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//***************************************************************
// Bullet/irrlicht demo by Alan Witkowski
// http://www.cs.utah.edu/~witkowsk
// http://code.google.com/p/irrlamb/
//***************************************************************
#include <irrlicht/irrlicht.h>
#include <bullet/btBulletCollisionCommon.h>
#include <bullet/btBulletDynamicsCommon.h>
#include <cstdlib>
using namespace irr;
using namespace core;
using namespace scene;
using namespace video;
using namespace io;
using namespace gui;
// Functions
static void CreateStartScene();
static void CreateBox(const btVector3 &TPosition, const vector3df &TScale, btScalar TMass);
static void CreateSphere(const btVector3 &TPosition, btScalar TRadius, btScalar TMass);
static void QuaternionToEuler(const btQuaternion &TQuat, btVector3 &TEuler);
static void UpdatePhysics(u32 TDeltaTime);
static void UpdateRender(btRigidBody *TObject);
static void ClearObjects();
static int GetRandInt(int TMax) { return rand() % TMax; }
// Globals
static bool Done = false;
static btDiscreteDynamicsWorld *World;
static IrrlichtDevice *irrDevice;
static IVideoDriver *irrDriver;
static ISceneManager *irrScene;
static IGUIEnvironment *irrGUI;
static IFileSystem *irrFile;
static ITimer *irrTimer;
static ILogger *irrLog;
static list<btRigidBody *> Objects;
// Event receiver
class EventReceiverClass : public IEventReceiver {
public:
virtual bool OnEvent(const SEvent &TEvent) {
if(TEvent.EventType == EET_KEY_INPUT_EVENT && !TEvent.KeyInput.PressedDown) {
switch(TEvent.KeyInput.Key) {
case KEY_ESCAPE:
Done = true;
break;
case KEY_KEY_1:
CreateBox(btVector3(GetRandInt(10) - 5.0f, 7.0f, GetRandInt(10) - 5.0f), vector3df(GetRandInt(3) + 0.5f, GetRandInt(3) + 0.5f, GetRandInt(3) + 0.5f), 1.0f);
break;
case KEY_KEY_2:
CreateSphere(btVector3(GetRandInt(10) - 5.0f, 7.0f, GetRandInt(10) - 5.0f), GetRandInt(5) / 5.0f + 0.2f, 1.0f);
break;
case KEY_KEY_X:
CreateStartScene();
break;
default:
return false;
break;
}
return true;
}
return false;
}
};
int main() {
// Initialize irrlicht
EventReceiverClass Receiver;
irrDevice = createDevice(video::EDT_OPENGL, dimension2di(800, 600), 32, false, false, false, &Receiver);
irrGUI = irrDevice->getGUIEnvironment();
irrTimer = irrDevice->getTimer();
irrScene = irrDevice->getSceneManager();
irrDriver = irrDevice->getVideoDriver();
irrDevice->getCursorControl()->setVisible(0);
// Initialize bullet
btDefaultCollisionConfiguration *CollisionConfiguration = new btDefaultCollisionConfiguration();
btBroadphaseInterface *BroadPhase = new btAxisSweep3(btVector3(-1000, -1000, -1000), btVector3(1000, 1000, 1000));
btCollisionDispatcher *Dispatcher = new btCollisionDispatcher(CollisionConfiguration);
btSequentialImpulseConstraintSolver *Solver = new btSequentialImpulseConstraintSolver();
World = new btDiscreteDynamicsWorld(Dispatcher, BroadPhase, Solver, CollisionConfiguration);
// Add camera
ICameraSceneNode *Camera = irrScene->addCameraSceneNodeFPS(0, 100, 10);
Camera->setPosition(vector3df(0, 5, -5));
Camera->setTarget(vector3df(0, 0, 0));
// Preload textures
irrDriver->getTexture("ice0.jpg");
irrDriver->getTexture("rust0.jpg");
// Create text
IGUISkin *Skin = irrGUI->getSkin();
Skin->setColor(EGDC_BUTTON_TEXT, SColor(255, 255, 255, 255));
irrGUI->addStaticText(L"Hit 1 to create a box\nHit 2 to create a sphere\nHit x to reset", rect<s32>(0, 0, 200, 100), false);
// Create the initial scene
irrScene->addLightSceneNode(0, core::vector3df(2, 5, -2), SColorf(4, 4, 4, 1));
CreateStartScene();
// Main loop
u32 TimeStamp = irrTimer->getTime(), DeltaTime = 0;
while(!Done) {
DeltaTime = irrTimer->getTime() - TimeStamp;
TimeStamp = irrTimer->getTime();
UpdatePhysics(DeltaTime);
irrDriver->beginScene(true, true, SColor(255, 20, 0, 0));
irrScene->drawAll();
irrGUI->drawAll();
irrDriver->endScene();
irrDevice->run();
}
ClearObjects();
delete World;
delete Solver;
delete Dispatcher;
delete BroadPhase;
delete CollisionConfiguration;
irrDevice->drop();
return 0;
}
// Runs the physics simulation.
