C++ btDynamicsWorld类代码示例

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本文整理汇总了C++中btDynamicsWorld类的典型用法代码示例。如果您正苦于以下问题：C++ btDynamicsWorld类的具体用法？C++ btDynamicsWorld怎么用？C++ btDynamicsWorld使用的例子？那么恭喜您, 这里精选的类代码示例或许可以为您提供帮助。

在下文中一共展示了btDynamicsWorld类的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: _dd

BulletDebug::BulletDebug(Ogre::SceneManager & scm, btDynamicsWorld & world) : _dd(&scm, 0.5), _world(&world), enabled(false)
{
	world.setDebugDrawer(this);
	_dd.setEnabled(true);

	setDebugMode(btIDebugDraw::DBG_DrawWireframe);
}

开发者ID:Meumeu，项目名称:PMD，代码行数:7，代码来源:BulletDebug.cpp

示例2: RigidBody

        RigidBody(Object3D* parent, Float mass, btCollisionShape* bShape, btDynamicsWorld& bWorld): Object3D{parent}, _bWorld(bWorld) {
            /* Calculate inertia so the object reacts as it should with
               rotation and everything */
            btVector3 bInertia(0.0f, 0.0f, 0.0f);
            if(!Math::TypeTraits<Float>::equals(mass, 0.0f))
                bShape->calculateLocalInertia(mass, bInertia);

            /* Bullet rigid body setup */
            auto* motionState = new BulletIntegration::MotionState{*this};
            _bRigidBody.emplace(btRigidBody::btRigidBodyConstructionInfo{
                mass, &motionState->btMotionState(), bShape, bInertia});
            _bRigidBody->forceActivationState(DISABLE_DEACTIVATION);
            bWorld.addRigidBody(_bRigidBody.get());
        }

开发者ID:mosra，项目名称:magnum-examples，代码行数:14，代码来源:BulletExample.cpp

示例3: clear

void FractureBody::clear(btDynamicsWorld& world)
{
	for (int i = 0; i < m_connections.size(); ++i)
	{
		btRigidBody* cb = m_connections[i].m_body;
		btAssert(!cb->getCollisionShape()->isCompound());
		if (cb->isInWorld())
		{
			world.removeRigidBody(cb);
		}
		delete cb->getCollisionShape();
		delete cb;
	}
	m_connections.clear();
}

开发者ID:Anth5，项目名称:vdrift，代码行数:15，代码来源:fracturebody.cpp

示例4: RagDoll

	RagDoll (btDynamicsWorld* ownerWorld, const btVector3& positionOffset)
		: m_ownerWorld (ownerWorld)
	{
        
        
        // Setup the geometry
		m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15), btScalar(0.20));
		m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15), btScalar(0.28));
		m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.40), btScalar(0.20));
		m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
		m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
		m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
		m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
		m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
		m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
		m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
		m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));

		// Setup all the rigid bodies
		btTransform offset; offset.setIdentity();
		offset.setOrigin(positionOffset);

		btTransform transform;
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
		m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.2), btScalar(0.)));
		m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.6), btScalar(0.)));
		m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.)));
		m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.)));
		m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.)));
		m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.)));
		m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,M_PI_2);
		m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,M_PI_2);
		m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);

		// Setup some damping on the m_bodies
		for (int i = 0; i < BODYPART_COUNT; ++i)
		{
			m_bodies[i]->setDamping(0.05, 0.85);
			m_bodies[i]->setDeactivationTime(0.8);
			m_bodies[i]->setSleepingThresholds(1.6, 2.5);
		}

		// Now setup the constraints
		btHingeConstraint* hingeC;
		btConeTwistConstraint* coneC;

		btTransform localA, localB;

