mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-19 05:20:06 +00:00
new demos
This commit is contained in:
ejcoumans
parent
39c5f29fd0
commit
9405204ee5
@ -15,7 +15,7 @@ subject to the following restrictions:
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "CcdPhysicsController.h"
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#include "MyMotionState.h"
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//#include "GL_LineSegmentShape.h"
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//#include "GL_LineSegmentShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/SphereShape.h"
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@ -108,7 +108,7 @@ const int numObjects = 120;
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const int maxNumObjects = 450;
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const int maxNumObjects = 450;
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MyMotionState ms[maxNumObjects];
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DefaultMotionState ms[maxNumObjects];
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CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
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CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
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int shapeIndex[maxNumObjects];
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int shapeIndex[maxNumObjects];
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CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
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CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
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@ -13,13 +13,19 @@ subject to the following restrictions:
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3. This notice may not be removed or altered from any source distribution.
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3. This notice may not be removed or altered from any source distribution.
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*/
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*/
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#include "cd_wavefront.h"
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#include "ConvexBuilder.h"
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "CcdPhysicsController.h"
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#include "MyMotionState.h"
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//#include "GL_LineSegmentShape.h"
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//#include "GL_LineSegmentShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/ConeShape.h"
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#include "CollisionShapes/ConeShape.h"
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#include "CollisionShapes/ConvexTriangleMeshShape.h"
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#include "CollisionShapes/TriangleMesh.h"
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#include "CollisionShapes/Simplex1to4Shape.h"
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#include "CollisionShapes/Simplex1to4Shape.h"
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@ -37,38 +43,6 @@ subject to the following restrictions:
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#include "GLDebugDrawer.h"
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#include "GLDebugDrawer.h"
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//#define COLLADA_PHYSICS_TEST 1
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#ifdef COLLADA_PHYSICS_TEST
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//Collada Physics test
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//#define NO_LIBXML //need LIBXML, because FCDocument/FCDPhysicsRigidBody.h needs FUDaeWriter, through FCDPhysicsParameter.hpp
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#include "FUtils/FUtils.h"
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#include "FCDocument/FCDocument.h"
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#include "FCDocument/FCDSceneNode.h"
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#include "FUtils/FUFileManager.h"
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#include "FUtils/FULogFile.h"
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#include "FCDocument/FCDPhysicsSceneNode.h"
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#include "FCDocument/FCDPhysicsModelInstance.h"
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#include "FCDocument/FCDPhysicsRigidBodyInstance.h"
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#include "FCDocument/FCDPhysicsRigidBody.h"
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#include "FCDocument/FCDGeometryInstance.h"
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#include "FCDocument/FCDGeometryMesh.h"
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#include "FCDocument/FCDGeometry.h"
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#include "FCDocument/FCDPhysicsAnalyticalGeometry.h"
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//aaa
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#endif //COLLADA_PHYSICS_TEST
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#include "PHY_Pro.h"
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#include "PHY_Pro.h"
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#include "BMF_Api.h"
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#include "BMF_Api.h"
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@ -76,7 +50,7 @@ subject to the following restrictions:
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float deltaTime = 1.f/60.f;
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float deltaTime = 1.f/60.f;
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float bulletSpeed = 40.f;
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float bulletSpeed = 40.f;
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bool createConstraint = true;
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bool createConstraint = false;//true;
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#ifdef WIN32
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#ifdef WIN32
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#if _MSC_VER >= 1310
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#if _MSC_VER >= 1310
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//only use SIMD Hull code under Win32
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//only use SIMD Hull code under Win32
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@ -101,27 +75,33 @@ extern int glutScreenHeight;
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#ifdef _DEBUG
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#ifdef _DEBUG
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const int numObjects = 120;//22;
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int numObjects = 4;//22;
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#else
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#else
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const int numObjects = 120;
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int numObjects = 120;
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#endif
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#endif
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const int maxNumObjects = 450;
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const int maxNumObjects = 450;
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MyMotionState ms[maxNumObjects];
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DefaultMotionState ms[maxNumObjects];
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CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
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CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
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int shapeIndex[maxNumObjects];
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int shapeIndex[maxNumObjects];
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SimdVector3 centroids[maxNumObjects];
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CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
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CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
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#define CUBE_HALF_EXTENTS 1
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#define CUBE_HALF_EXTENTS 4
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#define EXTRA_HEIGHT -20.f
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#define EXTRA_HEIGHT -20.f
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//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
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//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
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// SimdPoint3(50,0,0));
