redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/Experiments/ImplicitCloth/ImplicitClothExample.cpp
129 строк3 KB
erwincoumans
enable URDF loading throught the 'File/Open' menu
01 май 2015, 21:42
01 май 2015, 21:42218e9f9
#include "ImplicitClothExample.h"


#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonCameraInterface.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonWindowInterface.h"
#include "stan/vecmath.h"
#include "stan/Cloth.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3AlignedObjectArray.h"


#ifdef _DEBUG
int numX = 20, numY=20;
#else
int numX = 60, numY=60;
#endif
const size_t total_points = (numX)*(numY);


struct ImplicitClothExample  : public CommonExampleInterface
{
	struct GUIHelperInterface* m_guiHelper;
	int m_option;

	Cloth* m_cloth;
	
	
	
	
public:
	ImplicitClothExample(struct GUIHelperInterface* helper, int option)
	:m_guiHelper(helper),
	m_option(option),
	m_cloth(0)
	{
	}
	virtual void    initPhysics();
	virtual void    exitPhysics();
	virtual void	stepSimulation(float deltaTime);
	virtual void	renderScene();
	virtual void	physicsDebugDraw(int debugFlags);//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h
	virtual bool	mouseMoveCallback(float x,float y)
	{
		return false;
	}
	virtual bool	mouseButtonCallback(int button, int state, float x, float y)
	{
		return false;
	}
	virtual bool	keyboardCallback(int key, int state)
	{
		return false;
	}

	virtual void resetCamera()
	{
		float dist = 10;
		float pitch = 62;
		float yaw = 33;
		float targetPos[3]={-3,2.4,-3.6};
		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
	}

	
};


void    ImplicitClothExample::initPhysics()
{
	float size=10;
	m_guiHelper->setUpAxis(1);
	m_cloth = ClothCreate(numX,numY,size);
	
}
void    ImplicitClothExample::exitPhysics()
{
	delete m_cloth;
	m_cloth=0;
}
void	ImplicitClothExample::stepSimulation(float deltaTime)
{
	m_cloth->Simulate(deltaTime);
	m_cloth->cloth_gravity.y = -9.8;//-9.8;//-9.8;//-9.8;//0;//-9.8;//0;//-9.8;//0;//-9.8;
	m_cloth->cloth_gravity.z =-9.8;//0;//-9.8;//0;//-9.8;
	
	m_cloth->spring_struct=10000000.0f;
	m_cloth->spring_shear=10000000.0f;
	
	//m_cloth->spring_struct=1000000.0f;
	//m_cloth->spring_shear=1000000.0f;
	
	m_cloth->spring_damp = 0;//100;

	
}
void	ImplicitClothExample::renderScene()
{
}
void	ImplicitClothExample::physicsDebugDraw(int debugFlags)
{
		
	CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
	
		b3AlignedObjectArray<unsigned int> indices;
		
		for (int i=0;i<m_cloth->springs.count;i++)
		{
			indices.push_back(m_cloth->springs[i].a);
			indices.push_back(m_cloth->springs[i].b);
		}
		float lineColor[4]={0.4,0.4,1.0,1};
		renderer->drawLines(&m_cloth->X[0].x,lineColor,total_points,sizeof(float3),&indices[0],indices.size(),1);
	
		float pointColor[4]={1,0.4,0.4,1};
		
//		renderer->drawPoints(&m_cloth->X[0].x,pointColor,total_points,sizeof(float3),3);
		
		
}


class CommonExampleInterface*    ImplicitClothCreateFunc(struct CommonExampleOptions& options)
{
	return new ImplicitClothExample(options.m_guiHelper, options.m_option);
}