[168] | 1 | /* |
---|
| 2 | Bullet Continuous Collision Detection and Physics Library |
---|
| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
---|
| 4 | |
---|
| 5 | This software is provided 'as-is', without any express or implied warranty. |
---|
| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
---|
| 7 | Permission is granted to anyone to use this software for any purpose, |
---|
| 8 | including commercial applications, and to alter it and redistribute it freely, |
---|
| 9 | subject to the following restrictions: |
---|
| 10 | |
---|
| 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. |
---|
| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
---|
| 13 | 3. This notice may not be removed or altered from any source distribution. |
---|
| 14 | */ |
---|
| 15 | |
---|
| 16 | |
---|
| 17 | ///create 125 (5x5x5) dynamic object |
---|
| 18 | #define ARRAY_SIZE_X 2 |
---|
| 19 | #define ARRAY_SIZE_Y 2 |
---|
| 20 | #define ARRAY_SIZE_Z 2 |
---|
| 21 | |
---|
| 22 | #define SIZE 2 |
---|
| 23 | |
---|
| 24 | //maximum number of objects (and allow user to shoot additional boxes) |
---|
| 25 | #define MAX_PROXIES (ARRAY_SIZE_X*ARRAY_SIZE_Y*ARRAY_SIZE_Z + 1024) |
---|
| 26 | |
---|
| 27 | ///scaling of the objects (0.1 = 20 centimeter boxes ) |
---|
| 28 | #define SCALING 2. |
---|
| 29 | #define START_POS_X -5 |
---|
| 30 | #define START_POS_Y -5 |
---|
| 31 | #define START_POS_Z -3 |
---|
| 32 | |
---|
| 33 | #define M_PI 3.14159265358979323846 |
---|
| 34 | #define HEIGHT 7 |
---|
| 35 | |
---|
| 36 | #include "BasicDemo.h" |
---|
| 37 | #include "btBulletDynamicsCommon.h" |
---|
| 38 | #include "GLDebugDrawer.h" |
---|
| 39 | |
---|
| 40 | #include <mpi.h> |
---|
| 41 | #include <stdio.h> |
---|
| 42 | #include <map> |
---|
| 43 | #include <string> |
---|
| 44 | #include <vector> |
---|
| 45 | |
---|
| 46 | using namespace std; |
---|
| 47 | |
---|
| 48 | btCollisionShape* groundShape; |
---|
| 49 | btTransform groundTransform; |
---|
| 50 | btCollisionShape* colShape; |
---|
| 51 | |
---|
| 52 | bool enable1, enable2; |
---|
| 53 | bool simpleSimulation; |
---|
| 54 | bool debugConstraints; |
---|
| 55 | |
---|
| 56 | btScalar BasicDemo::computeVelocity(btScalar currentAngle, btScalar targetAngle) { |
---|
| 57 | |
---|
| 58 | btScalar deltaAngle = targetAngle - currentAngle; |
---|
| 59 | |
---|
| 60 | if(deltaAngle < 0) |
---|
| 61 | deltaAngle += 2 * M_PI; |
---|
| 62 | |
---|
| 63 | if(deltaAngle > M_PI) |
---|
| 64 | deltaAngle -= 2 * M_PI; |
---|
| 65 | |
---|
| 66 | return deltaAngle; |
---|
| 67 | } |
---|
| 68 | |
---|
| 69 | void BasicDemo::updateSensors() { |
---|
| 70 | int i; |
---|
| 71 | btHingeConstraint *joint; |
---|
| 72 | Sensor *sensor; |
---|
| 73 | |
---|
| 74 | for(i = 0; i < m_sensors.size(); i++) { |
---|
| 75 | joint = (btHingeConstraint*) m_joints[m_sensors[i].first]; |
---|
| 76 | sensor = m_sensors[i].second; |
---|
| 77 | sensor->setAngle(joint->getHingeAngle()); |
---|
| 78 | } |
---|
| 79 | } |
---|
| 80 | |
---|
| 81 | void BasicDemo::updateActuators() { |
---|
| 82 | int i; |
---|
| 83 | btHingeConstraint *joint; |
---|
| 84 | Sensor *sensor; |
---|
| 85 | |
---|
