jsp网站开发介绍,内容社交电商平台,北京市信息网,网页设计图片怎么换之前试了一下Bullet3物理引擎#xff0c;但在linux上编译失败#xff0c;于是放弃了。令我不满的还有另外一个原因#xff0c;下载的发行包竟然有500M。C的Bullet3代码根本用不了#xff0c;大部分教程实际都是用的老版本。而且此项目还整了python版本#xff0c;各种蹭人… 之前试了一下Bullet3物理引擎但在linux上编译失败于是放弃了。令我不满的还有另外一个原因下载的发行包竟然有500M。C的Bullet3代码根本用不了大部分教程实际都是用的老版本。而且此项目还整了python版本各种蹭人工智能的热度感觉后面的维护者越来越不靠谱了。 于是我准备换用ode引擎下面对bullet3的简单使用记录一下。
一、配置
# bullet3
# 3实际上没有教程似乎已经弃坑这里使用2的版本
# https://github.com/bulletphysics/bullet3/issues/4002
include_directories(${CMAKE_SOURCE_DIR}/third/bullet3/src)
target_link_libraries(${PROJECT_NAME} PRIVATE LinearMath)
target_link_libraries(${PROJECT_NAME} PRIVATE BulletCollision)
target_link_libraries(${PROJECT_NAME} PRIVATE BulletDynamics) 在CMakePresets.json里需要加入以下变量到cacheVariables关闭其他东西的构建
BUILD_EXTRAS: false,
BUILD_UNIT_TESTS: false 二、使用
/**
* file dl_physics.h
* brief 3d物理基于Bullet3
*
*
* version 1.0
* author lveyou
* date 22-10-28
*
* note
*/
#pragma once#include vector#include btBulletDynamicsCommon.h#include dl_type.h
#include math/dl_transform.h
#include dl_time.h
#include dl_rigid_body.h//Extras / BulletMultiThreaded 拥有多线程版本 碰撞调度和 解算器namespace dl
{inline btVector3 toBtVector3(const Position3 v)
{return btVector3(v[0], v[1], v[2]);
}class RigidBodyImp
{
public:btRigidBody* _rigidBody;btMotionState* _motion;//运动状态可选 动态物体才有size_t _idShape;//形状id
};class Physics
{
public:btDefaultCollisionConfiguration* _collConfig;//碰撞配置btCollisionDispatcher* _collDispatcher;//碰撞调度btBroadphaseInterface* _broadphase;//broad-phasebtSequentialImpulseConstraintSolver* _solver;//解算器btDiscreteDynamicsWorld* _world;//世界std::vectorbtCollisionShape* _allShape;//所有形状Physics(){_collConfig new btDefaultCollisionConfiguration;_collDispatcher new btCollisionDispatcher(_collConfig);_broadphase new btDbvtBroadphase;_solver new btSequentialImpulseConstraintSolver;_world new btDiscreteDynamicsWorld(_collDispatcher, _broadphase, _solver, _collConfig);_world-setGravity(btVector3(0, 0, -Numbers::GRAVITY));btCollisionShape* shape new btBoxShape(btVector3(1, 1, 1));_allShape.push_back(shape);}/*** brief 创建刚体* param[in] shape_id 形状id* param[in] trans 变换* param[in] mass 质量* retval 失败返回nullptr*/RigidBody* CreateRigidBody(size_t shape_id, Transform* trans, Float mass){if (shape_id _allShape.size()){log_err0(shape id越界);return nullptr;}RigidBody* ret new RigidBody;RigidBodyImp* body ret-GetImp();//形状body-_idShape shape_id;btCollisionShape* shape _allShape[shape_id];//运动状态btTransform bt_trans;bt_trans.setIdentity();Position3 pos trans-GetTranslation();bt_trans.setOrigin(toBtVector3(pos));body-_motion new btDefaultMotionState(bt_trans);//质量和惯性btScalar bt_mass{ mass };btVector3 local_inertia(0, 0, 0);if (bt_mass)shape-calculateLocalInertia(bt_mass, local_inertia);//创建刚体body-_rigidBody new btRigidBody(bt_mass, body-_motion, shape);//加入世界_world-addRigidBody(body-_rigidBody);return ret;}//! 创建默认刚体RigidBody* CreateRigidBodyDefault(Transform* trans){return CreateRigidBody(0, trans, 1);}//! 创建形状 boxsize_t CreateShapeBox(const Position3 box){size_t id _allShape.size();btCollisionShape* shape new btBoxShape(toBtVector3(box));_allShape.push_back(shape);return id;}void Update(){_world-stepSimulation(g_time-GetDelta());//更新位置/*for (int j _world-getNumCollisionObjects() - 1; j 0; j--){btCollisionObject* obj _world-getCollisionObjectArray()[j];btRigidBody* body btRigidBody::upcast(obj);btTransform trans;if (body body-getMotionState()){body-getMotionState()-getWorldTransform(trans);}else{trans obj-getWorldTransform();}trans.getOpenGLMatrix()printf(world pos object %d %f,%f,%f\n, j, float(trans.getOrigin().getX()), float(trans.getOrigin().getY()), float(trans.getOrigin().getZ()));}*/}void UpdateRigidBody(RigidBodyImp* body, Transform* trans){btTransform bt_trans;btRigidBody* bt_body body-_rigidBody;if (bt_body-getMotionState()){bt_body-getMotionState()-getWorldTransform(bt_trans);}else{bt_trans bt_body-getWorldTransform();}const btVector3 pos bt_trans.getOrigin();trans-SetTranslation({pos.getX(), pos.getY(), pos.getZ()});}~Physics(){//反向删除for (int i _world-getNumCollisionObjects() - 1; i 0; --i){btCollisionObject* obj _world-getCollisionObjectArray()[i];btRigidBody* body btRigidBody::upcast(obj);if (body body-getMotionState()){delete body-getMotionState();}_world-removeCollisionObject(obj);delete obj;}for (auto iter : _allShape){delete iter;}delete _world;delete _solver;delete _broadphase;delete _collDispatcher;delete _collConfig;}
};extern Physics* g_physics;}
