void MultiBodyVehicleSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
int upAxis = 1;
btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
int curColor = 0;
gfxBridge.setUpAxis(upAxis);
this->createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
//btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe
+btIDebugDraw::DBG_DrawContactPoints
+btIDebugDraw::DBG_DrawAabb
);//+btIDebugDraw::DBG_DrawConstraintLimits);
createMultiBodyVehicle();
if (1)
{
btVector3 groundHalfExtents(20,20,20);
groundHalfExtents[upAxis]=1.f;
btBoxShape* box = new btBoxShape(groundHalfExtents);
box->initializePolyhedralFeatures();
btTransform start; start.setIdentity();
btVector3 groundOrigin(0,0,0);
groundOrigin[upAxis]=-1.5;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
}
gfxBridge.autogenerateGraphicsObjects(m_dynamicsWorld);
}
void GyroscopicSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.setUpAxis(2);
createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
btVector3 positions[5] = {
btVector3( -10, 8,4),
btVector3( -5, 8,4),
btVector3( 0, 8,4),
btVector3( 5, 8,4),
btVector3( 10, 8,4),
};
for (int i = 0; i<5; i++)
{
btCylinderShapeZ* pin = new btCylinderShapeZ(btVector3(0.1,0.1, 0.2));
btBoxShape* box = new btBoxShape(btVector3(1,0.1,0.1));
box->setMargin(0.01);
pin->setMargin(0.01);
btCompoundShape* compound = new btCompoundShape();
compound->addChildShape(btTransform::getIdentity(), pin);
btTransform offsetBox(btMatrix3x3::getIdentity(),btVector3(0,0,0.2));
compound->addChildShape(offsetBox, box);
btScalar masses[2] = {0.3,0.1};
btVector3 localInertia;
btTransform principal;
compound->calculatePrincipalAxisTransform(masses,principal,localInertia);
btRigidBody* body = new btRigidBody(1, 0, compound, localInertia);
btTransform tr;
tr.setIdentity();
tr.setOrigin(positions[i]);
body->setCenterOfMassTransform(tr);
body->setAngularVelocity(btVector3(0, 0.1, 10));//51));
//body->setLinearVelocity(btVector3(3, 0, 0));
body->setFriction(btSqrt(1));
m_dynamicsWorld->addRigidBody(body);
body->setFlags(gyroflags[i]);
m_dynamicsWorld->getSolverInfo().m_maxGyroscopicForce = 10.f;
body->setDamping(0.0000f, 0.000f);
}
{
//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(0.5)));
btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 0, 1), 0);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, 0, 0));
btRigidBody* groundBody;
groundBody = createRigidBody(0, groundTransform, groundShape);
groundBody->setFriction(btSqrt(2));
}
gfxBridge.autogenerateGraphicsObjects(m_dynamicsWorld);
}