| 86 | for(i = 0; i < m_sensors.size(); i++) { |
---|
| 87 | joint = (btHingeConstraint*) m_joints[m_sensors[i].first]; |
---|
| 88 | sensor = m_sensors[i].second; |
---|
| 89 | if (sensor->getForce() > 0.0f) |
---|
| 90 | joint->enableAngularMotor(true, computeVelocity(joint->getHingeAngle(), btScalar(sensor->getTargetAngle())) * 10, btScalar(sensor->getForce())); |
---|
| 91 | else |
---|
| 92 | joint->enableAngularMotor(false, 0, 0); |
---|
| 93 | } |
---|
| 94 | } |
---|
| 95 | |
---|
| 96 | void BasicDemo::updateAgents() { |
---|
| 97 | int i; |
---|
| 98 | |
---|
| 99 | for(i = 0; i < m_agents.size(); i++) { |
---|
| 100 | m_agents[i]->step(); |
---|
| 101 | } |
---|
| 102 | } |
---|
| 103 | |
---|
| 104 | |
---|
| 105 | void BasicDemo::clientMoveAndDisplay() { |
---|
| 106 | glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); |
---|
| 107 | //simple dynamics world doesn't handle fixed-time-stepping |
---|
| 108 | float ms = getDeltaTimeMicroseconds(); |
---|
| 109 | ///step the simulation |
---|
| 110 | if (m_dynamicsWorld) { |
---|
| 111 | if(simpleSimulation) { |
---|
| 112 | btHingeConstraint *hinge1 = (btHingeConstraint*)m_joints[0]; |
---|
| 113 | btHingeConstraint *hinge2 = (btHingeConstraint*)m_joints[1]; |
---|
| 114 | |
---|
| 115 | if(enable1) |
---|
| 116 | hinge1->enableAngularMotor(true, computeVelocity(hinge1->getHingeAngle(), btScalar(M_PI * 0.25)) * 10, btScalar(10)); |
---|
| 117 | else |
---|
| 118 | hinge1->enableAngularMotor(false, 0, 0); |
---|
| 119 | if(enable2) |
---|
| 120 | hinge2->enableAngularMotor(true, computeVelocity(hinge2->getHingeAngle(), btScalar(-M_PI * 0.25)) * 10, btScalar(50)); |
---|
| 121 | else |
---|
| 122 | hinge2->enableAngularMotor(false, 0, 0); |
---|
| 123 | } else { |
---|
| 124 | updateSensors(); |
---|
| 125 | updateAgents(); |
---|
| 126 | updateActuators(); |
---|
| 127 | } |
---|
| 128 | |
---|
| 129 | m_dynamicsWorld->stepSimulation(ms / 1000000.f); |
---|
| 130 | m_dynamicsWorld->debugDrawWorld(); |
---|
| 131 | } |
---|
| 132 | |
---|
| 133 | renderme(); |
---|
| 134 | glFlush(); |
---|
| 135 | glutSwapBuffers(); |
---|
| 136 | } |
---|
| 137 | |
---|
| 138 | void BasicDemo::displayCallback(void) { |
---|
| 139 | glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); |
---|
| 140 | renderme(); |
---|
| 141 | //optional but useful: debug drawing to detect problems |
---|
| 142 | if (m_dynamicsWorld) |
---|
| 143 | m_dynamicsWorld->debugDrawWorld(); |
---|
| 144 | glFlush(); |
---|
| 145 | glutSwapBuffers(); |
---|
| 146 | } |
---|
| 147 | |
---|
| 148 | void BasicDemo::debug() { |
---|
| 149 | |
---|
| 150 | } |
---|
| 151 | |
---|
| 152 | /** |
---|
| 153 | * Initialize the objects used for a normal simulation in Bullet. |
---|
| 154 | * Create the virtual world for the agents. |
---|
| 155 | * Set the ground of the simulated world |
---|
| 156 | */ |
---|
| 157 | void BasicDemo::initPhysics() { |
---|
| 158 | |
---|
| 159 | m_ele = 75; |
---|
| 160 | updateCamera(); |
---|
| 161 | |
---|
| 162 | setTexturing(true); |
---|
| 163 | setShadows(true); |
---|
| 164 | setCameraDistance(btScalar(SCALING*20.)); |
---|
| 165 | |
---|
| 166 | m_collisionConfiguration = new btDefaultCollisionConfiguration(); |
