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Saxum/extern/bullet/Demos/OpenGL/DemoApplication.cpp

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Adding Bullet Library
2014-10-24 09:42:47 +00:00
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "DemoApplication.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"//picking
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btDefaultMotionState.h"
#include "LinearMath/btSerializer.h"
#include "GLDebugFont.h"
extern bool gDisableDeactivation;
int numObjects = 0;
const int maxNumObjects = 16384;
btTransform startTransforms[maxNumObjects];
btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
#define SHOW_NUM_DEEP_PENETRATIONS 1
extern int gNumClampedCcdMotions;
#ifdef SHOW_NUM_DEEP_PENETRATIONS
extern int gNumDeepPenetrationChecks;
extern int gNumSplitImpulseRecoveries;
extern int gNumGjkChecks;
extern int gNumAlignedAllocs;
extern int gNumAlignedFree;
extern int gTotalBytesAlignedAllocs;
#endif //
DemoApplication::DemoApplication()
//see btIDebugDraw.h for modes
:
m_dynamicsWorld(0),
m_pickConstraint(0),
m_shootBoxShape(0),
m_cameraDistance(15.0),
m_debugMode(0),
m_ele(20.f),
m_azi(0.f),
m_cameraPosition(0.f,0.f,0.f),
m_cameraTargetPosition(0.f,0.f,0.f),
m_mouseOldX(0),
m_mouseOldY(0),
m_mouseButtons(0),
m_modifierKeys(0),
m_scaleBottom(0.5f),
m_scaleFactor(2.f),
m_cameraUp(0,1,0),
m_forwardAxis(2),
m_zoomStepSize(0.4),
m_glutScreenWidth(0),
m_glutScreenHeight(0),
m_frustumZNear(1.f),
m_frustumZFar(10000.f),
m_ortho(0),
m_ShootBoxInitialSpeed(40.f),
m_stepping(true),
m_singleStep(false),
m_idle(false),
m_enableshadows(false),
m_sundirection(btVector3(1,-2,1)*1000),
m_defaultContactProcessingThreshold(BT_LARGE_FLOAT)
{
#ifndef BT_NO_PROFILE
m_profileIterator = CProfileManager::Get_Iterator();
#endif //BT_NO_PROFILE
m_shapeDrawer = new GL_ShapeDrawer ();
m_shapeDrawer->enableTexture(true);
m_enableshadows = false;
}
DemoApplication::~DemoApplication()
{
#ifndef BT_NO_PROFILE
CProfileManager::Release_Iterator(m_profileIterator);
#endif //BT_NO_PROFILE
if (m_shootBoxShape)
delete m_shootBoxShape;
if (m_shapeDrawer)
delete m_shapeDrawer;
}
void DemoApplication::overrideGLShapeDrawer (GL_ShapeDrawer* shapeDrawer)
{
shapeDrawer->enableTexture (m_shapeDrawer->hasTextureEnabled());
delete m_shapeDrawer;
m_shapeDrawer = shapeDrawer;
}
void DemoApplication::myinit(void)
{
GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) };
GLfloat light_diffuse[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0) };
GLfloat light_specular[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0 )};
/* light_position is NOT default value */
GLfloat light_position0[] = { btScalar(1.0), btScalar(10.0), btScalar(1.0), btScalar(0.0 )};
GLfloat light_position1[] = { btScalar(-1.0), btScalar(-10.0), btScalar(-1.0), btScalar(0.0) };
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glClearColor(btScalar(0.7),btScalar(0.7),btScalar(0.7),btScalar(0));
// glEnable(GL_CULL_FACE);
// glCullFace(GL_BACK);
}
void DemoApplication::setCameraDistance(float dist)
{
m_cameraDistance = dist;
}
float DemoApplication::getCameraDistance()
{
return m_cameraDistance;
}
void DemoApplication::toggleIdle() {
if (m_idle) {
m_idle = false;
}
else {
m_idle = true;
}
}
void DemoApplication::updateCamera() {
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
btScalar rele = m_ele * btScalar(0.01745329251994329547);// rads per deg
btScalar razi = m_azi * btScalar(0.01745329251994329547);// rads per deg
btQuaternion rot(m_cameraUp,razi);
btVector3 eyePos(0,0,0);
eyePos[m_forwardAxis] = -m_cameraDistance;
btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
if (forward.length2() < SIMD_EPSILON)
{
forward.setValue(1.f,0.f,0.f);
}
btVector3 right = m_cameraUp.cross(forward);
btQuaternion roll(right,-rele);
eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
m_cameraPosition[0] = eyePos.getX();
m_cameraPosition[1] = eyePos.getY();
m_cameraPosition[2] = eyePos.getZ();
m_cameraPosition += m_cameraTargetPosition;
if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
return;
btScalar aspect;
btVector3 extents;
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
extents.setValue(aspect * 1.0f, 1.0f,0);
if (m_ortho)
{
// reset matrix
glLoadIdentity();
extents *= m_cameraDistance;
btVector3 lower = m_cameraTargetPosition - extents;
btVector3 upper = m_cameraTargetPosition + extents;
//gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
//glTranslatef(100,210,0);