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// SimdPoint3(50,0,0));
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static const int numShapes = 4;
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static const int numShapes = 4;
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CollisionShape* shapePtr[numShapes] =
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CollisionShape* shapePtr[maxNumObjects];
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CollisionShape* prebuildShapePtr[numShapes] =
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{
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{
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///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
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///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
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///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
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///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
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@ -141,352 +121,11 @@ CollisionShape* shapePtr[numShapes] =
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////////////////////////////////////
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#ifdef COLLADA_PHYSICS_TEST
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bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
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{
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assert(inputNode);
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/// FRSceneNodeList nodesToDelete;
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// FRMeshPhysicsController::StartCooking();
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FCDPhysicsModelInstanceList models = inputNode->GetInstances();
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//Go through all of the physics models
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for (FCDPhysicsModelInstanceList::iterator itM=models.begin(); itM != models.end(); itM++)
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{
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FCDEntityInstanceList& instanceList = (*itM)->GetInstances();
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//create one node per physics model. This node is pretty much only a middle man,
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//but better describes the structure we get from the input file
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//FRSceneNode* modelNode = new FRSceneNode();
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//modelNode->SetParent(outputNode);
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//outputNode->AddChild(modelNode);
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//Go through all of the rigid bodies and rigid constraints in that model
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for (FCDEntityInstanceList::iterator itE=instanceList.begin(); itE!=instanceList.end(); itE++)
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{
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if ((*itE)->GetType() == FCDEntityInstance::PHYSICS_RIGID_CONSTRAINT)
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{
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//not yet, could add point to point / hinge support easily
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}
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else
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if ((*itE)->GetType() == FCDEntityInstance::PHYSICS_RIGID_BODY)
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{
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printf("PHYSICS_RIGID_BODY\n");
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//Create a controller per rigid-body
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//FRMeshPhysicsController* controller = new FRMeshPhysicsController(inputNode->GetGravity(), inputNode->GetTimestep());
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FCDPhysicsRigidBodyInstance* rbInstance = (FCDPhysicsRigidBodyInstance*)(*itE);
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FCDSceneNode* targetNode = rbInstance->GetTargetNode();
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if (!targetNode)
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{
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//DebugOut("FCTranslator: No target node defined in rigid body instance");
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//SAFE_DELETE(controller);
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continue;
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}
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//Transfer all the transforms in n into cNode, and bake
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//at the same time the scalings. It is necessary to re-translate the
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//transforms as they will get deleted when we delete the old node.
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//A better way to do this would be to steal the transforms from the old
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//nodes, and make sure they're not deleted later, but this is impractical
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//right now as we would also have to migrate all the animation curves.
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//FRTScaleList scaleTransforms;
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uint32 numTransforms = targetNode->GetTransformCount();
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for (uint32 i=0; i<numTransforms; i++)
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{
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//targetNode->GetTransforms()[i]);
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}
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//Then affect all of its geometry instances.
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//Collect all the entities inside the entity vector and inside the children nodes
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/*
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FREntityList childEntities = n->GetEntities();
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FRSceneNodeList childrenToParse = n->GetChildren();
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while (!childrenToParse.empty())
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{
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FRSceneNode* child = *childrenToParse.begin();
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const FREntityList& e = child->GetEntities();
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//add the entities of that child
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childEntities.insert(childEntities.end(), e.begin(), e.end());
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//queue the grand-children nodes
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childrenToParse.insert(childrenToParse.end(), child->GetChildren().begin(), child->GetChildren().end());
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childrenToParse.erase(childrenToParse.begin());
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}
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*/
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//now check which ones are geometry mesh (right now an entity is only derived by mesh
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//but do this to avoid problems in the future)
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/*
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for (FREntityList::iterator itT = childEntities.begin(); itT != childEntities.end(); itT++)
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{
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if ((*itT)->GetType() == FREntity::MESH || (*itT)->GetType() == FREntity::MESH_CONTROLLER)
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{
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FRMesh* cMesh = (FRMesh*)*itT;
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//while we're here, bake the scaling transforms into the meshes
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BakeScalingIntoMesh(cMesh, scaleTransforms);
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controller->AddBindMesh((FRMesh*)*itT);
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}
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}
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*/
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/////////////////////////////////////////////////////////////////////
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//We're done with the targets. Now take care of the physics shapes.
