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source: trunk/test/BtPhysTest.cpp @ 1600
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Last change on this file since 1600 was 1600, checked in by touky, 11 years ago
Added Cylinder primitives. Added several delete/destructor, speeds up exit & saves memory.
File size: 10.7 KB

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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	vec3 NewGravity = vec3(.0f, -10.0f, .0f);
75	m_simulation->SetGravity(NewGravity);
76
77	m_ground_object = new PhysicsObject(m_simulation);
78	Ticker::Ref(m_ground_object);
79
80	for (int x=0; x < 10; x++)
81	{
82	for (int y=0; y < 10; y++)
83	{
84	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));
85	m_physobj_list << new_physobj;
86	Ticker::Ref(new_physobj);
87	}
88	}
89
90	#if 0
91	//init Physics
92	{
93	m_bt_ccd_mode = USE_CCD;
94
95	//collision configuration contains default setup for memory, collision setup
96	m_bt_collision_config = new btDefaultCollisionConfiguration();
97
98	//use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
99	m_bt_dispatcher = new btCollisionDispatcher(m_bt_collision_config);
100	m_bt_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,
101	BOX_SHAPE_PROXYTYPE,
102	m_bt_collision_config->getCollisionAlgorithmCreateFunc(CONVEX_SHAPE_PROXYTYPE,
103	CONVEX_SHAPE_PROXYTYPE));
104
105	m_bt_broadphase = new btDbvtBroadphase();
106
107	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
108	m_bt_solver = new btSequentialImpulseConstraintSolver;
109
110	m_bt_world = new btDiscreteDynamicsWorld(m_bt_dispatcher, m_bt_broadphase, m_bt_solver, m_bt_collision_config);
111	//m_bt_world->setDebugDrawer(&sDebugDrawer);
112	m_bt_world->getSolverInfo().m_splitImpulse = true;
113	m_bt_world->getSolverInfo().m_numIterations = 20;
114
115	m_bt_world->getDispatchInfo().m_useContinuous = (m_bt_ccd_mode == USE_CCD);
116	m_bt_world->setGravity(btVector3(0,-10,0));
117
118	///create a few basic rigid bodies
119	btBoxShape* box = new btBoxShape(btVector3(btScalar(110.),btScalar(1.),btScalar(110.)));
120	btCollisionShape* groundShape = box;
121	m_bt_collision_shapes << groundShape;
122	m_ground_mesh.Compile("[sc#ddd afcb220 2 220 -1]");
123
124	//m_bt_collision_shapes << new btCylinderShape(btVector3(.5f,.5f,.5f));
125
126	btTransform groundTransform;
127	groundTransform.setIdentity();
128
129	//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
130	{
131	btScalar mass(0.);
132
133	//rigidbody is dynamic if and only if mass is non zero, otherwise static
134	bool isDynamic = (mass != 0.f);
135
136	btVector3 localInertia(0,0,0);
137	if (isDynamic)
138	groundShape->calculateLocalInertia(mass,localInertia);
139
140	//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
141	btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
142	btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
143	btRigidBody* body = new btRigidBody(rbInfo);
144
145	//add the body to the dynamics world
146	m_bt_world->addRigidBody(body);
147	}
148
149	//Adding Shapes
150	{
151	//create a few dynamic rigidbodies
152	// Re-using the same collision is better for memory usage and performance
153	btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
154	m_rigid_mesh[0].Compile("[sc#add afcb2 2 2 -.1]");
155	m_rigid_mesh[1].Compile("[sc#dad afcb2 2 2 -.1]");
156	m_rigid_mesh[2].Compile("[sc#dda afcb2 2 2 -.1]");
157	m_rigid_mesh[3].Compile("[sc#daa afcb2 2 2 -.1]");
158	m_rigid_mesh[4].Compile("[sc#ada afcb2 2 2 -.1]");
159	m_rigid_mesh[5].Compile("[sc#aad afcb2 2 2 -.1]");
160
161	m_bt_collision_shapes << colShape;
162	m_bt_dynamic_shapes << colShape;
163
164	/// Create Dynamic Objects
165	btTransform startTransform;
166	startTransform.setIdentity();
167	btScalar mass(1.f);
168
169	//rigidbody is dynamic if and only if mass is non zero, otherwise static
170	bool isDynamic = (mass != 0.f);
171
172	btVector3 localInertia(0,0,0);
173	if (isDynamic)
174	colShape->calculateLocalInertia(mass,localInertia);
175
176	int i;
177	for (i=0;i<gNumObjects;i++)
178	{
179	btCollisionShape* shape = colShape;
180	btTransform trans;
181	trans.setIdentity();
182
183	//stack them
184	int colsize = 10;
185	int row = int(((float)iCUBE_HALF_EXTENTS2.0f)/((float)colsize2.0fCUBE_HALF_EXTENTS));
186	int row2 = row;
187	int col = (i)%(colsize)-colsize/2;
188
189	if (col>3)
190	{
191	col=11;
192	row2 \|=1;
193	}
194
195	btVector3 pos(((row+col+row2) % 4)*CUBE_HALF_EXTENTS,
196	20.0f + row8CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,
197	col8CUBE_HALF_EXTENTS + 2 * (row2%2)*CUBE_HALF_EXTENTS);
198
199	trans.setOrigin(pos);
200
201	float mass = 1.f;
202
203
