Started experimenting with Bullet
git-svn-id: https://openmw.svn.sourceforge.net/svnroot/openmw/trunk@46 ea6a568a-9f4f-0410-981a-c910a81bb256actorid
nkorslund
16 years ago
parent
4d37d36d1e
commit
1cfaeeb8fc
@ -0,0 +1,43 @@
|
||||
/*
|
||||
OpenMW - The completely unofficial reimplementation of Morrowind
|
||||
Copyright (C) 2008 Nicolay Korslund
|
||||
Email: < korslund@gmail.com >
|
||||
WWW: http://openmw.snaptoad.com/
|
||||
|
||||
This file (bindings.d) is part of the OpenMW package.
|
||||
|
||||
OpenMW is distributed as free software: you can redistribute it
|
||||
and/or modify it under the terms of the GNU General Public License
|
||||
version 3, as published by the Free Software Foundation.
|
||||
|
||||
This program 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
|
||||
General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
version 3 along with this program. If not, see
|
||||
http://www.gnu.org/licenses/ .
|
||||
|
||||
*/
|
||||
|
||||
module bullet.bindings;
|
||||
|
||||
/*
|
||||
* This module is the interface between D and the C++ code that
|
||||
* handles Bullet.
|
||||
*/
|
||||
|
||||
extern(C):
|
||||
|
||||
// Initialize the dynamic world. Returns non-zero if an error occurs.
|
||||
int cpp_initBullet();
|
||||
void cpp_timeStep(float delta);
|
||||
void cpp_cleanupBullet();
|
||||
|
||||
// Insert a debug collision object
|
||||
void cpp_insertBox(float x, float y, float z);
|
||||
|
||||
// Move the player's collision shape
|
||||
int cpp_movePlayerCollision(float x, float y, float z,
|
||||
float dx, float dy, float dz);
|
||||
@ -0,0 +1,11 @@
|
||||
module bullet.bullet;
|
||||
|
||||
import bullet.bindings;
|
||||
|
||||
void initBullet()
|
||||
{
|
||||
if(cpp_initBullet())
|
||||
throw new Exception("Bullet setup failed");
|
||||
}
|
||||
|
||||
void cleanupBullet() { cpp_cleanupBullet(); }
|
||||
@ -0,0 +1,196 @@
|
||||
#include "btBulletCollisionCommon.h"
|
||||
|
||||
#include <iostream>
|
||||
|
||||
using namespace std;
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
btCollisionDispatcher *m_dispatcher;
|
||||
btBroadphaseInterface *m_broadphase;
|
||||
//btSequentialImpulseConstraintSolver* m_solver;
|
||||
//btDynamicsWorld *m_dynamicsWorld;
|
||||
btCollisionWorld *m_collisionWorld;
|
||||
|
||||
//btCollisionObject* m_playerObject;
|
||||
btConvexShape *playerShape;
|
||||
|
||||
extern "C" int32_t cpp_initBullet()
|
||||
{
|
||||
// Set up basic objects
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
m_broadphase = new btDbvtBroadphase();
|
||||
m_collisionWorld =
|
||||
new btCollisionWorld(m_dispatcher, m_broadphase,
|
||||
m_collisionConfiguration);
|
||||
|
||||
/*m_solver = new btSequentialImpulseConstraintSolver;
|
||||
m_dynamicsWorld =
|
||||
new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase,
|
||||
m_solver, m_collisionConfiguration);
|
||||
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
|
||||
*/
|
||||
|
||||
// Create player collision object
|
||||
//playerShape = new btCylinderShape(btVector3(50, 50, 50));
|
||||
playerShape = new btSphereShape(50);
|
||||
|
||||
/*
|
||||
m_playerObject = new btCollisionObject ();
|
||||
m_playerObject->setCollisionShape (m_shape);
|
||||
m_playerObject->setCollisionFlags (btCollisionObject::CF_NO_CONTACT_RESPONSE);
|
||||
*/
|
||||
|
||||
/*
|
||||
// Dynamic shapes:
|
||||
|
||||
// Re-using the same collision is better for memory usage and
|
||||
// performance.