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FCDPhysicsRigidBody* rigidBody = rbInstance->FlattenRigidBody();
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FCDPhysicsMaterial* mat = rigidBody->GetPhysicsMaterial();
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FCDPhysicsShapeList shapes = rigidBody->GetPhysicsShapeList();
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for (uint32 i=0; i<shapes.size(); i++)
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{
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FCDPhysicsShape* OldShape = shapes[i];
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OldShape->GetType();//
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//controller->SetDensity(OldShape->GetDensity());
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if (OldShape->GetGeometryInstance())
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{
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FCDGeometry* geoTemp = (FCDGeometry*)(OldShape->GetGeometryInstance()->GetEntity());
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const FCDGeometryMesh* colladaMesh = geoTemp->GetMesh();
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//FRMesh* cMesh = ToFREntityGeometry(geoTemp);
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//BakeScalingIntoMesh(cMesh, scaleTransforms);
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for (uint32 j=0; j<colladaMesh->GetPolygonsCount(); j++)
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{
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/*
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FRMeshPhysicsShape* NewShape = new FRMeshPhysicsShape(controller);
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if (!NewShape->CreateTriangleMesh(cMesh, j, true))
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{
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SAFE_DELETE(NewShape);
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continue;
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}
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if (mat)
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{
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NewShape->SetMaterial(mat->GetStaticFriction(), mat->GetDynamicFriction(), mat->GetRestitution());
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//FIXME
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//NewShape->material->setFrictionCombineMode();
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//NewShape->material->setSpring();
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}
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controller->AddShape(NewShape);
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*/
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}
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}
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else
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{
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//FRMeshPhysicsShape* NewShape = new FRMeshPhysicsShape(controller);
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FCDPhysicsAnalyticalGeometry* analGeom = OldShape->GetAnalyticalGeometry();
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//increse the following value for nicer shapes with more vertices
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uint16 superEllipsoidSubdivisionLevel = 2;
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if (!analGeom)
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continue;
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switch (analGeom->GetGeomType())
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{
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case FCDPhysicsAnalyticalGeometry::BOX:
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{
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FCDPASBox* box = (FCDPASBox*)analGeom;
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break;
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}
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case FCDPhysicsAnalyticalGeometry::PLANE:
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{
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FCDPASPlane* plane = (FCDPASPlane*)analGeom;
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break;
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}
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case FCDPhysicsAnalyticalGeometry::SPHERE:
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{
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FCDPASSphere* sphere = (FCDPASSphere*)analGeom;
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break;
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}
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case FCDPhysicsAnalyticalGeometry::CYLINDER:
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{
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//FIXME: only using the first radius of the cylinder
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FCDPASCylinder* cylinder = (FCDPASCylinder*)analGeom;
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break;
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}
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case FCDPhysicsAnalyticalGeometry::CAPSULE:
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{
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//FIXME: only using the first radius of the capsule
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FCDPASCapsule* capsule = (FCDPASCapsule*)analGeom;
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break;
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}
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case FCDPhysicsAnalyticalGeometry::TAPERED_CAPSULE:
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{
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//FIXME: only using the first radius of the capsule
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FCDPASTaperedCapsule* tcapsule = (FCDPASTaperedCapsule*)analGeom;
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break;
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}
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case FCDPhysicsAnalyticalGeometry::TAPERED_CYLINDER:
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{
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//FIXME: only using the first radius of the cylinder
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FCDPASTaperedCylinder* tcylinder = (FCDPASTaperedCylinder*)analGeom;
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break;
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||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
default:
|
|
||||||
|
|
||||||
{
|
|
||||||
|
|
||||||
break;
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
//controller->AddShape(NewShape);
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
FCDPhysicsParameter<bool>* dyn = (FCDPhysicsParameter<bool>*)rigidBody->FindParameterByReference(DAE_DYNAMIC_ELEMENT);
|
|
||||||
|
|
||||||
if (dyn)
|
|
||||||
{
|
|
||||||
//dyn->GetValue();
|
|
||||||
}
|
|
||||||
|
|
||||||
FCDPhysicsParameter<float>* mass = (FCDPhysicsParameter<float>*)rigidBody->FindParameterByReference(DAE_MASS_ELEMENT);
|
|
||||||
|
|
||||||
if (mass)
|
|
||||||
{
|
|
||||||
mass->GetValue();
|
|
||||||
}
|
|
||||||
|
|
||||||
FCDPhysicsParameter<FMVector3>* inertia = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_INERTIA_ELEMENT);
|
|
||||||
|
|
||||||
if (inertia)
|
|
||||||
{
|
|
||||||
inertia->GetValue();
|
|
||||||
}
|
|
||||||
|
|
||||||
FCDPhysicsParameter<FMVector3>* velocity = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_VELOCITY_ELEMENT);
|
|
||||||
|
|
||||||
if (velocity)
|
|
||||||
{
|
|
||||||
velocity->GetValue();
|
|
||||||
}
|
|
||||||
|
|
||||||
FCDPhysicsParameter<FMVector3>* angularVelocity = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_ANGULAR_VELOCITY_ELEMENT);
|
|
||||||
|
|
||||||
if (angularVelocity)
|
|
||||||
{
|
|
||||||
angularVelocity->GetValue();
|
|
||||||
}
|
|
||||||
|
|
||||||
//controller->SetGlobalPose(n->CalculateWorldTransformation());//??
|
|
||||||
|
|
||||||
//SAFE_DELETE(rigidBody);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