		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,M_PI_2,0); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.15), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,M_PI_2,0); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.15), btScalar(0.)));
		hingeC =  new btHingeConstraint(*m_bodies[BODYPART_PELVIS], *m_bodies[BODYPART_SPINE], localA, localB);
		hingeC->setLimit(btScalar(-M_PI_4), btScalar(M_PI_2));
		m_joints[JOINT_PELVIS_SPINE] = hingeC;
		hingeC->setDbgDrawSize(CONSTRAINT_DEBUG_SIZE);

		m_ownerWorld->addConstraint(m_joints[JOINT_PELVIS_SPINE], true);


		localA.setIdentity(); localB.setIdentity();
		localA.getBasis().setEulerZYX(0,0,M_PI_2); localA.setOrigin(btVector3(btScalar(0.), btScalar(0.30), btScalar(0.)));
		localB.getBasis().setEulerZYX(0,0,M_PI_2); localB.setOrigin(btVector3(btScalar(0.), btScalar(-0.14), btScalar(0.)));
		coneC = new btConeTwistConstraint(*m_bodies[BODYPART_SPINE], *m_bodies[BODYPART_HEAD], localA, localB);
//.........这里部分代码省略.........

开发者ID:bmcomber，项目名称:Evolutionary_Robotics，代码行数:101，代码来源:RagdollDemo.cpp

示例5: TestRig

	TestRig (btDynamicsWorld* ownerWorld, const btVector3& positionOffset, bool bFixed)
		: m_ownerWorld (ownerWorld)
	{
		btVector3 vUp(0, 1, 0);

		//
		// Setup geometry
		//
		float fBodySize  = 0.25f;
		float fLegLength = 0.45f;
		float fForeLegLength = 0.75f;
		m_shapes[0] = new btCapsuleShape(btScalar(fBodySize), btScalar(0.10));
		int i;
		for ( i=0; i<NUM_LEGS; i++)
		{
			m_shapes[1 + 2*i] = new btCapsuleShape(btScalar(0.10), btScalar(fLegLength));
			m_shapes[2 + 2*i] = new btCapsuleShape(btScalar(0.08), btScalar(fForeLegLength));
		}

		//
		// Setup rigid bodies
		//
		float fHeight = 0.5;
		btTransform offset; offset.setIdentity();
		offset.setOrigin(positionOffset);		

		// root
		btVector3 vRoot = btVector3(btScalar(0.), btScalar(fHeight), btScalar(0.));
		btTransform transform;
		transform.setIdentity();
		transform.setOrigin(vRoot);
		if (bFixed)
		{
			m_bodies[0] = localCreateRigidBody(btScalar(0.), offset*transform, m_shapes[0]);
		} else
		{
			m_bodies[0] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[0]);
		}
		// legs
		for ( i=0; i<NUM_LEGS; i++)
		{
			float fAngle = 2 * M_PI * i / NUM_LEGS;
			float fSin = sin(fAngle);
			float fCos = cos(fAngle);

			transform.setIdentity();
			btVector3 vBoneOrigin = btVector3(btScalar(fCos*(fBodySize+0.5*fLegLength)), btScalar(fHeight), btScalar(fSin*(fBodySize+0.5*fLegLength)));
			transform.setOrigin(vBoneOrigin);

			// thigh
			btVector3 vToBone = (vBoneOrigin - vRoot).normalize();
			btVector3 vAxis = vToBone.cross(vUp);			
			transform.setRotation(btQuaternion(vAxis, M_PI_2));
			m_bodies[1+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[1+2*i]);

			// shin
			transform.setIdentity();
			transform.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(fHeight-0.5*fForeLegLength), btScalar(fSin*(fBodySize+fLegLength))));
			m_bodies[2+2*i] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[2+2*i]);
		}

		// Setup some damping on the m_bodies
		for (i = 0; i < BODYPART_COUNT; ++i)
		{
			m_bodies[i]->setDamping(0.05, 0.85);
			m_bodies[i]->setDeactivationTime(0.8);
			//m_bodies[i]->setSleepingThresholds(1.6, 2.5);
			m_bodies[i]->setSleepingThresholds(0.5f, 0.5f);
		}


		//
		// Setup the constraints
		//
		btHingeConstraint* hingeC;
		//btConeTwistConstraint* coneC;

		btTransform localA, localB, localC;

		for ( i=0; i<NUM_LEGS; i++)
		{
			float fAngle = 2 * M_PI * i / NUM_LEGS;
			float fSin = sin(fAngle);
			float fCos = cos(fAngle);

