1 | #include <stdio.h> |
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2 | #include "Environment.h" |
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3 | #include "BulletObject.h" |
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4 | |
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5 | Environment::Environment() |
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6 | : m_dynamicsWorld(0) |
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7 | { |
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8 | } |
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9 | |
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10 | /** Initialize the environment of the virtual world. |
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11 | Create de ground and add it as an object to the virtual world |
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12 | */ |
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13 | void Environment::setupEnvironment() |
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14 | { |
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15 | btScalar mass(0.); |
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16 | bool isDynamic = (mass != 0.f); |
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17 | btVector3 localInertia(0,0,0); |
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18 | btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; |
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19 | |
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20 | m_collisionConfiguration = new btDefaultCollisionConfiguration(); |
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21 | m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); |
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22 | m_broadphase = new btDbvtBroadphase(); |
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23 | m_solver = sol; |
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24 | |
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25 | m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); |
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26 | m_dynamicsWorld->setGravity(btVector3(0,-10,0)); |
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27 | |
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28 | groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.))); |
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29 | m_collisionShapes.push_back(groundShape); |
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30 | groundTransform.setIdentity(); |
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31 | groundTransform.setOrigin(btVector3(0,-50,0)); |
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32 | |
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33 | //rigidbody is dynamic if and only if mass is non zero, otherwise static |
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34 | if (isDynamic) |
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35 | groundShape->calculateLocalInertia(mass, localInertia); |
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36 | |
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37 | //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects |
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38 | btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); |
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39 | btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); |
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40 | btRigidBody* body = new btRigidBody(rbInfo); |
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41 | //add the body to the dynamics world |
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42 | m_dynamicsWorld->addRigidBody(body); |
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43 | // m_dynamicsWorld->setDebugDrawer(new GLDebugDrawer()); |
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44 | } |
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45 | |
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46 | |
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47 | void Environment::addAgent(Agent *agent) |
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48 | { |
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49 | } |
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50 | |
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51 | btDynamicsWorld* Environment::getDynamicsWorld() |
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52 | { |
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53 | return m_dynamicsWorld; |
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54 | } |
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55 | |
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56 | btAlignedObjectArray<btCollisionShape*> Environment::getCollisionShapes() |
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57 | { |
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58 | return m_collisionShapes; |
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59 | } |
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60 | |
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61 | /// Simulation 2D |
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62 | void Environment::createMagicCarpet(int n, int m) { |
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63 | int i, j, base = m_dynamicsWorld->getNumCollisionObjects(); |
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64 | btCollisionShape *shape; |
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65 | btRigidBody *body, *body1, *body2; |
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66 | btVector3 pivotA, pivotB, axisA, axisB; |
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67 | btHingeConstraint* hinge; |
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68 | btTransform transform; |
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69 | btTransform frameA, frameB; |
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70 | |
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71 | BulletObject *object = new BulletObject(this); |
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72 | |
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73 | for(i = 0; i < n; i++) { |
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74 | for(j = 0; j < m; j++) { |
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75 | transform = btTransform(); |
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76 | transform.setIdentity(); |
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77 | transform.setOrigin(SCALING*btVector3(i*1.0,HEIGHT,j*1.0)); |
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78 | transform.setRotation(btQuaternion(0, 0, 0)); |
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79 | |
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80 | shape = new btSphereShape(SCALING*btScalar(0.1)); |
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81 | body = object->createBulletObject(shape, transform, (!i && !j) ? 1.f : 1.f); |
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82 | |
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83 | btAlignedObjectArray<int> tmp; |
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84 | tmp.resize(4); |
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85 | m_matrix.push_back(tmp); |
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86 | } |
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87 | } |
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88 | |
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89 | for(i = 0; i < n; i++) { |
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90 | for(j = 0; j < m; j++) { |
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91 | if (i > 0) { |
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92 | transform = btTransform(); |
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93 | transform.setIdentity(); |
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94 | transform.setOrigin(SCALING*btVector3(i*1.0-0.5,HEIGHT,j*1.0)); |
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95 | transform.setRotation(btQuaternion(0, 0, -M_PI/2)); |
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96 | |
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97 | shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6)); |
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98 | body = object->createBulletObject(shape, transform, 1.f); |
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99 | |
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100 | body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + (i - 1) * m + j]); |
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101 | body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m + j]); |
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102 | |
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103 | frameA = btTransform(); |
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104 | frameA.setIdentity(); |
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105 | frameA.setOrigin(SCALING*btVector3(0, -0.5, 0)); |
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106 | frameA.setRotation(btQuaternion(0, 0, M_PI/2)); |
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107 | frameB = btTransform(); |
