136 lines
3.3 KiB
C++
136 lines
3.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Ragdoll Demo
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Copyright (c) 2007 Starbreeze Studios
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Originally Written by: Marten Svanfeldt
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ReWritten by: Francisco León
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*/
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#include "btBulletDynamicsCommon.h"
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#include "GlutStuff.h"
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#include "GL_ShapeDrawer.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "GenericJointDemo.h"
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GLDebugDrawer debugDrawer;
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void GenericJointDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(true);
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// Setup the basic world
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btDefaultCollisionConfiguration * collision_config = new btDefaultCollisionConfiguration();
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collision_config);
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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btBroadphaseInterface* overlappingPairCache = new btAxisSweep3 (worldAabbMin, worldAabbMax);
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btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,constraintSolver,collision_config);
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m_dynamicsWorld->setGravity(btVector3(0,-30,0));
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m_dynamicsWorld->setDebugDrawer(&debugDrawer);
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// Setup a big ground box
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{
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-15,0));
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localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
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}
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// Spawn one ragdoll
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spawnRagdoll();
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clientResetScene();
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}
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void GenericJointDemo::spawnRagdoll(bool random)
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{
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RagDoll* ragDoll = new RagDoll (m_dynamicsWorld, btVector3 (0,0,10),5.f);
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m_ragdolls.push_back(ragDoll);
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}
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void GenericJointDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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//simple dynamics world doesn't handle fixed-time-stepping
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float ms = getDeltaTimeMicroseconds();
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float minFPS = 1000000.f/60.f;
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if (ms > minFPS)
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ms = minFPS;
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(ms / 1000000.f);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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}
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renderme();
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glFlush();
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swapBuffers();
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}
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void GenericJointDemo::displayCallback()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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renderme();
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glFlush();
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swapBuffers();
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}
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void GenericJointDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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switch (key)
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{
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case 'e':
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spawnRagdoll(true);
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break;
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default:
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DemoApplication::keyboardCallback(key, x, y);
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}
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}
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