void BasicDemo::initPhysics() {
setTexturing(true);
setShadows(false);
setCameraDistance(btScalar(100.));
// _app = new QApplication(myargc,myargv);
/* this function ( in src/coordinator/coordinator/coorcinator.cpp )
* creates 4 wheels, one robot's body and merges them together.
*
*
*/
m_wheelShape = new btCylinderShapeX(btVector3(1,3,3));
m_dynamicsWorld =(cdn->getPhysicalCalculatorInstance()).getScene();
//cdn->getPhysicalCalculatorInstance().simple_scene_walls(200);
//Mesh::buildBox(QVector3D(10,10,10), 1000, PositionData(0,30,0,0,0,0));
/*
pc->simple_scene_walls(100);
*/
//m_dynamicsWorld = cdn->getPhysicalCalculatorScene();
/*_robot = new Robot(pc->addBox(btVector3(2,0.5,2), btVector3(0,0,0), 8), pc->getScene());
pc->getScene()->addVehicle(_robot);*/
// _MD = new Wheel(_robot, btVector3(1.5,-0.1,0),btVector3(0,-1,0),.5,true);
// _MG = new Wheel(_robot, btVector3(-1.5,-0.1,0),btVector3(0,-1,0),.5,true);
// _ED = new Wheel(_robot, btVector3(1.9,-0.1,0),btVector3(0,-1,0),.5,false);
// _EG = new Wheel(_robot, btVector3(-1.9,-0.1,0),btVector3(0,-1,0),.5,false);
}
void BenchmarkDemo::createTest7()
{
createTest6();
setCameraDistance(btScalar(150.));
initRays();
}
void GpuDemo::initPhysics(const ConstructionInfo& ci)
{
setTexturing(true);
setShadows(false);
setCameraDistance(btScalar(SCALING*250.));
///collision configuration contains default setup for memory, collision setup
if (ci.useOpenCL)
{
m_dynamicsWorld = new btGpuDynamicsWorld(ci.preferredOpenCLPlatformIndex,ci.preferredOpenCLDeviceIndex);
} else
{
m_dynamicsWorld = new btCpuDynamicsWorld();
}
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
setupScene(ci);
}
void BenchmarkDemo::createTest3()
{
setCameraDistance(btScalar(50.));
int size = 16;
float sizeX = 1.f;
float sizeY = 1.f;
//int rc=0;
btScalar scale(3.5);
btVector3 pos(0.0f, sizeY, 0.0f);
while(size) {
float offset = -size * (sizeX * 6.0f) * 0.5f;
for(int i=0;i<size;i++) {
pos[0] = offset + (float)i * (sizeX * 6.0f);
RagDoll* ragDoll = new RagDoll (m_dynamicsWorld,pos,scale);
m_ragdolls.push_back(ragDoll);
}
offset += sizeX;
pos[1] += (sizeY * 7.0f);
pos[2] -= sizeX * 2.0f;
size--;
}
}
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);
}
BasicGpuDemo::BasicGpuDemo()
{
m_np=0;
m_bp=0;
m_clData = new btInternalData;
setCameraDistance(btScalar(SCALING*60.));
this->setAzi(45);
this->setEle(45);
}
void ThirdPersonCameraMount::runCommand(const std::string& command, const std::string& args) {
if (SetCameraDistance == command) {
Tokeniser tokeniser;
tokeniser.initTokens(args);
std::string distance = tokeniser.nextToken();
if (!distance.empty()) {
float fDistance = Ogre::StringConverter::parseReal(distance);
setCameraDistance(fDistance);
}
}
}
void BenchmarkDemo::createTest2()
{
setCameraDistance(btScalar(50.));
const float cubeSize = 1.0f;
createPyramid(btVector3(-20.0f,0.0f,0.0f),12,btVector3(cubeSize,cubeSize,cubeSize));
createWall(btVector3(-2.0f,0.0f,0.0f),12,btVector3(cubeSize,cubeSize,cubeSize));
