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Tomsoner34521

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  1. So this was my simple test to drop 2 tetrahedron that is not working I get the translation (but not the rotation) And there is a lot of jittering and bouncing on impact And they seem to collide and not actually bounce off each other as well. Any Suggestions? [CODE] #include <iostream> #include <vector> #include <time.h> #include <glut.h> #include "btBulletDynamicsCommon.h" #include "BulletCollision/Gimpact/btGImpactShape.h" #include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h" using namespace std; btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration); btBroadphaseInterface* overlappingPairCache = new btDbvtBroadphase(); btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver; btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver,collisionConfiguration); float zoom = 15.0f; float rotx = 0; float roty = 0.001f; float tx = 0; float ty = 0; int lastx=0; int lasty=0; unsigned char Buttons[3] = {0}; void Init() { glEnable(GL_DEPTH_TEST); glEnable (GL_BLEND); glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glShadeModel (GL_FLAT); } //------------------------------------------------------------------------------- /// \brief Called when the screen gets resized /// \param w - the new width /// \param h - the new height /// void reshape(int w, int h) { // prevent divide by 0 error when minimised if(w==0) h = 1; glViewport(0,0,w,h); glMatrixMode(GL_PROJECTION); glLoadIdentity(); gluPerspective(45,(float)w/h,0.1,100); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); } //------------------------------------------------------------------------------- // void Motion(int x,int y) { int diffx=x-lastx; int diffy=y-lasty; lastx=x; lasty=y; if( Buttons[2] ) { zoom -= (float) 0.05f * diffx*2; } else if( Buttons[0] ) { rotx += (float) 0.5f * diffy; roty += (float) 0.5f * diffx; } else if( Buttons[1] ) { tx += (float) 0.05f * diffx; ty -= (float) 0.05f * diffy; } glutPostRedisplay(); } //------------------------------------------------------------------------------- // void Mouse(int b,int s,int x,int y) { lastx=x; lasty=y; switch(b) { case GLUT_LEFT_BUTTON: Buttons[0] = ((GLUT_DOWN==s)?1:0); break; case GLUT_MIDDLE_BUTTON: Buttons[1] = ((GLUT_DOWN==s)?1:0); break; case GLUT_RIGHT_BUTTON: Buttons[2] = ((GLUT_DOWN==s)?1:0); break; default: break; } glutPostRedisplay(); } //------------------------------------------------------------------------------- /// void display() { glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT); glLoadIdentity(); glTranslatef(0,0,-zoom); glTranslatef(tx,ty,0); glRotatef(rotx,1,0,0); glRotatef(roty,0,1,0); glColor3f(1.0f,1.0f,1.0f); // draw grid glBegin(GL_LINES); for(int i=-10;i<=10;++i) { glVertex3f(i,0,-10); glVertex3f(i,0,10); glVertex3f(10,0,i); glVertex3f(-10,0,i); } glEnd(); dynamicsWorld->stepSimulation(1.f/60.f,10); dynamicsWorld->applyGravity(); //print positions of all objects for (int j=dynamicsWorld->getNumCollisionObjects()-1; j>=0 ;j--) { btCollisionObject* obj = dynamicsWorld->getCollisionObjectArray()[j]; btRigidBody* body = btRigidBody::upcast(obj); if (body && body->getMotionState()) { btTransform trans; body->getMotionState()->getWorldTransform(trans); printf("world pos = %f,%f,%f\n",float(trans.getOrigin().getX()),float(trans.getOrigin().getY()),float(trans.getOrigin().getZ())); btScalar m[16]; trans.getOpenGLMatrix(m); glPushMatrix(); glColor4f(1,1,1,1); glMultMatrixf((GLfloat*)m); // glTranslatef(trans.getOrigin().getX(),trans.getOrigin().getY(), float(trans.getOrigin().getZ())); //glutSolidSphere(1.0f,20,20); glBegin(GL_TRIANGLES); glVertex3f(0,1,0);glVertex3f(1,0,0);glVertex3f(0,0,0); glVertex3f(0,1,0);glVertex3f(0,0,1);glVertex3f(1,0,0); glVertex3f(1,0,0);glVertex3f(0,0,1);glVertex3f(0,0,0); glVertex3f(0,1,0);glVertex3f(0,0,0);glVertex3f(0,0,1); glEnd(); glPopMatrix(); } } glutPostRedisplay(); glutSwapBuffers(); } int