} else
{
// glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
}
}
const float STEPSIZE = 5;
void DemoApplication::stepLeft()
{
m_azi -= STEPSIZE; if (m_azi < 0) m_azi += 360; updateCamera();
}
void DemoApplication::stepRight()
{
m_azi += STEPSIZE; if (m_azi >= 360) m_azi -= 360; updateCamera();
}
void DemoApplication::stepFront()
{
m_ele += STEPSIZE; if (m_ele >= 360) m_ele -= 360; updateCamera();
}
void DemoApplication::stepBack()
{
m_ele -= STEPSIZE; if (m_ele < 0) m_ele += 360; updateCamera();
}
void DemoApplication::zoomIn()
{
m_cameraDistance -= btScalar(m_zoomStepSize); updateCamera();
if (m_cameraDistance < btScalar(0.1))
m_cameraDistance = btScalar(0.1);
}
void DemoApplication::zoomOut()
{
m_cameraDistance += btScalar(m_zoomStepSize); updateCamera();
}
void DemoApplication::reshape(int w, int h)
{
GLDebugResetFont(w,h);
m_glutScreenWidth = w;
m_glutScreenHeight = h;
glViewport(0, 0, w, h);
updateCamera();
}
void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
{
(void)x;
(void)y;
m_lastKey = 0;
#ifndef BT_NO_PROFILE
if (key >= 0x31 && key <= 0x39)
{
int child = key-0x31;
m_profileIterator->Enter_Child(child);
}
if (key==0x30)
{
m_profileIterator->Enter_Parent();
}
#endif //BT_NO_PROFILE
switch (key)
{
case 8:
{
int numObj = getDynamicsWorld()->getNumCollisionObjects();
if (numObj)
{
btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
getDynamicsWorld()->removeCollisionObject(obj);
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
delete obj;
}
break;
}
case 'q' :
#ifdef BT_USE_FREEGLUT
//return from glutMainLoop(), detect memory leaks etc.
glutLeaveMainLoop();
#else
exit(0);
#endif
break;
case 'l' : stepLeft(); break;
case 'r' : stepRight(); break;
case 'f' : stepFront(); break;
case 'b' : stepBack(); break;
case 'z' : zoomIn(); break;
case 'x' : zoomOut(); break;
case 'i' : toggleIdle(); break;
case 'g' : m_enableshadows=!m_enableshadows;break;
case 'u' : m_shapeDrawer->enableTexture(!m_shapeDrawer->enableTexture(false));break;
case 'h':
if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
else
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
break;
case 'w':
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
else
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
break;
case 'p':
if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
else
m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
break;
case '=':
{
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
//serializer->setSerializationFlags(BT_SERIALIZE_NO_DUPLICATE_ASSERT);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
delete serializer;
break;
}
case 'm':
if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
else
m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
break;
case 'n':
if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
else
m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
break;
case 'N':
if (m_debugMode & btIDebugDraw::DBG_DrawNormals)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawNormals);
else
m_debugMode |= btIDebugDraw::DBG_DrawNormals;
break;
case 't' :
if (m_debugMode & btIDebugDraw::DBG_DrawText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
else
m_debugMode |= btIDebugDraw::DBG_DrawText;
break;
case 'y':
if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
else
m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
break;
case 'a':
if (m_debugMode & btIDebugDraw::DBG_DrawAabb)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
else
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
break;
case 'c' :
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
else
m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
break;
case 'C' :
if (m_debugMode & btIDebugDraw::DBG_DrawConstraints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraints);
else
m_debugMode |= btIDebugDraw::DBG_DrawConstraints;
break;
case 'L' :
if (m_debugMode & btIDebugDraw::DBG_DrawConstraintLimits)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraintLimits);
else
m_debugMode |= btIDebugDraw::DBG_DrawConstraintLimits;
break;
case 'd' :
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
else
m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
{
gDisableDeactivation = true;
} else
{
gDisableDeactivation = false;
}
break;
case 'o' :
{
m_ortho = !m_ortho;//m_stepping = !m_stepping;
break;
}
case 's' : clientMoveAndDisplay(); break;
// case ' ' : newRandom(); break;
case ' ':
clientResetScene();
break;
case '1':
{
