384 lines
12 KiB
C++
384 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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*/
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include "MultiMaterialDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
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#include "BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h"
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#include "BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btMaterial.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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// Create a custom material, just because we can
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class CustomMaterial : public btMaterial
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{
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public:
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int foo1;
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int foo2;
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CustomMaterial(){}
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CustomMaterial(int a, int b) {foo1 = a; foo2 = b;}
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};
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// Storage for the vertex data
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static btVector3* gVertices = 0;
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// Storage for the face data
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static int* gIndices = 0;
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// Storage for the material data
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static CustomMaterial* gMaterials = 0;
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// Storage for the face -> material index data
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static int* gFaceMaterialIndices = 0;
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static btBvhTriangleMeshShape* trimeshShape =0;
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static btRigidBody* staticBody = 0;
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static float waveheight = 0.f;
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const float TRIANGLE_SIZE=1.f;
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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inline btScalar calculateCombinedFriction(float friction0,float friction1)
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{
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btScalar friction = friction0 * friction1;
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const btScalar MAX_FRICTION = 10.f;
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
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{
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return restitution0 * restitution1;
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}
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static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
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{
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// Apply material properties
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if (colObj0Wrap->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE)
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{
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const btCollisionShape* parent0 = colObj0Wrap->getCollisionObject()->getCollisionShape();
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if(parent0 != 0 && parent0->getShapeType() == MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE)
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{
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btMultimaterialTriangleMeshShape* shape = (btMultimaterialTriangleMeshShape*)parent0;
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const btMaterial * props = shape->getMaterialProperties(partId0, index0);
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cp.m_combinedFriction = calculateCombinedFriction(props->m_friction, colObj1Wrap->getCollisionObject()->getFriction());
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cp.m_combinedRestitution = props->m_restitution * colObj1Wrap->getCollisionObject()->getRestitution();
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}
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}
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else if (colObj1Wrap->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE)
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{
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const btCollisionShape* parent1 = colObj1Wrap->getCollisionObject()->getCollisionShape();
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if(parent1 != 0 && parent1->getShapeType() == MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE)
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{
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btMultimaterialTriangleMeshShape* shape = (btMultimaterialTriangleMeshShape*)parent1;
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const btMaterial * props = shape->getMaterialProperties(partId1, index1);
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cp.m_combinedFriction = calculateCombinedFriction(props->m_friction, colObj0Wrap->getCollisionObject()->getFriction());
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cp.m_combinedRestitution = props->m_restitution * colObj0Wrap->getCollisionObject()->getRestitution();
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}
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}
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//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
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return true;
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}
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extern ContactAddedCallback gContactAddedCallback;
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const int NUM_VERTS_X = 20;
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const int NUM_VERTS_Y = 50;
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const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
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void MultiMaterialDemo::setVertexPositions(float waveheight, float offset)
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{
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int i;
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int j;
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for ( i=0;i<NUM_VERTS_X;i++)
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{
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for (j=0;j<NUM_VERTS_Y;j++)
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{
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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//0.f,
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waveheight*sinf((float)i+offset)*cosf((float)j+offset),
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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}
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}
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}
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void MultiMaterialDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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if (key == 'g')
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{
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m_animatedMesh = !m_animatedMesh;
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if (m_animatedMesh)
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->setActivationState(DISABLE_DEACTIVATION);
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} else
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{
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staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
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staticBody->forceActivationState(ACTIVE_TAG);
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}
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}
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DemoApplication::keyboardCallback(key,x,y);
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}
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void MultiMaterialDemo::initPhysics()
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{
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#define TRISIZE 50.f
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gContactAddedCallback = CustomMaterialCombinerCallback;
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// The number of triangles
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const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
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// The number of materials
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const int totalMaterials = 2;
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int vertStride = sizeof(btVector3);
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int indexStride = 3*sizeof(int);
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// int materialStride = sizeof(CustomMaterial);
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// int triangleMaterialStride = sizeof(int);
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gVertices = new btVector3[totalVerts];
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gIndices = new int[totalTriangles*3];
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gMaterials = new CustomMaterial[totalMaterials];
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gFaceMaterialIndices = new int[totalTriangles];
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// Explicitly set up the materials. It's a small array so let's do it bit by bit.
