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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//#define USE_GROUND_BOX 1
//#define PRINT_CONTACT_STATISTICS 1
//#define CHECK_MEMORY_LEAKS 1
int gNumObjects = 120;
#define HALF_EXTENTS 1.f
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include <stdio.h> //printf debugging
float deltaTime = 1.f/60.f;
float gCollisionMargin = 0.05f;
#include "BasicDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
////////////////////////////////////
GLDebugDrawer debugDrawer;
int main(int argc,char** argv)
{
BasicDemo ccdDemo;
ccdDemo.initPhysics();
ccdDemo.setCameraDistance(50.f);
#ifdef CHECK_MEMORY_LEAKS
ccdDemo.exitPhysics();
#else
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&ccdDemo);
#endif
//default glut doesn't return from mainloop
return 0;
}
extern int gNumManifold;
extern int gOverlappingPairs;
extern int gTotalContactPoints;
void BasicDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = m_clock.getTimeMilliseconds();
m_clock.reset();
float minFPS = 1000.f/60.f;
if (ms > minFPS)
ms = minFPS;
if (m_dynamicsWorld)
m_dynamicsWorld->stepSimulation(ms / 1000.f);
renderme();
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num manifolds: %i\n",gNumManifold);
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
#endif //PRINT_CONTACT_STATISTICS
gTotalContactPoints = 0;
glutSwapBuffers();
}
void BasicDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (m_dynamicsWorld)
m_dynamicsWorld->updateAabbs();
renderme();
glFlush();
glutSwapBuffers();
}
void BasicDemo::initPhysics()
{
m_dispatcher = new btCollisionDispatcher(true);
#ifdef USE_SWEEP_AND_PRUNE
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_overlappingPairCache = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
#else
m_overlappingPairCache = new btSimpleBroadphase;
#endif //USE_SWEEP_AND_PRUNE
m_sphereSphereCF = new btSphereSphereCollisionAlgorithm::CreateFunc;
m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,m_sphereSphereCF);
m_sphereBoxCF = new btSphereBoxCollisionAlgorithm::CreateFunc;
m_boxSphereCF = new btSphereBoxCollisionAlgorithm::CreateFunc;
m_boxSphereCF->m_swapped = true;
m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_sphereBoxCF);
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,m_boxSphereCF);
m_solver = new btSequentialImpulseConstraintSolver;
m_dynamicsWorld = new btSimpleDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
///create a few basic rigid bodies
//static ground
#ifdef USE_GROUND_BOX
btCollisionShape* groundShape = new btBoxShape(btVector3(50.f,50.f,50.f));
#else
btCollisionShape* groundShape = new btSphereShape(50.f);
#endif//USE_GROUND_BOX
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
localCreateRigidBody(0.f,groundTransform,groundShape);
//create a few dynamic sphere rigidbodies (re-using the same sphere shape)
btCollisionShape* sphereShape = new btSphereShape(1.f);
m_collisionShapes.push_back(sphereShape);
int i;
for (i=0;i<gNumObjects;i++)
{
sphereShape->setMargin(gCollisionMargin);
btTransform trans;
trans.setIdentity();
//stack them
int colsize = 2;
int row = (int)((i*HALF_EXTENTS*2)/(colsize*2*HALF_EXTENTS));
int row2 = row;
int col = (i)%(colsize)-colsize/2;
btVector3 pos(col*2*HALF_EXTENTS + (row2%2)*HALF_EXTENTS,
row*2*HALF_EXTENTS+HALF_EXTENTS,0);
trans.setOrigin(pos);
//btRigidBody* body = localCreateRigidBody(1.f,trans,sphereShape);
localCreateRigidBody(1.f,trans,sphereShape);
}
clientResetScene();
}
void BasicDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (unsigned int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
//delete collision algorithms creation functions
delete m_sphereSphereCF;
delete m_sphereBoxCF;
delete m_boxSphereCF;
//delete solver
delete m_solver;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_dispatcher;
}
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