if (m_debugMode & btIDebugDraw::DBG_EnableCCD)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD);
else
m_debugMode |= btIDebugDraw::DBG_EnableCCD;
break;
}
case '.':
{
shootBox(getRayTo(x,y));//getCameraTargetPosition());
break;
}
case '+':
{
m_ShootBoxInitialSpeed += 10.f;
break;
}
case '-':
{
m_ShootBoxInitialSpeed -= 10.f;
break;
}
default:
// std::cout << "unused key : " << key << std::endl;
break;
}
if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
}
void DemoApplication::setDebugMode(int mode)
{
m_debugMode = mode;
if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
getDynamicsWorld()->getDebugDrawer()->setDebugMode(mode);
}
void DemoApplication::moveAndDisplay()
{
if (!m_idle)
clientMoveAndDisplay();
else
displayCallback();
}
void DemoApplication::displayCallback()
{
}
#define NUM_SPHERES_ON_DIAGONAL 9
void DemoApplication::setShootBoxShape ()
{
if (!m_shootBoxShape)
{
btBoxShape* box = new btBoxShape(btVector3(0.5,0.5,0.5));
// box->initializePolyhedralFeatures();
m_shootBoxShape = box;
}
}
void DemoApplication::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.4f);//value should be smaller (embedded) than the half extends of the box (see ::setShootBoxShape)
// printf("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
// printf("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
// printf("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
}
}
int gPickingConstraintId = 0;
btVector3 gOldPickingPos;
btVector3 gHitPos(-1,-1,-1);
btScalar gOldPickingDist = 0.f;
btRigidBody* pickedBody = 0;//for deactivation state
btVector3 DemoApplication::getRayTo(int x,int y)
{
if (m_ortho)
{
btScalar aspect;
btVector3 extents;
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
extents.setValue(aspect * 1.0f, 1.0f,0);
extents *= m_cameraDistance;
btVector3 lower = m_cameraTargetPosition - extents;
btVector3 upper = m_cameraTargetPosition + extents;
btScalar u = x / btScalar(m_glutScreenWidth);
btScalar v = (m_glutScreenHeight - y) / btScalar(m_glutScreenHeight);
btVector3 p(0,0,0);
p.setValue((1.0f - u) * lower.getX() + u * upper.getX(),(1.0f - v) * lower.getY() + v * upper.getY(),m_cameraTargetPosition.getZ());
return p;
}
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = btScalar(2.0) * btAtan(tanFov);
btVector3 rayFrom = getCameraPosition();
btVector3 rayForward = (getCameraTargetPosition()-getCameraPosition());
rayForward.normalize();
float farPlane = 10000.f;
rayForward*= farPlane;
btVector3 rightOffset;
btVector3 vertical = m_cameraUp;
btVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
btScalar aspect;
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
hor*=aspect;
btVector3 rayToCenter = rayFrom + rayForward;
btVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += btScalar(x) * dHor;
rayTo -= btScalar(y) * dVert;
return rayTo;
}
btScalar mousePickClamping = 30.f;
void DemoApplication::mouseFunc(int button, int state, int x, int y)
{
if (state == 0)
{
m_mouseButtons |= 1<<button;
} else
{
m_mouseButtons = 0;
}
m_mouseOldX = x;
m_mouseOldY = y;
updateModifierKeys();
if ((m_modifierKeys& BT_ACTIVE_ALT) && (state==0))
{
return;
}
//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
//button 0, state 0 means left mouse down
btVector3 rayTo = getRayTo(x,y);
switch (button)
{
case 2:
{
if (state==0)
{
shootBox(rayTo);
}
break;
};
case 1:
{
if (state==0)
{
#if 0
//apply an impulse
if (m_dynamicsWorld)
{
btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo);
m_dynamicsWorld->rayTest(m_cameraPosition,rayTo,rayCallback);
if (rayCallback.hasHit())
{
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
body->setActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
body->applyImpulse(impulse,relPos);
}
}
}
#endif
} else
{
}
break;
}
case 0:
{
if (state==0)
{
//add a point to point constraint for picking
if (m_dynamicsWorld)
{
btVector3 rayFrom;
if (m_ortho)
{
rayFrom = rayTo;
rayFrom.setZ(-100.f);
} else
{
rayFrom = m_cameraPosition;
}
btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
if (rayCallback.hasHit())
{
btVector3 pickPos = rayCallback.m_hitPointWorld;
pickObject(pickPos, rayCallback.m_collisionObject);
gOldPickingPos = rayTo;
gHitPos = pickPos;
gOldPickingDist = (pickPos-rayFrom).length();
}
}
} else
{
removePickingConstraint();
}
break;
}
default:
{
}
}
}
void DemoApplication::pickObject(const btVector3& pickPos, const btCollisionObject* hitObj)
{
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(hitObj);
if (body)
{
//other exclusions?
