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source: trunk/test/BtPhysTest.cpp @ 1592
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Last change on this file since 1592 was 1592, checked in by touky, 11 years ago
#include were fucked-up ......
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1	//
2	// BtPhysTest
3	//
4	// Copyright: (c) 2009-2012 Benjamin Huet <huet.benjamin@gmail.com>
5	// (c) 2012 Sam Hocevar <sam@hocevar.net>
6	//
7
8	#if defined HAVE_CONFIG_H
9	# include "config.h"
10	#endif
11
12	#if defined _WIN32
13	# include <direct.h>
14	#endif
15
16	#if defined _XBOX
17	# define _USE_MATH_DEFINES /* for M_PI */
18	# include <xtl.h>
19	# undef near /* Fuck Microsoft */
20	# undef far /* Fuck Microsoft again */
21	#elif defined _WIN32
22	# define _USE_MATH_DEFINES /* for M_PI */
23	# define WIN32_LEAN_AND_MEAN
24	# include <windows.h>
25	# undef near /* Fuck Microsoft */
26	# undef far /* Fuck Microsoft again */
27	#else
28	# include <cmath>
29	#endif
30
31	#if USE_SDL && defined __APPLE__
32	# include <SDL_main.h>
33	#endif
34
35	#include <bullet/btBulletDynamicsCommon.h>
36	#include <bullet/btBulletCollisionCommon.h>
37
38	#include "core.h"
39	#include "loldebug.h"
40
41	using namespace lol;
42
43	#ifndef HAVE_PHYS_USE_BULLET
44	#define HAVE_PHYS_USE_BULLET
45	#endif /* HAVE_PHYS_USE_BULLET */
46
47	#include "Physics/LolPhysics.h"
48	#include "Physics/EasyPhysics.h"
49	#include "PhysicObject.h"
50	#include "BtPhysTest.h"
51
52	using namespace lol::phys;
53
54	#define CUBE_HALF_EXTENTS .5f
55	#define EXTRA_HEIGHT 1.f
56
57	int gNumObjects = 64;
58
59	BtPhysTest::BtPhysTest(bool editor)
60	{
61	/* Create a camera that matches the settings of XNA BtPhysTest */
62	m_camera = new Camera(vec3(0.f, 600.f, 0.f),
63	vec3(0.f, 0.f, 0.f),
64	vec3(0, 1, 0));
65	m_camera->SetRotation(quat::fromeuler_xyz(0.f, 0.f, 0.f));
66	m_camera->SetPerspective(90.f, 1280.f, 960.f, .1f, 1000.f);
67	//m_camera->SetOrtho(1280.f / 6, 960.f / 6, -1000.f, 1000.f);
68	Ticker::Ref(m_camera);
69
70	m_ready = false;
71
72	m_simulation = new Simulation();
73	m_simulation->InitContext();
74	m_simulation->SetGravity(vec3(.0f, -10.0f, .0f));
75
76	m_ground_object = new PhysicsObject(m_simulation);
77	Ticker::Ref(m_ground_object);
78
79	for (int x=0; x < 10; x++)
80	{
81	for (int y=0; y < 10; y++)
82	{
83	PhysicsObject* new_physobj = new PhysicsObject(m_simulation, 10.f, vec3(0.f, 20.f, -20.0f) + vec3(.0f, 4.f * (float)y, 4.f * (float)x));
84	m_physobj_list << new_physobj;
85	Ticker::Ref(new_physobj);
86	}
87	}
88
89	#if 0
90	//init Physics
91	{
92	m_bt_ccd_mode = USE_CCD;
93
94	//collision configuration contains default setup for memory, collision setup
95	m_bt_collision_config = new btDefaultCollisionConfiguration();
96
97	//use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
98	m_bt_dispatcher = new btCollisionDispatcher(m_bt_collision_config);
99	m_bt_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,
100	BOX_SHAPE_PROXYTYPE,
101	m_bt_collision_config->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,
102	CONVEX_SHAPE_PROXYTYPE));
103
104	m_bt_broadphase = new btDbvtBroadphase();
105
106	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
107	m_bt_solver = new btSequentialImpulseConstraintSolver;
108
109	m_bt_world = new btDiscreteDynamicsWorld(m_bt_dispatcher, m_bt_broadphase, m_bt_solver, m_bt_collision_config);
110	//m_bt_world->setDebugDrawer(&sDebugDrawer);
111	m_bt_world->getSolverInfo().m_splitImpulse = true;
112	m_bt_world->getSolverInfo().m_numIterations = 20;
113
114	m_bt_world->getDispatchInfo().m_useContinuous = (m_bt_ccd_mode == USE_CCD);