#endif //COLLADA_PHYSICS_TEST
|
|
||||||
|
|
||||||
|
|
||||||
////////////////////////////////////
|
////////////////////////////////////
|
||||||
|
|
||||||
|
unsigned int tcount = 0;
|
||||||
|
|
||||||
|
|
||||||
GLDebugDrawer debugDrawer;
|
GLDebugDrawer debugDrawer;
|
||||||
@ -494,27 +133,203 @@ GLDebugDrawer debugDrawer;
|
|||||||
int main(int argc,char** argv)
|
int main(int argc,char** argv)
|
||||||
{
|
{
|
||||||
|
|
||||||
#ifdef COLLADA_PHYSICS_TEST
|
int i;
|
||||||
char* filename = "ColladaPhysics.dae";
|
for (i=0;i<numObjects;i++)
|
||||||
FCDocument* document = new FCDocument();
|
|
||||||
FUStatus status = document->LoadFromFile(filename);
|
|
||||||
bool success = status.IsSuccessful();
|
|
||||||
printf ("Collada import %i\n",success);
|
|
||||||
|
|
||||||
if (success)
|
|
||||||
{
|
{
|
||||||
const FCDPhysicsSceneNode* physicsSceneRoot = document->GetPhysicsSceneRoot();
|
if (i>0)
|
||||||
if (ConvertColladaPhysicsToBulletPhysics( physicsSceneRoot ))
|
|
||||||
{
|
{
|
||||||
printf("ConvertColladaPhysicsToBulletPhysics successfull\n");
|
shapePtr[i] = prebuildShapePtr[1];
|
||||||
} else
|
shapeIndex[i] = 1;//sphere
|
||||||
{
|
|
||||||
printf("ConvertColladaPhysicsToBulletPhysics failed\n");
|
|
||||||
}
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
shapeIndex[i] = 0;
|
||||||
|
shapePtr[i] = prebuildShapePtr[0];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
ConvexDecomposition::WavefrontObj wo;
|
||||||
|
char* filename = "table.obj";
|
||||||
|
tcount = wo.loadObj(filename);
|
||||||
|
|
||||||
|
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
|
||||||
|
MyConvexDecomposition (FILE* outputFile)
|
||||||
|
:mBaseCount(0),
|
||||||
|
mHullCount(0),
|
||||||
|
mOutputFile(outputFile)
|
||||||
|
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
|
||||||
|
{
|
||||||
|
|
||||||
|
TriangleMesh* trimesh = new TriangleMesh();
|
||||||
|
|
||||||
|
SimdVector3 localScaling(6.f,6.f,6.f);
|
||||||
|
|
||||||
|
//export data to .obj
|
||||||
|
printf("ConvexResult\n");
|
||||||
|
if (mOutputFile)
|
||||||
|
{
|
||||||
|
fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );
|
||||||
|
|
||||||
|
fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
|
||||||
|
fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);
|
||||||
|
|
||||||
|
for (unsigned int i=0; i<result.mHullVcount; i++)
|
||||||
|
{
|
||||||
|
const float *p = &result.mHullVertices[i*3];
|
||||||
|
fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
|
||||||
|
}
|
||||||
|
|
||||||
|
//calc centroid, to shift vertices around center of mass
|
||||||
|
centroids[numObjects] = SimdVector3(0,0,0);
|
||||||
|
if ( 1 )
|
||||||
|
{
|
||||||
|
const unsigned int *src = result.mHullIndices;
|
||||||
|
for (unsigned int i=0; i<result.mHullTcount; i++)
|
||||||
|
{
|
||||||
|
unsigned int index0 = *src++;
|
||||||
|
unsigned int index1 = *src++;
|
||||||
|
unsigned int index2 = *src++;
|
||||||
|
SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
|
||||||
|
SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
|
||||||
|
SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
|
||||||
|
vertex0 *= localScaling;
|
||||||
|
vertex1 *= localScaling;
|
||||||
|
vertex2 *= localScaling;
|
||||||
|
centroids[numObjects] += vertex0;
|
||||||
|
centroids[numObjects]+= vertex1;
|
||||||
|
centroids[numObjects]+= vertex2;
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
centroids[numObjects] *= 1.f/(float(result.mHullTcount) * 3);
|
||||||
|
|
||||||
|
if ( 1 )
|
||||||
|
{
|
||||||
|
const unsigned int *src = result.mHullIndices;
|
||||||
|
for (unsigned int i=0; i<result.mHullTcount; i++)
|
||||||
|
{
|
||||||
|
unsigned int index0 = *src++;
|
||||||
|
unsigned int index1 = *src++;
|
||||||
|
unsigned int index2 = *src++;
|
||||||
|
|
||||||
|
|
||||||
|
SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
|
||||||
|
SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
|
||||||
|
SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
|
||||||
|
vertex0 *= localScaling;
|
||||||
|
vertex1 *= localScaling;
|
||||||
|
vertex2 *= localScaling;
|
||||||
|
|
||||||
|
vertex0 -= centroids[numObjects];