createWall(btVector3(4.0f,0.0f,0.0f),12,btVector3(cubeSize,cubeSize,cubeSize));
createWall(btVector3(10.0f,0.0f,0.0f),12,btVector3(cubeSize,cubeSize,cubeSize));
createTowerCircle(btVector3(25.0f,0.0f,0.0f),8,24,btVector3(cubeSize,cubeSize,cubeSize));
}
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;
}
void BasicDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
m_physicsSetup.initPhysics();
m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
}
void GlassViewer::fitCameraToModel(int pad) {
float sw = MIN(getWidth()*0.5f-pad, getHeight()*0.5f-pad);
model_t *m = Res_GetModel(model);
float bw = m->bSphere.r;
float ez = 1/tan(DEG2RAD(fov/2.0));
float Az = m->bSphere.r*2+(bw/sw)*ez;
setCameraPosition(0,-1,m->bmax[AXIS_Z]*0.45f);
setCameraTarget(0,0,camPos[AXIS_Z]);
setCameraDistance(Az+pad+m->bSphere.r);
}
void RagdollApp::initPhysics()
{
// Setup the basic world
m_time = 0;
m_CycPerKnee = 2000.f; // in milliseconds
m_CycPerHip = 3000.f; // in milliseconds
m_fMuscleStrength = 0.5f;
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( forcePreTickCB, this, true );
m_dynamicsWorld->setGravity( btVector3(0,-0,0) );
// create surface
//createSurface();
//// 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));
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
// Spawn one ragdoll
btVector3 startOffset(1,0.5,0);
spawnRagdoll(startOffset);
startOffset.setValue(-1,0.1,0);
spawnRagdoll(startOffset);
clientResetScene();
}
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();
}
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);
}
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);
}
}
void SimpleRenderContext::showFull(const Ogre::MovableObject* object)
{
//only do this if there's an active object
if (object) {
mEntityNode->_update(true, true);
Ogre::Real distance = object->getBoundingRadius() / Ogre::Math::Tan(mCamera->getFOVy() / 2);
//we can't have a distance of 0
if (distance == 0) {
distance = 1;
}
Ogre::Real distanceNudge = distance / 100;
distance += distanceNudge;
mDefaultCameraDistance = distance;
setCameraDistance(distance);
}
}
int main(int argc,char** argv)
{
raytracePicture = new RenderTexture(screenWidth,screenHeight);
myBox.SetMargin(0.02f);
myCone.SetMargin(0.2f);
simplex.SetSimplexSolver(&simplexSolver);
simplex.AddVertex(SimdPoint3(-1,0,-1));
simplex.AddVertex(SimdPoint3(1,0,-1));
simplex.AddVertex(SimdPoint3(0,0,1));
simplex.AddVertex(SimdPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
SimdVector3 positions[NUM_SPHERES] = {
SimdVector3(-1.2f, -0.3f, 0.f),
SimdVector3(0.8f, -0.3f, 0.f),
SimdVector3(0.5f, 0.6f, 0.f),
SimdVector3(-0.5f, 0.6f, 0.f),
SimdVector3(0.f, 0.f, 0.f)
};
SimdScalar radi[NUM_SPHERES] = { 0.35f,0.35f,0.45f,0.40f,0.40f };
MultiSphereShape multiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
ConvexHullShape convexHullShape(positions,3);
//choose shape
shapePtr[0] = &myCone;
shapePtr[1] =&simplex;
shapePtr[2] =&convexHullShape;
