Bullet　その１　導入編

#pragma warning( disable : 4819 )
 
#define FREEGLUT_STATIC
#include <btBulletCollisionCommon.h>
#include <btBulletDynamicsCommon.h>
#include <BulletSoftBody/btSoftRigidDynamicsWorld.h>
#include <BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h>
#include <boost/shared_ptr.hpp>
#include <GL/freeglut.h>
#include <iostream>
#include <vector>
#include <crtdbg.h>
 
#ifdef _DEBUG
#pragma comment( lib, "BulletCollision_d.lib" )
#pragma comment( lib, "BulletDynamics_d.lib" )
#pragma comment( lib, "BulletSoftBody_d.lib" )
#pragma comment( lib, "LinearMath_d.lib" )
#else
#pragma comment( lib, "BulletCollision.lib" )
#pragma comment( lib, "BulletDynamics.lib" )
#pragma comment( lib, "BulletSoftBody.lib" )
#pragma comment( lib, "LinearMath.lib" )
#endif
 
typedef boost::shared_ptr< btCollisionShape > ShapePtr;
typedef boost::shared_ptr< btMotionState > MotionStatePtr;
typedef boost::shared_ptr< btCollisionObject > ObjectPtr;
 
boost::shared_ptr< btDynamicsWorld > g_World;
boost::shared_ptr< btCollisionDispatcher > g_Dispatcher;
boost::shared_ptr< btBroadphaseInterface > g_Broadpahse;
boost::shared_ptr< btCollisionConfiguration > g_Configuration;
boost::shared_ptr< btConstraintSolver > g_Solver;
boost::shared_ptr< btIDebugDraw > g_DebugDraw;
std::vector< ShapePtr > g_Shapes;
std::vector< MotionStatePtr > g_MotionStates;
std::vector< ObjectPtr > g_Objects;
 
btIDebugDraw* CreateDebugDraw();
 
void CreatePlaneGround();
void CreateBox();
 
void InitPhysics()
{
	//メモリ管理者
	g_Configuration.reset( new btSoftBodyRigidBodyCollisionConfiguration );
 
	//高精度の衝突検知
	g_Dispatcher.reset( new btCollisionDispatcher( g_Configuration.get()) );
 
	//低精度の衝突検知
	g_Broadpahse.reset( new btDbvtBroadphase );
 
	//ジョイントなどの管理
	g_Solver.reset( new btSequentialImpulseConstraintSolver );
 
	//エンジン管理者
	g_World.reset( new btSoftRigidDynamicsWorld( g_Dispatcher.get(), g_Broadpahse.get(), g_Solver.get(), g_Configuration.get() ) );
 
	//デバッグ描画
	g_DebugDraw.reset( CreateDebugDraw() );
 
	g_World->setDebugDrawer( g_DebugDraw.get() );
 
	//重力の設定
	g_World->setGravity( btVector3( 0.0f, -9.81f, 0.0f ) );
 
	CreatePlaneGround();
	CreateBox();
}
 
void idle()
{
	//シミュレーションを実行
	g_World->stepSimulation( 1.0f / 60.0f, 1 );
 
	glutPostRedisplay();
}
 
void display()
{
	glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
 
	//デバッグ用描画
	g_World->debugDrawWorld();
 
	glutSwapBuffers();
}
 
void release()
{
	for( unsigned int i = 0; i < g_Objects.size(); i++ ){
		g_World->removeCollisionObject( g_Objects[i].get() );
	}
}
 
void key( unsigned char key, int x, int y )
{
	switch( key )
	{
	case '\033':
		release();
		exit( 0 );
		break;
	case 'z':
		CreateBox();
		break;
	default:
		break;
 
	}
}
 
void InitOpenGL()
{
	glMatrixMode( GL_PROJECTION );
	glLoadIdentity();
	gluPerspective(
		45.0f, 
		640.0f/480.0f,
		1.0f,
		10000.0f );
 
	glMatrixMode( GL_MODELVIEW );
	glLoadIdentity();
	gluLookAt(
		0.0f, 20.0f, 30.0f,
		0.0f, 0.0f, 0.0f,
		0.0f, 1.0f, 0.0f );
 
	glEnable( GL_DEPTH_TEST );
}
 
 
void main( int argc, char* argv[] )
{
	//メモリリークチェック
#if defined( DEBUG ) | defined( _DEBUG )
	_CrtSetDbgFlag( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF );
#endif
 
	glutInit( &argc, argv );
	glutInitDisplayMode( GLUT_RGBA | GLUT_DEPTH | GLUT_DOUBLE );
	glutInitWindowSize( 640, 480 );
	glutInitWindowPosition( 0, 0 );
 
	glutCreateWindow( "Bullet Introduction" );
 