			// hip joints
			localA.setIdentity(); localB.setIdentity();
			localA.getBasis().setEulerZYX(0,-fAngle,0);	localA.setOrigin(btVector3(btScalar(fCos*fBodySize), btScalar(0.), btScalar(fSin*fBodySize)));
			localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
			hingeC = new btHingeConstraint(*m_bodies[0], *m_bodies[1+2*i], localA, localB);
			hingeC->setLimit(btScalar(-0.75 * M_PI_4), btScalar(M_PI_8));
			//hingeC->setLimit(btScalar(-0.1), btScalar(0.1));
			m_joints[2*i] = hingeC;
			m_ownerWorld->addConstraint(m_joints[2*i], true);

			// knee joints
			localA.setIdentity(); localB.setIdentity(); localC.setIdentity();
			localA.getBasis().setEulerZYX(0,-fAngle,0);	localA.setOrigin(btVector3(btScalar(fCos*(fBodySize+fLegLength)), btScalar(0.), btScalar(fSin*(fBodySize+fLegLength))));
			localB = m_bodies[1+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
			localC = m_bodies[2+2*i]->getWorldTransform().inverse() * m_bodies[0]->getWorldTransform() * localA;
//.........这里部分代码省略.........

开发者ID:henryeherman，项目名称:learninghexapod，代码行数:101，代码来源:MotorDemo.cpp

示例6: feedback

void  HapticDevice::feedback(btDynamicsWorld &dynamic)
{
	for(unsigned int i=0;i<m_nbDevices;i++)
	{
		bool ground_collide = false;
		// free move
		if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0 )// (m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_2))
		{
			m_hss[i].m_free.m_done = true;	
			//m_hss[i].m_free.m_force = hduVector3Dd(0,0,0);
		}		
		
		if(m_constraints[i] != NULL)
		{
			btRigidBody * myBody = &m_constraints[i]->getRigidBodyB();
		
			btTransform myTrans = myBody->getWorldTransform();			

			m_effRenderPos = myTrans.getOrigin();
			//Check collision  
			if(m_constraints[i]->getUserConstraintPtr() != NULL)
			{  
				//std::cout<< " se cas la " <<std::endl;
				m_hss[i].m_free.m_nbCollision = 1;
				//if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0 && (m_oldButtons[i] & HD_DEVICE_BUTTON_1) == 0)
				btCollisionObject * object = static_cast<btCollisionObject *>(m_constraints[i]->getUserConstraintPtr());
				
				if(object->getInternalType()== btCollisionObject::CO_RIGID_BODY)
				{
					btRigidBody * collideBody = static_cast<btRigidBody *>(object);	
					// collide with ground
					if(collideBody == m_ground)
					{
						m_hss[i].m_free.m_nbCollision = 2;
						ground_collide = true;
					}
					// collide with other object
					if(collideBody->getInvMass()!=0 && collideBody != m_ground)
					{
							if(m_itsConstraints[i] == NULL )
							{

								// catch it if colide with it
								if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) == 0 )
								{						
											//create constraint
											btTransform bodyTrans = collideBody->getWorldTransform();
											m_itsConstraints[i]   = createConstraint(*myBody,*collideBody);
											dynamic.addConstraint(m_itsConstraints[i],true);
											m_newConstraint(m_ptr,collideBody,i);
											m_caught = collideBody;
											m_coll = true;	
											m_devine = false;
											showTarget(collideBody);
											deactivateMove();
								}
							}else
								// realise it when button 1 pressed
								if(m_freeT || (m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0)
								{
						
										//remove constraint
										dynamic.removeConstraint(m_itsConstraints[i]);
										delete m_itsConstraints[i];
										m_itsConstraints[i]=NULL;
										m_deleteConstraint(m_ptr,collideBody,i);
										//m_hss[i].setThrown(NULL);								
										m_hss[i].m_free.m_done = true;
										showTarget(collideBody);
										m_variator = 0;
										m_coll = false;										
										deactivateMove();
								}
							
					}
					
				}
				

			}
			else
			{
				m_hss[i].m_free.m_nbCollision = 0;
				//if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0 && (m_oldButtons[i] & HD_DEVICE_BUTTON_1) == 0)
				if(m_freeT || (m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0)
				{
					if(m_itsConstraints[i] != NULL )
					{
						//remove constraint
						m_deleteConstraint(m_ptr,&m_itsConstraints[i]->getRigidBodyB(),i);
						dynamic.removeConstraint(m_itsConstraints[i]);
						delete m_itsConstraints[i];
						m_itsConstraints[i]=NULL;
						m_hss[i].m_free.m_done = true;
						if(m_caught != NULL)
							showTarget(m_caught);	
						m_coll = false;						
						deactivateMove();
					}						
					
//.........这里部分代码省略.........