shapePtr[3] =&myMink;//myBox;
simplex.SetMargin(0.3f);
setCameraDistance(6.f);
return glutmain(argc, argv,screenWidth,screenHeight,"Minkowski-Sum Raytracer Demo");
}
void LinearConvexCastDemo::initPhysics()
{
setCameraDistance(30.f);
tr[0].setOrigin(SimdVector3(0,0,0));
tr[1].setOrigin(SimdVector3(0,10,0));
SimdMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
SimdMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
SimdVector3 boxHalfExtentsA(0.2,4,4);
SimdVector3 boxHalfExtentsB(6,6,6);
BoxShape* boxA = new BoxShape(boxHalfExtentsA);
/* BU_Simplex1to4 boxB;
boxB.AddVertex(SimdPoint3(-5,0,-5));
boxB.AddVertex(SimdPoint3(5,0,-5));
boxB.AddVertex(SimdPoint3(0,0,5));
boxB.AddVertex(SimdPoint3(0,5,0));
*/
BoxShape* boxB = new BoxShape(boxHalfExtentsB);
shapePtr[0] = boxA;
shapePtr[1] = boxB;
shapePtr[0]->SetMargin(0.01f);
shapePtr[1]->SetMargin(0.01f);
SimdTransform tr;
tr.setIdentity();
}
int main(int argc,char** argv)
{
setCameraDistance(20.f);
tr[0].setOrigin(SimdVector3(0.0013328250f,8.1363249f,7.0390840f));
tr[1].setOrigin(SimdVector3(0.00000000f,9.1262732f,2.0343180f));
//tr[0].setOrigin(SimdVector3(0,0,0));
//tr[1].setOrigin(SimdVector3(0,10,0));
SimdMatrix3x3 basisA;
basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
-0.00029313788f,0.99753088f,0.070228584f,
-0.00089153741f,-0.070228823f,0.99753052f);
SimdMatrix3x3 basisB;
basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
4.4865495e-018f,0.97979438f,0.20000751f,
4.4410586e-017f,-0.20000751f,0.97979438f);
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
SimdVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
SimdVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
BoxShape boxA(boxHalfExtentsA);
BoxShape boxB(boxHalfExtentsB);
shapePtr[0] = &boxA;
shapePtr[1] = &boxB;
SimdTransform tr;
tr.setIdentity();
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Demo");
}
void ThirdPersonCameraMount::createNodesForCamera(Ogre::SceneManager& sceneManager) {
mCameraRootNode = sceneManager.createSceneNode(OgreInfo::createUniqueResourceName("ThirdPersonCameraRootNode"));
mCameraRootNode->setInheritOrientation(false);
mCameraRootNode->setInheritScale(false);
//we need to adjust for the height of the mesh
mCameraRootNode->setPosition(Ogre::Vector3(0, 2, 0));
//Start camera behind avatar
mCameraRootNode->yaw(Ogre::Degree(180));
mCameraPitchNode = mCameraRootNode->createChildSceneNode(OgreInfo::createUniqueResourceName("ThirdPersonCameraPitchNode"));
mCameraPitchNode->setPosition(Ogre::Vector3(0, 0, 0));
mCameraPitchNode->setInheritScale(false);
//The camera node isn't actually attached to the pitch node. We'll instead adjust it each frame to match the pitch node, adjusted by collisions.
mCameraNode = sceneManager.createSceneNode(OgreInfo::createUniqueResourceName("ThirdPersonCameraNode"));
mCameraNode->setInheritScale(false);
mCameraNode->setFixedYawAxis(true); //Important that we set this to disallow the camera from rolling.