---|
| 167 | m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); |
---|
| 168 | m_broadphase = new btDbvtBroadphase(); |
---|
| 169 | btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; |
---|
| 170 | m_solver = sol; |
---|
| 171 | |
---|
| 172 | m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); |
---|
| 173 | m_dynamicsWorld->setGravity(btVector3(0,-10,0)); |
---|
| 174 | |
---|
| 175 | groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.))); |
---|
| 176 | m_collisionShapes.push_back(groundShape); |
---|
| 177 | |
---|
| 178 | groundTransform.setIdentity(); |
---|
| 179 | groundTransform.setOrigin(btVector3(0,-50,0)); |
---|
| 180 | |
---|
| 181 | btScalar mass(0.); |
---|
| 182 | //rigidbody is dynamic if and only if mass is non zero, otherwise static |
---|
| 183 | bool isDynamic = (mass != 0.f); |
---|
| 184 | btVector3 localInertia(0,0,0); |
---|
| 185 | if (isDynamic) |
---|
| 186 | groundShape->calculateLocalInertia(mass,localInertia); |
---|
| 187 | |
---|
| 188 | //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects |
---|
| 189 | btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); |
---|
| 190 | btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); |
---|
| 191 | btRigidBody* body = new btRigidBody(rbInfo); |
---|
| 192 | |
---|
| 193 | //add the body to the dynamics world |
---|
| 194 | m_dynamicsWorld->addRigidBody(body); |
---|
| 195 | |
---|
| 196 | m_dynamicsWorld->setDebugDrawer(new GLDebugDrawer()); |
---|
| 197 | } |
---|
| 198 | |
---|
| 199 | btRigidBody* BasicDemo::localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape) { |
---|
| 200 | bool isDynamic = (mass != 0.f); |
---|
| 201 | |
---|
| 202 | btVector3 localInertia(0,0,0); |
---|
| 203 | if (isDynamic) |
---|
| 204 | shape->calculateLocalInertia(mass,localInertia); |
---|
| 205 | |
---|
| 206 | btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); |
---|
| 207 | btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia); |
---|
| 208 | rbInfo.m_friction = 100.0; |
---|
| 209 | btRigidBody* body = new btRigidBody(rbInfo); |
---|
| 210 | |
---|
| 211 | m_dynamicsWorld->addRigidBody(body); |
---|
| 212 | |
---|
| 213 | return body; |
---|
| 214 | } |
---|
| 215 | |
---|
| 216 | btRigidBody* BasicDemo::createObject(btCollisionShape* colShape, btVector3 position, btScalar mass) { |
---|
| 217 | m_collisionShapes.push_back(colShape); |
---|
| 218 | |
---|
| 219 | btTransform startTransform; |
---|
| 220 | startTransform.setIdentity(); |
---|
| 221 | startTransform.setOrigin(SCALING*position); |
---|
| 222 | |
---|
| 223 | btRigidBody *body = localCreateRigidBody(mass, startTransform, colShape); |
---|
| 224 | body->setActivationState(ISLAND_SLEEPING); |
---|
| 225 | |
---|
| 226 | return body; |
---|
| 227 | } |
---|
| 228 | |
---|
| 229 | btRigidBody* BasicDemo::createObject(btCollisionShape* colShape, btTransform transform, btScalar mass) { |
---|
| 230 | m_collisionShapes.push_back(colShape); |
---|
| 231 | |
---|
| 232 | btRigidBody *body = localCreateRigidBody(mass, transform, colShape); |
---|
| 233 | body->setActivationState(ISLAND_SLEEPING); |
---|
| 234 | |
---|
| 235 | return body; |
---|
