Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp

   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 #include "btBulletDynamicsCommon.h"
  17 #include "LinearMath/btIDebugDraw.h"
  18 #include "GLDebugDrawer.h"
  19 #include "UserCollisionAlgorithm.h"
  20 #include "GL_ShapeDrawer.h"
  21 #include "GlutStuff.h"
  22
  23 //The user defined collision algorithm
  24 #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
  25
  26 GLDebugDrawer   debugDrawer;
  27
  28 static const int NUM_VERTICES = 5;
  29 static const int NUM_TRIANGLES=4;
  30
  31 btVector3       gVertices[NUM_VERTICES];
  32 int     gIndices[NUM_TRIANGLES*3];
  33 const float TRIANGLE_SIZE=10.f;
  34
  35
  36 ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
  37 inline btScalar calculateCombinedFriction(float friction0,float friction1)
  38 {
  39         btScalar friction = friction0 * friction1;
  40
  41         const btScalar MAX_FRICTION  = 10.f;
  42         if (friction < -MAX_FRICTION)
  43                 friction = -MAX_FRICTION;
  44         if (friction > MAX_FRICTION)
  45                 friction = MAX_FRICTION;
  46         return friction;
  47
  48 }
  49
  50 inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
  51 {
  52         return restitution0 * restitution1;
  53 }
  54
  55
  56
  57
  58
  59
  60 int main(int argc,char** argv)
  61 {
  62
  63         UserCollisionAlgorithm* userCollisionAlgorithm = new UserCollisionAlgorithm;
  64         userCollisionAlgorithm->initPhysics();
  65         userCollisionAlgorithm->setCameraDistance(30.f);
  66
  67         return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",userCollisionAlgorithm);
  68 }
  69
  70 void    UserCollisionAlgorithm::initPhysics()
  71 {
  72         #define TRISIZE 5.f
  73
  74
  75         const int NUM_VERTS_X = 50;
  76         const int NUM_VERTS_Y = 50;
  77         const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
  78
  79         btVector3*      gVertices = new btVector3[totalVerts];
  80
  81         int i;
  82         for ( i=0;i<NUM_VERTS_X;i++)
  83         {
  84                 for (int j=0;j<NUM_VERTS_Y;j++)
  85                 {
  86                         gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
  87                 }
  88         }
  89
  90         btTriangleMesh* trimesh = new btTriangleMesh();
  91
  92         for ( i=0;i<NUM_VERTS_X-1;i++)
  93         {
  94                 for (int j=0;j<NUM_VERTS_Y-1;j++)
  95                 {
  96                         trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[j*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i+1]);
  97                         trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[(j+1)*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i]);
  98                 }
  99         }
 100
 101         delete[] gVertices;
 102
 103         bool useQuantizedBvhTree = true;
 104         btCollisionShape* trimeshShape  = new btBvhTriangleMeshShape(trimesh,useQuantizedBvhTree);
 105
 106         //ConstraintSolver* solver = new btSequentialImpulseConstraintSolver;
 107         btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
 108         btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
 109
 110         btVector3 maxAabb(10000,10000,10000);
 111         btBroadphaseInterface* broadphase = new btAxisSweep3(-maxAabb,maxAabb);//SimpleBroadphase();
 112         dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
 113
 114         btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
 115         m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase,constraintSolver,collisionConfiguration);
 116
 117         float mass = 0.f;
 118         btTransform     startTransform;
 119         startTransform.setIdentity();
 120         startTransform.setOrigin(btVector3(0,-2,0));
 121
 122         btRigidBody* staticBody= localCreateRigidBody(mass, startTransform,trimeshShape);
 123         //enable custom material callback
 124         staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
 125
 126         {
 127                 for (int i=0;i<10;i++)
 128                 {
 129                         btCollisionShape* sphereShape = new btSphereShape(1);
 130                         startTransform.setOrigin(btVector3(1,2*i,1));
 131                         //btRigidBody* body = localCreateRigidBody(1, startTransform,sphereShape);
 132                         localCreateRigidBody(1, startTransform,sphereShape);
 133                 }
 134         }
 135
 136
 137
 138         m_dynamicsWorld->setDebugDrawer(&debugDrawer);
 139 }
 140
 141 void UserCollisionAlgorithm::clientMoveAndDisplay()
 142 {
 143          glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 144
 145         float dt = getDeltaTimeMicroseconds() * 0.000001f;
 146
 147
 148         m_dynamicsWorld->stepSimulation(dt);
 149
 150         //optional but useful: debug drawing
 151         m_dynamicsWorld->debugDrawWorld();
 152
 153         renderme();
 154
 155     glFlush();
 156     glutSwapBuffers();
 157
 158 }
 159
 160
 161
 162
 163
 164
 165 void UserCollisionAlgorithm::displayCallback(void) {
 166
 167     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 168
 169         renderme();
 170
 171     glFlush();
 172     glutSwapBuffers();
 173 }
 174
 175