if (!(body->isStaticObject() || body->isKinematicObject()))
{
pickedBody = body;
pickedBody->setActivationState(DISABLE_DEACTIVATION);
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
if ((m_modifierKeys& BT_ACTIVE_SHIFT)!=0)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(localPivot);
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body, tr,false);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
m_dynamicsWorld->addConstraint(dof6,true);
m_pickConstraint = dof6;
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,0);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,1);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,2);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,3);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,4);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,5);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,0);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,1);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,2);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,3);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,4);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,5);
} else
{
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p,true);
m_pickConstraint = p2p;
p2p->m_setting.m_impulseClamp = mousePickClamping;
//very weak constraint for picking
p2p->m_setting.m_tau = 0.001f;
/*
p2p->setParam(BT_CONSTRAINT_CFM,0.8,0);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,1);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,2);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,0);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,1);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,2);
*/
}
//save mouse position for dragging
}
}
}
void DemoApplication::removePickingConstraint()
{
if (m_pickConstraint && m_dynamicsWorld)
{
m_dynamicsWorld->removeConstraint(m_pickConstraint);
delete m_pickConstraint;
//printf("removed constraint %i",gPickingConstraintId);
m_pickConstraint = 0;
pickedBody->forceActivationState(ACTIVE_TAG);
pickedBody->setDeactivationTime( 0.f );
pickedBody = 0;
}
}
void DemoApplication::mouseMotionFunc(int x,int y)
{
if (m_pickConstraint)
{
//move the constraint pivot
if (m_pickConstraint->getConstraintType() == D6_CONSTRAINT_TYPE)
{
btGeneric6DofConstraint* pickCon = static_cast<btGeneric6DofConstraint*>(m_pickConstraint);
if (pickCon)
{
//keep it at the same picking distance
btVector3 newRayTo = getRayTo(x,y);
btVector3 rayFrom;
btVector3 oldPivotInB = pickCon->getFrameOffsetA().getOrigin();
btVector3 newPivotB;
if (m_ortho)
{
newPivotB = oldPivotInB;
newPivotB.setX(newRayTo.getX());
newPivotB.setY(newRayTo.getY());
} else
{
rayFrom = m_cameraPosition;
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
dir *= gOldPickingDist;
newPivotB = rayFrom + dir;
}
pickCon->getFrameOffsetA().setOrigin(newPivotB);
}
} else
{
btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickConstraint);
if (pickCon)
{
//keep it at the same picking distance
btVector3 newRayTo = getRayTo(x,y);
btVector3 rayFrom;
btVector3 oldPivotInB = pickCon->getPivotInB();
btVector3 newPivotB;
if (m_ortho)
{
newPivotB = oldPivotInB;
newPivotB.setX(newRayTo.getX());
newPivotB.setY(newRayTo.getY());
} else
{
rayFrom = m_cameraPosition;
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
dir *= gOldPickingDist;
newPivotB = rayFrom + dir;
}
pickCon->setPivotB(newPivotB);
}
}
}
float dx, dy;
dx = btScalar(x) - m_mouseOldX;
dy = btScalar(y) - m_mouseOldY;
///only if ALT key is pressed (Maya style)
if (m_modifierKeys& BT_ACTIVE_ALT)
{
if(m_mouseButtons & 2)
{
btVector3 hor = getRayTo(0,0)-getRayTo(1,0);
btVector3 vert = getRayTo(0,0)-getRayTo(0,1);
btScalar multiplierX = btScalar(0.001);
btScalar multiplierY = btScalar(0.001);
if (m_ortho)
{
multiplierX = 1;
multiplierY = 1;
}
m_cameraTargetPosition += hor* dx * multiplierX;
m_cameraTargetPosition += vert* dy * multiplierY;
}
if(m_mouseButtons & (2 << 2) && m_mouseButtons & 1)
{
}
else if(m_mouseButtons & 1)
{
m_azi += dx * btScalar(0.2);
m_azi = fmodf(m_azi, btScalar(360.f));
m_ele += dy * btScalar(0.2);