开发者ID:NassimAMGHAR，项目名称:secondxp，代码行数:101，代码来源:HapticDevice.cpp

示例7: RagDoll2

	RagDoll2 (btDynamicsWorld* ownerWorld, const btVector3& positionOffset,SimpleOpenGL3App* app)
	: m_ownerWorld (ownerWorld),
	m_app(app)
	{
		
		// Setup the geometry
		m_shapes[BODYPART_PELVIS] = new btCapsuleShape(btScalar(0.15), btScalar(0.20));
		m_shapes[BODYPART_SPINE] = new btCapsuleShape(btScalar(0.15), btScalar(0.28));
		m_shapes[BODYPART_HEAD] = new btCapsuleShape(btScalar(0.10), btScalar(0.05));
		m_shapes[BODYPART_LEFT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
		m_shapes[BODYPART_LEFT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
		m_shapes[BODYPART_RIGHT_UPPER_LEG] = new btCapsuleShape(btScalar(0.07), btScalar(0.45));
		m_shapes[BODYPART_RIGHT_LOWER_LEG] = new btCapsuleShape(btScalar(0.05), btScalar(0.37));
		m_shapes[BODYPART_LEFT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
		m_shapes[BODYPART_LEFT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
		m_shapes[BODYPART_RIGHT_UPPER_ARM] = new btCapsuleShape(btScalar(0.05), btScalar(0.33));
		m_shapes[BODYPART_RIGHT_LOWER_ARM] = new btCapsuleShape(btScalar(0.04), btScalar(0.25));
		

		// Setup all the rigid bodies
		btTransform offset; offset.setIdentity();
		offset.setOrigin(positionOffset);
		
		btTransform transform;
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.), btScalar(0.)));
		//m_bodies[BODYPART_PELVIS] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_PELVIS], btVector3(0,1,0));
		
		//		btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep);
		int n_links = 0;
		float mass = 1.f;
		btVector3 localInertia;
		m_shapes[BODYPART_PELVIS]->calculateLocalInertia(mass,localInertia);
		
		bool isFixedBase = true;
		bool canSleep = true;
		bool isMultiDof = false;
		btMultiBody * bod = new btMultiBody(n_links, mass, localInertia, isFixedBase, canSleep, isMultiDof);
		
		btTransform tr;
		tr = offset*transform;
		
		
		bod->setBasePos(tr.getOrigin());
		bod->setWorldToBaseRot(tr.getRotation());
		btVector3 vel(0,0,0);
		bod->setBaseVel(vel);
		
#if 0
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.2), btScalar(0.)));
		m_bodies[BODYPART_SPINE] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_SPINE],btVector3(0,0,1));

		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.), btScalar(1.6), btScalar(0.)));
		m_bodies[BODYPART_HEAD] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_HEAD]);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.65), btScalar(0.)));
		m_bodies[BODYPART_LEFT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_LEG]);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.18), btScalar(0.2), btScalar(0.)));
		m_bodies[BODYPART_LEFT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_LEG]);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.65), btScalar(0.)));
		m_bodies[BODYPART_RIGHT_UPPER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_LEG]);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.18), btScalar(0.2), btScalar(0.)));
		m_bodies[BODYPART_RIGHT_LOWER_LEG] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_LEG]);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.35), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,M_PI_2);
		m_bodies[BODYPART_LEFT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_UPPER_ARM]);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(-0.7), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,M_PI_2);
		m_bodies[BODYPART_LEFT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_LEFT_LOWER_ARM]);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.35), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_UPPER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_UPPER_ARM]);
		
		transform.setIdentity();
		transform.setOrigin(btVector3(btScalar(0.7), btScalar(1.45), btScalar(0.)));
		transform.getBasis().setEulerZYX(0,0,-M_PI_2);
		m_bodies[BODYPART_RIGHT_LOWER_ARM] = localCreateRigidBody(btScalar(1.), offset*transform, m_shapes[BODYPART_RIGHT_LOWER_ARM]);
		