setCameraDistance(10);
Ogre::Vector3 pos(0, 0, 10);
mCameraNode->setPosition(pos);
}
void LinearConvexCastDemo::initPhysics()
{
setCameraDistance(10.f);
tr[0].setIdentity();
tr[0].setOrigin( btVector3( 0.0f, 5.5f, 0.0f ) );
tr[1].setIdentity();
tr[1].setOrigin( btVector3( 0.0f, 0.0f, 0.0f ) );
// Pyramide
float r = 1.0f;
float h = 2.0f;
btConvexHullShape* shapeA = new btConvexHullShape;
shapeA->addPoint( btVector3( 0.0f, 0.75f * h, 0.0f ) );
shapeA->addPoint( btVector3( -r, -0.25f * h, r ) );
shapeA->addPoint( btVector3( r, -0.25f * h, r ) );
shapeA->addPoint( btVector3( r, -0.25f * h, -r ) );
shapeA->addPoint( btVector3( -r, -0.25f * h, -r ) );
// Triangle
btConvexHullShape* shapeB = new btConvexHullShape;
shapeB->addPoint( btVector3( 0.0f, 1.0f, 0.0f ) );
shapeB->addPoint( btVector3( 1.0f, -1.0f, 0.0f ) );
shapeB->addPoint( btVector3( -1.0f, -1.0f, 0.0f ) );
shapePtr[0] = shapeA;
shapePtr[1] = shapeB;
shapePtr[0]->setMargin( 0.01f );
shapePtr[1]->setMargin( 0.01f );
}
void SerializeDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
setupEmptyDynamicsWorld();
#ifdef DESERIALIZE_SOFT_BODIES
btBulletWorldImporter* fileLoader = new MySoftBulletWorldImporter((btSoftRigidDynamicsWorld*)m_dynamicsWorld);
#else
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
#endif //DESERIALIZE_SOFT_BODIES
// fileLoader->setVerboseMode(true);
if (!fileLoader->loadFile("testFile.bullet"))
{
btAssert(0);
exit(0);
}
}
BulletOpenGLViewer::BulletOpenGLViewer(DynamicsWorldPtr world)
{
SIMDYNAMICS_ASSERT(world);
m_sundirection = btVector3(1, 1, -2) * 1000;
bulletEngine = boost::dynamic_pointer_cast<BulletEngine>(world->getEngine());
SIMDYNAMICS_ASSERT(bulletEngine);
setTexturing(true);
setShadows(true);
// set Bullet world (defined in bullet's OpenGL helpers)
m_dynamicsWorld = bulletEngine->getBulletWorld();
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
// set up vector for camera
setCameraDistance(btScalar(3.));
setCameraForwardAxis(1);
btVector3 up(0, 0, btScalar(1.));
setCameraUp(up);
clientResetScene();
}
void BasicDemo::initPhysics()
{
setTexturing(true);
setShadows(true);
setCameraDistance(btScalar(SCALING*50.));
///collision configuration contains default setup for memory, collision setup
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);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//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)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
/// 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);
float start_x = START_POS_X - ARRAY_SIZE_X/2;
float start_y = START_POS_Y;
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(SCALING*btVector3(
btScalar(2.0*i + start_x),
btScalar(20+2.0*k + start_y),
btScalar(2.0*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
}
}
}
}
}
void VehicleDemo::initPhysics()
{
#ifdef FORCE_ZAXIS_UP
m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1;
#endif
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
#ifdef FORCE_ZAXIS_UP
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
#endif
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
//either use heightfield or triangle mesh
//#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
int i;
const float TRIANGLE_SIZE=20.f;
//create a triangle-mesh ground
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 20;
const int NUM_VERTS_Y = 20;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
m_vertices = new btVector3[totalVerts];
int* gIndices = new int[totalTriangles*3];
for ( i=0;i<NUM_VERTS_X;i++)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
float wl = .2f;
//height set to zero, but can also use curved landscape, just uncomment out the code
float height = 0.f;//20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
#ifdef FORCE_ZAXIS_UP
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
height
);
#else
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