| 236 | } |
---|
| 237 | |
---|
| 238 | void BasicDemo::createHinge(bool enable) { |
---|
| 239 | |
---|
| 240 | simpleSimulation = enable; |
---|
| 241 | |
---|
| 242 | btCollisionShape* colShape1 = new btBoxShape(SCALING*btVector3(2, 0.1, 1)); |
---|
| 243 | btCollisionShape* colShape2 = new btBoxShape(SCALING*btVector3(2, 0.1, 1)); |
---|
| 244 | |
---|
| 245 | btRigidBody* part1 = createObject(colShape1, btVector3(0,6,0), 1.f); |
---|
| 246 | btRigidBody* part2 = createObject(colShape2, btVector3(2,6,0), 0.f); |
---|
| 247 | |
---|
| 248 | btTransform localA, localB; |
---|
| 249 | btHingeConstraint* hingeC; |
---|
| 250 | btHingeConstraint* hingeD; |
---|
| 251 | |
---|
| 252 | localA.setIdentity(); |
---|
| 253 | localB.setIdentity(); |
---|
| 254 | |
---|
| 255 | localA.setOrigin(SCALING*btVector3(2, 0, 0)); |
---|
| 256 | localB.setOrigin(SCALING*btVector3(-2, 0, 0)); |
---|
| 257 | |
---|
| 258 | hingeC = new btHingeConstraint(*part1, *part2, localA, localB); |
---|
| 259 | hingeD = new btHingeConstraint(*part1, *part2, localA, localB); |
---|
| 260 | //hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8)); |
---|
| 261 | //hingeC->setLimit(btScalar(-0.1), btScalar(0.1)); |
---|
| 262 | |
---|
| 263 | m_joints.push_back(hingeC); |
---|
| 264 | m_joints.push_back(hingeD); |
---|
| 265 | |
---|
| 266 | m_dynamicsWorld->addConstraint(hingeC, true); |
---|
| 267 | m_dynamicsWorld->addConstraint(hingeD, true); |
---|
| 268 | |
---|
| 269 | clientResetScene(); |
---|
| 270 | } |
---|
| 271 | |
---|
| 272 | enum { |
---|
| 273 | LEFT=0, RIGHT=1, UP=2, DOWN=3 |
---|
| 274 | }; |
---|
| 275 | |
---|
| 276 | void BasicDemo::createMagicCarpet(int n, int m) { |
---|
| 277 | int i, j, base = m_dynamicsWorld->getNumCollisionObjects(); |
---|
| 278 | btCollisionShape *shape; |
---|
| 279 | btRigidBody *body, *body1, *body2; |
---|
| 280 | btVector3 pivotA, pivotB, axisA, axisB; |
---|
| 281 | btHingeConstraint* hinge; |
---|
| 282 | btTransform transform; |
---|
| 283 | btTransform frameA, frameB; |
---|
| 284 | |
---|
| 285 | for(i = 0; i < n; i++) { |
---|
| 286 | for(j = 0; j < m; j++) { |
---|
| 287 | transform = btTransform(); |
---|
| 288 | transform.setIdentity(); |
---|
| 289 | transform.setOrigin(SCALING*btVector3(i*1.0,HEIGHT,j*1.0)); |
---|
| 290 | transform.setRotation(btQuaternion(0, 0, 0)); |
---|
| 291 | |
---|
| 292 | shape = new btSphereShape(SCALING*btScalar(0.1)); |
---|
| 293 | body = createObject(shape, transform, (!i && !j) ? 1.f : 1.f); |
---|
| 294 | |
---|
| 295 | btAlignedObjectArray<int> tmp; |
---|
| 296 | tmp.resize(4); |
---|
| 297 | m_matrix.push_back(tmp); |
---|
| 298 | } |
---|
| 299 | } |
---|
| 300 | |
---|
| 301 | for(i = 0; i < n; i++) { |
---|
| 302 | for(j = 0; j < m; j++) { |
---|
| 303 | if (i > 0) { |
---|
| 304 | transform = btTransform(); |
---|
| 305 | transform.setIdentity(); |
---|
| 306 | transform.setOrigin(SCALING*btVector3(i*1.0-0.5,HEIGHT,j*1.0)); |
---|
| 307 | transform.setRotation(btQuaternion(0, 0, -M_PI/2)); |
---|
| 308 | |
---|
| 309 | shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6)); |
---|
| 310 | body = createObject(shape, transform, 1.f); |
---|
| 311 | |
---|