115	m_bt_world->setGravity(btVector3(0,-10,0));
116
117	///create a few basic rigid bodies
118	btBoxShape* box = new btBoxShape(btVector3(btScalar(110.),btScalar(1.),btScalar(110.)));
119	btCollisionShape* groundShape = box;
120	m_bt_collision_shapes << groundShape;
121	m_ground_mesh.Compile("[sc#ddd afcb220 2 220 -1]");
122
123	//m_bt_collision_shapes << new btCylinderShape(btVector3(.5f,.5f,.5f));
124
125	btTransform groundTransform;
126	groundTransform.setIdentity();
127
128	//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
129	{
130	btScalar mass(0.);
131
132	//rigidbody is dynamic if and only if mass is non zero, otherwise static
133	bool isDynamic = (mass != 0.f);
134
135	btVector3 localInertia(0,0,0);
136	if (isDynamic)
137	groundShape->calculateLocalInertia(mass,localInertia);
138
139	//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
140	btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
141	btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
142	btRigidBody* body = new btRigidBody(rbInfo);
143
144	//add the body to the dynamics world
145	m_bt_world->addRigidBody(body);
146	}
147
148	//Adding Shapes
149	{
150	//create a few dynamic rigidbodies
151	// Re-using the same collision is better for memory usage and performance
152	btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
153	m_rigid_mesh[0].Compile("[sc#add afcb2 2 2 -.1]");
154	m_rigid_mesh[1].Compile("[sc#dad afcb2 2 2 -.1]");
155	m_rigid_mesh[2].Compile("[sc#dda afcb2 2 2 -.1]");
156	m_rigid_mesh[3].Compile("[sc#daa afcb2 2 2 -.1]");
157	m_rigid_mesh[4].Compile("[sc#ada afcb2 2 2 -.1]");
158	m_rigid_mesh[5].Compile("[sc#aad afcb2 2 2 -.1]");
159
160	m_bt_collision_shapes << colShape;
161	m_bt_dynamic_shapes << colShape;
162
163	/// Create Dynamic Objects
164	btTransform startTransform;
165	startTransform.setIdentity();
166	btScalar mass(1.f);
167
168	//rigidbody is dynamic if and only if mass is non zero, otherwise static
169	bool isDynamic = (mass != 0.f);
170
171	btVector3 localInertia(0,0,0);
172	if (isDynamic)
173	colShape->calculateLocalInertia(mass,localInertia);
174
175	int i;
176	for (i=0;i<gNumObjects;i++)
177	{
178	btCollisionShape* shape = colShape;
179	btTransform trans;
180	trans.setIdentity();
181
182	//stack them
183	int colsize = 10;
184	int row = int(((float)iCUBE_HALF_EXTENTS2.0f)/((float)colsize2.0fCUBE_HALF_EXTENTS));
185	int row2 = row;
186	int col = (i)%(colsize)-colsize/2;
187
188	if (col>3)
189	{
190	col=11;
191	row2 \|=1;
192	}
193
194	btVector3 pos(((row+col+row2) % 4)*CUBE_HALF_EXTENTS,
195	20.0f + row8CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,
196	col8CUBE_HALF_EXTENTS + 2 * (row2%2)*CUBE_HALF_EXTENTS);
197
198	trans.setOrigin(pos);
199
200	float mass = 1.f;
201
202
203	btAssert((!shape \|\| shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
204
205	//rigidbody is dynamic if and only if mass is non zero, otherwise static
206	bool isDynamic = (mass != 0.f);
207
208	btVector3 localInertia(0,0,0);
209	if (isDynamic)
210	shape->calculateLocalInertia(mass,localInertia);
211
212	//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
213
214	btDefaultMotionState* myMotionState = new btDefaultMotionState(trans);
215
216	btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia);
217
218	btRigidBody* body = new btRigidBody(cInfo);
219	body->setContactProcessingThreshold(BT_LARGE_FLOAT);
220
221	m_bt_world->addRigidBody(body);
222
223	///when using m_ccdMode
224	if (m_bt_ccd_mode == USE_CCD)
225	{
226	body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
227	body->setCcdSweptSphereRadius(0.9*CUBE_HALF_EXTENTS);
228	}
229	}
230	}