		// Setup some damping on the m_bodies
		for (int i = 0; i < BODYPART_COUNT; ++i)
		{
			m_bodies[i]->setDamping(0.05, 0.85);
			m_bodies[i]->setDeactivationTime(0.8);
			m_bodies[i]->setSleepingThresholds(1.6, 2.5);
		}
//.........这里部分代码省略.........

开发者ID:MattMcMullan，项目名称:bullet3，代码行数:101，代码来源:BulletMultiBodyDemos.cpp

示例8: localCreateRigidBody

	btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btConvexShape* shape)
	{
		bool isDynamic = (mass != 0.f);

		btVector3 localInertia(0,0,0);
		if (isDynamic)
			shape->calculateLocalInertia(mass,localInertia);

		btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
		
		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
		btRigidBody* body = new btRigidBody(rbInfo);

		m_ownerWorld->addRigidBody(body);
		
		btVector3 color(1,0,0);
		btVector3 scaling(1,1,1);
		
		btShapeHull* hull = new btShapeHull(shape);
		hull->buildHull(0.01);
		
		{
			int strideInBytes = 9*sizeof(float);
			int numVertices = hull->numVertices();
			int numIndices =hull->numIndices();
			
			btAlignedObjectArray<GraphicsVertex> gvertices;
			
			for (int i=0;i<numVertices;i++)
			{
				GraphicsVertex vtx;
				btVector3 pos =hull->getVertexPointer()[i];
				vtx.pos[0] = pos.x();
				vtx.pos[1] = pos.y();
				vtx.pos[2] = pos.z();
				vtx.pos[3] = 1.f;
				pos.normalize();
				vtx.normal[0] =pos.x();
				vtx.normal[1] =pos.y();
				vtx.normal[2] =pos.z();
				vtx.texcoord[0] = 0.5f;
				vtx.texcoord[1] = 0.5f;
				gvertices.push_back(vtx);
			}
			
			btAlignedObjectArray<int> indices;
			for (int i=0;i<numIndices;i++)
				indices.push_back(hull->getIndexPointer()[i]);
			
			int shapeId = m_app->m_instancingRenderer->registerShape(&gvertices[0].pos[0],numVertices,&indices[0],numIndices);
			
			m_app->m_instancingRenderer->registerGraphicsInstance(shapeId,body->getWorldTransform().getOrigin(),body->getWorldTransform().getRotation(),color,scaling);
			
		}
		delete hull;

		

		return body;
	}

开发者ID:DanielNappa，项目名称:bullet3，代码行数:60，代码来源:RagdollDemo.cpp

示例9: AddBody

  void AddBody(const Json::Value& bodyDesc) {
    std::string shapeName = bodyDesc["shape"].asString();
    float mass = bodyDesc["mass"].asFloat();
    float friction = bodyDesc["friction"].asFloat();
    Json::Value transform = bodyDesc["transform"];
    btCollisionShape* shape = boxShape;
    if (shapes.count(shapeName) == 0) {
      NaClAMPrintf("Could not find shape %s defaulting to unit cube.", shapeName.c_str());
    } else {
      shape = shapes[shapeName];
    }

    btTransform T;
    T.setIdentity();
    {
      float m[16];
      for (int i = 0; i < transform.size(); i++) {
        m[i] = transform[i].asFloat();
      }
      T.setFromOpenGLMatrix(&m[0]);
    }
    

    bool isDynamic = (mass != 0.f);
    btVector3 localInertia(0,0,0);
    if (isDynamic)
      shape->calculateLocalInertia(mass,localInertia);
    btDefaultMotionState* myMotionState = new btDefaultMotionState(T);
    btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
    btRigidBody* body = new btRigidBody(rbInfo);
    body->setFriction(friction);
    dynamicsWorld->addRigidBody(body);
  }