| 312 | body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + (i - 1) * m + j]); |
---|
| 313 | body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m + j]); |
---|
| 314 | |
---|
| 315 | frameA = btTransform(); |
---|
| 316 | frameA.setIdentity(); |
---|
| 317 | frameA.setOrigin(SCALING*btVector3(0, -0.5, 0)); |
---|
| 318 | frameA.setRotation(btQuaternion(0, 0, M_PI/2)); |
---|
| 319 | frameB = btTransform(); |
---|
| 320 | frameB.setIdentity(); |
---|
| 321 | frameB.setOrigin(SCALING*btVector3(0, 0, 0)); |
---|
| 322 | frameB.setRotation(btQuaternion(0, 0, 0)); |
---|
| 323 | hinge = new btHingeConstraint(*body, *body1, frameA, frameB); |
---|
| 324 | hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2)); |
---|
| 325 | hinge->setDbgDrawSize(btScalar(1.f)); |
---|
| 326 | m_matrix[(i - 1) * m + j][RIGHT] = m_joints.size(); |
---|
| 327 | m_joints.push_back(hinge); |
---|
| 328 | m_dynamicsWorld->addConstraint(hinge, true); |
---|
| 329 | |
---|
| 330 | frameA = btTransform(); |
---|
| 331 | frameA.setIdentity(); |
---|
| 332 | frameA.setOrigin(SCALING*btVector3(0, 0.5, 0)); |
---|
| 333 | frameA.setRotation(btQuaternion(0, 0, M_PI/2)); |
---|
| 334 | frameB = btTransform(); |
---|
| 335 | frameB.setIdentity(); |
---|
| 336 | frameB.setOrigin(SCALING*btVector3(0, 0, 0)); |
---|
| 337 | frameB.setRotation(btQuaternion(0, 0, 0)); |
---|
| 338 | hinge = new btHingeConstraint(*body, *body2, frameA, frameB); |
---|
| 339 | hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2)); |
---|
| 340 | hinge->setDbgDrawSize(btScalar(1.f)); |
---|
| 341 | m_matrix[i * m + j][LEFT] = m_joints.size(); |
---|
| 342 | m_joints.push_back(hinge); |
---|
| 343 | m_dynamicsWorld->addConstraint(hinge, true); |
---|
| 344 | } |
---|
| 345 | if (j > 0) { |
---|
| 346 | transform = btTransform(); |
---|
| 347 | transform.setIdentity(); |
---|
| 348 | transform.setOrigin(SCALING*btVector3(i*1.0,HEIGHT,j*1.0-0.5)); |
---|
| 349 | transform.setRotation(btQuaternion(-M_PI/2, 0, -M_PI/2)); |
---|
| 350 | |
---|
| 351 | shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6)); |
---|
| 352 | body = createObject(shape, transform, 1.f); |
---|
| 353 | |
---|
| 354 | body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m + (j - 1)]); |
---|
| 355 | body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m + j]); |
---|
| 356 | |
---|
| 357 | frameA = btTransform(); |
---|
| 358 | frameA.setIdentity(); |
---|
| 359 | frameA.setOrigin(SCALING*btVector3(0, -0.5, 0)); |
---|
| 360 | frameA.setRotation(btQuaternion(0, 0, 0)); |
---|
| 361 | frameB = btTransform(); |
---|
| 362 | frameB.setIdentity(); |
---|
| 363 | frameB.setOrigin(SCALING*btVector3(0, 0, 0)); |
---|
| 364 | frameB.setRotation(btQuaternion(-M_PI/2, 0, -M_PI/2)); |
---|
| 365 | hinge = new btHingeConstraint(*body, *body1, frameA, frameB); |
---|
| 366 | hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2)); |
---|
| 367 | hinge->setDbgDrawSize(btScalar(1.f)); |
---|
| 368 | m_matrix[i * m + (j - 1)][DOWN] = m_joints.size(); |
---|
| 369 | m_joints.push_back(hinge); |
---|
| 370 | m_dynamicsWorld->addConstraint(hinge, true); |
---|
| 371 | |
---|
| 372 | frameA = btTransform(); |
---|
