bullet3/examples/OpenCL/rigidbody/ConcaveScene.cpp

#include "ConcaveScene.h"
#include "GpuRigidBodyDemo.h"
#include "OpenGLWindow/ShapeData.h"

#include "OpenGLWindow/GLInstancingRenderer.h"
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
#include "GpuRigidBodyDemoInternalData.h"
#include "../../Wavefront/tiny_obj_loader.h"
#include "Bullet3Common/b3Transform.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3ConvexUtility.h"

#include "Bullet3AppSupport/gwenUserInterface.h"
#include "OpenGLWindow/GLInstanceGraphicsShape.h"
#define CONCAVE_GAPX 14
#define CONCAVE_GAPY 5
#define CONCAVE_GAPZ 14

GLInstanceGraphicsShape* createGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes)
{
	b3AlignedObjectArray<GLInstanceVertex>* vertices = new b3AlignedObjectArray<GLInstanceVertex>;
	{
		//		int numVertices = obj->vertexCount;
		//	int numIndices = 0;
		b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;

		for (int s = 0; s < shapes.size(); s++)
		{
			tinyobj::shape_t& shape = shapes[s];
			int faceCount = shape.mesh.indices.size();

			for (int f = 0; f < faceCount; f += 3)
			{
				//b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
				if (1)
				{
					b3Vector3 normal = b3MakeVector3(0, 1, 0);
					int vtxBaseIndex = vertices->size();

					indicesPtr->push_back(vtxBaseIndex);
					indicesPtr->push_back(vtxBaseIndex + 1);
					indicesPtr->push_back(vtxBaseIndex + 2);

					GLInstanceVertex vtx0;
					vtx0.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f] * 3 + 0];
					vtx0.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f] * 3 + 1];
					vtx0.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f] * 3 + 2];
					vtx0.xyzw[3] = 0.f;

					vtx0.uv[0] = 0.5f;  //shape.mesh.positions[shape.mesh.indices[f]*3+2];?
					vtx0.uv[1] = 0.5f;

					GLInstanceVertex vtx1;
					vtx1.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0];
					vtx1.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1];
					vtx1.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2];
					vtx1.xyzw[3] = 0.f;
					vtx1.uv[0] = 0.5f;  //obj->textureList[face->vertex_index[1]]->e[0];
					vtx1.uv[1] = 0.5f;  //obj->textureList[face->vertex_index[1]]->e[1];

					GLInstanceVertex vtx2;
					vtx2.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0];
					vtx2.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1];
					vtx2.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2];
					vtx2.xyzw[3] = 0.f;
					vtx2.uv[0] = 0.5f;
					vtx2.uv[1] = 0.5f;

					b3Vector3 v0 = b3MakeVector3(vtx0.xyzw[0], vtx0.xyzw[1], vtx0.xyzw[2]);
					b3Vector3 v1 = b3MakeVector3(vtx1.xyzw[0], vtx1.xyzw[1], vtx1.xyzw[2]);
					b3Vector3 v2 = b3MakeVector3(vtx2.xyzw[0], vtx2.xyzw[1], vtx2.xyzw[2]);

					normal = (v1 - v0).cross(v2 - v0);
					normal.normalize();
					vtx0.normal[0] = normal[0];
					vtx0.normal[1] = normal[1];
					vtx0.normal[2] = normal[2];
					vtx1.normal[0] = normal[0];
					vtx1.normal[1] = normal[1];
					vtx1.normal[2] = normal[2];
					vtx2.normal[0] = normal[0];
					vtx2.normal[1] = normal[1];
					vtx2.normal[2] = normal[2];
					vertices->push_back(vtx0);
					vertices->push_back(vtx1);
					vertices->push_back(vtx2);
				}
			}
		}

