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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
erwincoumans 2018-11-13 14:32:38 -08:00
commit 7c7235a8c5
2 changed files with 64 additions and 28 deletions
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84
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
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@ -3,6 +3,7 @@
#include "btBulletCollisionCommon.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h" //to create a tesselation of a generic btConvexShape
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<btVector3>& vertexPositions, btAlignedObjectArray<btVector3>& vertexNormals, btAlignedObjectArray<int>& indicesOut)
@ -131,38 +132,71 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
{
btConvexShape* convex = (btConvexShape*)collisionShape;
{
btShapeHull* hull = new btShapeHull(convex);
hull->buildHull(0.0, 1);
const btConvexPolyhedron* pol = 0;
if (convex->isPolyhedral())
{
//int strideInBytes = 9*sizeof(float);
//int numVertices = hull->numVertices();
//int numIndices =hull->numIndices();
for (int t = 0; t < hull->numTriangles(); t++)
btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
pol = poly->getConvexPolyhedron();
}
if (pol)
{
for (int v = 0; v < pol->m_vertices.size(); v++)
{
vertexPositions.push_back(pol->m_vertices[v]);
btVector3 norm = pol->m_vertices[v];
norm.safeNormalize();
vertexNormals.push_back(norm);
}
for (int f = 0; f < pol->m_faces.size(); f++)
{
btVector3 triNormal;
int index0 = hull->getIndexPointer()[t * 3 + 0];
int index1 = hull->getIndexPointer()[t * 3 + 1];
int index2 = hull->getIndexPointer()[t * 3 + 2];
btVector3 pos0 = parentTransform * hull->getVertexPointer()[index0];
btVector3 pos1 = parentTransform * hull->getVertexPointer()[index1];
btVector3 pos2 = parentTransform * hull->getVertexPointer()[index2];
triNormal = (pos1 - pos0).cross(pos2 - pos0);
triNormal.safeNormalize();
for (int v = 0; v < 3; v++)
for (int ii = 2; ii < pol->m_faces[f].m_indices.size(); ii++)
{
int index = hull->getIndexPointer()[t * 3 + v];
btVector3 pos = parentTransform * hull->getVertexPointer()[index];
indicesOut.push_back(vertexPositions.size());
vertexPositions.push_back(pos);
vertexNormals.push_back(triNormal);
indicesOut.push_back(pol->m_faces[f].m_indices[0]);
indicesOut.push_back(pol->m_faces[f].m_indices[ii-1]);
indicesOut.push_back(pol->m_faces[f].m_indices[ii]);
}
}
}
else
{
btShapeHull* hull = new btShapeHull(convex);
hull->buildHull(0.0, 1);
{
//int strideInBytes = 9*sizeof(float);
//int numVertices = hull->numVertices();
//int numIndices =hull->numIndices();
for (int t = 0; t < hull->numTriangles(); t++)
{
btVector3 triNormal;
int index0 = hull->getIndexPointer()[t * 3 + 0];
int index1 = hull->getIndexPointer()[t * 3 + 1];
int index2 = hull->getIndexPointer()[t * 3 + 2];
btVector3 pos0 = parentTransform * hull->getVertexPointer()[index0];
btVector3 pos1 = parentTransform * hull->getVertexPointer()[index1];
btVector3 pos2 = parentTransform * hull->getVertexPointer()[index2];
triNormal = (pos1 - pos0).cross(pos2 - pos0);
triNormal.safeNormalize();
for (int v = 0; v < 3; v++)
{
int index = hull->getIndexPointer()[t * 3 + v];
btVector3 pos = parentTransform * hull->getVertexPointer()[index];
indicesOut.push_back(vertexPositions.size());
vertexPositions.push_back(pos);
vertexNormals.push_back(triNormal);
}
}
}
delete hull;
}
delete hull;
}
}
else

8
examples/MultiBody/InvertedPendulumPDControl.cpp
View File

@ -313,13 +313,15 @@ void InvertedPendulumPDControl::initPhysics()
int upAxis = 1;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis);
this->createEmptyDynamicsWorld();
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
//btIDebugDraw::DBG_DrawConstraints