void MoppInstancingDemo::addBoxPile(int numBoxes, hkVector4Parameter offset)
{
hkVector4 boxRadii( 0.5f, 0.5f, 0.5f);
hkpBoxShape* cubeShape = new hkpBoxShape(boxRadii, 0 );
hkpRigidBodyCinfo boxInfo;
boxInfo.m_mass = 1.0f;
boxInfo.m_shape = cubeShape;
hkpInertiaTensorComputer::setShapeVolumeMassProperties(boxInfo.m_shape, boxInfo.m_mass, boxInfo);
boxInfo.m_rotation.setIdentity();
boxInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
for (int i = 0; i < numBoxes; i++ )
{
//
// create a rigid body (using the template above) and add to the m_world
//
boxInfo.m_position.set(0, i * 1.4f, -.15f*i);
boxInfo.m_position.add4(offset);
boxInfo.m_restitution = .2f;
hkpRigidBody* boxRigidBody = new hkpRigidBody(boxInfo);
m_world->addEntity( boxRigidBody );
boxRigidBody->removeReference();
}
cubeShape->removeReference();
}
static void CreateFlatCubeGrid( hkpWorld* world, int size, float height = 0 )
{
hkReal boxDim = 1.0f;
float delta = boxDim * 3.0f;
hkReal boxRadius = 0.01f;
hkVector4 boxRadii(boxDim, boxDim, boxDim);
hkpShape* boxShape = new hkpBoxShape( boxRadii, boxRadius );
// flat cube grid, made up of (1.5*size)*(1.5*size) cubes
for (int x = -size/2; x < size; x++)
{
for (int y = -size/2; y < size; y++)
{
hkpRigidBodyCinfo boxInfo;
boxInfo.m_mass = 100.0f;
hkReal d = boxInfo.m_mass * boxDim * boxDim / 6.0f;
boxInfo.m_inertiaTensor.setDiagonal(d,d,d);
boxInfo.m_shape = boxShape;
boxInfo.m_motionType = hkpMotion::MOTION_DYNAMIC;
boxInfo.m_position.set( x * delta, boxDim + height, y * delta);
boxInfo.m_restitution = 0.0f;
boxInfo.m_solverDeactivation = hkpRigidBodyCinfo::SOLVER_DEACTIVATION_MAX;
hkpRigidBody* boxRigidBody = new hkpRigidBody(boxInfo);
world->addEntity( boxRigidBody );
boxRigidBody->removeReference(); // Remove reference, since we no long
}
}
boxShape->removeReference();
}
static void CreateFall( hkpWorld* world, int height )
{
hkReal boxDim = 1.0f;
hkReal boxRadius = 0.01f;
hkVector4 boxRadii(boxDim *.5f, boxDim *.5f - boxRadius, boxDim *.5f);
hkpShape* boxShape = new hkpBoxShape( boxRadii, boxRadius );
// 64 columns of cubes, of height 'height'
for (int x = -4; x < 4; x++)
{
for (int y = -4; y < 4; y++)
{
for (int z = 0; z < height; z++)
{
hkpRigidBodyCinfo boxInfo;
boxInfo.m_mass = 100.0f;
hkReal d = boxInfo.m_mass * boxDim * boxDim / 6.0f;
boxInfo.m_inertiaTensor.setDiagonal(d,d,d);
boxInfo.m_shape = boxShape;
boxInfo.m_motionType = hkpMotion::MOTION_DYNAMIC;
boxInfo.m_position.set( x* 3.0f, z * 1.0f, y * 3.0f);
boxInfo.m_restitution = 0.0f;
boxInfo.m_angularDamping = 1.0f;
boxInfo.m_linearDamping = .0f;
boxInfo.m_friction = 1.0f;
boxInfo.m_solverDeactivation = hkpRigidBodyCinfo::SOLVER_DEACTIVATION_MAX;
hkpRigidBody* boxRigidBody = new hkpRigidBody(boxInfo);
world->addEntity( boxRigidBody );