	InitOpenGL();
	InitPhysics();
 
	glClearColor( 0.0f ,0.0f, 1.0f, 1.0f );
	glutDisplayFunc( display );
	glutIdleFunc( idle );
	glutKeyboardFunc( key );
 
	glutMainLoop();
}
 
void CreateBox()
{
	//形状の生成
	ShapePtr shape( new btBoxShape( btVector3( 1.0f, 1.0f, 1.0f ) ) );
 
	//初期位置の設定
	btMatrix3x3 mat;
	mat.setIdentity();
	MotionStatePtr motion( new btDefaultMotionState( btTransform( mat, btVector3( 0.0f, 9.0f, 0.0f ) ) ) );
 
	float mass = 1.0f;
	//質量から慣性の計算
	btVector3 localInertia;
	shape->calculateLocalInertia( mass, localInertia );
 
	btRigidBody::btRigidBodyConstructionInfo info( mass, motion.get(), shape.get(), localInertia );
 
	//剛体の生成
	btRigidBody* body( new btRigidBody( info ) );
 
	//登録
	g_World->addRigidBody( body );
 
	//コンテナに追加
	g_Objects.push_back( ObjectPtr( body ) );
	g_MotionStates.push_back( motion );
	g_Shapes.push_back( shape );
}
 
//平地面の生成
void CreatePlaneGround()
{
	//形状の生成
	ShapePtr shape( new btBoxShape( btVector3( 20.0f, 0.0f, 20.0f ) ) );
 
	//ワールド行列の仲介者
	MotionStatePtr motion( new btDefaultMotionState() );
 
	static const float mass = 0.0f; //質量を０に指定すると静的オブジェクトと判定される
	btRigidBody::btRigidBodyConstructionInfo info( mass, motion.get(), shape.get() );
 
	//剛体の生成
	btRigidBody* body( new btRigidBody( info ) );
 
	//登録
	g_World->addRigidBody( body );
 
	//コンテナに追加
	g_Objects.push_back( ObjectPtr( body ) );
	g_MotionStates.push_back( motion );
	g_Shapes.push_back( shape );
}
 
btIDebugDraw* CreateDebugDraw() {
 
	class DebugDraw : public btIDebugDraw 
	{
	private:
		//デバッグモード
		int m_DebugMode;
	public:
		//コストラクタ
		DebugDraw()
		{}
 
		//ラインの描画
		void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
		{
			glPushAttrib( GL_CURRENT_BIT | GL_ENABLE_BIT );
 
			glColor4f( color.x(), color.y(), color.z(), 1.0f );
			glBegin( GL_LINES );
			glVertex3fv( from );
			glVertex3fv( to );
			glEnd();
 
			glPopAttrib();
		}
 
		//ラインの描画
		void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
		{
			glPushAttrib( GL_CURRENT_BIT | GL_ENABLE_BIT );
 
			glBegin( GL_LINES );
			glColor4f( fromColor.x(), fromColor.y(), fromColor.z(), 1.0f );
			glVertex3fv( from );
			glColor4f( toColor.x(), toColor.y(), toColor.z(), 1.0f );
			glVertex3fv( to );
			glEnd();
 
			glPopAttrib();
		}
 
		//接触点の描画
		void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
		{
			glPushAttrib( GL_CURRENT_BIT | GL_ENABLE_BIT );
 
			btVector3 to=PointOnB+normalOnB*distance;
			const btVector3&from = PointOnB;
			glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
 
			glBegin(GL_LINES);
			glVertex3d(from.getX(), from.getY(), from.getZ());
			glVertex3d(to.getX(), to.getY(), to.getZ());
			glEnd();
 
			glPopAttrib();
 
		}
 
		//エラーの表示
		void reportErrorWarning(const char* warningString)
		{
			std::cout << warningString << std::endl;
		}
 
		//３Ｄテキストの描画
		void draw3dText(const btVector3& location,const char* textString)
		{}
 
		//デバッグモードの設定
		void setDebugMode(int debugMode)
		{
			m_DebugMode = debugMode;
		}
 
		//デバッグモードの取得
		int getDebugMode() const
		{
			return m_DebugMode;
		}
	};
 
	return new DebugDraw;
}