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

examples/MultiBody/MultiBodySoftContact.cpp
172 строки5 KB
yunfeibai
Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.
02 июн 2017, 01:30
02 июн 2017, 01:30e6d1a8c

#include "MultiBodySoftContact.h"

#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
							
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Utils/b3ResourcePath.h"

//static btScalar radius(0.2);

struct MultiBodySoftContact : public CommonMultiBodyBase
{
    btMultiBody* m_multiBody;
	btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;

    bool m_once;
public:

    MultiBodySoftContact(struct GUIHelperInterface* helper);
    virtual ~MultiBodySoftContact();

    virtual void initPhysics();

    virtual void stepSimulation(float deltaTime);

	virtual void resetCamera()
	{
		float dist = 5;
		float pitch = -21;
		float yaw = 270;
		float targetPos[3]={0,0,0};
		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
	}


};



MultiBodySoftContact::MultiBodySoftContact(struct GUIHelperInterface* helper)
:CommonMultiBodyBase(helper),
m_once(true)
{
}

MultiBodySoftContact::~MultiBodySoftContact()
{
    
}




void MultiBodySoftContact::initPhysics()
{
	  
    int upAxis = 2;

	m_guiHelper->setUpAxis(upAxis);

    btVector4 colors[4] =
    {
        btVector4(1,0,0,1),
        btVector4(0,1,0,1),
        btVector4(0,1,1,1),
        btVector4(1,1,0,1),
    };
    int curColor = 0;


    

	this->createEmptyDynamicsWorld();
		m_dynamicsWorld->setGravity(btVector3(0,0,-10));

	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
    m_dynamicsWorld->getDebugDrawer()->setDebugMode(
        //btIDebugDraw::DBG_DrawConstraints
        +btIDebugDraw::DBG_DrawWireframe
        +btIDebugDraw::DBG_DrawContactPoints
        +btIDebugDraw::DBG_DrawAabb
        );//+btIDebugDraw::DBG_DrawConstraintLimits);

	

    //create a static ground object
    if (1)
        {
            btVector3 groundHalfExtents(50,50,50);
            btBoxShape* box = new btBoxShape(groundHalfExtents);
            box->initializePolyhedralFeatures();

            m_guiHelper->createCollisionShapeGraphicsObject(box);
            btTransform start; start.setIdentity();
            btVector3 groundOrigin(0,0,-50.5);
			start.setOrigin(groundOrigin);
		//	start.setRotation(groundOrn);
            btRigidBody* body =  createRigidBody(0,start,box);
            
            //setContactStiffnessAndDamping will enable compliant rigid body contact
            body->setContactStiffnessAndDamping(300,10);
            btVector4 color = colors[curColor];
			curColor++;
			curColor&=3;
            m_guiHelper->createRigidBodyGraphicsObject(body,color);

        }

	{
		btCollisionShape* childShape = new btSphereShape(btScalar(0.5));
		m_guiHelper->createCollisionShapeGraphicsObject(childShape);

		btScalar mass = 1;
		btVector3 baseInertiaDiag;
		bool isFixed = (mass == 0);
		childShape->calculateLocalInertia(mass,baseInertiaDiag);
	  btMultiBody *pMultiBody = new btMultiBody(0, 1, baseInertiaDiag, false, false);
	  btTransform startTrans;
	  startTrans.setIdentity();
	  startTrans.setOrigin(btVector3(0,0,3));

	  pMultiBody->setBaseWorldTransform(startTrans);

	   btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
		col->setCollisionShape(childShape);
		pMultiBody->setBaseCollider(col);
			bool isDynamic = (mass > 0 && !isFixed);
		int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
		int collisionFilterMask = isDynamic? 	int(btBroadphaseProxy::AllFilter) : 	int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

        m_dynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//, 2,1+2);


		pMultiBody->finalizeMultiDof();
	
		m_dynamicsWorld->addMultiBody(pMultiBody);
	
		btAlignedObjectArray<btQuaternion> scratch_q;
		btAlignedObjectArray<btVector3> scratch_m;
		pMultiBody->forwardKinematics(scratch_q,scratch_m);
		btAlignedObjectArray<btQuaternion> world_to_local;
		btAlignedObjectArray<btVector3> local_origin;
		pMultiBody->updateCollisionObjectWorldTransforms(world_to_local,local_origin);
	}
	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);


}

void MultiBodySoftContact::stepSimulation(float deltaTime)
{
	
    if (0)//m_once)
    {
       m_once=false;
        m_multiBody->addJointTorque(0, 10.0);
    
        btScalar torque = m_multiBody->getJointTorque(0);
        b3Printf("t = %f,%f,%f\n",torque,torque,torque);//[0],torque[1],torque[2]);
    }
    
    m_dynamicsWorld->stepSimulation(deltaTime);

	
    
}


class CommonExampleInterface*    MultiBodySoftContactCreateFunc(struct CommonExampleOptions& options)
{
	return new MultiBodySoftContact(options.m_guiHelper);
}