Demos/GimpactTestDemo/GimpactTestDemo.h

   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 #ifndef TEST_CONCAVE_DEMO_H
  16 #define TEST_CONCAVE_DEMO_H
  17
  18
  19 #ifdef _WINDOWS
  20 #include "Win32DemoApplication.h"
  21 #define PlatformDemoApplication Win32DemoApplication
  22 #else
  23 #include "GlutDemoApplication.h"
  24 #define PlatformDemoApplication GlutDemoApplication
  25 #endif
  26
  27 class btTriangleIndexVertexArray;
  28 class btDefaultCollisionConfiguration;
  29
  30 //#define BULLET_TRIANGLE_COLLISION 1
  31 #define BULLET_GIMPACT 1
  32 //#define BULLET_GIMPACT_CONVEX_DECOMPOSITION 1
  33
  34 #define TEST_GIMPACT_TORUS
  35
  36 #ifdef BULLET_GIMPACT
  37
  38 #include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
  39         #ifdef BULLET_GIMPACT_CONVEX_DECOMPOSITION
  40         #include "../Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h"
  41         #endif
  42
  43
  44 #else
  45
  46 #include "BulletCollision/Gimpact/btConcaveConcaveCollisionAlgorithm.h"
  47 #include "BulletCollision/Gimpact/btGIMPACTMeshShape.h"
  48
  49 #endif
  50
  51
  52
  53 class btConstraintSolver;
  54 struct btCollisionAlgorithmCreateFunc;
  55
  56 ///GimpactConcaveDemo shows usage of static concave triangle meshes
  57 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
  58 class GimpactConcaveDemo : public PlatformDemoApplication
  59 {
  60
  61 public:
  62         GimpactConcaveDemo()
  63                 :       m_steps_done(0),
  64                         m_trimeshShape(NULL),
  65                   m_trimeshShape2(NULL),
  66                   m_indexVertexArrays(NULL),
  67                   m_indexVertexArrays2(NULL),
  68
  69
  70         kinematicTorus(NULL),
  71
  72
  73         m_gimpactCollisionCreateFunc(NULL),
  74         m_collisionConfiguration(NULL),
  75
  76         m_dispatcher(NULL),
  77
  78         m_broadphase(NULL),
  79                  m_constraintSolver(NULL)
  80         {
  81         }
  82
  83         virtual ~GimpactConcaveDemo();
  84
  85
  86         void    initGImpactCollision();
  87         void    initPhysics();
  88
  89         virtual void clientMoveAndDisplay();
  90
  91         virtual void displayCallback();
  92
  93         virtual void clientResetScene();
  94
  95         virtual void renderme();
  96         virtual void keyboardCallback(unsigned char key, int x, int y);
  97
  98         ///Demo functions
  99         void    shootTrimesh(const btVector3& destination);
 100
 101 public: ///data
 102         unsigned int                    m_steps_done;
 103
 104 #ifdef BULLET_GIMPACT
 105         btCollisionShape                        *m_trimeshShape;
 106         btCollisionShape                        *m_trimeshShape2;
 107 #else
 108
 109         btGIMPACTMeshData * m_trimeshShape;
 110         btGIMPACTMeshData * m_trimeshShape2;
 111
 112         btCollisionShape * createTorusShape();
 113         btCollisionShape * createBunnyShape();
 114
 115 #endif
 116
 117                 //keep the collision shapes, for deletion/cleanup
 118         btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
 119
 120         btTriangleIndexVertexArray  *m_indexVertexArrays;
 121         btTriangleIndexVertexArray  *m_indexVertexArrays2;
 122
 123         btVector3                               kinTorusTran;
 124         btQuaternion                    kinTorusRot;
 125         btRigidBody                             *kinematicTorus;
 126
 127
 128         btCollisionAlgorithmCreateFunc*  m_gimpactCollisionCreateFunc;
 129
 130         btDefaultCollisionConfiguration* m_collisionConfiguration;
 131         btCollisionDispatcher*                   m_dispatcher;
 132         btBroadphaseInterface*                   m_broadphase;
 133         btConstraintSolver*                              m_constraintSolver;
 134
 135         static DemoApplication* Create()
 136         {
 137                 GimpactConcaveDemo* demo = new GimpactConcaveDemo();
 138                 demo->myinit();
 139                 demo->initPhysics();
 140                 return demo;
 141         }
 142 };
 143
 144 #endif //CONCAVE_DEMO_H
 145