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Viewing changes to extern/bullet/Demos/CollisionDemo/CollisionDemo.cpp

  • Committer: Bazaar Package Importer
  • Author(s): Cyril Brulebois
  • Date: 2008-08-08 02:45:40 UTC
  • mfrom: (12.1.14 intrepid)
  • Revision ID: james.westby@ubuntu.com-20080808024540-kkjp7ekfivzhuw3l
Tags: 2.46+dfsg-4
http://bugs.debian.org/492280
* Fix python syntax warning in import_dxf.py, which led to nasty output
  in installation/upgrade logs during byte-compilation, using a patch
  provided by the script author (Closes: #492280):
   - debian/patches/45_fix_python_syntax_warning

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extern/bullet/Demos/CollisionDemo/CollisionDemo.cpp
1
 
/*
2
 
Bullet Continuous Collision Detection and Physics Library
3
 
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
 
 
5
 
This software is provided 'as-is', without any express or implied warranty.
6
 
In no event will the authors be held liable for any damages arising from the use of this software.
7
 
Permission is granted to anyone to use this software for any purpose, 
8
 
including commercial applications, and to alter it and redistribute it freely, 
9
 
subject to the following restrictions:
10
 
 
11
 
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.
12
 
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13
 
3. This notice may not be removed or altered from any source distribution.
14
 
*/
15
 
 
16
 
 
17
 
///
18
 
/// Collision Demo shows a degenerate case, where the Simplex solver has to deal with near-affine dependent cases
19
 
/// See the define CATCH_DEGENERATE_TETRAHEDRON in Bullet's VoronoiSimplexSolver.cpp
20
 
///
21
 
 
22
 
#include "GL_Simplex1to4.h"
23
 
#include "SimdQuaternion.h"
24
 
#include "SimdTransform.h"
25
 
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
26
 
#include "CollisionShapes/BoxShape.h"
27
 
 
28
 
#include "NarrowPhaseCollision/GjkPairDetector.h"
29
 
#include "NarrowPhaseCollision/PointCollector.h"
30
 
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
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#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
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33
 
#include "GL_ShapeDrawer.h"
34
 
#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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#endif
37
 
#include <GL/glut.h>
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#include "GlutStuff.h"
39
 
 
40
 
 
41
 
float yaw=0.f,pitch=0.f,roll=0.f;
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const int maxNumObjects = 4;
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const int numObjects = 2;
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45
 
GL_Simplex1to4 simplex;
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47
 
PolyhedralConvexShape*  shapePtr[maxNumObjects];
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49
 
SimdTransform tr[numObjects];
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int screenWidth = 640.f;
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int screenHeight = 480.f;
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53
 
void DrawRasterizerLine(float const* , float const*, int)
54
 
{
55
 
 
56
 
}
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int main(int argc,char** argv)
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{
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        setCameraDistance(20.f);
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        tr[0].setOrigin(SimdVector3(0.0013328250f,8.1363249f,7.0390840f));
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        tr[1].setOrigin(SimdVector3(0.00000000f,9.1262732f,2.0343180f));
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        //tr[0].setOrigin(SimdVector3(0,0,0));
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        //tr[1].setOrigin(SimdVector3(0,10,0));
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        SimdMatrix3x3 basisA;
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        basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
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                -0.00029313788f,0.99753088f,0.070228584f,
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                -0.00089153741f,-0.070228823f,0.99753052f);
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        SimdMatrix3x3 basisB;
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        basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
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                4.4865495e-018f,0.97979438f,0.20000751f,
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                4.4410586e-017f,-0.20000751f,0.97979438f);
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        tr[0].setBasis(basisA);
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        tr[1].setBasis(basisB);
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        SimdVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
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        SimdVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
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        BoxShape        boxA(boxHalfExtentsA);
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        BoxShape        boxB(boxHalfExtentsB);
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        shapePtr[0] = &boxA;
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        shapePtr[1] = &boxB;
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        SimdTransform tr;
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        tr.setIdentity();
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        return glutmain(argc, argv,screenWidth,screenHeight,"Collision Demo");
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}
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//to be implemented by the demo
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void clientMoveAndDisplay()
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{
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        clientDisplay();
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}
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107
 
 
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static VoronoiSimplexSolver sGjkSimplexSolver;
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SimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
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void clientDisplay(void) {
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    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
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        glDisable(GL_LIGHTING);
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        //GL_ShapeDrawer::DrawCoordSystem();
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        float m[16];
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        int i;
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        GjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);
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        SimdVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
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        convexConvex.SetCachedSeperatingAxis(seperatingAxis);
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        PointCollector gjkOutput;
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        GjkPairDetector::ClosestPointInput input;
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        input.m_transformA = tr[0];
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        input.m_transformB = tr[1];
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        convexConvex.GetClosestPoints(input ,gjkOutput,0);
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        if (gjkOutput.m_hasResult)
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        {
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                SimdVector3 endPt = gjkOutput.m_pointInWorld +
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                        gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
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                 glBegin(GL_LINES);
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                glColor3f(1, 0, 0);
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                glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z());
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                glVertex3d(endPt.x(),endPt.y(),endPt.z());
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                //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
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                //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
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                glEnd();
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148
 
        }
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        for (i=0;i<numObjects;i++)
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        {
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                tr[i].getOpenGLMatrix( m );
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                GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());
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158
 
        }
159
 
 
160
 
        simplex.SetSimplexSolver(&sGjkSimplexSolver);
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        SimdPoint3 ybuf[4],pbuf[4],qbuf[4];
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        int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
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        simplex.Reset();
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        for (i=0;i<numpoints;i++)
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                simplex.AddVertex(ybuf[i]);
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        SimdTransform ident;
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        ident.setIdentity();
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        ident.getOpenGLMatrix(m);
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        GL_ShapeDrawer::DrawOpenGL(m,&simplex,SimdVector3(1,1,1),getDebugMode());
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        SimdQuaternion orn;
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        orn.setEuler(yaw,pitch,roll);
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        tr[0].setRotation(orn);
177
 
 
178
 
//      pitch += 0.005f;
179
 
//      yaw += 0.01f;
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181
 
        glFlush();
182
 
    glutSwapBuffers();
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}
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189
 
void clientResetScene()
190
 
{
191
 
 
192
 
}
193
 
void clientKeyboard(unsigned char key, int x, int y)
194
 
{
195
 
        defaultKeyboard(key, x, y);
196
 
}
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void clientMouseFunc(int button, int state, int x, int y)
200
 
{
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}
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void    clientMotionFunc(int x,int y)
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{
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}
 
 
b'\\ No newline at end of file'