|
||||||
|
vertex1 -= centroids[numObjects];
|
||||||
|
vertex2 -= centroids[numObjects];
|
||||||
|
|
||||||
|
trimesh->AddTriangle(vertex0,vertex1,vertex2);
|
||||||
|
|
||||||
|
index0+=mBaseCount;
|
||||||
|
index1+=mBaseCount;
|
||||||
|
index2+=mBaseCount;
|
||||||
|
|
||||||
|
fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
shapeIndex[numObjects] = numObjects;
|
||||||
|
shapePtr[numObjects++] = new ConvexTriangleMeshShape(trimesh);
|
||||||
|
|
||||||
|
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
int mBaseCount;
|
||||||
|
int mHullCount;
|
||||||
|
FILE* mOutputFile;
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
if (tcount)
|
||||||
|
{
|
||||||
|
numObjects = 1; //always have the ground object first
|
||||||
|
|
||||||
|
TriangleMesh* trimesh = new TriangleMesh();
|
||||||
|
|
||||||
|
SimdVector3 localScaling(6.f,6.f,6.f);
|
||||||
|
|
||||||
|
for (int i=0;i<wo.mTriCount;i++)
|
||||||
|
{
|
||||||
|
int index0 = wo.mIndices[i*3];
|
||||||
|
int index1 = wo.mIndices[i*3+1];
|
||||||
|
int index2 = wo.mIndices[i*3+2];
|
||||||
|
|
||||||
|
SimdVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
|
||||||
|
SimdVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
|
||||||
|
SimdVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
|
||||||
|
|
||||||
|
vertex0 *= localScaling;
|
||||||
|
vertex1 *= localScaling;
|
||||||
|
vertex2 *= localScaling;
|
||||||
|
|
||||||
|
trimesh->AddTriangle(vertex0,vertex1,vertex2);
|
||||||
|
}
|
||||||
|
|
||||||
|
shapePtr[numObjects++] = new ConvexTriangleMeshShape(trimesh);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
if (tcount)
|
||||||
|
{
|
||||||
|
|
||||||
|
char outputFileName[512];
|
||||||
|
strcpy(outputFileName,filename);
|
||||||
|
char *dot = strstr(outputFileName,".");
|
||||||
|
if ( dot )
|
||||||
|
*dot = 0;
|
||||||
|
strcat(outputFileName,"_convex.obj");
|
||||||
|
FILE* outputFile = fopen(outputFileName,"wb");
|
||||||
|
|
||||||
|
unsigned int depth = 7;
|
||||||
|
float cpercent = 5;
|
||||||
|
float ppercent = 15;
|
||||||
|
unsigned int maxv = 16;
|
||||||
|
float skinWidth = 0.01;
|
||||||
|
|
||||||
|
printf("WavefrontObj num triangles read %i",tcount);
|
||||||
|
ConvexDecomposition::DecompDesc desc;
|
||||||
|
desc.mVcount = wo.mVertexCount;
|
||||||
|
desc.mVertices = wo.mVertices;
|
||||||
|
desc.mTcount = wo.mTriCount;
|
||||||
|
desc.mIndices = (unsigned int *)wo.mIndices;
|
||||||
|
desc.mDepth = depth;
|
||||||
|
desc.mCpercent = cpercent;
|
||||||
|
desc.mPpercent = ppercent;
|
||||||
|
desc.mMaxVertices = maxv;
|
||||||
|
desc.mSkinWidth = skinWidth;
|
||||||
|
|
||||||
|
MyConvexDecomposition convexDecomposition(outputFile);
|
||||||
|
desc.mCallback = &convexDecomposition;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
//convexDecomposition.performConvexDecomposition(desc);
|
||||||
|
|
||||||
|
ConvexBuilder cb(desc.mCallback);
|
||||||
|
int ret = cb.process(desc);
|
||||||
|
|
||||||
|
if (outputFile)
|
||||||
|
fclose(outputFile);
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
#endif //COLLADA_PHYSICS_TEST
|
|
||||||
|
|
||||||
CollisionDispatcher* dispatcher = new CollisionDispatcher();
|
CollisionDispatcher* dispatcher = new CollisionDispatcher();
|
||||||
|
|
||||||
@ -556,18 +371,6 @@ int main(int argc,char** argv)
|
|||||||
SimdTransform tr;
|
SimdTransform tr;
|
||||||
tr.setIdentity();
|
tr.setIdentity();
|
||||||
|
|
||||||
int i;
|
|
||||||
for (i=0;i<numObjects;i++)
|
|
||||||
{
|
|
||||||
if (i>0)
|
|
||||||
{
|
|
||||||
shapeIndex[i] = 1;//sphere
|
|
||||||
}
|
|
||||||
else
|
|
||||||
shapeIndex[i] = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
for (i=0;i<numObjects;i++)
|
for (i=0;i<numObjects;i++)
|
||||||
@ -1050,11 +853,20 @@ void clientResetScene()
|
|||||||
physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);
|
physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
int p = i;
|
||||||
|
if (tcount)
|
||||||
|
{
|
||||||
|
if (p>2)
|
||||||
|
p=2;
|
||||||
|
}
|
||||||
|
|
||||||
//stack them
|
//stack them
|
||||||
int colsize = 10;
|
int colsize = 10;
|
||||||
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
|
if (tcount)
|
||||||