m_ele = fmodf(m_ele, btScalar(180.f));
}
else if(m_mouseButtons & 4)
{
m_cameraDistance -= dy * btScalar(0.02f);
if (m_cameraDistance<btScalar(0.1))
m_cameraDistance = btScalar(0.1);
}
}
m_mouseOldX = x;
m_mouseOldY = y;
updateCamera();
}
btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
{
btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
#define USE_MOTIONSTATE 1
#ifdef USE_MOTIONSTATE
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(cInfo);
body->setContactProcessingThreshold(m_defaultContactProcessingThreshold);
#else
btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
body->setWorldTransform(startTransform);
#endif//
m_dynamicsWorld->addRigidBody(body);
return body;
}
//See http://www.lighthouse3d.com/opengl/glut/index.php?bmpfontortho
void DemoApplication::setOrthographicProjection()
{
// switch to projection mode
glMatrixMode(GL_PROJECTION);
// save previous matrix which contains the
//settings for the perspective projection
glPushMatrix();
// reset matrix
glLoadIdentity();
// set a 2D orthographic projection
gluOrtho2D(0, m_glutScreenWidth, 0, m_glutScreenHeight);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// invert the y axis, down is positive
glScalef(1, -1, 1);
// mover the origin from the bottom left corner
// to the upper left corner
glTranslatef(btScalar(0), btScalar(-m_glutScreenHeight), btScalar(0));
}
void DemoApplication::resetPerspectiveProjection()
{
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
updateCamera();
}
extern CProfileIterator * m_profileIterator;
void DemoApplication::displayProfileString(int xOffset,int yStart,char* message)
{
glRasterPos3f(btScalar(xOffset),btScalar(yStart),btScalar(0));
GLDebugDrawString(xOffset,yStart,message);
}
void DemoApplication::showProfileInfo(int& xOffset,int& yStart, int yIncr)
{
#ifndef BT_NO_PROFILE
static double time_since_reset = 0.f;
if (!m_idle)
{
time_since_reset = CProfileManager::Get_Time_Since_Reset();
}
{
//recompute profiling data, and store profile strings
char blockTime[128];
double totalTime = 0;
int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
m_profileIterator->First();
double parent_time = m_profileIterator->Is_Root() ? time_since_reset : m_profileIterator->Get_Current_Parent_Total_Time();
{
sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---", m_profileIterator->Get_Current_Parent_Name(), parent_time );
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
sprintf(blockTime,"press (1,2...) to display child timings, or 0 for parent" );
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
}
double accumulated_time = 0.f;
for (int i = 0; !m_profileIterator->Is_Done(); m_profileIterator->Next())
{
double current_total_time = m_profileIterator->Get_Current_Total_Time();
accumulated_time += current_total_time;
double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
sprintf(blockTime,"%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)",
++i, m_profileIterator->Get_Current_Name(), fraction,
(current_total_time / (double)frames_since_reset),m_profileIterator->Get_Current_Total_Calls());
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
totalTime += current_total_time;
}
sprintf(blockTime,"%s (%.3f %%) :: %.3f ms", "Unaccounted",
// (min(0, time_since_reset - totalTime) / time_since_reset) * 100);
parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
sprintf(blockTime,"-------------------------------------------------");
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
}
#endif//BT_NO_PROFILE
}
//
void DemoApplication::renderscene(int pass)
{
btScalar m[16];
btMatrix3x3 rot;rot.setIdentity();
const int numObjects=m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for(int i=0;i<numObjects;i++)
{
btCollisionObject* colObj=m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body=btRigidBody::upcast(colObj);
if(body&&body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
rot=myMotionState->m_graphicsWorldTrans.getBasis();
}
else
{
colObj->getWorldTransform().getOpenGLMatrix(m);
rot=colObj->getWorldTransform().getBasis();
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
///color differently for active, sleeping, wantsdeactivation states