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108 | frameB.setIdentity(); |
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109 | frameB.setOrigin(SCALING*btVector3(0, 0, 0)); |
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110 | frameB.setRotation(btQuaternion(0, 0, 0)); |
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111 | hinge = new btHingeConstraint(*body, *body1, frameA, frameB); |
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112 | hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2)); |
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113 | hinge->setDbgDrawSize(btScalar(1.f)); |
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114 | m_matrix[(i - 1) * m + j][RIGHT] = m_joints.size(); |
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115 | m_joints.push_back(hinge); |
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116 | m_dynamicsWorld->addConstraint(hinge, true); |
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117 | |
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118 | frameA = btTransform(); |
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119 | frameA.setIdentity(); |
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120 | frameA.setOrigin(SCALING*btVector3(0, 0.5, 0)); |
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121 | frameA.setRotation(btQuaternion(0, 0, M_PI/2)); |
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122 | frameB = btTransform(); |
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123 | frameB.setIdentity(); |
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124 | frameB.setOrigin(SCALING*btVector3(0, 0, 0)); |
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125 | frameB.setRotation(btQuaternion(0, 0, 0)); |
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126 | hinge = new btHingeConstraint(*body, *body2, frameA, frameB); |
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127 | hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2)); |
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128 | hinge->setDbgDrawSize(btScalar(1.f)); |
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129 | m_matrix[i * m + j][LEFT] = m_joints.size(); |
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130 | m_joints.push_back(hinge); |
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131 | m_dynamicsWorld->addConstraint(hinge, true); |
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132 | } |
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133 | if (j > 0) { |
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134 | transform = btTransform(); |
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135 | transform.setIdentity(); |
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136 | transform.setOrigin(SCALING*btVector3(i*1.0,HEIGHT,j*1.0-0.5)); |
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137 | transform.setRotation(btQuaternion(-M_PI/2, 0, -M_PI/2)); |
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138 | |
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139 | shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6)); |
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140 | body = object->createBulletObject(shape, transform, 1.f); |
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141 | |
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142 | body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m + (j - 1)]); |
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143 | body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m + j]); |
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144 | |
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145 | frameA = btTransform(); |
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146 | frameA.setIdentity(); |
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147 | frameA.setOrigin(SCALING*btVector3(0, -0.5, 0)); |
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148 | frameA.setRotation(btQuaternion(0, 0, 0)); |
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149 | frameB = btTransform(); |
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150 | frameB.setIdentity(); |
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151 | frameB.setOrigin(SCALING*btVector3(0, 0, 0)); |
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152 | frameB.setRotation(btQuaternion(-M_PI/2, 0, -M_PI/2)); |
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153 | hinge = new btHingeConstraint(*body, *body1, frameA, frameB); |
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154 | hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2)); |
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155 | hinge->setDbgDrawSize(btScalar(1.f)); |
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156 | m_matrix[i * m + (j - 1)][DOWN] = m_joints.size(); |
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157 | m_joints.push_back(hinge); |
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158 | m_dynamicsWorld->addConstraint(hinge, true); |
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159 | |
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160 | frameA = btTransform(); |
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161 | frameA.setIdentity(); |
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162 | frameA.setOrigin(SCALING*btVector3(0, 0.5, 0)); |
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163 | frameA.setRotation(btQuaternion(0, 0, 0)); |
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164 | frameB = btTransform(); |
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165 | frameB.setIdentity(); |
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166 | frameB.setOrigin(SCALING*btVector3(0, 0, 0)); |
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167 | frameB.setRotation(btQuaternion(-M_PI/2, 0, -M_PI/2)); |
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168 | hinge = new btHingeConstraint(*body, *body2, frameA, frameB); |
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169 | hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2)); |
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170 | hinge->setDbgDrawSize(btScalar(1.f)); |
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171 | m_matrix[i * m + j][UP] = m_joints.size(); |
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172 | m_joints.push_back(hinge); |
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173 | m_dynamicsWorld->addConstraint(hinge, true); |
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174 | } |
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175 | } |
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176 | } |
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177 | } |
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178 | |
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179 | |
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180 | /** Remove all objects from the virtual world */ |
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181 | void Environment::exitEnvironment() |
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182 | { |
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183 | int i; |
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184 | for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) |
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185 | { |
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186 | btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; |
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187 | btRigidBody* body = btRigidBody::upcast(obj); |
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188 | if (body && body->getMotionState()) |
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189 | { |
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190 | delete body->getMotionState(); |
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191 | } |
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192 | m_dynamicsWorld->removeCollisionObject( obj ); |
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193 | delete obj; |
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194 | } |
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195 | |
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196 | //delete collision shapes |
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197 | for (int j=0;j<m_collisionShapes.size();j++) |
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198 | { |
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199 | btCollisionShape* shape = m_collisionShapes[j]; |
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200 | delete shape; |
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201 | } |
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202 | |
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203 | delete m_dynamicsWorld; |
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204 | delete m_solver; |
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205 | delete m_broadphase; |
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206 | delete m_dispatcher; |
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207 | delete m_collisionConfiguration; |
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208 | } |
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