// - TDeltaTime tells the simulation how much time has passed since the last frame so the simulation can run independently of the frame rate.
void UpdatePhysics(u32 TDeltaTime) {
World->stepSimulation(TDeltaTime * 0.001f, 60);
// Relay the object's orientation to irrlicht
for(list<btRigidBody *>::Iterator Iterator = Objects.begin(); Iterator != Objects.end(); ++Iterator) {
UpdateRender(*Iterator);
}
}
// Creates a base box
void CreateStartScene() {
ClearObjects();
CreateBox(btVector3(0.0f, 0.0f, 0.0f), vector3df(10.0f, 0.5f, 10.0f), 0.0f);
}
// Create a box rigid body
void CreateBox(const btVector3 &TPosition, const vector3df &TScale, btScalar TMass) {
ISceneNode *Node = irrScene->addCubeSceneNode(1.0f);
Node->setScale(TScale);
Node->setMaterialFlag(EMF_LIGHTING, 1);
Node->setMaterialFlag(EMF_NORMALIZE_NORMALS, true);
Node->setMaterialTexture(0, irrDriver->getTexture("rust0.jpg"));
// Set the initial position of the object
btTransform Transform;
Transform.setIdentity();
Transform.setOrigin(TPosition);
btDefaultMotionState *MotionState = new btDefaultMotionState(Transform);
// Create the shape
btVector3 HalfExtents(TScale.X * 0.5f, TScale.Y * 0.5f, TScale.Z * 0.5f);
btCollisionShape *Shape = new btBoxShape(HalfExtents);
// Add mass
btVector3 LocalInertia;
Shape->calculateLocalInertia(TMass, LocalInertia);
// Create the rigid body object
btRigidBody *RigidBody = new btRigidBody(TMass, MotionState, Shape, LocalInertia);
// Store a pointer to the irrlicht node so we can update it later
RigidBody->setUserPointer((void *)(Node));
// Add it to the world
World->addRigidBody(RigidBody);
Objects.push_back(RigidBody);
}
// Create a sphere rigid body
void CreateSphere(const btVector3 &TPosition, btScalar TRadius, btScalar TMass) {
ISceneNode *Node = irrScene->addSphereSceneNode(TRadius, 32);
Node->setMaterialFlag(EMF_LIGHTING, 1);
Node->setMaterialFlag(EMF_NORMALIZE_NORMALS, true);
Node->setMaterialTexture(0, irrDriver->getTexture("ice0.jpg"));
// Set the initial position of the object
btTransform Transform;
Transform.setIdentity();
Transform.setOrigin(TPosition);
btDefaultMotionState *MotionState = new btDefaultMotionState(Transform);
// Create the shape
btCollisionShape *Shape = new btSphereShape(TRadius);
// Add mass
btVector3 LocalInertia;
Shape->calculateLocalInertia(TMass, LocalInertia);
// Create the rigid body object
btRigidBody *RigidBody = new btRigidBody(TMass, MotionState, Shape, LocalInertia);
// Store a pointer to the irrlicht node so we can update it later
RigidBody->setUserPointer((void *)(Node));
// Add it to the world
World->addRigidBody(RigidBody);
Objects.push_back(RigidBody);
}
// Converts a quaternion to an euler angle
void QuaternionToEuler(const btQuaternion &TQuat, btVector3 &TEuler) {
btScalar W = TQuat.getW();
btScalar X = TQuat.getX();
btScalar Y = TQuat.getY();
btScalar Z = TQuat.getZ();
float WSquared = W * W;
float XSquared = X * X;
float YSquared = Y * Y;
float ZSquared = Z * Z;
TEuler.setX(atan2f(2.0f * (Y * Z + X * W), -XSquared - YSquared + ZSquared + WSquared));
TEuler.setY(asinf(-2.0f * (X * Z - Y * W)));
TEuler.setZ(atan2f(2.0f * (X * Y + Z * W), XSquared - YSquared - ZSquared + WSquared));
TEuler *= RADTODEG;
}
// Passes bullet's orientation to irrlicht
void UpdateRender(btRigidBody *TObject) {
ISceneNode *Node = static_cast<ISceneNode *>(TObject->getUserPointer());
// Set position
btPoint3 Point = TObject->getCenterOfMassPosition();
Node->setPosition(vector3df((f32)Point[0], (f32)Point[1], (f32)Point[2]));
// Set rotation
btVector3 EulerRotation;
QuaternionToEuler(TObject->getOrientation(), EulerRotation);
Node->setRotation(vector3df(EulerRotation[0], EulerRotation[1], EulerRotation[2]));
}
// Removes all objects from the world
void ClearObjects() {
for(list<btRigidBody *>::Iterator Iterator = Objects.begin(); Iterator != Objects.end(); ++Iterator) {
btRigidBody *Object = *Iterator;
// Delete irrlicht node
ISceneNode *Node = static_cast<ISceneNode *>(Object->getUserPointer());
Node->remove();
// Remove the object from the world
World->removeRigidBody(Object);
// Free memory
delete Object->getMotionState();
delete Object->getCollisionShape();
delete Object;
}
Objects.clear();
}