| 373 | frameA.setIdentity(); |
---|
| 374 | frameA.setOrigin(SCALING*btVector3(0, 0.5, 0)); |
---|
| 375 | frameA.setRotation(btQuaternion(0, 0, 0)); |
---|
| 376 | frameB = btTransform(); |
---|
| 377 | frameB.setIdentity(); |
---|
| 378 | frameB.setOrigin(SCALING*btVector3(0, 0, 0)); |
---|
| 379 | frameB.setRotation(btQuaternion(-M_PI/2, 0, -M_PI/2)); |
---|
| 380 | hinge = new btHingeConstraint(*body, *body2, frameA, frameB); |
---|
| 381 | hinge->setLimit(btScalar(- M_PI/2), btScalar(M_PI/2)); |
---|
| 382 | hinge->setDbgDrawSize(btScalar(1.f)); |
---|
| 383 | m_matrix[i * m + j][UP] = m_joints.size(); |
---|
| 384 | m_joints.push_back(hinge); |
---|
| 385 | m_dynamicsWorld->addConstraint(hinge, true); |
---|
| 386 | } |
---|
| 387 | } |
---|
| 388 | } |
---|
| 389 | } |
---|
| 390 | |
---|
| 391 | |
---|
| 392 | void BasicDemo::createSwarm3D(int n, int m, int p) { |
---|
| 393 | /* |
---|
| 394 | int i, j, k, base = m_dynamicsWorld->getNumCollisionObjects(); |
---|
| 395 | btCollisionShape *shape; |
---|
| 396 | btRigidBody *body, *body1, *body2; |
---|
| 397 | btVector3 pivotA, pivotB, axisA, axisB; |
---|
| 398 | btHingeConstraint* hinge; |
---|
| 399 | btPoint2PointConstraint* hingeP2P; |
---|
| 400 | btTransform transform; |
---|
| 401 | for(i = 0; i < n; i++) { |
---|
| 402 | for(j = 0; j < m; j++) { |
---|
| 403 | for(k = 0; k < p; k++) { |
---|
| 404 | shape = new btSphereShape(SCALING*btScalar(0.18)); |
---|
| 405 | body = createObject(shape, btVector3(i*1.0,k*1.0 + HEIGHT,j*0.0), 0.f); |
---|
| 406 | } |
---|
| 407 | } |
---|
| 408 | } |
---|
| 409 | |
---|
| 410 | for(i = 0; i < n; i++) { |
---|
| 411 | for(j = 0; j < m; j++) { |
---|
| 412 | for(k = 0; k < p; k++) { |
---|
| 413 | if (i > 0) { |
---|
| 414 | transform.setIdentity(); |
---|
| 415 | transform.setOrigin(SCALING*btVector3(i*1.0-0.5,k*1.0+HEIGHT,j*1.0)); |
---|
| 416 | transform.setRotation(btQuaternion(btVector3(0,0,1), -M_PI/2)); |
---|
| 417 | |
---|
| 418 | shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6)); |
---|
| 419 | body = createObject(shape, transform, 1.f); |
---|
| 420 | |
---|
| 421 | body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + (i - 1) * m * p + j * p + k]); |
---|
| 422 | body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + j * p + k]); |
---|
| 423 | |
---|
| 424 | pivotA = SCALING*btVector3(0, -0.6, 0); |
---|
| 425 | pivotB = SCALING*btVector3(0, 0, 0); |
---|
| 426 | axisA = btVector3(0, 0, 1); |
---|
| 427 | axisB = btVector3(0, 0, 1); |
---|
| 428 | hinge = new btHingeConstraint(*body, *body1, pivotA, pivotB, axisA, axisB); |
---|
| 429 | hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI)); |
---|
| 430 | m_joints.push_back(hinge); |
---|
| 431 | m_dynamicsWorld->addConstraint(hinge, true); |
---|
| 432 | |
---|
| 433 | pivotA = SCALING*btVector3(0, 0.6, 0); |
---|
| 434 | pivotB = SCALING*btVector3(0, 0, 0); |
---|
| 435 | axisA = btVector3(0, 0, 1); |
---|
| 436 | axisB = btVector3(0, 0, 1); |
---|
| 437 | hinge = new btHingeConstraint(*body, *body2, pivotA, pivotB, axisA, axisB); |
---|
| 438 | hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI)); |
---|
| 439 | m_joints.push_back(hinge); |
