enabled the vehicle demo again (still needs lots of tuning before it drives well)

fixed some warnings

2 files changed, 88 insertions, 92 deletions

diff --git a/Demos/VehicleDemo/VehicleDemo.cpp b/Demos/VehicleDemo/VehicleDemo.cpp
index 01853106e..112424c35 100644
--- a/Demos/VehicleDemo/VehicleDemo.cpp
+++ b/Demos/VehicleDemo/VehicleDemo.cpp
@@ -13,33 +13,16 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.

 */

 

-//Ignore this USE_PARALLEL_DISPATCHER define, it is for future optimizations

-//#define USE_PARALLEL_DISPATCHER 1

 

 /// September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder

 /// This VehicleDemo file is very early in development, please check it later

 

-#include "CcdPhysicsEnvironment.h"

-#include "ParallelPhysicsEnvironment.h"

-#include "CcdPhysicsController.h"

 #include "btBulletDynamicsCommon.h"

 

-#include "PHY_IVehicle.h"

-

-#include "ParallelIslandDispatcher.h"

-

-#include "LinearMath/btQuickprof.h"

-#include "LinearMath/btIDebugDraw.h"

 

 #include "GLDebugDrawer.h"

-

-#include "PHY_Pro.h"

-#include "BMF_Api.h"

 #include <stdio.h> //printf debugging

 

-float deltaTime = 1.f/60.f;

-

-

 #include "GL_ShapeDrawer.h"

 

 #include "GlutStuff.h"

@@ -49,14 +32,14 @@ const int maxProxies = 32766;
 const int maxOverlap = 65535;

 

 

-DefaultMotionState wheelMotionState[4];

+btDefaultMotionState wheelMotionState[4];

 

 ///PHY_IVehicle is the interface behind the constraint that implements the raycast vehicle (WrapperVehicle which holds a btRaycastVehicle)

 ///notice that for higher-quality slow-moving vehicles, another approach might be better

 ///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts

-PHY_IVehicle* gVehicleConstraint=0;

+//PHY_IVehicle* gVehicleConstraint=0;

 float	gEngineForce = 0.f;

-float	maxEngineForce = 1000.f;

+float	maxEngineForce = 100.f;

 float	gVehicleSteering = 0.f;

 float	steeringIncrement = 0.1f;

 float	steeringClamp = 0.3f;

@@ -104,32 +87,15 @@ m_maxCameraDistance(10.f)
 void VehicleDemo::setupPhysics()

 {

 

-	btCollisionDispatcher* dispatcher = new	btCollisionDispatcher();

-	ParallelIslandDispatcher* dispatcher2 = new	ParallelIslandDispatcher();

-	

-	btVector3 worldAabbMin(-30000,-30000,-30000);

-	btVector3 worldAabbMax(30000,30000,30000);

-

-	btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);

-	//OverlappingPairCache* broadphase = new btSimpleBroadphase(maxProxies,maxOverlap);

-

-#ifdef USE_PARALLEL_DISPATCHER

-	m_physicsEnvironmentPtr = new ParallelPhysicsEnvironment(dispatcher2,broadphase);

-#else

-	m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);

-#endif

-	m_physicsEnvironmentPtr->setDeactivationTime(2.f);

-

-	m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);

 

-	m_physicsEnvironmentPtr->setGravity(0,-10,0);//0,0);//-10,0);

-	int i;

 

 	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));

+	m_dynamicsWorld = new btDiscreteDynamicsWorld();

+

 

 #define  USE_TRIMESH_GROUND 1

 #ifdef USE_TRIMESH_GROUND

-

+	int i;

 

 const float TRIANGLE_SIZE=20.f;

 

@@ -152,7 +118,7 @@ const float TRIANGLE_SIZE=20.f;
 	{

 		for (int j=0;j<NUM_VERTS_Y;j++)

 		{

-			gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j)+10.f,(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);

+			gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);

 		}

 	}

 

@@ -183,67 +149,48 @@ const float TRIANGLE_SIZE=20.f;
 	btTransform tr;

 	tr.setIdentity();

 

-	tr.setOrigin(btVector3(0,-20.f,0));

+	tr.setOrigin(btVector3(0,-4.5f,0));

 

 	//create ground object

-	localCreatePhysicsObject(false,0,tr,groundShape);

+	localCreateRigidBody(0,tr,groundShape);

 

 	btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));

 	tr.setOrigin(btVector3(0,0.f,0));

 

