mirror of
https://github.com/bulletphysics/bullet3
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ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
246 lines
8.5 KiB
C++
246 lines
8.5 KiB
C++
#include "GpuCompoundScene.h"
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#include "GpuRigidBodyDemo.h"
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#include "OpenGLWindow/ShapeData.h"
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#include "OpenGLWindow/GLInstancingRenderer.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "OpenGLWindow/b3gWindowInterface.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
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#include "../GpuDemoInternalData.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "OpenGLWindow/OpenGLInclude.h"
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#include "OpenGLWindow/GLInstanceRendererInternalData.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
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#include "GpuRigidBodyDemoInternalData.h"
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#include "Bullet3Common/b3Transform.h"
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#include "OpenGLWindow/GLInstanceGraphicsShape.h"
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#define NUM_COMPOUND_CHILDREN_X 4
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#define NUM_COMPOUND_CHILDREN_Y 4
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#define NUM_COMPOUND_CHILDREN_Z 4
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void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
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{
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createStaticEnvironment(ci);
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int strideInBytes = 9 * sizeof(float);
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int numVertices = sizeof(cube_vertices) / strideInBytes;
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int numIndices = sizeof(cube_indices) / sizeof(int);
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float scaling[4] = {1, 1, 1, 1};
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GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
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int stride2 = sizeof(GLInstanceVertex);
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b3Assert(stride2 == strideInBytes);
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int index = 0;
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int colIndex = -1;
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b3AlignedObjectArray<GLInstanceVertex> vertexArray;
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b3AlignedObjectArray<int> indexArray;
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{
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int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0], strideInBytes, numVertices, scaling);
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/* b3Vector3 childPositions[3] = {
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b3Vector3(0,-2,0),
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b3Vector3(0,0,0),
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b3Vector3(0,0,2)
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};
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*/
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b3AlignedObjectArray<b3GpuChildShape> childShapes;
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for (int x = 0; x < NUM_COMPOUND_CHILDREN_X; x++)
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for (int y = 0; y < NUM_COMPOUND_CHILDREN_Y; y++)
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for (int z = 0; z < NUM_COMPOUND_CHILDREN_Z; z++)
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{
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int blax = x != 0 ? 1 : 0;
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int blay = y != 0 ? 1 : 0;
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int blaz = z != 0 ? 1 : 0;
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int bla = blax + blay + blaz;
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if (bla != 1)
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continue;
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//for now, only support polyhedral child shapes
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b3GpuChildShape child;
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child.m_shapeIndex = childColIndex;
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b3Vector3 pos = b3MakeVector3((x - NUM_COMPOUND_CHILDREN_X / 2.f) * 2, (y - NUM_COMPOUND_CHILDREN_X / 2.f) * 2, (z - NUM_COMPOUND_CHILDREN_X / 2.f) * 2); //childPositions[i];
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b3Quaternion orn(0, 0, 0, 1);
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for (int v = 0; v < 4; v++)
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{
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child.m_childPosition[v] = pos[v];
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child.m_childOrientation[v] = orn[v];
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}
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childShapes.push_back(child);
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b3Transform tr;
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tr.setIdentity();
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tr.setOrigin(pos);
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tr.setRotation(orn);
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int baseIndex = vertexArray.size();
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for (int j = 0; j < numIndices; j++)
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indexArray.push_back(cube_indices[j] + baseIndex);
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//add transformed graphics vertices and indices
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for (int v = 0; v < numVertices; v++)
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{
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GLInstanceVertex vert = cubeVerts[v];
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b3Vector3 vertPos = b3MakeVector3(vert.xyzw[0], vert.xyzw[1], vert.xyzw[2]);
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b3Vector3 newPos = tr * vertPos;
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vert.xyzw[0] = newPos[0];
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vert.xyzw[1] = newPos[1];
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vert.xyzw[2] = newPos[2];
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vert.xyzw[3] = 0.f;
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vertexArray.push_back(vert);
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}
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}
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colIndex = m_data->m_np->registerCompoundShape(&childShapes);
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}
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0], vertexArray.size(), &indexArray[0], indexArray.size());
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b3Vector4 colors[4] =
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{
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b3MakeVector4(1, 0, 0, 1),
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b3MakeVector4(0, 1, 0, 1),
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b3MakeVector4(0, 0, 1, 1),
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b3MakeVector4(0, 1, 1, 1),
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};
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int curColor = 0;
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for (int i = 0; i < ci.arraySizeX; i++)
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{
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for (int j = 0; j < ci.arraySizeY; j++)
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{
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for (int k = 0; k < ci.arraySizeZ; k++)
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{
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float mass = 1; //j==0? 0.f : 1.f;
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b3Vector3 position = b3MakeVector3((i - ci.arraySizeX / 2.) * ci.gapX, 35 + j * 3 * ci.gapY, (k - ci.arraySizeZ / 2.f) * ci.gapZ);
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//b3Quaternion orn(0,0,0,1);
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b3Quaternion orn(b3MakeVector3(1, 0, 0), 0.7);