开发者ID:fedemarino31，项目名称:leaptower，代码行数:33，代码来源:NaClAMBullet.cpp

示例10:

	virtual ~RigidObject() 
	{
		if(body->getMotionState())
			delete body->getMotionState();
		world->removeRigidBody(body);
		delete body;
	}

开发者ID:jdduke，项目名称:Cinder，代码行数:7，代码来源:triMeshApp.cpp

示例11: addPickingConstraint

 void addPickingConstraint(const btVector3& rayFrom, const btVector3& rayTo) {
   if (!dynamicsWorld) {
     return;
   }
   removePickingConstraint();
   if (pickedObjectIndex <= 0 || pickedObjectIndex >= dynamicsWorld->getNumCollisionObjects()) {
     return;
   }
   pickedBody = btRigidBody::upcast(dynamicsWorld->getCollisionObjectArray()[pickedObjectIndex]);
   btVector3 pickPos = rayTo;
   btVector3 localPivot = pickedBody->getCenterOfMassTransform().inverse() * pickPos;
   pickConstraint = new btPoint2PointConstraint(*pickedBody,localPivot);
   pickedBody->setActivationState(DISABLE_DEACTIVATION);
   dynamicsWorld->addConstraint(pickConstraint,true);
   pickingDistance = (rayFrom-rayTo).length();
   pickConstraint->m_setting.m_impulseClamp = 3.0f;
   pickConstraint->m_setting.m_tau = 0.001f;
 }

开发者ID:fedemarino31，项目名称:leaptower，代码行数:18，代码来源:NaClAMBullet.cpp

示例12: EmptyScene

 void EmptyScene() {
   if (dynamicsWorld) {
     int i;
     for (i=dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) {
       btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[i];
       btRigidBody* body = btRigidBody::upcast(obj);
       if (body && body->getMotionState()) {
         delete body->getMotionState();
       }
       dynamicsWorld->removeCollisionObject(obj);
       delete obj;
     }
     removePickingConstraint();
   }
   if (dynamicsWorld) {
     delete dynamicsWorld;
     dynamicsWorld = NULL;
   }
   if (solver) {
     delete solver;
     solver = NULL;
   }
   if (broadphase) {
     delete broadphase;
     broadphase = NULL;
   }
   if (dispatcher) {
     delete dispatcher;
     dispatcher = NULL;
   }
   if (collisionConfiguration) {
     delete collisionConfiguration;
     collisionConfiguration = NULL;
   }
   // Delete shapes
   std::map<std::string, btCollisionShape*>::iterator it = shapes.begin();
   while (it != shapes.end()) {
     delete (*it).second;
     it++;
   }
   shapes.clear();
   // Clear name table
   objectNames.clear();
 }

开发者ID:fedemarino31，项目名称:leaptower，代码行数:44，代码来源:NaClAMBullet.cpp

示例13: AddBox

 void AddBox(const btTransform& T, float mass) {
   bool isDynamic = (mass != 0.f);
   btVector3 localInertia(0,0,0);
   if (isDynamic)
     boxShape->calculateLocalInertia(mass,localInertia);
     btDefaultMotionState* myMotionState = new btDefaultMotionState(T);
     btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,boxShape,localInertia);
     btRigidBody* body = new btRigidBody(rbInfo);
     dynamicsWorld->addRigidBody(body);
 }

开发者ID:fedemarino31，项目名称:leaptower，代码行数:10，代码来源:NaClAMBullet.cpp

示例14: removePickingConstraint

 void removePickingConstraint() {
   if (pickConstraint && dynamicsWorld)
   {
     dynamicsWorld->removeConstraint(pickConstraint);
     delete pickConstraint;
     pickedBody->forceActivationState(ACTIVE_TAG);
     pickedBody->setDeactivationTime( 0.f );
   }
   pickConstraint = NULL;
   pickedBody = NULL;
 }