height,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
#endif
}
}
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
tr.setOrigin(btVector3(0,-4.5f,0));
#else
//testing btHeightfieldTerrainShape
int width=128;
int length=128;
#ifdef LOAD_FROM_FILE
unsigned char* heightfieldData = new unsigned char[width*length];
{
for (int i=0;i<width*length;i++)
{
heightfieldData[i]=0;
}
}
char* filename="heightfield128x128.raw";
FILE* heightfieldFile = fopen(filename,"r");
if (!heightfieldFile)
{
filename="../../heightfield128x128.raw";
heightfieldFile = fopen(filename,"r");
}
if (heightfieldFile)
{
int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
//btAssert(numBytes);
if (!numBytes)
{
printf("couldn't read heightfield at %s\n",filename);
}
fclose (heightfieldFile);
}
#else
char* heightfieldData = MyHeightfield;
#endif
//btScalar maxHeight = 20000.f;//exposes a bug
btScalar maxHeight = 100;
bool useFloatDatam=false;
bool flipQuadEdges=false;
btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
btVector3 mmin,mmax;
heightFieldShape->getAabb(btTransform::getIdentity(),mmin,mmax);
groundShape = heightFieldShape;
heightFieldShape->setUseDiamondSubdivision(true);
btVector3 localScaling(100,1,100);
localScaling[upIndex]=1.f;
groundShape->setLocalScaling(localScaling);
//tr.setOrigin(btVector3(0,9940,0));
tr.setOrigin(btVector3(0,49.4,0));
#endif //
m_collisionShapes.push_back(groundShape);
//create ground object
localCreateRigidBody(0,tr,groundShape);
tr.setOrigin(btVector3(0,0,0));//-64.5f,0));
#ifdef FORCE_ZAXIS_UP
// indexRightAxis = 0;
// indexUpAxis = 2;
// indexForwardAxis = 1;
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,0,1));
#else
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));
#endif
compound->addChildShape(localTrans,chassisShape);
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));
clientResetScene();
/// 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);
#ifdef FORCE_ZAXIS_UP
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif //FORCE_ZAXIS_UP
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif
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;
}
}
setCameraDistance(26.f);
}
void ForkLiftDemo::initPhysics()
{
#ifdef FORCE_ZAXIS_UP
m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1;
#endif
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
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);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
#ifdef FORCE_ZAXIS_UP
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
#endif
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-10,0));
//either use heightfield or triangle mesh
//create ground object
localCreateRigidBody(0,tr,groundShape);
#ifdef FORCE_ZAXIS_UP
// indexRightAxis = 0;
// indexUpAxis = 2;
// indexForwardAxis = 1;
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,0,1));
#else
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));
#endif
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));
{
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(4, loadTrans, loadCompound);
}
clientResetScene();
/// 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);
#ifdef FORCE_ZAXIS_UP
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif //FORCE_ZAXIS_UP
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif
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;
}
}
setCameraDistance(26.f);
}
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);
CreateBox(0, 0., 2., 0., 1., 0.2, 1.); // Create the box
//leg components
CreateCylinder(1, 2. , 2., 0., .2, 1., 0., 0., M_PI_2); //xleft horizontal
CreateCylinder(2, -2., 2., 0., .2, 1., 0., 0., M_PI_2); //xright (negative) horizontal
CreateCylinder(3, 0, 2., 2., .2, 1., M_PI_2, 0., 0.); //zpositive (into screen)
CreateCylinder(4, 0, 2., -2., .2, 1., M_PI_2, 0., 0.); //znegative (out of screen)
CreateCylinder(5, 3.0, 1., 0., .2, 1., 0., 0., 0.); //xleft vertical