231	}
232	#endif
233	}
234
235	void BtPhysTest::TickGame(float seconds)
236	{
237	WorldEntity::TickGame(seconds);
238
239	if (Input::GetButtonState(27 /SDLK_ESCAPE/))
240	Ticker::Shutdown();
241
242	m_simulation->TickContext(seconds);
243
244	m_camera->SetTarget(vec3(.0f));
245	m_camera->SetPosition(vec3(-30.0f, 10.0f, .0f));
246
247	#if 0
248	///step the simulation
249	if (m_bt_world)
250	{
251	//int steps = (int)(seconds / 0.005f);
252	//for (int i = 0; i < steps; i++)
253	m_bt_world->stepSimulation(seconds // steps/);
254	//optional but useful: debug drawing
255	//m_bt_world->debugDrawWorld();
256	}
257	#endif
258	}
259
260	void BtPhysTest::TickDraw(float seconds)
261	{
262	WorldEntity::TickDraw(seconds);
263
264	if (!m_ready)
265	{
266	#if 0
267	m_ground_mesh.MeshConvert();
268	m_rigid_mesh[0].MeshConvert();
269	m_rigid_mesh[1].MeshConvert();
270	m_rigid_mesh[2].MeshConvert();
271	m_rigid_mesh[3].MeshConvert();
272	m_rigid_mesh[4].MeshConvert();
273	m_rigid_mesh[5].MeshConvert();
274	#endif
275	/* FIXME: this object never cleans up */
276	m_ready = true;
277	}
278
279	Video::SetClearColor(vec4(0.0f, 0.0f, 0.12f, 1.0f));
280
281	#if 0
282	vec3 BarycenterLocation = vec3(.0f);
283	float BarycenterFactor = 0.0f;
284	for(int i=0;i<gNumObjects;i++)
285	{
286	mat4 m(1.0f);
287	btMatrix3x3 rot; rot.setIdentity();
288	btCollisionObject* colObj = m_bt_world->getCollisionObjectArray()[i];
289	btRigidBody* body = btRigidBody::upcast(colObj);
290	if(body && body->getMotionState())
291	{
292	btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
293	myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(&m[0][0]);
294	rot = myMotionState->m_graphicsWorldTrans.getBasis();
295	}
296	else
297	{
298	colObj->getWorldTransform().getOpenGLMatrix(&m[0][0]);
299	rot = colObj->getWorldTransform().getBasis();
300	}
301	if (i > 0)
302	{
303	BarycenterLocation += m.v3.xyz;
304	BarycenterFactor += 1.0f;
305	}
306	if (i == 0)
307	m_ground_mesh.Render(m);
308	else
309	m_rigid_mesh[i % 6].Render(m);
310	}
311	if (BarycenterFactor > .0f)
312	{
313	BarycenterLocation /= BarycenterFactor;
314
315	m_camera->SetTarget(BarycenterLocation);
316	m_camera->SetPosition(BarycenterLocation + vec3(-20.0f, 8.0f, .0f));
317	}
318	#endif
319	}
320
321	BtPhysTest::~BtPhysTest()
322	{
323	Ticker::Unref(m_camera);
324
325	#if 0
326	//Exit Physics
327	{
328	//cleanup in the reverse order of creation/initialization
329	//remove the rigidbodies from the dynamics world and delete them
330	for (int i = m_bt_world->getNumCollisionObjects() - 1; i >= 0 ;i--)
331	{
332	btCollisionObject* obj = m_bt_world->getCollisionObjectArray()[i];
333	btRigidBody* body = btRigidBody::upcast(obj);
334	if (body && body->getMotionState())
335	delete body->getMotionState();
336
337	m_bt_world->removeCollisionObject(obj);
338	delete obj;
339	}
340
341	//delete collision shapes
342	for (int j = 0; j < m_bt_collision_shapes.Count(); j++)
343	{
344	btCollisionShape* shape = m_bt_collision_shapes[j];
345	delete shape;
346	}
347	m_bt_collision_shapes.Empty();
348
349	delete m_bt_world;
350	delete m_bt_solver;
351	delete m_bt_broadphase;
352	delete m_bt_dispatcher;
353	delete m_bt_collision_config;
354	}
355	#endif
356	}
357
358	int main(int argc, char **argv)
359	{
360	Application app("BtPhysTest", ivec2(1280, 720), 60.0f);
361
362	#if defined _MSC_VER && !defined _XBOX
363	_chdir("..");
364	#elif defined _WIN32 && !defined _XBOX
365	_chdir("../..");
366	#endif
367
368	new BtPhysTest(argc > 1);
369	app.ShowPointer(false);
370
371	app.Run();
372
373	return EXIT_SUCCESS;
374	}
375

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