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Code Issues Releases Wiki Activity

added compound shape for raytrace testing

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This commit is contained in:
ejcoumans 2007-02-14 05:25:11 +00:00
parent 34c979bd02
commit bda1507ea9
1 changed files with 108 additions and 16 deletions
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124
Demos/Raytracer/Raytracer.cpp
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@ -11,6 +11,48 @@
#define IN_TO_M_CONSTANT (0.0254f)
#define M_TO_IN_CONSTANT (39.3700787f)
#define CM_TO_IN_CONSTANT (0.393700787f)
#define LBS_TO_KG_CONSTANT (0.45359237f)
#define FEET_TO_IN(x) (12.0f * (float)(x))
#define IN_TO_FT(x) ((float)(x)/12.0f)
#define IN_TO_M(x) ((float)(x) * IN_TO_M_CONSTANT)
#define M_TO_IN(x) ((float)(x) * M_TO_IN_CONSTANT)
#define CM_TO_IN(x) ((float)(x) * CM_TO_IN_CONSTANT)
#define FT_TO_M(x) (IN_TO_M(FEET_TO_IN(x)))
#define LBS_TO_KG(x) ((float)(x) * LBS_TO_KG_CONSTANT)
#define PIN_HEIGHT IN_TO_M(15.0f)
#define PIN_DIAMETER IN_TO_M(4.76f)
#define PIN_MASS LBS_TO_KG(3.5f)
#define PIN_FRICTION (BALL_FRICTION) // a guess
//#define PIN_COR (0.67f) // was 0.67
#define PIN_COR (0.2f)
#define BALL_DIAMETER IN_TO_M(8.55f)
#define BALL_MASS LBS_TO_KG(16.0f)
#define BALL_FRICTION (0.3f) // max is 0.32
#define BALL_COR (0.7)
#define BALL_MAX_FRICTION (0.32f)
#define BALL_MAX_MASS (16.0f) // lbs
#define BALL_MIN_MASS (8.0f) // lbs
#define LANE_DECK_FUDGE (IN_TO_M(6.0f))
#define LANE_WIDTH IN_TO_M(42.0f)
#define LANE_TOTAL_WIDTH IN_TO_M(62.88f)
#define LANE_LENGTH FT_TO_M(60.0f-LANE_DECK_FUDGE)
#define GRAVITY_VECTOR (btVector3(0.0f,-9.81f,0.0f))
#define PIN_Z_DIST IN_TO_M(10.3923048f)
#define PIN_Y_DIST IN_TO_M(12.0f)
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
/*
Raytracer uses the Convex rayCast to visualize the Collision Shapes/Minkowski Sum.
Very basic raytracer, rendering into a texture.
@ -43,7 +85,7 @@ Very basic raytracer, rendering into a texture.
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
@ -66,21 +108,23 @@ const int numObjects = 1;
/// simplex contains the vertices, and some extra code to draw and debug
GL_Simplex1to4 simplex;
btConvexShape* shapePtr[maxNumObjects];
btCollisionShape* shapePtr[maxNumObjects];
btTransform transforms[maxNumObjects];
renderTexture* raytracePicture = 0;
//this applies to the raytracer virtual screen/image buffer
int screenWidth = 128;
int screenWidth = 256;
//float aspectRatio = (3.f/4.f);
int screenHeight = 128;//screenWidth * aspectRatio;
int screenHeight = 256;//screenWidth * aspectRatio;
GLuint glTextureId;
btSphereShape mySphere(1);
btBoxShape myBox(btVector3(0.4f,0.4f,0.4f));
btCylinderShape myCylinder(btVector3(0.3f,0.3f,0.3f));
btConeShape myCone(1,1);
btCompoundShape compound;
btMinkowskiSumShape myMink(&myCylinder,&myBox);
GLDebugDrawer debugDrawer;
@ -128,21 +172,51 @@ void Raytracer::initPhysics()
};
//btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
btVector3 sphereOffset(0,0,0);
btVector3 sphereOffset1(0,0,0);
btScalar sphereRadius = 2.f;
btVector3 nonUniformScaling(0.5,2,0.5);
btMultiSphereShape* nonuniformScaledSphere = new btMultiSphereShape(inertiaHalfExtents,&sphereOffset,&sphereRadius,1);
btMultiSphereShape* nonuniformScaledSphere = new btMultiSphereShape(inertiaHalfExtents,&sphereOffset1,&sphereRadius,1);
nonuniformScaledSphere->setLocalScaling(nonUniformScaling);
nonuniformScaledSphere->setMargin(0.04);
btConvexHullShape* convexHullShape = new btConvexHullShape(&positions[0].getX(),3);