boxRigidBody->removeReference(); // Remove reference, since we no long
}
}
}
boxShape->removeReference();
}
MassChangerDemo::MassChangerDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
// Disable warnings:
hkError::getInstance().setEnabled(0xf0de4356, false); // 'Your m_contactRestingVelocity seems to be too small'
//
// Setup the camera
//
{
hkVector4 from(0.0f, 8.0f, 24.0f);
hkVector4 to (0.0f, 0.0f, 0.0f);
hkVector4 up (0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
//
// Create the world
//
{
hkpWorldCinfo info;
info.m_gravity.set(0.0f, -9.8f, 0.0f);
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
info.m_collisionTolerance = 0.01f;
info.m_contactRestingVelocity = 0.01f;
//info.m_contactRestingVelocity = 10000.01f;
m_world = new hkpWorld( info );
m_world->lock();
// Register ALL agents (though some may not be necessary)
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
setupGraphics();
}
//
// Create the base
//
{
hkVector4 baseSize( 15.0f, 0.3f, 15.0f);
hkpConvexShape* shape = new hkpBoxShape( baseSize , 0 );
hkpRigidBodyCinfo ci;
ci.m_shape = shape;
ci.m_motionType = hkpMotion::MOTION_FIXED;
m_world->addEntity( new hkpRigidBody( ci ) )->removeReference();
shape->removeReference();
}
{
//
// The dimensions of the boxes etc.
//
const hkReal boxDim = 1.0f; // This is the size of the cubes
const hkReal extBoxDim = 1.1f * boxDim; // This is an extended size (used to shorten the pendulums)
const hkReal heightOffGround = 5.0f; // This is the height of the fixed box from the ground
//create the shared properties/attributes for the boxes
hkVector4 boxRadii(boxDim *.5f, boxDim *.5f, boxDim *.5f);
hkpShape* boxShape = new hkpBoxShape( boxRadii , 0 );
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeBoxVolumeMassProperties(boxRadii, 100.0f, massProperties);
hkpRigidBodyCinfo boxInfo;
boxInfo.m_inertiaTensor = massProperties.m_inertiaTensor;
boxInfo.m_mass = massProperties.m_mass;
boxInfo.m_shape = boxShape;
boxInfo.m_qualityType = HK_COLLIDABLE_QUALITY_CRITICAL;
boxInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
// create four boxes, one fixed and above the base, two attached by springs
// to either side of the fixed box, and one below it.
// one of the pendulums will be in a higher position so that it hits the bottom
// box later than the first
// Note: only one of the "pendulum" boxes will be
// able to influence the box on the ground (achieved
// with mass changer utility)
hkVector4 boxPos;
// the box on the base
{
boxPos.set(0.0f,boxDim,0.0f,0.0f);
boxInfo.m_position = boxPos;
hkpRigidBody* boxRigidBody = new hkpRigidBody(boxInfo);
m_bodies[0] = boxRigidBody;
// Now add to world. Body is "ready to go" as soon as this is called, and display
// is (as a registered listener) automatically notified to build a new display object.