if (colObj->getActivationState() == 1) //active
{
if (i & 1)
{
wireColor += btVector3 (1.f,0.f,0.f);
}
else
{
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if(colObj->getActivationState()==2) //ISLAND_SLEEPING
{
if(i&1)
{
wireColor += btVector3 (0.f,1.f, 0.f);
}
else
{
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
//m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
// m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe))
{
switch(pass)
{
case 0: m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
case 1: m_shapeDrawer->drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
case 2: m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor*btScalar(0.3),0,aabbMin,aabbMax);break;
}
}
}
}
//
void DemoApplication::renderme()
{
myinit();
updateCamera();
if (m_dynamicsWorld)
{
if(m_enableshadows)
{
glClear(GL_STENCIL_BUFFER_BIT);
glEnable(GL_CULL_FACE);
renderscene(0);
glDisable(GL_LIGHTING);
glDepthMask(GL_FALSE);
glDepthFunc(GL_LEQUAL);
glEnable(GL_STENCIL_TEST);
glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE);
glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL);
glFrontFace(GL_CCW);
glStencilOp(GL_KEEP,GL_KEEP,GL_INCR);
renderscene(1);
glFrontFace(GL_CW);
glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
renderscene(1);
glFrontFace(GL_CCW);
glPolygonMode(GL_FRONT,GL_FILL);
glPolygonMode(GL_BACK,GL_FILL);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glEnable(GL_LIGHTING);
glDepthMask(GL_TRUE);
glCullFace(GL_BACK);
glFrontFace(GL_CCW);
glEnable(GL_CULL_FACE);
glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE);
glDepthFunc(GL_LEQUAL);
glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL );
glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
glDisable(GL_LIGHTING);
renderscene(2);
glEnable(GL_LIGHTING);
glDepthFunc(GL_LESS);
glDisable(GL_STENCIL_TEST);
glDisable(GL_CULL_FACE);
}
else
{
glDisable(GL_CULL_FACE);
renderscene(0);
}
int xOffset = 10;
int yStart = 20;
int yIncr = 20;
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
showProfileInfo(xOffset,yStart,yIncr);
#ifdef USE_QUICKPROF
if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
{
static int counter = 0;
counter++;
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
{
char blockTime[128];
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
glRasterPos3f(xOffset,yStart,0);
GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
yStart += yIncr;
}
}
#endif //USE_QUICKPROF
resetPerspectiveProjection();
}
glDisable(GL_LIGHTING);
}
updateCamera();
}
#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
void DemoApplication::clientResetScene()
{
removePickingConstraint();
#ifdef SHOW_NUM_DEEP_PENETRATIONS
gNumDeepPenetrationChecks = 0;
gNumGjkChecks = 0;
#endif //SHOW_NUM_DEEP_PENETRATIONS
gNumClampedCcdMotions = 0;
int numObjects = 0;
int i;
if (m_dynamicsWorld)
{
int numConstraints = m_dynamicsWorld->getNumConstraints();
for (i=0;i<numConstraints;i++)
{
m_dynamicsWorld->getConstraint(0)->setEnabled(true);
}
numObjects = m_dynamicsWorld->getNumCollisionObjects();
///create a copy of the array, not a reference!
btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray();
for (i=0;i<numObjects;i++)
{
btCollisionObject* colObj = copyArray[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans );
colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
colObj->forceActivationState(ACTIVE_TAG);
colObj->activate();
colObj->setDeactivationTime(0);
//colObj->setActivationState(WANTS_DEACTIVATION);
}
//removed cached contact points (this is not necessary if all objects have been removed from the dynamics world)
if (m_dynamicsWorld->getBroadphase()->getOverlappingPairCache())
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && !body->isStaticObject())
{
btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0));
btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
}
}
}
///reset some internal cached data in the broadphase
m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher());
m_dynamicsWorld->getConstraintSolver()->reset();
}
}
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