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b3Vector4 color = colors[curColor];
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curColor++;
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curColor &= 3;
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b3Vector4 scaling = b3MakeVector4(1, 1, 1, 1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId, position, orn, color, scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass, position, orn, colIndex, index, false);
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index++;
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}
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}
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}
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m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
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float camPos[4] = {0, 0, 0}; //65.5,4.5,65.5,0};
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//float camPos[4]={1,12.5,1.5,0};
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m_instancingRenderer->setCameraTargetPosition(camPos);
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m_instancingRenderer->setCameraDistance(320);
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}
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void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
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{
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int strideInBytes = 9 * sizeof(float);
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int group = 1;
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int mask = 1;
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int index = 0;
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int colIndex = 0;
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{
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if (1)
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{
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float radius = 41;
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int prevGraphicsShapeIndex = -1;
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{
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if (radius >= 100)
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{
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int numVertices = sizeof(detailed_sphere_vertices) / strideInBytes;
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int numIndices = sizeof(detailed_sphere_indices) / sizeof(int);
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prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&detailed_sphere_vertices[0], numVertices, detailed_sphere_indices, numIndices);
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}
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else
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{
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bool usePointSprites = false;
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if (usePointSprites)
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{
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int numVertices = sizeof(point_sphere_vertices) / strideInBytes;
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int numIndices = sizeof(point_sphere_indices) / sizeof(int);
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prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0], numVertices, point_sphere_indices, numIndices, B3_GL_POINTS);
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}
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else
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{
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if (radius >= 10)
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{
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int numVertices = sizeof(medium_sphere_vertices) / strideInBytes;
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int numIndices = sizeof(medium_sphere_indices) / sizeof(int);
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prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&medium_sphere_vertices[0], numVertices, medium_sphere_indices, numIndices);
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}
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else
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{
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int numVertices = sizeof(low_sphere_vertices) / strideInBytes;
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int numIndices = sizeof(low_sphere_indices) / sizeof(int);
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prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&low_sphere_vertices[0], numVertices, low_sphere_indices, numIndices);
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}
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}
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}
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}
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b3Vector4 colors[4] =
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{
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b3MakeVector4(1, 0, 0, 1),
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b3MakeVector4(0, 1, 0, 1),
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b3MakeVector4(0, 1, 1, 1),
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b3MakeVector4(1, 1, 0, 1),
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};
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int curColor = 1;
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//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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int colIndex = m_data->m_np->registerSphereShape(radius); //>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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float mass = 0.f;
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//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
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b3Vector3 position = b3MakeVector3(0, -41, 0);
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b3Quaternion orn(0, 0, 0, 1);
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b3Vector4 color = colors[curColor];
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curColor++;
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curColor &= 3;
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b3Vector4 scaling = b3MakeVector4(radius, radius, radius, 1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex, position, orn, color, scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass, position, orn, colIndex, index, false);
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index++;
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}
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}
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}
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void GpuCompoundPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
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{
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int index = 0;
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b3Vector3 normal = b3MakeVector3(0, 1, 0);
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float constant = 0.f;
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int strideInBytes = 9 * sizeof(float);
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int numVertices = sizeof(cube_vertices) / strideInBytes;
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int numIndices = sizeof(cube_indices) / sizeof(int);
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b3Vector4 scaling = b3MakeVector4(400, 1., 400, 1);
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//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0], strideInBytes, numVertices, scaling);
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b3Vector3 position = b3MakeVector3(0, 0, 0);
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b3Quaternion orn(0, 0, 0, 1);
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// b3Quaternion orn(b3Vector3(1,0,0),0.3);
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b3Vector4 color = b3MakeVector4(0, 0, 1, 1);
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int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0], numVertices, cube_indices, numIndices);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId, position, orn, color, scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f, position, orn, colIndex, index, false);
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} |