[167] | 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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