		GLInstanceGraphicsShape* gfxShape = new GLInstanceGraphicsShape;
		gfxShape->m_vertices = vertices;
		gfxShape->m_numvertices = vertices->size();
		gfxShape->m_indices = indicesPtr;
		gfxShape->m_numIndices = indicesPtr->size();
		for (int i = 0; i < 4; i++)
			gfxShape->m_scaling[i] = 1;  //bake the scaling into the vertices
		return gfxShape;
	}
}

void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci, const char* fileName, const b3Vector3& shift, const b3Vector3& scaling)
{
	char relativeFileName[1024];
	const char* prefix[] = {"./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
	int prefixIndex = -1;
	{
		int numPrefixes = sizeof(prefix) / sizeof(char*);

		for (int i = 0; i < numPrefixes; i++)
		{
			FILE* f = 0;
			sprintf(relativeFileName, "%s%s", prefix[i], fileName);
			f = fopen(relativeFileName, "r");
			if (f)
			{
				fclose(f);
				prefixIndex = i;
				break;
			}
		}
	}

	if (prefixIndex < 0)
		return;

	int index = 10;

	{
		std::vector<tinyobj::shape_t> shapes;
		std::string err = tinyobj::LoadObj(shapes, relativeFileName, prefix[prefixIndex]);

		GLInstanceGraphicsShape* shape = createGraphicsShapeFromWavefrontObj(shapes);

		b3AlignedObjectArray<b3Vector3> verts;
		for (int i = 0; i < shape->m_numvertices; i++)
		{
			for (int j = 0; j < 3; j++)
				shape->m_vertices->at(i).xyzw[j] += shift[j];

			b3Vector3 vtx = b3MakeVector3(shape->m_vertices->at(i).xyzw[0],
										  shape->m_vertices->at(i).xyzw[1],
										  shape->m_vertices->at(i).xyzw[2]);
			verts.push_back(vtx * scaling);
		}

		int colIndex = m_data->m_np->registerConcaveMesh(&verts, shape->m_indices, b3MakeVector3(1, 1, 1));

		{
			int strideInBytes = 9 * sizeof(float);
			int numVertices = sizeof(cube_vertices) / strideInBytes;
			int numIndices = sizeof(cube_indices) / sizeof(int);
			//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
			//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);

			int shapeId = ci.m_instancingRenderer->registerShape(&shape->m_vertices->at(0).xyzw[0], shape->m_numvertices, &shape->m_indices->at(0), shape->m_numIndices);
			b3Quaternion orn(0, 0, 0, 1);

			b3Vector4 color = b3MakeVector4(0.3, 0.3, 1, 1.f);  //0.5);//1.f

			{
				float mass = 0.f;
				b3Vector3 position = b3MakeVector3(0, 0, 0);
				int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId, position, orn, color, scaling);
				int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass, position, orn, colIndex, index, false);
				index++;
			}

			delete shape->m_indices;
			delete shape->m_vertices;
			delete shape;
		}
	}
}

void ConcaveScene::setupScene(const ConstructionInfo& ci)
{
	if (1)
	{
		//char* fileName = "slopedPlane100.obj";
		//char* fileName = "plane100.obj";
		//	char* fileName = "plane100.obj";

		//char* fileName = "teddy.obj";//"plane.obj";
		//	char* fileName = "sponza_closed.obj";//"plane.obj";
		//char* fileName = "leoTest1.obj";
		const char* fileName = "samurai_monastry.obj";
		//	char* fileName = "teddy2_VHACD_CHs.obj";

		b3Vector3 shift1 = b3MakeVector3(0, 0, 0);  //0,230,80);//150,-100,-120);

		b3Vector4 scaling = b3MakeVector4(10, 10, 10, 1);

		//	createConcaveMesh(ci,"plane100.obj",shift1,scaling);
		//createConcaveMesh(ci,"plane100.obj",shift,scaling);

		//	b3Vector3 shift2(0,0,0);//0,230,80);//150,-100,-120);
		//	createConcaveMesh(ci,"teddy.obj",shift2,scaling);

