drawstuffでbullet

ODEユーザ?としては、とりあえずdrawstuffで表示できるとなんとなくわかるような気になれるので、
とりあえずdrawstuffで表示出来るかを試してみました。


  








#include <btBulletDynamicsCommon.h>
#include <iostream>
#include <drawstuff/drawstuff.h>


btDiscreteDynamicsWorld* dynamicsWorld = NULL;

btCollisionShape* fallShape = NULL;
btRigidBody* fallRigidBody = NULL;


void QtoR( float Q[4], float R[12] )
{
// q = (s,vx,vy,vz)
float qq1 = 2*Q[1]*Q[1];
float qq2 = 2*Q[2]*Q[2];
float qq3 = 2*Q[3]*Q[3];
R[0*4+0] = 1 - qq2 - qq3;
R[0*4+1] = 2*(Q[1]*Q[2] - Q[0]*Q[3]);
R[0*4+2] = 2*(Q[1]*Q[3] + Q[0]*Q[2]);
R[0*4+3] = 0.0;
R[1*4+0] = 2*(Q[1]*Q[2] + Q[0]*Q[3]);
R[1*4+1] = 1 - qq1 - qq3;
R[1*4+2] = 2*(Q[2]*Q[3] - Q[0]*Q[1]);
R[1*4+3] = 0.0;
R[2*4+0] = 2*(Q[1]*Q[3] - Q[0]*Q[2]);
R[2*4+1] = 2*(Q[2]*Q[3] + Q[0]*Q[1]);
R[2*4+2] = 1 - qq1 - qq2;
R[2*4+3] = 0.0;
}


// start simulation - set viewpoint
static void start()
{
static float xyz[3] = { 0.f, -15.f, 5.f };
static float hpr[3] = { 90.f, -5.f, 0.f };

dsSetViewpoint( xyz, hpr ); // カメラ位置と方向設定
}


// simulation loop
static void simLoop( int pause )
{

// Ctl+p が押されたらifに入らない
if (!pause)
{
dynamicsWorld->stepSimulation( 0.01f, 10 );// 世界を進める

}


if (fallRigidBody) {
btTransform trans;
fallRigidBody->getMotionState()->getWorldTransform(trans);

float pos[3] = {
trans.getOrigin().getX(),
trans.getOrigin().getY(),
trans.getOrigin().getZ()
};
float Q[4] = {
trans.getRotation().getW(),
trans.getRotation().getX(),
trans.getRotation().getY(),
trans.getRotation().getZ()
};
float R[12];
QtoR( Q, R );

dsSetColor( 1, 1, 0 ); // RGB Color

// 球体の表示
if (fallShape->getShapeType() == SPHERE_SHAPE_PROXYTYPE) {
float radius = reinterpret_cast<btSphereShape*>(fallShape)->getRadius();

dsDrawSphere( pos, R, radius );
}
// Boxの表示
if (fallShape->getShapeType() == BOX_SHAPE_PROXYTYPE) {
const btVector3 halfext = reinterpret_cast<btBoxShape*>(fallShape)->getHalfExtentsWithoutMargin();
float size[3] = { halfext.getX()*2, halfext.getY()*2, halfext.getZ()*2 };

dsDrawBox( pos, R, size );
}
}
}


int main( int argc, char* argv[] )
{
///////////////////////////////////////////////////////////////////////////

// setup pointers to drawstuff callback functions
dsFunctions fn;
fn.version = DS_VERSION;
fn.start = &start;
fn.step = &simLoop;
fn.command = 0;
fn.stop = 0;
fn.path_to_textures = "../drawstuff/textures";

///////////////////////////////////////////////////////////////////////////

// ワールドの広さ （10km 四方）
btVector3 worldAabbMin(-10000,-10000,-10000);
// プロキシ最大数
btVector3 worldAabbMax(10000,10000,10000);
int maxProxies = 1024;
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies); // broadphase準備

// デフォルトの衝突設定
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
// ディスパッチャ作成
btCollisionDispatcher* dispatcher = new btCollisionDispatcher( collisionConfiguration );

// ソルバ
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver;

// ワールド生成
dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher, broadphase, solver, collisionConfiguration);

// 重力設定
dynamicsWorld->setGravity(btVector3(0,0,-10)); // z軸方向（-10m/s^2）


// 地面の生成
btCollisionShape* groundShape;
btRigidBody* groundRigidBody;
{
groundShape = new btStaticPlaneShape(btVector3(0,0,1),1);

btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,-1)));
btRigidBody::btRigidBodyConstructionInfo
groundRigidBodyCI(0, groundMotionState, groundShape, btVector3(0,0,0));
groundRigidBody = new btRigidBody(groundRigidBodyCI);
dynamicsWorld->addRigidBody(groundRigidBody);
}


// 落下物体の生成
btDefaultMotionState* fallMotionState;
{
//fallShape = new btSphereShape(1); // 球体 (半径）
fallShape = new btBoxShape(btVector3(1,1,1)); // Box（サイズx, y, z）

fallMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,10))); // 姿勢と位置
btScalar mass = 1; // 質量
btVector3 fallInertia(0,0,0); // 慣性
fallShape->calculateLocalInertia(mass, fallInertia);
btRigidBody::btRigidBodyConstructionInfo fallRigidBodyCI(mass, fallMotionState, fallShape, fallInertia );
fallRigidBody = new btRigidBody(fallRigidBodyCI);
dynamicsWorld->addRigidBody( fallRigidBody );
}


///////////////////////////////////////////////////////////////////////////
// シミュレーション

dsSimulationLoop( argc, argv, 600, 400, &fn );


///////////////////////////////////////////////////////////////////////////
// 終了処理

dynamicsWorld->removeRigidBody( fallRigidBody );
delete fallRigidBody->getMotionState();
delete fallRigidBody;

dynamicsWorld->removeRigidBody( groundRigidBody );
delete groundRigidBody->getMotionState();
delete groundRigidBody;

delete fallShape;
delete groundShape;

delete dynamicsWorld;
delete solver;
delete collisionConfiguration;
delete dispatcher;
delete broadphase;

//btDiscreteDynamicsWorld* dynamicsWorld = new btDiscreteDynamicsWorld( dispatcher, );
return 0;
}
 

とりあえず、できたっぽいです。
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