main(int argc,char** argv) { dynamicsWorld->setGravity(btVector3(0,-10,0)); ///create a few basic rigid bodies btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(55.),btScalar(50.))); //keep track of the shapes, we release memory at exit. //make sure to re-use collision shapes among rigid bodies whenever possible! btAlignedObjectArray<btCollisionShape*> collisionShapes; collisionShapes.push_back(groundShape); btTransform groundTransform; groundTransform.setIdentity(); groundTransform.setOrigin(btVector3(0,-55,0)); { btScalar mass(0.); //rigidbody is dynamic if and only if mass is non zero, otherwise static bool isDynamic = (mass != 0.f); btVector3 localInertia(0,0,0); if (isDynamic) groundShape->calculateLocalInertia(mass,localInertia); //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects 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); } btTriangleMesh* mesh = new btTriangleMesh(false); mesh->addTriangle( btVector3( 0, 1, 0 ), btVector3( 0, 0, 0 ), btVector3( 0, 1, 0 ) ); mesh->addTriangle( btVector3( 0, 1, 0 ), btVector3( 0, 0, 1 ), btVector3( 1, 0, 0 ) ); mesh->addTriangle( btVector3( 1, 0, 0 ), btVector3( 0, 0, 1 ), btVector3( 0, 0, 0 ) ); mesh->addTriangle( btVector3( 0, 1, 0 ), btVector3( 0, 0, 0 ), btVector3( 0, 0, 1 ) ); vector <int> indices; indices.push_back(2);indices.push_back(1);indices.push_back(0); indices.push_back(2);indices.push_back(3);indices.push_back(1); indices.push_back(1);indices.push_back(3);indices.push_back(0); indices.push_back(2);indices.push_back(0);indices.push_back(3); std::vector <float> positions; positions.push_back(0);positions.push_back(0);positions.push_back(0); positions.push_back(1);positions.push_back(0);positions.push_back(0); positions.push_back(0);positions.push_back(1);positions.push_back(0); positions.push_back(0);positions.push_back(0);positions.push_back(1); btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(dynamicsWorld ->getDispatcher()); btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); btTriangleIndexVertexArray * vert = new btTriangleIndexVertexArray ( 4, &indices[0], 3*sizeof(int), 4, &positions[0], sizeof(float) ); btGImpactMeshShape * impact_shape = new btGImpactMeshShape(vert); impact_shape->setLocalScaling(btVector3(1.,1.,1.)); impact_shape->setMargin(0.04f); impact_shape->updateBound(); collisionShapes.push_back(impact_shape); btVector3 localInertia2(0,0,0); btScalar mass(3.0f); btTransform startTransform2; startTransform2.setIdentity(); startTransform2.setOrigin( btVector3(2,10,0) ); //center is myShape's center impact_shape->calculateLocalInertia(mass,localInertia2); btDefaultMotionState* motionState = new btDefaultMotionState(startTransform2); btRigidBody * rig = new btRigidBody(mass,motionState,impact_shape,localInertia2); dynamicsWorld->addRigidBody(rig); btGImpactMeshShape * impact_shape2 = new btGImpactMeshShape(vert); impact_shape2->setLocalScaling(btVector3(1.,1.,1.)); impact_shape2->setMargin(0.04f); impact_shape2->updateBound(); collisionShapes.push_back(impact_shape2); startTransform2.setIdentity(); startTransform2.setOrigin( btVector3(3,14,0) ); //center is myShape's center impact_shape2->calculateLocalInertia(mass,localInertia2); btDefaultMotionState* motionState2 = new btDefaultMotionState(startTransform2); btRigidBody * rig2 = new btRigidBody(mass,motionState2,impact_shape2,localInertia2); dynamicsWorld->addRigidBody(rig2); glutInit(&argc,argv); glutInitDisplayMode(GLUT_DOUBLE|GLUT_RGBA|GLUT_DEPTH); glutInitWindowSize(900,900); glutInitWindowPosition(200,100); glutCreateWindow("TestBed Framework"); glutDisplayFunc(display); glutReshapeFunc(reshape); glutMouseFunc(Mouse); glutMotionFunc(Motion); Init(); glutMainLoop(); return 0; } [/CODE]