		//	b3Vector3 shift3(130,-150,-75);//0,230,80);//150,-100,-120);
		//	createConcaveMesh(ci,"leoTest1.obj",shift3,scaling);
		createConcaveMesh(ci, fileName, shift1, scaling);
	}
	else
	{
		int strideInBytes = 9 * sizeof(float);
		int numVertices = sizeof(cube_vertices) / strideInBytes;
		int numIndices = sizeof(cube_indices) / sizeof(int);
		int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0], numVertices, cube_indices, numIndices);
		int group = 1;
		int mask = 1;
		int index = 0;
		{
			b3Vector4 scaling = b3MakeVector4(400, 1., 400, 1);
			int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0], strideInBytes, numVertices, scaling);
			b3Vector3 position = b3MakeVector3(0, -2, 0);
			b3Quaternion orn(0, 0, 0, 1);

			b3Vector4 color = b3MakeVector4(0, 0, 1, 1);

			int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId, position, orn, color, scaling);
			int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f, position, orn, colIndex, index, false);
		}
	}

	createDynamicObjects(ci);

	m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();

	float camPos[4] = {0, 0, 0, 0};  //65.5,4.5,65.5,0};
	//float camPos[4]={1,12.5,1.5,0};
	m_instancingRenderer->setCameraPitch(45);
	m_instancingRenderer->setCameraTargetPosition(camPos);
	m_instancingRenderer->setCameraDistance(355);
	char msg[1024];
	int numInstances = m_data->m_rigidBodyPipeline->getNumBodies();
	sprintf(msg, "Num objects = %d", numInstances);
	if (ci.m_gui)
		ci.m_gui->setStatusBarMessage(msg, true);
}

void ConcaveScene::createDynamicObjects(const ConstructionInfo& ci)
{
	int strideInBytes = 9 * sizeof(float);
	int numVertices = sizeof(cube_vertices) / strideInBytes;
	int numIndices = sizeof(cube_indices) / sizeof(int);
	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
	int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0], numVertices, cube_indices, numIndices);
	int group = 1;
	int mask = 1;

	int index = 0;

	if (1)
	{
		int curColor = 0;
		b3Vector4 colors[4] =
			{
				b3MakeVector4(1, 1, 1, 1),
				b3MakeVector4(1, 1, 0.3, 1),
				b3MakeVector4(0.3, 1, 1, 1),
				b3MakeVector4(0.3, 0.3, 1, 1),
			};

		b3ConvexUtility* utilPtr = new b3ConvexUtility();
		b3Vector4 scaling = b3MakeVector4(1, 1, 1, 1);

		{
			b3AlignedObjectArray<b3Vector3> verts;

			unsigned char* vts = (unsigned char*)cube_vertices;
			for (int i = 0; i < numVertices; i++)
			{
				float* vertex = (float*)&vts[i * strideInBytes];
				verts.push_back(b3MakeVector3(vertex[0] * scaling[0], vertex[1] * scaling[1], vertex[2] * scaling[2]));
			}

			bool merge = true;
			if (numVertices)
			{
				utilPtr->initializePolyhedralFeatures(&verts[0], verts.size(), merge);
			}
		}

		//		int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);

		int colIndex = -1;
		if (ci.m_useInstancedCollisionShapes)
			colIndex = m_data->m_np->registerConvexHullShape(utilPtr);

		for (int i = 0; i < ci.arraySizeX; i++)
		{
			for (int j = 0; j < ci.arraySizeY; j++)
			{
				for (int k = 0; k < ci.arraySizeZ; k++)
				{
					if (!ci.m_useInstancedCollisionShapes)
						colIndex = m_data->m_np->registerConvexHullShape(utilPtr);

					float mass = 1;

					//b3Vector3 position(-2*ci.gapX+i*ci.gapX,25+j*ci.gapY,-2*ci.gapZ+k*ci.gapZ);
					b3Vector3 position = b3MakeVector3(-(ci.arraySizeX / 2) * CONCAVE_GAPX + i * CONCAVE_GAPX,
													   23 + j * CONCAVE_GAPY,
													   -(ci.arraySizeZ / 2) * CONCAVE_GAPZ + k * CONCAVE_GAPZ);
					b3Quaternion orn(0, 0, 0, 1);

					b3Vector4 color = colors[curColor];
					curColor++;
					curColor &= 3;

					int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId, position, orn, color, scaling);
					int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass, position, orn, colIndex, index, false);

					index++;
				}
			}
		}
	}
}

void ConcaveCompoundScene::setupScene(const ConstructionInfo& ci)
{
	ConcaveScene::setupScene(ci);

	float camPos[4] = {0, 50, 0, 0};  //65.5,4.5,65.5,0};
	//float camPos[4]={1,12.5,1.5,0};
	m_instancingRenderer->setCameraPitch(45);
	m_instancingRenderer->setCameraTargetPosition(camPos);
	m_instancingRenderer->setCameraDistance(40);
}