-	m_carChassis = localCreatePhysicsObject(true,800,tr,chassisShape);

+	m_carChassis = localCreateRigidBody(800,tr,chassisShape);

 	

 	clientResetScene();

 

-	m_physicsEnvironmentPtr->SyncMotionStates(0.f);

-

 	/// create vehicle

 	{

-		int constraintId;

-

-		constraintId =m_physicsEnvironmentPtr->createConstraint(

-		m_carChassis,0,

-			PHY_VEHICLE_CONSTRAINT,

-			0,0,0,

-			0,0,0);

-

-		///never deactivate the vehicle

-		m_carChassis->getRigidBody()->SetActivationState(DISABLE_DEACTIVATION);

 		

-		gVehicleConstraint = m_physicsEnvironmentPtr->getVehicleConstraint(constraintId);

+		m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);

+		m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);

+		

+		///never deactivate the vehicle

+		m_carChassis->SetActivationState(DISABLE_DEACTIVATION);

+

+		m_dynamicsWorld->addVehicle(m_vehicle);

 

+	

 		btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);

-		btRaycastVehicle::btVehicleTuning tuning;

 		bool isFrontWheel=true;

 		int rightIndex = 0;

 		int upIndex = 1;

 		int forwardIndex = 2;

 

-		gVehicleConstraint->setCoordinateSystem(rightIndex,upIndex,forwardIndex);

-

-		gVehicleConstraint->addWheel(&wheelMotionState[0],

-			(PHY__Vector3&)connectionPointCS0,

-			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);

+		m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);

 

+		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);

 		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);

-		gVehicleConstraint->addWheel(&wheelMotionState[1],

-			(PHY__Vector3&)connectionPointCS0,

-			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);

-

+		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);

 		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);

 		isFrontWheel = false;

-		gVehicleConstraint->addWheel(&wheelMotionState[2],

-			(PHY__Vector3&)connectionPointCS0,

-			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);

-		

+		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);

 		connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);

-		gVehicleConstraint->addWheel(&wheelMotionState[3],

-			(PHY__Vector3&)connectionPointCS0,

-			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);

+		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);

 		

-	

-

-		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,0);

+/*		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,0);

 		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,1);

 		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,2);

 		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,3);

@@ -262,6 +209,7 @@ const float TRIANGLE_SIZE=20.f;
 		gVehicleConstraint->SetWheelFriction(wheelFriction,1);

 		gVehicleConstraint->SetWheelFriction(wheelFriction,2);

 		gVehicleConstraint->SetWheelFriction(wheelFriction,3);

+		*/

 

 		

 	}

@@ -275,6 +223,7 @@ const float TRIANGLE_SIZE=20.f;
 //to be implemented by the demo

 void VehicleDemo::renderme()

 {

+	

 	updateCamera();

 

 	debugDrawer.setDebugMode(getDebugMode());

@@ -284,38 +233,69 @@ void VehicleDemo::renderme()
 	btCylinderShapeX wheelShape(btVector3(wheelWidth,wheelRadius,wheelRadius));

 	btVector3 wheelColor(1,0,0);

 

-	for (i=0;i<4;i++)

+	for (i=0;i<m_vehicle->getNumWheels();i++)

 	{

+		//synchronize the wheels with the (interpolated) chassis worldtransform

+		m_vehicle->updateWheelTransform(i);

 		//draw wheels (cylinders)

-		wheelMotionState[i].m_worldTransform.getOpenGLMatrix(m);

+		m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);

 		GL_ShapeDrawer::drawOpenGL(m,&wheelShape,wheelColor,getDebugMode());

 	}

 

+

 	DemoApplication::renderme();

 

 }

 

 void VehicleDemo::clientMoveAndDisplay()

 {

+

 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

 

+	float dt = m_clock.getTimeMilliseconds() * 0.001f;

+	m_clock.reset();

+		

+	if (m_dynamicsWorld)

+	{

+		//during idle mode, just run 1 simulation step maximum

+		int maxSimSubSteps = m_idle ? 1 : 1;

+		if (m_idle)

+			dt = 1.0/420.f;

+

+		int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);

+		if (!numSimSteps)

+			printf("Interpolated transforms\n");

+		else

+		{

+			if (numSimSteps > maxSimSubSteps)

+			{

+				//detect dropping frames

+				printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);

+			} else

+			{

+				printf("Simulated (%i) steps\n",numSimSteps);

+			}

+		}

+

+	}

 