CreateCylinder(6, -3.0, 1., 0., .2, 1., 0., 0., 0.); //xright vertical
CreateCylinder(7, 0., 1., 3.0, .2, 1., 0., 0., 0.); //zpositive vertical
CreateCylinder(8, 0., 1., -3.0, .2, 1., 0., 0., 0.); //znegative vertical
//The axisworldtolocal defines a vector perpendicular to the plane that you want the bodies to rotate in
//hinge the legs together
//xnegative -- right
//two bodies should rotate in y-plane through x--give axisworldtolocal it a z vector
btVector3 local2 = PointWorldToLocal(2, btVector3(-3., 2., 0));
btVector3 local6 = PointWorldToLocal(6, btVector3(-3., 2., 0));
btVector3 axis2 = AxisWorldToLocal(2, btVector3(0., 0., 1.));
btVector3 axis6 = AxisWorldToLocal(6, btVector3( 0., 0., 1.));
CreateHinge(0, *body[2], *body[6], local2, local6, axis2, axis6);
joints[0]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
//positive -- left
//give axisworldtolocal a z vector
btVector3 local1 = PointWorldToLocal(1, btVector3(3., 2., 0));
btVector3 local5 = PointWorldToLocal(5, btVector3(3., 2., 0));
btVector3 axis1 = AxisWorldToLocal(1, btVector3( 0., 0., 1.));
btVector3 axis5 = AxisWorldToLocal(5, btVector3(0., 0., 1.));
CreateHinge(1, *body[1], *body[5], local1, local5, axis1, axis5);
joints[1]->setLimit(btScalar(M_PI_4), btScalar(M_PI_4));
//zpositive -- back
//rotates in y-plane through z--give it an x vector
btVector3 local3 = PointWorldToLocal(3, btVector3(0, 2., 3.));
btVector3 local7 = PointWorldToLocal(7, btVector3(0, 2., 3.));
btVector3 axis3 = AxisWorldToLocal(3, btVector3(1., 0., 0.));
btVector3 axis7 = AxisWorldToLocal(7, btVector3(1., 0., 0.));
CreateHinge(2, *body[3], *body[7], local3, local7, axis3, axis7);
joints[2]->setLimit(btScalar(0.), btScalar(M_PI_2+M_PI_4));
//znegative -- front
btVector3 local4 = PointWorldToLocal(4, btVector3(0, 2., -3.));
btVector3 local8 = PointWorldToLocal(8, btVector3(0, 2., -3.));
btVector3 axis4 = AxisWorldToLocal(4, btVector3(1., 0., 0.));
btVector3 axis8 = AxisWorldToLocal(8, btVector3(1., 0., 0.));
CreateHinge(3, *body[4], *body[8], local4, local8, axis4, axis8);
joints[3]->setLimit(btScalar(M_PI_4), btScalar(M_PI_4));
//hinge the legs to the body
//xright to main
btVector3 localHinge2 = PointWorldToLocal(2, btVector3(-1, 2., 0));
btVector3 mainHinge2 = PointWorldToLocal(0, btVector3(-1, 2., 0));
btVector3 localAxis2 = AxisWorldToLocal(2, btVector3(0., 0., 1.));
btVector3 mainAxis2 = AxisWorldToLocal(0, btVector3( 0., 0., 1.));
CreateHinge(4, *body[0], *body[2], mainHinge2, localHinge2, mainAxis2, localAxis2);
//joints[4]->setLimit(btScalar(-M_PI_2-M_PI_4), btScalar(M_PI_4));
//xleft to main
btVector3 localHinge1 = PointWorldToLocal(1, btVector3(1, 2., 0));
btVector3 mainHinge1 = PointWorldToLocal(0, btVector3(1, 2., 0));
btVector3 localAxis1 = AxisWorldToLocal(1, btVector3(0., 0., 1.));
btVector3 mainAxis1 = AxisWorldToLocal(0, btVector3( 0., 0., 1.));
CreateHinge(5, *body[0], *body[1], mainHinge1, localHinge1, mainAxis1, localAxis1);
//joints[5]->setLimit(btScalar(-M_PI_2), btScalar(M_PI_2));
//zpositive (back) to main
btVector3 localHinge3 = PointWorldToLocal(3, btVector3(0., 2., 1));
btVector3 mainHinge3 = PointWorldToLocal(0, btVector3(0., 2., 1));
btVector3 localAxis3 = AxisWorldToLocal(3, btVector3(1., 0., 0.));
btVector3 mainAxis3 = AxisWorldToLocal(0, btVector3( 1., 0., 0.));
CreateHinge(6, *body[0], *body[3], mainHinge3, localHinge3, mainAxis3, localAxis3);
//joints[6]->setLimit(btScalar(-M_PI_2-M_PI_4), btScalar(M_PI_4));
btVector3 localHinge4 = PointWorldToLocal(4, btVector3(0., 2., -1));
btVector3 mainHinge4= PointWorldToLocal(0, btVector3(0., 2., -1));
btVector3 localAxis4 = AxisWorldToLocal(4, btVector3(1., 0., 0. ));
btVector3 mainAxis4 = AxisWorldToLocal(0, btVector3( 1., 0., 0.));
CreateHinge(7, *body[0], *body[4], mainHinge4, localHinge4, mainAxis4, localAxis4);
//joints[7]->setLimit(btScalar(-M_PI_2), btScalar(M_PI_2));
clientResetScene();
}