m_world->addEntity( boxRigidBody );
boxRigidBody->removeReference(); // Remove reference, since we no longer want to remember this
}
// the pendulum boxes, number 1
{
float offset = hkMath::sqrtInverse(2.0f) * (heightOffGround - extBoxDim);
boxPos.set( offset, heightOffGround + offset , 0.0f, 0.0f );
boxInfo.m_position = boxPos;
hkpRigidBody* boxRigidBody = new hkpRigidBody(boxInfo);
m_bodies[1] = boxRigidBody;
m_world->addEntity( boxRigidBody );
boxRigidBody->removeReference(); // Remove reference, since we no longer want to remember this
}
// the pendulum boxes, number 2
{
boxPos.set(-heightOffGround + extBoxDim,heightOffGround,0.0f,0.0f);
boxInfo.m_position = boxPos;
hkpRigidBody* boxRigidBody = new hkpRigidBody(boxInfo);
m_bodies[2] = boxRigidBody;
m_world->addEntity( boxRigidBody );
boxRigidBody->removeReference(); // Remove reference, since we no longer want to remember this
}
// the fixed box
{
boxPos.set(0.0f,heightOffGround,0.0f,0.0f);
boxInfo.m_position = boxPos;
boxInfo.m_motionType = hkpMotion::MOTION_FIXED;
boxInfo.m_qualityType = HK_COLLIDABLE_QUALITY_FIXED;
hkpRigidBody* boxRigidBody = new hkpRigidBody(boxInfo);
m_bodies[3] = boxRigidBody;
m_world->addEntity( boxRigidBody );
boxRigidBody->removeReference(); // Remove reference, since we no longer want to remember this
}
//
// create stiff spring constraint for pendulum 1
//
{
hkpStiffSpringConstraintData* spring = new hkpStiffSpringConstraintData();
// Create constraint
spring->setInWorldSpace(m_bodies[3]->getTransform(), m_bodies[1]->getTransform(), m_bodies[3]->getPosition(), m_bodies[1]->getPosition());
m_world->createAndAddConstraintInstance( m_bodies[3], m_bodies[1], spring )->removeReference();
spring->removeReference();
}
//
// create stiff spring constraint for pendulum 2
//
{
// Create constraint
hkpStiffSpringConstraintData* spring = new hkpStiffSpringConstraintData();
spring->setInWorldSpace(m_bodies[3]->getTransform(), m_bodies[2]->getTransform(), m_bodies[3]->getPosition(), m_bodies[2]->getPosition());
m_world->createAndAddConstraintInstance( m_bodies[3], m_bodies[2], spring )->removeReference();
spring->removeReference();
}
//create a mass changer utility for the object
const hkReal bodyARelInvMass = 0;
const hkReal bodyBRelInvMass = 1;
m_cmcu = new hkpCollisionMassChangerUtil( m_bodies[0], m_bodies[2], bodyARelInvMass, bodyBRelInvMass );
boxShape->removeReference();
}
m_world->unlock();
}
static void CreateStack( hkpWorld* world, int size, float zPos = 0.0f )
{
const hkReal cubeSize = 1.0f; // This is the size of the cube side of the box
const hkReal boxRadius = cubeSize * 0.01f;
const hkReal gapx = cubeSize * 0.05f; // This is the gap between boxes
const hkReal gapy = boxRadius;
const hkReal heightOffGround = 0.0f; // This is the height of the BenchmarkSuite off the gound
hkReal extendedBoxDimX = cubeSize + gapx;
hkReal extendedBoxDimY = cubeSize + gapy;
hkVector4 startPos( 0.0f , heightOffGround + gapy + cubeSize * 0.5f, zPos);
// Build BenchmarkSuite
{
hkVector4 boxRadii(cubeSize *.5f, cubeSize *.5f, cubeSize *.5f);
hkpShape* boxShape = new hkpBoxShape( boxRadii , boxRadius );
for(int i=0; i<size; i++)
{
// This constructs a row, from left to right
int rowSize = size - i;
hkVector4 start(-rowSize * extendedBoxDimX * 0.5f + extendedBoxDimX * 0.5f, i * extendedBoxDimY, 0);
for(int j=0; j< rowSize; j++)
{
hkVector4 boxPos(start);
hkVector4 shift(j * extendedBoxDimX, 0.0f, 0.0f);
boxPos.setAdd4(boxPos, shift);
boxPos.setAdd4(boxPos, startPos);
///
hkpRigidBodyCinfo boxInfo;
boxInfo.m_mass = 100.0f;
// calculate the correct inertia
hkReal d = boxInfo.m_mass * cubeSize * cubeSize / 6.0f;
// for small boxes increase inertia slightly
if ( boxRadius < 0.1f )
{
d *= 2.0f;
if ( boxRadius < 0.03f )
{
d *= 2.0f;
}
}
boxInfo.m_inertiaTensor.setDiagonal(d,d,d);
boxInfo.m_shape = boxShape;
boxInfo.m_motionType = hkpMotion::MOTION_DYNAMIC;
boxInfo.m_position = boxPos;
boxInfo.m_restitution = 0.5f;
boxInfo.m_friction = 0.6f;
boxInfo.m_solverDeactivation = hkpRigidBodyCinfo::SOLVER_DEACTIVATION_MAX;
///>
hkpRigidBody* boxRigidBody = new hkpRigidBody(boxInfo);
// Now add to world. Body is "ready to go" as soon as this is called, and display
// is (as a registered listener) automatically notified to build a new display object.