开发者ID:fedemarino31，项目名称:leaptower，代码行数:11，代码来源:NaClAMBullet.cpp

示例15:

	virtual ~RigidObject() 
	{
		if(body)
		{
			if(body->getMotionState() != NULL)
				delete body->getMotionState();
	//		if(body->getCollisionShape() != NULL)
	//			delete body->getCollisionShape();
			world->removeRigidBody(body);
			delete body;
		}
	}

开发者ID:jdduke，项目名称:Cinder，代码行数:12，代码来源:winBodiesApp.cpp

示例16:

	virtual	~RagDoll ()
	{
		int i;

		// Remove all constraints
		for ( i = 0; i < JOINT_COUNT; ++i)
		{
			m_ownerWorld->removeConstraint(m_joints[i]);
			delete m_joints[i]; m_joints[i] = 0;
		}

		// Remove all bodies and shapes
		for ( i = 0; i < BODYPART_COUNT; ++i)
		{
			m_ownerWorld->removeRigidBody(m_bodies[i]);
			
			delete m_bodies[i]->getMotionState();

			delete m_bodies[i]; m_bodies[i] = 0;
			delete m_shapes[i]; m_shapes[i] = 0;
		}
	}

开发者ID:bmcomber，项目名称:Evolutionary_Robotics，代码行数:22，代码来源:RagdollDemo.cpp

示例17: AddGroundPlane

 void AddGroundPlane() {
   btTransform groundTransform;
   groundTransform.setIdentity();
   btScalar mass = 0.0f;
   bool isDynamic = (mass != 0.f);
   btVector3 localInertia(0,0,0);
   if (isDynamic)
     groundShape->calculateLocalInertia(mass,localInertia);
   btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
   btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
   btRigidBody* body = new btRigidBody(rbInfo);
   //add the body to the dynamics world
   dynamicsWorld->addRigidBody(body);
 }

开发者ID:fedemarino31，项目名称:leaptower，代码行数:14，代码来源:NaClAMBullet.cpp

示例18: localCreateRigidBody

	btRigidBody* localCreateRigidBody (btScalar mass, const btTransform& startTransform, btCollisionShape* shape)
	{
		bool isDynamic = (mass != 0.f);

		btVector3 localInertia(0,0,0);
		if (isDynamic)
			shape->calculateLocalInertia(mass,localInertia);

		btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
		btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
		btRigidBody* body = new btRigidBody(rbInfo);

		m_ownerWorld->addRigidBody(body);

		return body;
	}

开发者ID:henryeherman，项目名称:learninghexapod，代码行数:16，代码来源:MotorDemo.cpp

示例19: castRay

	void* castRay(const btVector3 &from, const btVector3 &to, btVehicleRaycasterResult &result)
	{
		ClosestNotMeRayResultCallback rayCallback( _vehicle->collision->getBulletBody(), from, to );
		const void *res = 0;

		_world->rayTest(from, to, rayCallback);

		if( rayCallback.hasHit() ) {
			const btRigidBody* body = btRigidBody::upcast( rayCallback.m_collisionObject );

			if( body && body->hasContactResponse() ) {
				result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
				result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
				result.m_hitNormalInWorld.normalize();
				result.m_distFraction = rayCallback.m_closestHitFraction;
				res = body;
			}
		}

		return (void* )res;
	}

开发者ID:JayFoxRox，项目名称:openrw，代码行数:21，代码来源:VehicleObject.cpp

示例20: Step

 void Step() {
   if (dynamicsWorld)
     dynamicsWorld->stepSimulation(1.0/60.0);
 }

开发者ID:fedemarino31，项目名称:leaptower，代码行数:4，代码来源:NaClAMBullet.cpp

注：本文中的btDynamicsWorld类示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

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C++ btDynamicsWorld类代码示例

示例1: _dd

示例2: RigidBody

示例3: clear

示例4: RagDoll

示例5: TestRig

示例6: feedback

示例7: RagDoll2

示例8: localCreateRigidBody

示例9: AddBody

示例10:

示例11: addPickingConstraint

示例12: EmptyScene

示例13: AddBox

示例14: removePickingConstraint

示例15:

示例16:

示例17: AddGroundPlane

示例18: localCreateRigidBody

示例19: castRay

示例20: Step

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