---|
| 440 | m_dynamicsWorld->addConstraint(hinge, true); |
---|
| 441 | } |
---|
| 442 | if (j > 0) { |
---|
| 443 | btTransform transform; |
---|
| 444 | transform.setIdentity(); |
---|
| 445 | transform.setOrigin(SCALING*btVector3(i*1.0,k*1.0+HEIGHT,j*1.0-0.5)); |
---|
| 446 | transform.setRotation(btQuaternion(btVector3(1,0,0), M_PI/2)); |
---|
| 447 | |
---|
| 448 | shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6)); |
---|
| 449 | body = createObject(shape, transform, 1.f); |
---|
| 450 | |
---|
| 451 | body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + (j - 1) * p+ k]); |
---|
| 452 | body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + j * p + k]); |
---|
| 453 | |
---|
| 454 | pivotA = SCALING*btVector3(0, -0.6, 0); |
---|
| 455 | pivotB = SCALING*btVector3(0, 0, 0); |
---|
| 456 | axisA = btVector3(1, 0, 0); |
---|
| 457 | axisB = btVector3(1, 0, 0); |
---|
| 458 | hinge = new btHingeConstraint(*body, *body1, pivotA, pivotB, axisA, axisB); |
---|
| 459 | hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI)); |
---|
| 460 | m_joints.push_back(hinge); |
---|
| 461 | m_dynamicsWorld->addConstraint(hinge, true); |
---|
| 462 | |
---|
| 463 | pivotA = SCALING*btVector3(0, 0.6, 0); |
---|
| 464 | pivotB = SCALING*btVector3(0, 0, 0); |
---|
| 465 | axisA = btVector3(1, 0, 0); |
---|
| 466 | axisB = btVector3(1, 0, 0); |
---|
| 467 | hinge = new btHingeConstraint(*body, *body2, pivotA, pivotB, axisA, axisB); |
---|
| 468 | hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI)); |
---|
| 469 | m_joints.push_back(hinge); |
---|
| 470 | m_dynamicsWorld->addConstraint(hinge, true); |
---|
| 471 | } |
---|
| 472 | if(k > 0) { |
---|
| 473 | btTransform transform; |
---|
| 474 | transform.setIdentity(); |
---|
| 475 | transform.setOrigin(SCALING*btVector3(i*1.0,k*1.0+HEIGHT-0.5,j*1.0)); |
---|
| 476 | |
---|
| 477 | shape = new btCapsuleShape(SCALING*btScalar(0.05),SCALING*btScalar(0.6)); |
---|
| 478 | body = createObject(shape, transform, 1.f); |
---|
| 479 | |
---|
| 480 | body1 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + j * p + (k - 1)]); |
---|
| 481 | body2 = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[base + i * m * p + j * p + k]); |
---|
| 482 | |
---|
| 483 | pivotA = SCALING*btVector3(0, -0.6, 0); |
---|
| 484 | pivotB = SCALING*btVector3(0, 0, 0); |
---|
| 485 | // axisA = btVector3(1, 0, 0); |
---|
| 486 | // axisB = btVector3(1, 0, 0); |
---|
| 487 | // hinge = new btHingeConstraint(*body, *body1, pivotA, pivotB, axisA, axisB); |
---|
| 488 | hingeP2P = new btPoint2PointConstraint(*body, *body1, pivotA, pivotB); |
---|
| 489 | // hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI)); |
---|
| 490 | m_joints.push_back(hingeP2P); |
---|
| 491 | m_dynamicsWorld->addConstraint(hingeP2P, true); |
---|
| 492 | |
---|
| 493 | pivotA = SCALING*btVector3(0, 0.6, 0); |
---|
| 494 | pivotB = SCALING*btVector3(0, 0, 0); |
---|
| 495 | // axisA = btVector3(1, 0, 0); |
---|
| 496 | // axisB = btVector3(1, 0, 0); |
---|
| 497 | // hinge = new btHingeConstraint(*body, *body2, pivotA, pivotB, axisA, axisB); |
---|
| 498 | hingeP2P = new btPoint2PointConstraint(*body, *body2, pivotA, pivotB); |
