Beispiel #1
0
void	CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback)
{

	
	SimdTransform	rayFromTrans,rayToTrans;
	rayFromTrans.setIdentity();
	rayFromTrans.setOrigin(rayFromWorld);
	rayToTrans.setIdentity();
	
	rayToTrans.setOrigin(rayToWorld);

	//do culling based on aabb (rayFrom/rayTo)
	SimdVector3 rayAabbMin = rayFromWorld;
	SimdVector3 rayAabbMax = rayFromWorld;
	rayAabbMin.setMin(rayToWorld);
	rayAabbMax.setMax(rayToWorld);


	/// brute force go over all objects. Once there is a broadphase, use that, or
	/// add a raycast against aabb first.
	
	std::vector<CollisionObject*>::iterator iter;
	
	for (iter=m_collisionObjects.begin();
	!(iter==m_collisionObjects.end()); iter++)
	{
		
		CollisionObject*	collisionObject= (*iter);

		//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
		SimdVector3 collisionObjectAabbMin,collisionObjectAabbMax;
		collisionObject->m_collisionShape->GetAabb(collisionObject->m_worldTransform,collisionObjectAabbMin,collisionObjectAabbMax);

		//check aabb overlap

		if (TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax))
		{
			RayTestSingle(rayFromTrans,rayToTrans,
				collisionObject,
					 collisionObject->m_collisionShape,
					  collisionObject->m_worldTransform,
					  resultCallback);
			
		}
	}

}
Beispiel #2
0
void renderme()
{
	float m[16];
	int i;

	for (i=0;i<numObjects;i++)
	{
		SimdTransform transA;
		transA.setIdentity();
		
		float pos[3];
		float rot[4];

		ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
		ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);

		SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
		transA.setRotation(q);

		SimdPoint3 dpos;
		dpos.setValue(pos[0],pos[1],pos[2]);

		transA.setOrigin( dpos );
		transA.getOpenGLMatrix( m );
		
		SimdVector3 wireColor(0.f,0.f,1.f); //wants deactivation

		///color differently for active, sleeping, wantsdeactivation states
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
		{
			wireColor = SimdVector3 (1.f,0.f,0.f);
		}
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
		{
			wireColor = SimdVector3 (0.f,1.f,0.f);
		}

		char	extraDebug[125];
		//sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
		shapePtr[shapeIndex[i]]->SetExtraDebugInfo(extraDebug);
		GL_ShapeDrawer::DrawOpenGL(m,shapePtr[shapeIndex[i]],wireColor,getDebugMode());
	}

}
Beispiel #3
0
void clientMoveAndDisplay()
{
	if ( !g_pauseAnim )
	{
		SimdMatrix3x3 rot;
		rot.setEulerZYX( g_animAngle * 0.05, g_animAngle * 0.05, g_animAngle * 0.05 );

		SimdTransform t;
		t.setIdentity();
		t.setBasis( rot );

		//g_convexShapesTransform[ 0 ].mult( g_convexShapesTransform[ 0 ], t );
		g_convexShapesTransform[ 1 ].mult( g_convexShapesTransform[ 1 ], t );

		g_shapesPenetrate = calcPenDepth();
	}

	clientDisplay();
}
Beispiel #4
0
    virtual void	AddConvexVerticesCollider(std::vector<SimdVector3>& vertices, bool isEntity, const SimdVector3& entityTargetLocation)
    {
        ///perhaps we can do something special with entities (isEntity)
        ///like adding a collision Triggering (as example)

        if (vertices.size() > 0)
        {
            bool isDynamic = false;
            float mass = 0.f;
            SimdTransform startTransform;
            //can use a shift
            startTransform.setIdentity();
            startTransform.setOrigin(SimdVector3(0,0,-10.f));
            //this create an internal copy of the vertices
            CollisionShape* shape = new ConvexHullShape(&vertices[0],vertices.size());

            m_demoApp->LocalCreatePhysicsObject(isDynamic, mass, startTransform,shape);
        }
    }
Beispiel #5
0
void LinearConvexCastDemo::initPhysics()
{
	setCameraDistance(30.f);
	tr[0].setOrigin(SimdVector3(0,0,0));
	tr[1].setOrigin(SimdVector3(0,10,0));

	SimdMatrix3x3 basisA;
	basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
		-0.00029313788f,0.99753088f,0.070228584f,
		-0.00089153741f,-0.070228823f,0.99753052f);

	SimdMatrix3x3 basisB;
	basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
		4.4865495e-018f,0.97979438f,0.20000751f,
		4.4410586e-017f,-0.20000751f,0.97979438f);

	tr[0].setBasis(basisA);
	tr[1].setBasis(basisB);



	SimdVector3 boxHalfExtentsA(0.2,4,4);
	SimdVector3 boxHalfExtentsB(6,6,6);

	BoxShape*	boxA = new BoxShape(boxHalfExtentsA);
/*	BU_Simplex1to4	boxB;
	boxB.AddVertex(SimdPoint3(-5,0,-5));
	boxB.AddVertex(SimdPoint3(5,0,-5));
	boxB.AddVertex(SimdPoint3(0,0,5));
	boxB.AddVertex(SimdPoint3(0,5,0));
*/