//attempt to approximate a bowling pin
//choose shape
shapePtr[0] = &myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
shapePtr[0] = &myCone;//&compound;//&myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
// shapePtr[0] = &myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
shapePtr[1] =&simplex;
shapePtr[2] =convexHullShape;
shapePtr[3] =&myMink;//myBox;//multiSphereShape
btVector3 sphereOffset(0,PIN_HEIGHT/4.0f,0);
// create pin collision shape
btCollisionShape* cyl = new btCylinderShape(btVector3(PIN_DIAMETER/4.0f, PIN_HEIGHT/4.0f, PIN_DIAMETER/4.0f));
cyl->setMargin(IN_TO_M(0.000025f));
btVector3 spherepositions[3] = {btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0),
btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)+sphereOffset,
btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)-sphereOffset};
btScalar radii[3] = {(PIN_DIAMETER/2.0f),(PIN_DIAMETER/4.0f),(PIN_DIAMETER/4.0f)};
btCollisionShape* sph = new btMultiSphereShape(inertiaHalfExtents,spherepositions,radii,3);
btTransform ident;
ident.setIdentity();
ident.setOrigin(btVector3(0.f,-PIN_HEIGHT/4.f,0.f));
compound.addChildShape(ident,cyl);
ident.setIdentity();
//ident.setOrigin(btVector3(0.0f, -PIN_HEIGHT/2.0f + PIN_DIAMETER/2.0f + IN_TO_M(3.5f), 0.0f));
compound.addChildShape(ident,sph);
btVector3 spherepositions2[2] = {btVector3(0,+PIN_HEIGHT/2.f -(PIN_DIAMETER/4.0f),0),
btVector3(0,0,0)};
btScalar radii2[2] = {(PIN_DIAMETER/4.0f),(PIN_DIAMETER/6.0f)};
btCollisionShape* sph2 = new btMultiSphereShape(inertiaHalfExtents,spherepositions2,radii2,2);
compound.addChildShape(ident,sph2);
compound.setMargin(0.001);
simplex.setMargin(0.3f);
@ -176,7 +250,7 @@ void Raytracer::displayCallback()
if (i < 2)
{
orn.setEuler(yaw,pitch,roll);
transforms[i].setRotation(orn);
//transforms[i].setRotation(orn);
}
}
myMink.setTransformA(btTransform(transforms[0].getRotation()));
@ -266,10 +340,15 @@ void Raytracer::displayCallback()
}
btConvexCast::CastResult rayResult;
// btConvexCast::CastResult rayResult;
btTransform rayToTrans;
rayToTrans.setIdentity();
btVector3 rayTo;
btTransform colObjWorldTransform;
colObjWorldTransform.setIdentity();
for (x=0;x<screenWidth;x++)
{
for (int y=0;y<screenHeight;y++)
@ -286,23 +365,36 @@ void Raytracer::displayCallback()
btScalar hitLambda = 1.f;
btVector3 hitNormal;
btCollisionWorld::ClosestRayResultCallback resultCallback(rayFrom,rayTo);
btCollisionObject tmpObj;
tmpObj.setWorldTransform(transforms[s]);
if (btRayAabb(rayFrom,rayTo,aabbMin,aabbMax,hitLambda,hitNormal))
{
btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,
&tmpObj,
shapePtr[s],
transforms[s],
resultCallback);
//choose the continuous collision detection method
btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
//btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
//reset previous result
rayResult.m_fraction = 1.f;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
//rayResult.m_fraction = 1.f;
if (resultCallback.HasHit())
// if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
{
//float fog = 1.f - 0.1f * rayResult.m_fraction;
rayResult.m_normal.normalize();
resultCallback.m_hitNormalWorld.normalize();//.m_normal.normalize();
btVector3 worldNormal;
worldNormal = transforms[s].getBasis() *rayResult.m_normal;
btVector3 worldNormal = resultCallback.m_hitNormalWorld;
// worldNormal = transforms[s].getBasis() *rayResult.m_normal;
float lightVec0 = worldNormal.dot(btVector3(0,-1,-1));//0.4f,-1.f,-0.4f));