mirror of
https://github.com/bulletphysics/bullet3
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446 lines
12 KiB
C++
446 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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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#include "cd_wavefront.h"
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#include "ConvexBuilder.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "LinearMath/btGeometryUtil.h"
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//#define USE_PARALLEL_DISPATCHER 1
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#ifdef USE_PARALLEL_DISPATCHER
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#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
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#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif//USE_PARALLEL_DISPATCHER
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#include "BMF_Api.h"
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#include <stdio.h> //printf debugging
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#include <vector>
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#include "ConvexDecompositionDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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btVector3 centroid;
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#define CUBE_HALF_EXTENTS 4
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////////////////////////////////////
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unsigned int tcount = 0;
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void ConvexDecompositionDemo::initPhysics(const char* filename)
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{
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setCameraDistance(26.f);
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ConvexDecomposition::WavefrontObj wo;
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tcount = wo.loadObj(filename);
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if (!tcount)
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{
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//when running this app from visual studio, the default starting folder is different, so make a second attempt...
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tcount = wo.loadObj("../../file.obj");
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}
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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#ifdef USE_PARALLEL_DISPATCHER
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#ifdef USE_WIN32_THREADING
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int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
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Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks));
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#else
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///todo other platform threading
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///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
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///Libspe2 SPU support will be available soon
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///pthreads version
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///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
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#endif
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m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
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#else
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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#endif//USE_PARALLEL_DISPATCHER
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
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//m_broadphase = new btSimpleBroadphase();
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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#ifdef USE_PARALLEL_DISPATCHER
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m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
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#endif //USE_PARALLEL_DISPATCHER
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-4.5,0));
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btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
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m_collisionShapes.push_back(boxShape);
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localCreateRigidBody(0.f,startTransform,boxShape);
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class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
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{
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ConvexDecompositionDemo* m_convexDemo;
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public:
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MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
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:m_convexDemo(demo),
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mBaseCount(0),
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mHullCount(0),
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mOutputFile(outputFile)
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{
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}
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virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
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{
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btTriangleMesh* trimesh = new btTriangleMesh();
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btVector3 localScaling(6.f,6.f,6.f);
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//export data to .obj
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printf("ConvexResult\n");
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if (mOutputFile)
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{
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fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );
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fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
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fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);
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for (unsigned int i=0; i<result.mHullVcount; i++)
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{
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const float *p = &result.mHullVertices[i*3];
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fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
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}
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//calc centroid, to shift vertices around center of mass
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centroid.setValue(0,0,0);
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btAlignedObjectArray<btVector3> vertices;
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if ( 1 )
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{
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//const unsigned int *src = result.mHullIndices;
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for (unsigned int i=0; i<result.mHullVcount; i++)
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{
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btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
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vertex *= localScaling;
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centroid += vertex;
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}
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}
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centroid *= 1.f/(float(result.mHullVcount) );
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if ( 1 )
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{
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//const unsigned int *src = result.mHullIndices;
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for (unsigned int i=0; i<result.mHullVcount; i++)
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{
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btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
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vertex *= localScaling;
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vertex -= centroid ;
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vertices.push_back(vertex);
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}
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}
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if ( 1 )
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{
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const unsigned int *src = result.mHullIndices;
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for (unsigned int i=0; i<result.mHullTcount; i++)
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{
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unsigned int index0 = *src++;
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unsigned int index1 = *src++;
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unsigned int index2 = *src++;
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btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
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btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
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btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
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vertex0 *= localScaling;
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vertex1 *= localScaling;
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vertex2 *= localScaling;
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vertex0 -= centroid;
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vertex1 -= centroid;
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vertex2 -= centroid;