	BoxShape*	boxB = new BoxShape(boxHalfExtentsB);
	shapePtr[0] = boxA;
	shapePtr[1] = boxB;

	shapePtr[0]->SetMargin(0.01f);
	shapePtr[1]->SetMargin(0.01f);

	SimdTransform tr;
	tr.setIdentity();
}
Beispiel #6
0
int main(int argc,char** argv)
{
    setCameraDistance(20.f);

    tr[0].setOrigin(SimdVector3(0.0013328250f,8.1363249f,7.0390840f));
    tr[1].setOrigin(SimdVector3(0.00000000f,9.1262732f,2.0343180f));

    //tr[0].setOrigin(SimdVector3(0,0,0));
    //tr[1].setOrigin(SimdVector3(0,10,0));

    SimdMatrix3x3 basisA;
    basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
                    -0.00029313788f,0.99753088f,0.070228584f,
                    -0.00089153741f,-0.070228823f,0.99753052f);

    SimdMatrix3x3 basisB;
    basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
                    4.4865495e-018f,0.97979438f,0.20000751f,
                    4.4410586e-017f,-0.20000751f,0.97979438f);

    tr[0].setBasis(basisA);
    tr[1].setBasis(basisB);



    SimdVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
    SimdVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);

    BoxShape	boxA(boxHalfExtentsA);
    BoxShape	boxB(boxHalfExtentsB);
    shapePtr[0] = &boxA;
    shapePtr[1] = &boxB;


    SimdTransform tr;
    tr.setIdentity();


    return glutmain(argc, argv,screenWidth,screenHeight,"Collision Demo");
}
Beispiel #7
0
void	PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
	//not yet, return box inertia

	float margin = GetMargin();

	SimdTransform ident;
	ident.setIdentity();
	SimdVector3 aabbMin,aabbMax;
	GetAabb(ident,aabbMin,aabbMax);
	SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;

	SimdScalar lx=2.f*(halfExtents.x()+margin);
	SimdScalar ly=2.f*(halfExtents.y()+margin);
	SimdScalar lz=2.f*(halfExtents.z()+margin);
	const SimdScalar x2 = lx*lx;
	const SimdScalar y2 = ly*ly;
	const SimdScalar z2 = lz*lz;
	const SimdScalar scaledmass = mass * 0.08333333f;

	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));

}
Beispiel #8
0
void Raytracer::displayCallback() 
{

	updateCamera();

	for (int i=0;i<numObjects;i++)
	{
		transforms[i].setIdentity();
		SimdVector3	pos(-3.5f+i*2.5f,0.f,0.f);
		transforms[i].setOrigin( pos );
		SimdQuaternion orn;
		if (i < 2)
		{
			orn.setEuler(yaw,pitch,roll);
			transforms[i].setRotation(orn);
		}
	}
	myMink.SetTransformA(SimdTransform(transforms[0].getRotation()));

	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
	glDisable(GL_LIGHTING);
	if (once)
	{
		glGenTextures(1, &glTextureId);
		glBindTexture(GL_TEXTURE_2D,glTextureId );
		once = 0;
		glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
	}



	glDisable(GL_TEXTURE_2D);
	glDisable(GL_BLEND);

#define RAYTRACER
#ifdef RAYTRACER






	SimdVector4 rgba(1.f,0.f,0.f,0.5f);

	float top = 1.f;
	float bottom = -1.f;
	float nearPlane = 1.f;

	float tanFov = (top-bottom)*0.5f / nearPlane;

	float fov = 2.0 * atanf (tanFov);


	SimdVector3	rayFrom = getCameraPosition();
	SimdVector3 rayForward = getCameraTargetPosition()-getCameraPosition();
	rayForward.normalize();
	float farPlane = 600.f;
	rayForward*= farPlane;

	SimdVector3 rightOffset;
	SimdVector3 vertical(0.f,1.f,0.f);
	SimdVector3 hor;
	hor = rayForward.cross(vertical);
	hor.normalize();
	vertical = hor.cross(rayForward);
	vertical.normalize();

	float tanfov = tanf(0.5f*fov);

	hor *= 2.f * farPlane * tanfov;
	vertical *= 2.f * farPlane * tanfov;

	SimdVector3 rayToCenter = rayFrom + rayForward;

	SimdVector3 dHor = hor * 1.f/float(screenWidth);
	SimdVector3 dVert = vertical * 1.f/float(screenHeight);

	SimdTransform rayFromTrans;
	rayFromTrans.setIdentity();
	rayFromTrans.setOrigin(rayFrom);

	SimdTransform rayFromLocal;
	SimdTransform	rayToLocal;


	SphereShape pointShape(0.0f);


	///clear texture
	for (int x=0;x<screenWidth;x++)
	{
		for (int y=0;y<screenHeight;y++)
		{
			SimdVector4 rgba(0.f,0.f,0.f,0.f);
			raytracePicture->SetPixel(x,y,rgba);
		}
	}
	

