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| /*
* File: test.cpp
* Author: david
*
* Created on 2 avril 2010, 01:21
*/
/*************** <auto-copyright.pl BEGIN do not edit this line> **************
*
* osgBullet is (C) Copyright 2009 by Kenneth Mark Bryden
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License version 2.1 as published by the Free Software Foundation.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Library General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the
* Free Software Foundation, Inc., 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*************** <auto-copyright.pl END do not edit this line> ***************/
#include <osgViewer/Viewer>
#include <osg/MatrixTransform>
#include <osg/ShapeDrawable>
#include <osg/Geode>
#include <osgbBullet/MotionState.h>
#include <osgbBullet/CollisionShapes.h>
#include <osgbBullet/Utils.h>
#include <btBulletDynamicsCommon.h>
#include <string>
#include <osg/io_utils>
#include <osgDB/ReadFile>
#include <osg/Node>
osg::MatrixTransform*
makeDie( btDynamicsWorld* bw )
{
osg::MatrixTransform* root = new osg::MatrixTransform;
osg::Node* node = osgDB::readNodeFile("nathan.osg");
btCollisionShape* cs = osgbBullet::btBoxCollisionShapeFromOSG( node );
osgbBullet::MotionState* motion = new osgbBullet::MotionState();
motion->setTransform( root );
btScalar mass( 1. );
btVector3 inertia( 0, 0, 0 );
cs->calculateLocalInertia( mass, inertia );
btRigidBody::btRigidBodyConstructionInfo rb( mass, motion, cs, inertia );
btRigidBody* body = new btRigidBody( rb );
//body->setActivationState( DISABLE_DEACTIVATION );
bw->addRigidBody( body );
return( root );
}
btDynamicsWorld*
initPhysics()
{
btDefaultCollisionConfiguration * collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher * dispatcher = new btCollisionDispatcher( collisionConfiguration );
btConstraintSolver * solver = new btSequentialImpulseConstraintSolver;
btVector3 worldAabbMin( -10000, -10000, -10000 );
btVector3 worldAabbMax( 10000, 10000, 10000 );
btBroadphaseInterface * inter = new btAxisSweep3( worldAabbMin, worldAabbMax, 1000 );
btDynamicsWorld * dynamicsWorld = new btDiscreteDynamicsWorld( dispatcher, inter, solver, collisionConfiguration );
dynamicsWorld->setGravity( btVector3( 0, 0, 9.8 ) );
return( dynamicsWorld );
}
class ShakeManipulator : public osgGA::GUIEventHandler
{
public:
ShakeManipulator( osgbBullet::MotionState* motion )
: _motion( motion )
{}
bool handle( const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& )
{
switch( ea.getEventType() )
{
case osgGA::GUIEventAdapter::KEYUP:
{
if (ea.getKey()==osgGA::GUIEventAdapter::KEY_Space)
{
btTransform trans; trans.setIdentity();
_motion->setWorldTransform( trans );
return true;
}
return false;
}
case osgGA::GUIEventAdapter::PUSH:
{
_lastX = ea.getXnormalized();
_lastY = ea.getYnormalized();
btTransform world;
_motion->getWorldTransform( world );
btVector3 o = world.getOrigin();
o[ 2 ] = 0.25;
world.setOrigin( o );
_motion->setWorldTransform( world );
return true;
}
case osgGA::GUIEventAdapter::DRAG:
{
btVector3 move;
move[ 0 ] = _lastX - ea.getXnormalized();
move[ 1 ] = ea.getYnormalized() - _lastY;
move[ 2 ] = 0.;
move *= 10.;
btTransform moveTrans; moveTrans.setIdentity();
moveTrans.setOrigin( move );
btTransform world;
_motion->getWorldTransform( world );
btTransform netTrans = moveTrans * world;
btVector3 o = netTrans.getOrigin();
o[ 2 ] = 0.;
netTrans.setOrigin( o );
_motion->setWorldTransform( netTrans );
_lastX = ea.getXnormalized();
_lastY = ea.getYnormalized();
return true;
}
default:
break;
}
return false;
}
protected:
osgbBullet::MotionState* _motion;
float _lastX, _lastY;
};
osg::Geode* osgBox( const osg::Vec3& center, const osg::Vec3& halfLengths )
{
osg::Vec3 l( halfLengths * 2. );
osg::Box* box = new osg::Box( center, l.x(), l.y(), l.z() );
osg::ShapeDrawable* shape = new osg::ShapeDrawable( box );
shape->setColor( osg::Vec4( 1., 1., 1., 1. ) );
osg::Geode* geode = new osg::Geode();
geode->addDrawable( shape );
return( geode );
}
int
main( int argc,
