==0){z1=95;}
float x=(x1%995+5)/100.f;
float y=(y1%995+5)/100.f;
float z=(z1%995+5)/100.f;
btAssert(x>=0.05 && x<=10);
btAssert(y>=0.05 && y<=10);
btAssert(z>=0.05 && z<=10);
btBoxShape* boxShape = new btBoxShape(btVector3(x/2.f,y/2.f,z/2.f));
int* userP = new int();
*userP = 1;
boxShape->setUserPointer2((void*)userP);
m_collisionShapes.push_back(boxShape);
btTransform startTransform;
startTransform.setIdentity();
btRigidBody* box;
btScalar mass = btScalar(x*y*z*DensityHuman);
//btScalar mass = btScalar(0);
startTransform.setOrigin(btVector3(0,0,0));
box= localCreateRigidBody(mass,startTransform,boxShape,COL_BOX,COL_GROUND);
box->setUserPointer((void*)-1);
int returnVal = currentBoxIndex;
currentBoxIndex++;
return returnVal;
}
void GenericJointDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
// Setup the basic world
btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
//m_dynamicsWorld->getSolverInfo().m_restingContactRestitutionThreshold = 0.f; // m_singleAxisRollingFrictionThreshold = 0.f;//faster but lower quality
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(0.),btScalar(200.))); //! 0 thickness
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-8,0));
m_ground = localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
}
Swing* swing1 = new Swing( m_dynamicsWorld, btVector3(0,9,0), 4.0f, m_ground );
Swing* swing2 = new Swing( m_dynamicsWorld, btVector3(4,9,0), 4.0f, m_ground );
clientResetScene();
}
void GenericJointDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
// Setup the basic world
btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
m_dynamicsWorld->setGravity(btVector3(0,-30,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
// Setup a big ground box
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-15,0));
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
}
// Spawn one ragdoll
spawnRagdoll();
clientResetScene();
}