void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
{
	const char* fileName = "teddy2_VHACD_CHs.obj";
	//char* fileName = "cube_offset.obj";

	b3Vector3 shift = b3MakeVector3(0, 0, 0);  //0,230,80);//150,-100,-120);
	b3Vector4 scaling = b3MakeVector4(1, 1, 1, 1);
	const char* prefix[] = {"./data/", "../data/", "../../data/", "../../../data/", "../../../../data/"};
	int prefixIndex = -1;

	char relativeFileName[1024];
	{
		int numPrefixes = sizeof(prefix) / sizeof(char*);

		for (int i = 0; i < numPrefixes; i++)
		{
			sprintf(relativeFileName, "%s%s", prefix[i], fileName);
			FILE* f = 0;
			f = fopen(relativeFileName, "r");
			if (f)
			{
				prefixIndex = i;
				fclose(f);
				break;
			}
		}
	}

	if (prefixIndex < 0)
		return;

	std::vector<tinyobj::shape_t> shapes;
	std::string err = tinyobj::LoadObj(shapes, relativeFileName, prefix[prefixIndex]);

	if (shapes.size() > 0)
	{
		int strideInBytes = 9 * sizeof(float);

		b3AlignedObjectArray<GLInstanceVertex> vertexArray;
		b3AlignedObjectArray<int> indexArray;

		//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
		int group = 1;
		int mask = 1;
		int index = 0;
		int colIndex = 0;

		b3AlignedObjectArray<GLInstanceVertex> vertices;
		int stride2 = sizeof(GLInstanceVertex);
		b3Assert(stride2 == strideInBytes);

		{
			b3AlignedObjectArray<b3GpuChildShape> childShapes;

			int numChildShapes = shapes.size();

			for (int i = 0; i < numChildShapes; i++)
			//			int i=4;
			{
				tinyobj::shape_t& shape = shapes[i];

				int numVertices = shape.mesh.positions.size() / 3;
				int numFaces = shape.mesh.indices.size() / 3;

				//for now, only support polyhedral child shapes
				b3GpuChildShape child;

				b3Vector3 pos = b3MakeVector3(0, 0, 0);
				b3Quaternion orn(0, 0, 0, 1);
				for (int v = 0; v < 4; v++)
				{
					child.m_childPosition[v] = pos[v];
					child.m_childOrientation[v] = orn[v];
				}

				b3Transform tr;
				tr.setIdentity();
				tr.setOrigin(pos);
				tr.setRotation(orn);

				int baseIndex = vertexArray.size();

				for (int f = 0; f < numFaces; f++)
				{
					for (int i = 0; i < 3; i++)
					{
						indexArray.push_back(baseIndex + shape.mesh.indices[f * 3 + i]);
					}
				}

				b3Vector3 center = b3MakeVector3(0, 0, 0);

				b3AlignedObjectArray<GLInstanceVertex> tmpVertices;
				//add transformed graphics vertices and indices
				b3Vector3 myScaling = b3MakeVector3(50, 50, 50);  //300,300,300);
				for (int v = 0; v < numVertices; v++)
				{
					GLInstanceVertex vert;

					vert.uv[0] = 0.5f;
					vert.uv[1] = 0.5f;
					vert.normal[0] = 0.f;
					vert.normal[1] = 1.f;
					vert.normal[2] = 0.f;
					b3Vector3 vertPos;
					vertPos[0] = shape.mesh.positions[v * 3 + 0] * myScaling[0];
					vertPos[1] = shape.mesh.positions[v * 3 + 1] * myScaling[1];
					vertPos[2] = shape.mesh.positions[v * 3 + 2] * myScaling[2];
					vertPos[3] = 0.f;
					center += vertPos;
				}

				center /= numVertices;