char ** argv )
{
btDynamicsWorld* bulletWorld = initPhysics();
osg::Group* root = new osg::Group;
root->addChild( makeDie( bulletWorld ) );
root->addChild( makeDie( bulletWorld ) );
/* BEGIN: Create environment boxes */
float xDim( 10. );
float yDim( 10. );
float zDim( 6. );
float thick( .1 );
osg::MatrixTransform* shakeBox = new osg::MatrixTransform;
btCompoundShape* cs = new btCompoundShape;
{ // floor -Z (far back of the shake cube)
osg::Vec3 halfLengths( xDim*.5, yDim*.5, thick*.5 );
osg::Vec3 center( 0., 0., zDim*.5 );
shakeBox->addChild( osgBox( center, halfLengths ) );
btBoxShape* box = new btBoxShape( osgbBullet::asBtVector3( halfLengths ) );
btTransform trans; trans.setIdentity();
trans.setOrigin( osgbBullet::asBtVector3( center ) );
cs->addChildShape( trans, box );
}
{ // top +Z (invisible, to allow user to see through; no OSG analogue
osg::Vec3 halfLengths( xDim*.5, yDim*.5, thick*.5 );
osg::Vec3 center( 0., 0., -zDim*.5 );
//shakeBox->addChild( osgBox( center, halfLengths ) );
btBoxShape* box = new btBoxShape( osgbBullet::asBtVector3( halfLengths ) );
btTransform trans; trans.setIdentity();
trans.setOrigin( osgbBullet::asBtVector3( center ) );
cs->addChildShape( trans, box );
}
{ // left -X
osg::Vec3 halfLengths( thick*.5, yDim*.5, zDim*.5 );
osg::Vec3 center( -xDim*.5, 0., 0. );
shakeBox->addChild( osgBox( center, halfLengths ) );
btBoxShape* box = new btBoxShape( osgbBullet::asBtVector3( halfLengths ) );
btTransform trans; trans.setIdentity();
trans.setOrigin( osgbBullet::asBtVector3( center ) );
cs->addChildShape( trans, box );
}
{ // right +X
osg::Vec3 halfLengths( thick*.5, yDim*.5, zDim*.5 );
osg::Vec3 center( xDim*.5, 0., 0. );
shakeBox->addChild( osgBox( center, halfLengths ) );
btBoxShape* box = new btBoxShape( osgbBullet::asBtVector3( halfLengths ) );
btTransform trans; trans.setIdentity();
trans.setOrigin( osgbBullet::asBtVector3( center ) );
cs->addChildShape( trans, box );
}
{ // bottom of window -Y
osg::Vec3 halfLengths( xDim*.5, thick*.5, zDim*.5 );
osg::Vec3 center( 0., -yDim*.5, 0. );
shakeBox->addChild( osgBox( center, halfLengths ) );
btBoxShape* box = new btBoxShape( osgbBullet::asBtVector3( halfLengths ) );
btTransform trans; trans.setIdentity();
trans.setOrigin( osgbBullet::asBtVector3( center ) );
cs->addChildShape( trans, box );
}
{ // bottom of window -Y
osg::Vec3 halfLengths( xDim*.5, thick*.5, zDim*.5 );
osg::Vec3 center( 0., yDim*.5, 0. );
shakeBox->addChild( osgBox( center, halfLengths ) );
btBoxShape* box = new btBoxShape( osgbBullet::asBtVector3( halfLengths ) );
btTransform trans; trans.setIdentity();
trans.setOrigin( osgbBullet::asBtVector3( center ) );
cs->addChildShape( trans, box );
}
/* END: Create environment boxes */
osgbBullet::MotionState * shakeMotion = new osgbBullet::MotionState();
shakeMotion->setTransform( shakeBox );
btScalar mass( 0.0 );
btVector3 inertia( 0, 0, 0 );
btRigidBody::btRigidBodyConstructionInfo rb( mass, shakeMotion, cs, inertia );
btRigidBody* shakeBody = new btRigidBody( rb );
shakeBody->setCollisionFlags( shakeBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT );
shakeBody->setActivationState( DISABLE_DEACTIVATION );
bulletWorld->addRigidBody( shakeBody );
root->addChild( shakeBox );
osgViewer::Viewer viewer;
viewer.setUpViewInWindow( 150, 150, 400, 400 );
viewer.setSceneData( root );
viewer.getCamera()->setViewMatrixAsLookAt(
osg::Vec3( 0, 0, -20 ), osg::Vec3( 0, 0, 0 ), osg::Vec3( 0, 1, 0 ) );
viewer.getCamera()->setProjectionMatrixAsPerspective( 40., 1., 1., 50. );
viewer.addEventHandler( new ShakeManipulator( shakeMotion ) );
viewer.realize();
double prevSimTime = 0.;
while( !viewer.done() )
{
const double currSimTime = viewer.getFrameStamp()->getSimulationTime();
double elapsed( currSimTime - prevSimTime );
if( viewer.getFrameStamp()->getFrameNumber() < 3 )
elapsed = 1./60.;
//osg::notify( osg::ALWAYS ) << elapsed / 3. << ", " << 1./180. << std::endl;
bulletWorld->stepSimulation( elapsed, 4, elapsed/4. );
prevSimTime = currSimTime;
viewer.frame();
}
return( 0 );
} |