|
||||
|
||||
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
|
||||
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
|
||||
//m_collisionShapes.push_back(colShape);
|
||||
|
||||
// Create Dynamic Objects
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
mass = 1.f;
|
||||
|
||||
colShape->calculateLocalInertia(mass,localInertia);
|
||||
|
||||
///create 125 (5x5x5) dynamic objects
|
||||
#define ARRAY_SIZE_X 5
|
||||
#define ARRAY_SIZE_Y 5
|
||||
#define ARRAY_SIZE_Z 5
|
||||
|
||||
#define START_POS_X -5
|
||||
#define START_POS_Y -5
|
||||
#define START_POS_Z -3
|
||||
|
||||
float start_x = START_POS_X - ARRAY_SIZE_X/2;
|
||||
float start_y = START_POS_Y;
|
||||
float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
|
||||
|
||||
for (int k=0;k<ARRAY_SIZE_Y;k++)
|
||||
for (int i=0;i<ARRAY_SIZE_X;i++)
|
||||
for(int j = 0;j<ARRAY_SIZE_Z;j++)
|
||||
{
|
||||
startTransform.setOrigin(btVector3(2.0*i + start_x,
|
||||
10+2.0*k + start_y,
|
||||
2.0*j + start_z));
|
||||
|
||||
btDefaultMotionState* myMotionState =
|
||||
new btDefaultMotionState(startTransform);
|
||||
|
||||
btRigidBody::btRigidBodyConstructionInfo
|
||||
rbInfo(mass,myMotionState,colShape,localInertia);
|
||||
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
body->setActivationState(ISLAND_SLEEPING);
|
||||
}
|
||||
*/
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" int32_t cpp_movePlayerCollision(float x, float y, float z,
|
||||
float dx, float dy, float dz)
|
||||
{
|
||||
btTransform start, end;
|
||||
start.setIdentity();
|
||||
end.setIdentity();
|
||||
|
||||
// The sweep test moves the shape from the old position to the
|
||||
// new. The 0.1 offset in one of the coordinates is to make sure a
|
||||
// sweep is performed even when the player does not move.
|
||||
start.setOrigin(btVector3(x, y, z));
|
||||
end.setOrigin(btVector3(x+dx,y+dy,z+dz));
|
||||
|
||||
btCollisionWorld::ClosestConvexResultCallback cb(btVector3(0,0,0),
|
||||
btVector3(0,0,0));
|
||||
|
||||
m_collisionWorld->convexSweepTest(playerShape, start, end, cb);
|
||||
|
||||
if(cb.hasHit()) return 1;
|
||||
else return 0;
|
||||
}
|
||||
|
||||
extern "C" void cpp_insertBox(float x, float y, float z)
|
||||
{
|
||||
btCollisionShape* groundShape =
|
||||
new btSphereShape(50);
|
||||
//new btBoxShape(btVector3(100,100,100));
|
||||
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(x,y,z));
|
||||
|
||||
btCollisionObject *obj = new btCollisionObject;
|
||||
obj->setCollisionShape(groundShape);
|
||||
obj->setWorldTransform(groundTransform);
|
||||
|
||||
m_collisionWorld->addCollisionObject(obj);
|
||||
|
||||
/*
|
||||
m_collisionWorld->addCollisionObject(obj,
|
||||
btBroadphaseProxy::DebrisFilter, // ??
|
||||
btBroadphaseProxy::StaticFilter); // Only static objects
|
||||
|
||||
/*
|
||||
btDefaultMotionState* myMotionState =
|
||||
new btDefaultMotionState(groundTransform);
|
||||
|
||||
btRigidBody::btRigidBodyConstructionInfo
|
||||
rbInfo(0, myMotionState, groundShape, btVector3(0,0,0));
|
||||
|
||||
btRigidBody* body = new btRigidBody(rbInfo);
|
||||
|
||||
// Add the body to the dynamics world
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
*/
|
||||
}
|
||||
|
||||
/*
|
||||
extern "C" void cpp_timeStep(float delta)
|
||||
{
|
||||
// TODO: Find what unit Bullet uses here
|
||||
m_dynamicsWorld->stepSimulation(delta / 1000.f);
|
||||
}
|
||||
*/
|
||||
|
||||
// Cleanup in the reverse order of creation/initialization
|
||||
extern "C" void cpp_cleanupBullet()
|
||||
{
|
||||
// Remove the rigidbodies from the dynamics world and delete them
|
||||
for (int i=m_collisionWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_collisionWorld->getCollisionObjectArray()[i];
|
||||
/*
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
|
||||
if (body && body->getMotionState())
|
||||
delete body->getMotionState();
|
||||
*/
|
||||
|
||||
m_collisionWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
// Delete collision shapes
|
||||
/*
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
*/
|
||||
|
||||
delete m_collisionWorld;
|
||||
//delete m_solver;
|
||||
delete m_broadphase;
|
||||
delete m_dispatcher;
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
Loading…
Reference in New Issue