				for (int v = 0; v < numVertices; v++)
				{
					GLInstanceVertex vert;
					vert.uv[0] = 0.5f;
					vert.uv[1] = 0.5f;
					vert.normal[0] = 0.f;
					vert.normal[1] = 1.f;
					vert.normal[2] = 0.f;
					b3Vector3 vertPos;
					vertPos[0] = shape.mesh.positions[v * 3 + 0] * myScaling[0];
					vertPos[1] = shape.mesh.positions[v * 3 + 1] * myScaling[1];
					vertPos[2] = shape.mesh.positions[v * 3 + 2] * myScaling[2];
					vertPos[3] = 0.f;
					//				vertPos-=center;
					vert.xyzw[0] = vertPos[0];
					vert.xyzw[1] = vertPos[1];
					vert.xyzw[2] = vertPos[2];

					tmpVertices.push_back(vert);
					b3Vector3 newPos = tr * vertPos;
					vert.xyzw[0] = newPos[0];
					vert.xyzw[1] = newPos[1];
					vert.xyzw[2] = newPos[2];
					vert.xyzw[3] = 0.f;
					vertexArray.push_back(vert);
				}

				int childColIndex = m_data->m_np->registerConvexHullShape(&tmpVertices[0].xyzw[0], strideInBytes, numVertices, scaling);
				child.m_shapeIndex = childColIndex;
				childShapes.push_back(child);
				colIndex = childColIndex;
			}
			colIndex = m_data->m_np->registerCompoundShape(&childShapes);
		}

		//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
		int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0], vertexArray.size(), &indexArray[0], indexArray.size());

		b3Vector4 colors[4] =
			{
				b3MakeVector4(1, 0, 0, 1),
				b3MakeVector4(0, 1, 0, 1),
				b3MakeVector4(0, 0, 1, 1),
				b3MakeVector4(0, 1, 1, 1),
			};

		int curColor = 0;
		for (int i = 0; i < 1; i++)  //ci.arraySizeX;i++)
		{
			for (int j = 0; j < 4; j++)
			{
				//		for (int k=0;k<ci.arraySizeZ;k++)
				int k = 0;
				{
					float mass = 1;  //j==0? 0.f : 1.f;

					//b3Vector3 position(i*10*ci.gapX,j*ci.gapY,k*10*ci.gapZ);
					b3Vector3 position = b3MakeVector3(i * 10 * ci.gapX, 10 + j * 10 * ci.gapY, k * 10 * ci.gapZ);

					//	b3Quaternion orn(0,0,0,1);
					b3Quaternion orn(b3MakeVector3(0, 0, 1), 1.8);

					b3Vector4 color = colors[curColor];
					curColor++;
					curColor &= 3;
					b3Vector4 scaling = b3MakeVector4(1, 1, 1, 1);
					int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId, position, orn, color, scaling);
					int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass, position, orn, colIndex, index, false);

					index++;
				}
			}
		}
	}
}

void ConcaveCompoundScene::createDynamicObjects(const ConstructionInfo& ci)
{
	int strideInBytes = 9 * sizeof(float);
	int numVertices = sizeof(cube_vertices) / strideInBytes;
	int numIndices = sizeof(cube_indices) / sizeof(int);

	b3AlignedObjectArray<GLInstanceVertex> vertexArray;
	b3AlignedObjectArray<int> indexArray;

	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
	int group = 1;
	int mask = 1;
	int index = 0;
	float scaling[4] = {1, 1, 1, 1};
	int colIndex = 0;

	GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
	int stride2 = sizeof(GLInstanceVertex);
	b3Assert(stride2 == strideInBytes);

	{
		int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0], strideInBytes, numVertices, scaling);

		b3Vector3 childPositions[3] = {
			b3MakeVector3(0, -2, 0),
			b3MakeVector3(0, 0, 0),
			b3MakeVector3(0, 0, 2)};

		b3AlignedObjectArray<b3GpuChildShape> childShapes;
		int numChildShapes = 3;
		for (int i = 0; i < numChildShapes; i++)
		{
			//for now, only support polyhedral child shapes
			b3GpuChildShape child;
			child.m_shapeIndex = childColIndex;
			b3Vector3 pos = childPositions[i];
			b3Quaternion orn(0, 0, 0, 1);
			for (int v = 0; v < 4; v++)
			{
				child.m_childPosition[v] = pos[v];
				child.m_childOrientation[v] = orn[v];
			}
			childShapes.push_back(child);
			b3Transform tr;
			tr.setIdentity();
			tr.setOrigin(pos);
			tr.setRotation(orn);

			int baseIndex = vertexArray.size();
			for (int j = 0; j < numIndices; j++)
				indexArray.push_back(cube_indices[j] + baseIndex);

