181 lines
4.5 KiB
C++
181 lines
4.5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2010 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 "BulletXmlImportDemo.h"
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#include "GlutStuff.h"
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///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btSerializer.h"
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#include "btBulletFile.h"
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#include "btBulletWorldImporter.h"
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#include "btBulletXmlWorldImporter.h"
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#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
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#include <stdio.h> //printf debugging
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#include "GLDebugDrawer.h"
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GLDebugDrawer gDebugDrawer;
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void BulletXmlImportDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(true);
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setupEmptyDynamicsWorld();
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m_dynamicsWorld->setDebugDrawer(&gDebugDrawer);
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btBulletXmlWorldImporter* importer = new btBulletXmlWorldImporter(m_dynamicsWorld);
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importer->loadFile("bullet_basic.xml");
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// importer->loadFile("bulletser.xml");
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// importer->loadFile("bullet_constraints.xml");
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}
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void BulletXmlImportDemo::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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///step the simulation
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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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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 BulletXmlImportDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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//optional but useful: debug drawing to detect problems
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if (m_dynamicsWorld)
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m_dynamicsWorld->debugDrawWorld();
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glFlush();
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swapBuffers();
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}
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void BulletXmlImportDemo::setupEmptyDynamicsWorld()
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{
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher);
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m_broadphase = new btDbvtBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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m_solver = sol;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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//btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
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}
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BulletXmlImportDemo::~BulletXmlImportDemo()
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{
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m_fileLoader->deleteAllData();
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delete m_fileLoader;
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exitPhysics();
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}
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void BulletXmlImportDemo::clientResetScene()
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{
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exitPhysics();
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initPhysics();
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}
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void BulletXmlImportDemo::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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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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delete m_solver;
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delete m_broadphase;
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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