204	btAssert((!shape \|\| shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
205
206	//rigidbody is dynamic if and only if mass is non zero, otherwise static
207	bool isDynamic = (mass != 0.f);
208
209	btVector3 localInertia(0,0,0);
210	if (isDynamic)
211	shape->calculateLocalInertia(mass,localInertia);
212
213	//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
214
215	btDefaultMotionState* myMotionState = new btDefaultMotionState(trans);
216
217	btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia);
218
219	btRigidBody* body = new btRigidBody(cInfo);
220	body->setContactProcessingThreshold(BT_LARGE_FLOAT);
221
222	m_bt_world->addRigidBody(body);
223
224	///when using m_ccdMode
225	if (m_bt_ccd_mode == USE_CCD)
226	{
227	body->setCcdMotionThreshold(CUBE_HALF_EXTENTS);
228	body->setCcdSweptSphereRadius(0.9*CUBE_HALF_EXTENTS);
229	}
230	}
231	}
232	}
233	#endif
234	}
235
236	void BtPhysTest::TickGame(float seconds)
237	{
238	WorldEntity::TickGame(seconds);
239
240	if (Input::GetButtonState(27 /SDLK_ESCAPE/))
241	Ticker::Shutdown();
242
243	m_simulation->TickContext(seconds);
244
245	m_camera->SetTarget(vec3(.0f));
246	m_camera->SetPosition(vec3(-30.0f, 10.0f, .0f));
247
248	#if 0
249	///step the simulation
250	if (m_bt_world)
251	{
252	//int steps = (int)(seconds / 0.005f);
253	//for (int i = 0; i < steps; i++)
254	m_bt_world->stepSimulation(seconds // steps/);
255	//optional but useful: debug drawing
256	//m_bt_world->debugDrawWorld();
257	}
258	#endif
259	}
260
261	void BtPhysTest::TickDraw(float seconds)
262	{
263	WorldEntity::TickDraw(seconds);
264
265	if (!m_ready)
266	{
267	#if 0
268	m_ground_mesh.MeshConvert();
269	m_rigid_mesh[0].MeshConvert();
270	m_rigid_mesh[1].MeshConvert();
271	m_rigid_mesh[2].MeshConvert();
272	m_rigid_mesh[3].MeshConvert();
273	m_rigid_mesh[4].MeshConvert();
274	m_rigid_mesh[5].MeshConvert();
275	#endif
276	/* FIXME: this object never cleans up */
277	m_ready = true;
278	}
279
280	Video::SetClearColor(vec4(0.0f, 0.0f, 0.12f, 1.0f));
281
282	#if 0
283	vec3 BarycenterLocation = vec3(.0f);
284	float BarycenterFactor = 0.0f;
285	for(int i=0;i<gNumObjects;i++)
286	{
287	mat4 m(1.0f);
288	btMatrix3x3 rot; rot.setIdentity();
289	btCollisionObject* colObj = m_bt_world->getCollisionObjectArray()[i];
290	btRigidBody* body = btRigidBody::upcast(colObj);
291	if(body && body->getMotionState())
292	{
293	btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
294	myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(&m[0][0]);
295	rot = myMotionState->m_graphicsWorldTrans.getBasis();
296	}
297	else
298	{
299	colObj->getWorldTransform().getOpenGLMatrix(&m[0][0]);
300	rot = colObj->getWorldTransform().getBasis();
301	}
302	if (i > 0)
303	{
304	BarycenterLocation += m.v3.xyz;
305	BarycenterFactor += 1.0f;
306	}
307	if (i == 0)
308	m_ground_mesh.Render(m);
309	else
310	m_rigid_mesh[i % 6].Render(m);
311	}
312	if (BarycenterFactor > .0f)
313	{
314	BarycenterLocation /= BarycenterFactor;
315
316	m_camera->SetTarget(BarycenterLocation);
317	m_camera->SetPosition(BarycenterLocation + vec3(-20.0f, 8.0f, .0f));
318	}
319	#endif
320	}
321
322	BtPhysTest::~BtPhysTest()
323	{
324	Ticker::Unref(m_camera);
325	Ticker::Unref(m_ground_object);
326	while (m_physobj_list.Count())
327	{
328	PhysicsObject* CurPop = m_physobj_list.Last();
329	m_physobj_list.Pop();
330	Ticker::Unref(CurPop);
331	}
332
333	#if 0
334	//Exit Physics
335	{
336	//cleanup in the reverse order of creation/initialization
337	//remove the rigidbodies from the dynamics world and delete them
338	for (int i = m_bt_world->getNumCollisionObjects() - 1; i >= 0 ;i--)
339	{
340	btCollisionObject* obj = m_bt_world->getCollisionObjectArray()[i];
341	btRigidBody* body = btRigidBody::upcast(obj);
342	if (body && body->getMotionState())
343	delete body->getMotionState();
344
345	m_bt_world->removeCollisionObject(obj);
346	delete obj;
347	}
348
349	//delete collision shapes
350	for (int j = 0; j < m_bt_collision_shapes.Count(); j++)
351	{
352	btCollisionShape* shape = m_bt_collision_shapes[j];
353	delete shape;
354	}
355	m_bt_collision_shapes.Empty();
356
357	delete m_bt_world;
358	delete m_bt_solver;
359	delete m_bt_broadphase;
360	delete m_bt_dispatcher;
361	delete m_bt_collision_config;
362	}
363	#endif
364	}
365
366	int main(int argc, char **argv)
367	{
368	Application app("BtPhysTest", ivec2(1280, 720), 60.0f);
369
370	#if defined _MSC_VER && !defined _XBOX
371	_chdir("..");
372	#elif defined _WIN32 && !defined _XBOX
373	_chdir("../..");
374	#endif
375
376	new BtPhysTest(argc > 1);
377	app.ShowPointer(false);
378
379	app.Run();
380
381	return EXIT_SUCCESS;
382	}
383

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