			//add transformed graphics vertices and indices
			for (int v = 0; v < numVertices; v++)
			{
				GLInstanceVertex vert = cubeVerts[v];
				b3Vector3 vertPos = b3MakeVector3(vert.xyzw[0], vert.xyzw[1], vert.xyzw[2]);
				b3Vector3 newPos = tr * vertPos;
				vert.xyzw[0] = newPos[0];
				vert.xyzw[1] = newPos[1];
				vert.xyzw[2] = newPos[2];
				vert.xyzw[3] = 0.f;
				vertexArray.push_back(vert);
			}
		}
		colIndex = m_data->m_np->registerCompoundShape(&childShapes);
	}

	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
	int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0], vertexArray.size(), &indexArray[0], indexArray.size());

	b3Vector4 colors[4] =
		{
			b3MakeVector4(1, 0, 0, 1),
			b3MakeVector4(0, 1, 0, 1),
			b3MakeVector4(0, 0, 1, 1),
			b3MakeVector4(0, 1, 1, 1),
		};

	int curColor = 0;
	for (int i = 0; i < ci.arraySizeX; i++)
	{
		for (int j = 0; j < ci.arraySizeY; j++)
		{
			for (int k = 0; k < ci.arraySizeZ; k++)

			{
				float mass = 1;  //j==0? 0.f : 1.f;

				b3Vector3 position = b3MakeVector3((-ci.arraySizeX / 2 + i) * ci.gapX, 50 + j * ci.gapY, (-ci.arraySizeZ / 2 + k) * ci.gapZ);
				//b3Quaternion orn(0,0,0,1);
				b3Quaternion orn(b3MakeVector3(1, 0, 0), 0.7);

				b3Vector4 color = colors[curColor];
				curColor++;
				curColor &= 3;
				b3Vector4 scaling = b3MakeVector4(1, 1, 1, 1);
				int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId, position, orn, color, scaling);
				int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass, position, orn, colIndex, index, false);

				index++;
			}
		}
	}
}

void ConcaveSphereScene::setupScene(const ConstructionInfo& ci)
{
	ConcaveScene::setupScene(ci);

	float camPos[4] = {0, 50, 0, 0};  //65.5,4.5,65.5,0};
	//float camPos[4]={1,12.5,1.5,0};
	m_instancingRenderer->setCameraPitch(45);
	m_instancingRenderer->setCameraTargetPosition(camPos);
	m_instancingRenderer->setCameraDistance(40);
}

void ConcaveSphereScene::createDynamicObjects(const ConstructionInfo& ci)
{
	b3Vector4 colors[4] =
		{
			b3MakeVector4(1, 0, 0, 1),
			b3MakeVector4(0, 1, 0, 1),
			b3MakeVector4(0, 1, 1, 1),
			b3MakeVector4(1, 1, 0, 1),
		};

	int index = 0;
	int curColor = 0;
	float radius = 1;
	//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
	int colIndex = m_data->m_np->registerSphereShape(radius);  //>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
	int prevGraphicsShapeIndex = registerGraphicsSphereShape(ci, radius, false);

	for (int i = 0; i < ci.arraySizeX; i++)
	{
		for (int j = 0; j < ci.arraySizeY; j++)
		{
			for (int k = 0; k < ci.arraySizeZ; k++)
			{
				float mass = 1.f;

				b3Vector3 position = b3MakeVector3(-(ci.arraySizeX / 2) * 8 + i * 8, 50 + j * 8, -(ci.arraySizeZ / 2) * 8 + k * 8);

				//b3Vector3 position(0,-41,0);//0,0,0);//i*radius*3,-41+j*radius*3,k*radius*3);

				b3Quaternion orn(0, 0, 0, 1);

				b3Vector4 color = colors[curColor];
				curColor++;
				curColor &= 3;
				b3Vector4 scaling = b3MakeVector4(radius, radius, radius, 1);
				int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex, position, orn, color, scaling);
				int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass, position, orn, colIndex, index, false);

				index++;
			}
		}
	}
}