1 | /* |
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2 | Bullet Continuous Collision Detection and Physics Library |
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3 | Copyright (c) 2003-2007 Erwin Coumans http://continuousphysics.com/Bullet/ |
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4 | |
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5 | This software is provided 'as-is', without any express or implied warranty. |
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6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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7 | Permission is granted to anyone to use this software for any purpose, |
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8 | including commercial applications, and to alter it and redistribute it freely, |
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9 | subject to the following restrictions: |
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10 | |
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11 | 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. |
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12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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13 | 3. This notice may not be removed or altered from any source distribution. |
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14 | */ |
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15 | |
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16 | |
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17 | #include "btBulletDynamicsCommon.h" |
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18 | #include <stdio.h> |
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19 | |
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20 | /// This is a Hello World program for running a basic Bullet physics simulation |
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21 | |
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22 | int main(int argc, char** argv) |
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23 | { |
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24 | |
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25 | int i; |
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26 | |
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27 | ///collision configuration contains default setup for memory, collision setup. Advanced users can create their own configuration. |
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28 | btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); |
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29 | |
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30 | ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) |
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31 | btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration); |
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32 | |
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33 | ///btDbvtBroadphase is a good general purpose broadphase. You can also try out btAxis3Sweep. |
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34 | btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase(); |
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35 | |
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36 | ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) |
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37 | btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver; |
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38 | |
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39 | btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration); |
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40 | |
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41 | dynamicsWorld->setGravity(btVector3(0,-10,0)); |
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42 | |
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43 | ///create a few basic rigid bodies |
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44 | btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.))); |
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45 | |
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46 | //keep track of the shapes, we release memory at exit. |
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47 | //make sure to re-use collision shapes among rigid bodies whenever possible! |
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48 | btAlignedObjectArray<btCollisionShape*> collisionShapes; |
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49 | |
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50 | collisionShapes.push_back(groundShape); |
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51 | |
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52 | btTransform groundTransform; |
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53 | groundTransform.setIdentity(); |
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54 | groundTransform.setOrigin(btVector3(0,-56,0)); |
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55 | |
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56 | { |
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57 | btScalar mass(0.); |
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58 | |
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59 | //rigidbody is dynamic if and only if mass is non zero, otherwise static |
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60 | bool isDynamic = (mass != 0.f); |
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61 | |
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62 | btVector3 localInertia(0,0,0); |
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63 | if (isDynamic) |
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64 | groundShape->calculateLocalInertia(mass,localInertia); |
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65 | |
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66 | //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects |
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67 | btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); |
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68 | btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); |
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69 | btRigidBody* body = new btRigidBody(rbInfo); |
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70 | |
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71 | //add the body to the dynamics world |
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72 | dynamicsWorld->addRigidBody(body); |
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73 | } |
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74 | |
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75 | |
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76 | { |
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77 | //create a dynamic rigidbody |
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78 | |
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79 | //btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1)); |
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80 | btCollisionShape* colShape = new btSphereShape(btScalar(1.)); |
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81 | collisionShapes.push_back(colShape); |
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82 | |
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83 | /// Create Dynamic Objects |
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84 | btTransform startTransform; |
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85 | startTransform.setIdentity(); |
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86 | |
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87 | btScalar mass(1.f); |
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88 | |
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89 | //rigidbody is dynamic if and only if mass is non zero, otherwise static |
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90 | bool isDynamic = (mass != 0.f); |
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91 | |
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92 | btVector3 localInertia(0,0,0); |
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93 | if (isDynamic) |
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94 | colShape->calculateLocalInertia(mass,localInertia); |
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95 | |
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96 | startTransform.setOrigin(btVector3(2,10,0)); |
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97 | |
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98 | //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects |
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99 | btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); |
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100 | btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia); |
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101 | btRigidBody* body = new btRigidBody(rbInfo); |
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102 | |
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103 | dynamicsWorld->addRigidBody(body); |
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104 | } |
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105 | |
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106 | |
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107 | |
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108 | /// Do some simulation |
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109 | |
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110 | |
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111 | |
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112 | for (i=0;i<100;i++) |
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113 | { |
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114 | dynamicsWorld->stepSimulation(1.f/60.f,10); |
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115 | |
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116 | //print positions of all objects |
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117 | for (int j=dynamicsWorld->getNumCollisionObjects()-1; j>=0 ;j--) |
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118 | { |
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119 | btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[j]; |
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120 | btRigidBody* body = btRigidBody::upcast(obj); |
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121 | if (body && body->getMotionState()) |
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122 | { |
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123 | btTransform trans; |
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124 | body->getMotionState()->getWorldTransform(trans); |
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125 | printf("world pos = %f,%f,%f\n",float(trans.getOrigin().getX()),float(trans.getOrigin().getY()),float(trans.getOrigin().getZ())); |
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126 | } |
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127 | } |
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128 | } |
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129 | |
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130 | |
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131 | //cleanup in the reverse order of creation/initialization |
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132 | |
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133 | //remove the rigidbodies from the dynamics world and delete them |
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134 | for (i=dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) |
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135 | { |
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136 | btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[i]; |
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137 | btRigidBody* body = btRigidBody::upcast(obj); |
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138 | if (body && body->getMotionState()) |
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139 | { |
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140 | delete body->getMotionState(); |
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141 | } |
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142 | dynamicsWorld->removeCollisionObject( obj ); |
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143 | delete obj; |
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144 | } |
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145 | |
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146 | //delete collision shapes |
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147 | for (int j=0;j<collisionShapes.size();j++) |
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148 | { |
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149 | btCollisionShape* shape = collisionShapes[j]; |
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150 | collisionShapes[j] = 0; |
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151 | delete shape; |
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152 | } |
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153 | |
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154 | //delete dynamics world |
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155 | delete dynamicsWorld; |
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156 | |
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157 | //delete solver |
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158 | delete solver; |
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159 | |
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160 | //delete broadphase |
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161 | delete overlappingPairCache; |
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162 | |
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163 | //delete dispatcher |
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164 | delete dispatcher; |
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165 | |
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166 | delete collisionConfiguration; |
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167 | |
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168 | //next line is optional: it will be cleared by the destructor when the array goes out of scope |
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169 | collisionShapes.clear(); |
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170 | |
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171 | } |
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172 | |
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