---|
| 499 | // hinge->setLimit(btScalar(- 0.75 * M_PI), btScalar(0.75 * M_PI)); |
---|
| 500 | m_joints.push_back(hingeP2P); |
---|
| 501 | m_dynamicsWorld->addConstraint(hingeP2P, true); |
---|
| 502 | } |
---|
| 503 | } |
---|
| 504 | } |
---|
| 505 | } |
---|
| 506 | */ |
---|
| 507 | } |
---|
| 508 | |
---|
| 509 | |
---|
| 510 | void BasicDemo::createSimulation2D(int n, int m) { |
---|
| 511 | //btCollisionShape* colShape = new btSphereShape(SCALING*btScalar(1.5)); |
---|
| 512 | //btRigidBody *ball = createObject(colShape, btVector3(4,0,3), 8); |
---|
| 513 | //ball->activate(); |
---|
| 514 | |
---|
| 515 | createMagicCarpet(n, m); |
---|
| 516 | } |
---|
| 517 | |
---|
| 518 | void BasicDemo::createSimulation3D(int n, int m, int p) { |
---|
| 519 | createSwarm3D(n,m,p); |
---|
| 520 | } |
---|
| 521 | |
---|
| 522 | void BasicDemo::keyboardCallback(unsigned char key, int x, int y) { |
---|
| 523 | if(key == '1') { |
---|
| 524 | enable1 = !enable1; |
---|
| 525 | return; |
---|
| 526 | } |
---|
| 527 | |
---|
| 528 | if(key == '2') { |
---|
| 529 | enable2 = !enable2; |
---|
| 530 | return; |
---|
| 531 | } |
---|
| 532 | |
---|
| 533 | if(key == 'b') { |
---|
| 534 | btCollisionShape* colShape0 = new btSphereShape(SCALING*btScalar(0.5)); |
---|
| 535 | btRigidBody* box = createObject(colShape0, btVector3(-2., 10, 0.5), 4.f); |
---|
| 536 | |
---|
| 537 | box->activate(); |
---|
| 538 | |
---|
| 539 | return; |
---|
| 540 | } |
---|
| 541 | |
---|
| 542 | if (key == 'c') { |
---|
| 543 | debugConstraints = !debugConstraints; |
---|
| 544 | this->setDebugMode(debugConstraints ? btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits : 0); |
---|
| 545 | } |
---|
| 546 | |
---|
| 547 | DemoApplication::keyboardCallback(key, x, y); |
---|
| 548 | } |
---|
| 549 | |
---|
| 550 | |
---|
| 551 | void BasicDemo::exitPhysics() { |
---|
| 552 | //cleanup in the reverse order of creation/initialization |
---|
| 553 | //remove the rigidbodies from the dynamics world and delete them |
---|
| 554 | int i; |
---|
| 555 | |
---|
| 556 | for (i = 0; i < m_joints.size(); i++) { |
---|
| 557 | btTypedConstraint *joint = m_joints[i]; |
---|
| 558 | delete joint; |
---|
| 559 | } |
---|
| 560 | |
---|
| 561 | for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) { |
---|
| 562 | btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; |
---|
| 563 | btRigidBody* body = btRigidBody::upcast(obj); |
---|
| 564 | if (body && body->getMotionState()) |
---|
| 565 | { |
---|
| 566 | delete body->getMotionState(); |
---|
| 567 | } |
---|
| 568 | m_dynamicsWorld->removeCollisionObject( obj ); |
---|
| 569 | delete obj; |
---|
| 570 | } |
---|
| 571 | |
---|
| 572 | //delete collision shapes |
---|
| 573 | for (i = 0; i < m_collisionShapes.size(); i++) { |
---|
| 574 | btCollisionShape* shape = m_collisionShapes[i]; |
---|
| 575 | delete shape; |
---|
| 576 | } |
---|
| 577 | |
---|
| 578 | delete m_dynamicsWorld; |
---|
| 579 | |
---|
| 580 | delete m_solver; |
---|
| 581 | |
---|
| 582 | delete m_broadphase; |
---|
| 583 | |
---|
| 584 | delete m_dispatcher; |
---|
| 585 | |
---|
| 586 | delete m_collisionConfiguration; |
---|
| 587 | } |
---|