1 | /* |
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2 | Bullet Continuous Collision Detection and Physics Library |
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3 | Copyright (c) 2003-2006 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 | #ifndef BASIC_DEMO_H |
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16 | #define BASIC_DEMO_H |
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17 | |
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18 | #include "GlutDemoApplication.h" |
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19 | #include <LinearMath/btAlignedObjectArray.h> |
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20 | #include "Agent.h" |
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21 | #include "Sensor.h" |
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22 | #include <utility> |
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23 | |
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24 | using namespace std; |
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25 | |
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26 | class btBroadphaseInterface; |
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27 | class btCollisionShape; |
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28 | class btOverlappingPairCache; |
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29 | class btCollisionDispatcher; |
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30 | class btConstraintSolver; |
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31 | struct btCollisionAlgorithmCreateFunc; |
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32 | class btDefaultCollisionConfiguration; |
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33 | |
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34 | ///BasicDemo is good starting point for learning the code base and porting. |
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35 | class BasicDemo : public GlutDemoApplication |
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36 | { |
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37 | |
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38 | //keep the collision shapes, for deletion/cleanup |
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39 | btAlignedObjectArray<btCollisionShape*> m_collisionShapes; |
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40 | |
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41 | btBroadphaseInterface* m_broadphase; |
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42 | |
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43 | btCollisionDispatcher* m_dispatcher; |
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44 | |
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45 | btConstraintSolver* m_solver; |
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46 | |
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47 | btDefaultCollisionConfiguration* m_collisionConfiguration; |
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48 | |
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49 | public: |
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50 | btAlignedObjectArray<btTypedConstraint*> m_joints; |
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51 | btAlignedObjectArray<Agent*> m_agents; |
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52 | btAlignedObjectArray<pair<int, Sensor*> > m_sensors; |
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53 | btAlignedObjectArray<btAlignedObjectArray<int> > m_matrix; |
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54 | |
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55 | BasicDemo() |
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56 | { |
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57 | } |
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58 | virtual ~BasicDemo() |
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59 | { |
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60 | exitPhysics(); |
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61 | } |
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62 | |
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63 | void initPhysics(); |
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64 | |
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65 | btScalar computeVelocity(btScalar currentAngle, btScalar targetAngle); |
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66 | btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape); |
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67 | btRigidBody* createObject(btCollisionShape* colShape, btVector3 position, btScalar mass); |
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68 | btRigidBody* createObject(btCollisionShape* colShape, btTransform transform, btScalar mass); |
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69 | |
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70 | void createHinge(bool enable); |
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71 | void createMagicCarpet(int n, int m); |
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72 | void createSwarm3D(int n, int m, int p); |
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73 | void createSimulation2D(int n, int m); |
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74 | void createSimulation3D(int n, int m, int p); |
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75 | |
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76 | void updateSensors(); |
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77 | void updateActuators(); |
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78 | void updateAgents(); |
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79 | |
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80 | void exitPhysics(); |
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81 | |
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82 | void debug(); |
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83 | |
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84 | virtual void keyboardCallback(unsigned char key, int x, int y); |
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85 | |
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86 | virtual void clientMoveAndDisplay(); |
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87 | |
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88 | virtual void displayCallback(); |
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89 | |
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90 | static DemoApplication* Create() |
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91 | { |
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92 | BasicDemo* demo = new BasicDemo; |
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93 | demo->myinit(); |
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94 | demo->initPhysics(); |
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95 | return demo; |
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96 | } |
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97 | }; |
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98 | |
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99 | #endif //BASIC_DEMO_H |
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100 | |
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