world->addEntity( boxRigidBody );
boxRigidBody->removeReference(); // Remove reference, since we no longer want to remember this
}
}
boxShape->removeReference();
}
}
SuspendInactiveAgentsDemo::SuspendInactiveAgentsDemo( hkDemoEnvironment* env )
: hkDefaultPhysicsDemo(env)
{
// Disable warnings:
hkError::getInstance().setEnabled(0x7dd65995, false); //'The system has requested a heap allocation on stack overflow.'
hkError::getInstance().setEnabled(0x86bc014f, false); //'For the default implementation to work the class must be passed in'
//
// Setup the camera. Actually overwritten by step function, and when we first add the vehicle.
//
{
hkVector4 from(0.0f, 2.0f, 12.0f);
hkVector4 to(0.0f, 0.0f, 0.0f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( m_env, from, to, up );
}
//
// Create the world.
//
{
hkpWorldCinfo info;
info.m_collisionTolerance = 0.01f;
info.m_gravity.set(0.0f, -9.8f, 0.0f);
info.setBroadPhaseWorldSize(850.0f) ;
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
m_world = new hkpWorld( info );
m_world->lock();
// Register all agents.
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
// Graphics.
m_debugViewerNames.pushBack( hkpSimulationIslandViewer::getName());
setupGraphics();
}
//
// Enable deleting inactive agents
//
{
m_suspendInactiveAgentsUtil = new hkpSuspendInactiveAgentsUtil( m_world, hkpSuspendInactiveAgentsUtil::SUSPEND_ALL_COLLECTION_AGENTS );
}
//
// Create a filter, so that the raycasts of car does not collide with the ragdolls
//
{
hkpGroupFilter* filter = new hkpGroupFilter();
filter->disableCollisionsBetween(1,3);
m_world->setCollisionFilter( filter );
filter->removeReference();
}
// Build the landscape to drive on and add it to m_world.
buildLandscape();
if (getDemoVariant() < 2)
{
int gridSize = hkMath::clamp(m_env->m_cpuMhz / 150, 2, 4);
createRagdollGrid( m_world, gridSize, gridSize, 4.0f, 4.0f );
m_boxRigidBody = HK_NULL;
}
else
{
//
// Warm starting manifold - just illustrate with one box on a simple landscape
//
hkVector4 boxRadii( 1, .2f, 1);
hkpShape* smallBox = new hkpBoxShape(boxRadii, 0 );
hkpRigidBodyCinfo boxInfo;
boxInfo.m_mass = 1.0f;
boxInfo.m_shape = smallBox;
hkpInertiaTensorComputer::setShapeVolumeMassProperties(boxInfo.m_shape, boxInfo.m_mass, boxInfo);
boxInfo.m_rotation.setIdentity();
boxInfo.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
boxInfo.m_position.set(2, 2, 2);
boxInfo.m_restitution = .3f;
boxInfo.m_qualityType = HK_COLLIDABLE_QUALITY_CRITICAL; //XXX
m_boxRigidBody = new hkpRigidBody(boxInfo);
smallBox->removeReference();
m_world->addEntity( m_boxRigidBody );
m_frameCount = 0;
// Change the camera position to view the box close up
hkVector4 from(0.91f, 0.87f, 5.52f);
hkVector4 to(2.66f, -.16f, -.06f);
hkVector4 up(0.0f, 1.0f, 0.0f);
setupDefaultCameras( m_env, from, to, up );
}
m_world->unlock();
}