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gMaterials[0].m_friction = 0;
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gMaterials[0].m_restitution = 0.9;
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gMaterials[0].foo1 = 5;
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gMaterials[0].foo2 = 7;
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gMaterials[1].m_friction = 0.9;
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gMaterials[1].m_restitution = 0.1;
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gMaterials[1].foo1 = 53;
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gMaterials[1].foo2 = 15;
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int i;
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// Set up the vertex data
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setVertexPositions(waveheight,0.f);
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int index=0;
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// Set up the face data
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for ( i=0;i<NUM_VERTS_X-1;i++)
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{
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for (int j=0;j<NUM_VERTS_Y-1;j++)
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{
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = j*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = j*NUM_VERTS_X+i;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
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gIndices[index++] = (j+1)*NUM_VERTS_X+i;
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}
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}
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// Set up the face->material index data
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for(int a = 0; a < totalTriangles; a++)
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{
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// This will give the first half of the faces low friction and high restitution
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// and the second half of the faces high friction and low restitution
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if(a > totalTriangles*0.5f)
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gFaceMaterialIndices[a] = 0;
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else
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gFaceMaterialIndices[a] = 1;
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}
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// Create the array structure
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m_indexVertexArrays = new btTriangleIndexVertexMaterialArray(
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totalTriangles, gIndices, indexStride,
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totalVerts,(btScalar*) &gVertices[0].x(),vertStride,
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totalMaterials, (unsigned char *)gMaterials, sizeof(CustomMaterial),
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gFaceMaterialIndices, sizeof(int));
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bool useQuantizedAabbCompression = true;
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// Create the multimaterial mesh shape
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trimeshShape = new btMultimaterialTriangleMeshShape((btTriangleIndexVertexMaterialArray*)m_indexVertexArrays,useQuantizedAabbCompression);
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m_collisionShapes.push_back(trimeshShape);
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btCollisionShape* groundShape = trimeshShape;
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_broadphase = new btAxisSweep3(worldMin,worldMax);
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-2,0));
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btCollisionShape* colShape = new btBoxShape(btVector3(0.5f,0.5f,0.5f));
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m_collisionShapes.push_back(colShape);
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{
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for (int i=0;i<1;i++)
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{
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startTransform.setOrigin(btVector3(10,10,-20));
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btRigidBody* body = localCreateRigidBody(1, startTransform,colShape);
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body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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body->setFriction(0.9f);
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body->setGravity(btVector3(0,-20.f,0));
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body->applyCentralImpulse(btVector3(-7.7f,0,0));
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}
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}
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startTransform.setIdentity();
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staticBody = localCreateRigidBody(mass, startTransform,groundShape);
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
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//enable custom material callback
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staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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}
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void MultiMaterialDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = getDeltaTimeMicroseconds() * 0.000001f;
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if (m_animatedMesh)
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{
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static float offset=0.f;
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offset+=0.01f;
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// setVertexPositions(waveheight,offset);
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int i;
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int j;
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btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
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btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
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for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
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{
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for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
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{
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aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
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aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
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gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
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0.f,
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(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
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aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
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aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
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}
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}
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trimeshShape->partialRefitTree(aabbMin,aabbMax);
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//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
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m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
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}
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m_dynamicsWorld->stepSimulation(dt);
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//optional but useful: debug drawing
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m_dynamicsWorld->debugDrawWorld();
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void MultiMaterialDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void MultiMaterialDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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//delete dynamics world
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delete m_dynamicsWorld;
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if (m_indexVertexArrays)
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delete m_indexVertexArrays;
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//delete solver
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delete m_solver;
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//delete broadphase
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delete m_broadphase;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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