-{			

+	

+	

+

+	{			

 		int steerWheelIndex = 2;

-		gVehicleConstraint->applyEngineForce(gEngineForce,steerWheelIndex);

+		m_vehicle->applyEngineForce(gEngineForce,steerWheelIndex);

 		steerWheelIndex = 3;

-		gVehicleConstraint->applyEngineForce(gEngineForce,steerWheelIndex);

+		m_vehicle->applyEngineForce(gEngineForce,steerWheelIndex);

 

 		steerWheelIndex = 0;

-		gVehicleConstraint->setSteeringValue(gVehicleSteering,steerWheelIndex);

+		m_vehicle->setSteeringValue(gVehicleSteering,steerWheelIndex);

 		steerWheelIndex = 1;

-		gVehicleConstraint->setSteeringValue(gVehicleSteering,steerWheelIndex);

+		m_vehicle->setSteeringValue(gVehicleSteering,steerWheelIndex);

 

 	}

 

-	m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);

 

-	

 

 

 #ifdef USE_QUICKPROF 

@@ -328,6 +308,8 @@ void VehicleDemo::clientMoveAndDisplay()
 #ifdef USE_QUICKPROF 

         btProfiler::endBlock("render"); 

 #endif 

+	

+

 	glFlush();

 	glutSwapBuffers();

 

@@ -341,9 +323,10 @@ void VehicleDemo::displayCallback(void)
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

 

 

-	m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);

+	

+	m_dynamicsWorld->updateAabbs();

 	//draw contactpoints

-	m_physicsEnvironmentPtr->CallbackTriggers();

+	//m_physicsEnvironmentPtr->CallbackTriggers();

 

 

 	renderme();

@@ -359,14 +342,14 @@ void VehicleDemo::clientResetScene()
 {

 	gEngineForce = 0.f;

 	gVehicleSteering = 0.f;

-	m_carChassis->setPosition(0,0,0);

-	m_carChassis->setOrientation(0,0,0,1);

+	m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());

 }

 

 

 

 void VehicleDemo::specialKeyboard(int key, int x, int y)

 {

+

 	printf("key = %i x=%i y=%i\n",key,x,y);

 

     switch (key) 

@@ -404,6 +387,7 @@ void VehicleDemo::specialKeyboard(int key, int x, int y)
 

 //	glutPostRedisplay();

 

+

 }

 

 

@@ -414,8 +398,11 @@ void	VehicleDemo::updateCamera()
 	glMatrixMode(GL_PROJECTION);

 	glLoadIdentity();

 

+	btTransform chassisWorldTrans;

+

 	//look at the vehicle

-	m_cameraTargetPosition = m_carChassis->getRigidBody()->m_worldTransform.getOrigin();

+	m_carChassis->getMotionState()->getWorldTransform(chassisWorldTrans);

+	m_cameraTargetPosition = chassisWorldTrans.getOrigin();

 

 	//interpolate the camera height

 	m_cameraPosition[1] = (15.0*m_cameraPosition[1] + m_cameraTargetPosition[1] + m_cameraHeight)/16.0;

@@ -443,5 +430,6 @@ void	VehicleDemo::updateCamera()
 			  m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());

     glMatrixMode(GL_MODELVIEW);

 

+

 }

 

diff --git a/Demos/VehicleDemo/VehicleDemo.h b/Demos/VehicleDemo/VehicleDemo.h
index cb4679289..ad9b2391d 100644
--- a/Demos/VehicleDemo/VehicleDemo.h
+++ b/Demos/VehicleDemo/VehicleDemo.h
@@ -15,6 +15,10 @@ subject to the following restrictions:
 #ifndef VEHICLE_DEMO_H

 #define VEHICLE_DEMO_H

 

+class btVehicleTuning;

+struct btVehicleRaycaster;

+#include "BulletDynamics/Vehicle/btRaycastVehicle.h"

+

 #include "DemoApplication.h"

 

 ///VehicleDemo shows how to setup and use the built-in raycast vehicle

@@ -22,8 +26,12 @@ class VehicleDemo : public DemoApplication
 {

 	public:

 

-	CcdPhysicsController* m_carChassis;

+	btRigidBody* m_carChassis;

 	

+	btRaycastVehicle::btVehicleTuning	m_tuning;

+	btVehicleRaycaster*	m_vehicleRayCaster;

+	btRaycastVehicle*	m_vehicle;

+

 	float		m_cameraHeight;

 

 	float	m_minCameraDistance;