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trimesh->addTriangle(vertex0,vertex1,vertex2);
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index0+=mBaseCount;
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index1+=mBaseCount;
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index2+=mBaseCount;
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fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
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}
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}
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float mass = 1.f;
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//float collisionMargin = 0.01f;
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//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
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//#define SHRINK_OBJECT_INWARDS 1
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#ifdef SHRINK_OBJECT_INWARDS
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std::vector<btVector3> planeEquations;
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btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
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std::vector<btVector3> shiftedPlaneEquations;
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for (int p=0;p<planeEquations.size();p++)
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{
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btVector3 plane = planeEquations[p];
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plane[3] += 5*collisionMargin;
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shiftedPlaneEquations.push_back(plane);
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}
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std::vector<btVector3> shiftedVertices;
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btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
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btCollisionShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
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#else //SHRINK_OBJECT_INWARDS
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#ifdef USE_PARALLEL_DISPATCHER
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//SPU/multi threaded version only supports convex hull with contiguous vertices at the moment
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btCollisionShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
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#else
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btCollisionShape* convexShape = new btConvexTriangleMeshShape(trimesh);
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#endif //USE_PARALLEL_DISPATCHER
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#endif
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convexShape->setMargin(0.01);
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m_convexDemo->m_collisionShapes.push_back(convexShape);
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btTransform trans;
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trans.setIdentity();
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trans.setOrigin(centroid);
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//btRigidBody* body = m_convexDemo->localCreateRigidBody( mass, trans,convexShape);
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m_convexDemo->localCreateRigidBody( mass, trans,convexShape);
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mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
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}
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}
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int mBaseCount;
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int mHullCount;
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FILE* mOutputFile;
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};
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if (tcount)
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{
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btTriangleMesh* trimesh = new btTriangleMesh();
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btVector3 localScaling(6.f,6.f,6.f);
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for (int i=0;i<wo.mTriCount;i++)
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{
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int index0 = wo.mIndices[i*3];
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int index1 = wo.mIndices[i*3+1];
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int index2 = wo.mIndices[i*3+2];
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btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
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btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
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btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
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vertex0 *= localScaling;
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vertex1 *= localScaling;
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vertex2 *= localScaling;
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trimesh->addTriangle(vertex0,vertex1,vertex2);
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}
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btCollisionShape* convexShape = new btConvexTriangleMeshShape(trimesh);
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m_collisionShapes.push_back(convexShape);
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float mass = 1.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(20,2,0));
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localCreateRigidBody(mass, startTransform,convexShape);
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}
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if (tcount)
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{
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char outputFileName[512];
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strcpy(outputFileName,filename);
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char *dot = strstr(outputFileName,".");
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if ( dot )
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*dot = 0;
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strcat(outputFileName,"_convex.obj");
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FILE* outputFile = fopen(outputFileName,"wb");
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unsigned int depth = 5;
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float cpercent = 5;
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float ppercent = 15;
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unsigned int maxv = 16;
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float skinWidth = 0.0;
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printf("WavefrontObj num triangles read %i",tcount);
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ConvexDecomposition::DecompDesc desc;
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desc.mVcount = wo.mVertexCount;
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desc.mVertices = wo.mVertices;
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desc.mTcount = wo.mTriCount;
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desc.mIndices = (unsigned int *)wo.mIndices;
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desc.mDepth = depth;
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desc.mCpercent = cpercent;
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desc.mPpercent = ppercent;
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desc.mMaxVertices = maxv;
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desc.mSkinWidth = skinWidth;
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MyConvexDecomposition convexDecomposition(outputFile,this);
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desc.mCallback = &convexDecomposition;
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//convexDecomposition.performConvexDecomposition(desc);
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ConvexBuilder cb(desc.mCallback);
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cb.process(desc);
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if (outputFile)
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fclose(outputFile);
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}
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}
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void ConvexDecompositionDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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float dt = m_clock.getTimeMicroseconds() * 0.000001f;
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m_clock.reset();
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m_dynamicsWorld->stepSimulation(dt);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void ConvexDecompositionDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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m_dynamicsWorld->updateAabbs();
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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void ConvexDecompositionDemo::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision shapes
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for (int j=0;j<m_collisionShapes.size();j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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//delete dynamics world
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delete m_dynamicsWorld;
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//delete solver
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delete m_solver;
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//delete broadphase
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delete m_broadphase;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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}
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