|
colsize = 2;
|
||||||
|
int row = (p*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
|
||||||
int row2 = row;
|
int row2 = row;
|
||||||
int col = (i)%(colsize)-colsize/2;
|
int col = (p)%(colsize)-colsize/2;
|
||||||
|
|
||||||
|
|
||||||
if (col>3)
|
if (col>3)
|
||||||
@ -1062,8 +874,18 @@ void clientResetScene()
|
|||||||
col=11;
|
col=11;
|
||||||
row2 |=1;
|
row2 |=1;
|
||||||
}
|
}
|
||||||
physObjects[i]->setPosition(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
|
|
||||||
|
SimdVector3 position(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
|
||||||
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
|
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
|
||||||
|
|
||||||
|
if (tcount)
|
||||||
|
{
|
||||||
|
if (p==2)
|
||||||
|
{
|
||||||
|
position += centroids[i];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
physObjects[i]->setPosition(position[0],position[1],position[2]);
|
||||||
physObjects[i]->setOrientation(0,0,0,1);
|
physObjects[i]->setOrientation(0,0,0,1);
|
||||||
physObjects[i]->SetLinearVelocity(0,0,0,false);
|
physObjects[i]->SetLinearVelocity(0,0,0,false);
|
||||||
physObjects[i]->SetAngularVelocity(0,0,0,false);
|
physObjects[i]->SetAngularVelocity(0,0,0,false);
|
||||||
|
|||||||
@ -26,7 +26,7 @@ subject to the following restrictions:
|
|||||||
#include "CollisionShapes/CylinderShape.h"
|
#include "CollisionShapes/CylinderShape.h"
|
||||||
#include "CollisionShapes/Simplex1to4Shape.h"
|
#include "CollisionShapes/Simplex1to4Shape.h"
|
||||||
|
|
||||||
|
#include "CollisionShapes/ConvexTriangleMeshShape.h"
|
||||||
|
|
||||||
|
|
||||||
#include "IDebugDraw.h"
|
#include "IDebugDraw.h"
|
||||||
@ -52,6 +52,7 @@ void GL_ShapeDrawer::DrawCoordSystem() {
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
class GlDrawcallback : public TriangleCallback
|
class GlDrawcallback : public TriangleCallback
|
||||||
{
|
{
|
||||||
public:
|
public:
|
||||||
@ -71,9 +72,28 @@ public:
|
|||||||
glEnd();
|
glEnd();
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
};
|
};
|
||||||
|
|
||||||
|
class TriangleGlDrawcallback : public InternalTriangleIndexCallback
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
|
||||||
|
{
|
||||||
|
glBegin(GL_TRIANGLES);//LINES);
|
||||||
|
glColor3f(1, 0, 0);
|
||||||
|
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
|
||||||
|
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
|
||||||
|
glColor3f(0, 1, 0);
|
||||||
|
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
|
||||||
|
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
|
||||||
|
glColor3f(0, 0, 1);
|
||||||
|
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
|
||||||
|
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
|
||||||
|
glEnd();
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const SimdVector3& color,int debugMode)
|
void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const SimdVector3& color,int debugMode)
|
||||||
{
|
{
|
||||||
glPushMatrix();
|
glPushMatrix();
|
||||||
@ -130,6 +150,12 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
|
|||||||
break;
|
break;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
case CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
|
||||||
|
{
|
||||||
|
useWireframeFallback = false;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
case CONVEX_SHAPE_PROXYTYPE:
|
case CONVEX_SHAPE_PROXYTYPE:
|
||||||
case CYLINDER_SHAPE_PROXYTYPE:
|
case CYLINDER_SHAPE_PROXYTYPE:
|
||||||
{
|
{
|
||||||
@ -224,6 +250,17 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
|
|||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (shape->GetShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
|
||||||
|
{
|
||||||
|
ConvexTriangleMeshShape* convexMesh = (ConvexTriangleMeshShape*) shape;
|
||||||
|
|
||||||
|
extern float eye[3];
|
||||||
|
SimdVector3 aabbMax(eye[0]+100,eye[1]+100,eye[2]+100);
|
||||||
|
SimdVector3 aabbMin(eye[0]-100,eye[1]-100,eye[2]-100);
|
||||||
|
TriangleGlDrawcallback drawCallback;
|
||||||
|
convexMesh->GetStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
glPopMatrix();
|
glPopMatrix();
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user