	ConvexCast::CastResult rayResult;
	SimdTransform rayToTrans;
	rayToTrans.setIdentity();
	SimdVector3 rayTo;
	for (int x=0;x<screenWidth;x++)
	{
		for (int y=0;y<screenHeight;y++)
		{
			rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
			rayTo += x * dHor;
			rayTo -= y * dVert;
			rayToTrans.setOrigin(rayTo);
			for (int s=0;s<numObjects;s++)
			{
			//	rayFromLocal = transforms[s].inverse()* rayFromTrans;
			//	rayToLocal = transforms[s].inverse()* rayToTrans;

				//choose the continuous collision detection method
				SubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
				//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
				//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
				
				//	BU_Simplex1to4	ptShape(SimdVector3(0,0,0));//algebraic needs features, doesnt use 'supporting vertex'
				//	BU_CollisionPair convexCaster(&ptShape,shapePtr[0]);


				//reset previous result
				rayResult.m_fraction = 1.f;


				if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
				{
					//float fog = 1.f - 0.1f * rayResult.m_fraction;
					rayResult.m_normal.normalize();

					SimdVector3 worldNormal;
					worldNormal = transforms[s].getBasis() *rayResult.m_normal;

					float light = worldNormal.dot(SimdVector3(0.4f,-1.f,-0.4f));
					if (light < 0.2f)
						light = 0.2f;
					if (light > 1.f)
						light = 1.f;

					rgba = SimdVector4(light,light,light,1.f);
					raytracePicture->SetPixel(x,y,rgba);
				} else
				{
					//clear is already done
					//rgba = SimdVector4(0.f,0.f,0.f,0.f);
					//raytracePicture->SetPixel(x,y,rgba);

				}

				
			}
		}
	}

#define TEST_PRINTF
#ifdef TEST_PRINTF

	
	extern BMF_FontData BMF_font_helv10;
	
	raytracePicture->Printf("CCD RAYTRACER",&BMF_font_helv10);
	char buffer[256];
	sprintf(buffer,"%d RAYS / Frame",screenWidth*screenHeight*numObjects);
	raytracePicture->Printf(buffer,&BMF_font_helv10,0,10);
	

#endif //TEST_PRINTF

	glMatrixMode(GL_PROJECTION);
	glPushMatrix();
	glLoadIdentity();
	glFrustum(-1.0,1.0,-1.0,1.0,3,2020.0);

	glMatrixMode(GL_MODELVIEW);
	glPushMatrix();
	glLoadIdentity();									// Reset The Modelview Matrix
	glTranslatef(0.0f,0.0f,-3.0f);						// Move Into The Screen 5 Units



	glEnable(GL_TEXTURE_2D);
	glBindTexture(GL_TEXTURE_2D,glTextureId );

	const unsigned char *ptr = raytracePicture->GetBuffer();
	glTexImage2D(GL_TEXTURE_2D, 
		0, 
		GL_RGBA, 
		raytracePicture->GetWidth(),raytracePicture->GetHeight(), 
		0, 
		GL_RGBA, 
		GL_UNSIGNED_BYTE, 
		ptr);


	glEnable (GL_BLEND);
	glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
	glColor4f (1,1,1,1); // alpha=0.5=half visible

	glBegin(GL_QUADS);
	glTexCoord2f(0.0f, 0.0f);
	glVertex2f(-1,1);
	glTexCoord2f(1.0f, 0.0f);
	glVertex2f(1,1);
	glTexCoord2f(1.0f, 1.0f);
	glVertex2f(1,-1);
	glTexCoord2f(0.0f, 1.0f);
	glVertex2f(-1,-1);
	glEnd();



	glMatrixMode(GL_MODELVIEW);
	glPopMatrix();
	glMatrixMode(GL_PROJECTION);
	glPopMatrix();
	glMatrixMode(GL_MODELVIEW);

#endif //RAYRACER

	glDisable(GL_TEXTURE_2D);
	glDisable(GL_DEPTH_TEST);

	GL_ShapeDrawer::DrawCoordSystem();

	glPushMatrix();



	
	/*
	/// normal opengl rendering
	float m[16];
	int i;

	for (i=0;i<numObjects;i++)
	{


		transA.getOpenGLMatrix( m );
		/// draw the simplex
		GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1));
		/// calculate closest point from simplex to the origin, and draw this vector
		simplex.CalcClosest(m);

	}
	*/

	glPopMatrix();

	pitch += 0.005f;
	yaw += 0.01f;

	glFlush();
	glutSwapBuffers();
}
Beispiel #9
0
//to be implemented by the demo
void renderme()
{
	debugDrawer.SetDebugMode(getDebugMode());

	//render the hinge axis
	if (createConstraint)
	{
		SimdVector3 color(1,0,0);
		SimdVector3 dirLocal(0,1,0);
		SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
		SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
		SimdVector3 from = physObjects[1]->GetRigidBody()->getCenterOfMassTransform()(pivotInA);
		SimdVector3 fromB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform()(pivotInB);
		SimdVector3 dirWorldA = physObjects[1]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
		SimdVector3 dirWorldB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
		debugDrawer.DrawLine(from,from+dirWorldA,color);
		debugDrawer.DrawLine(fromB,fromB+dirWorldB,color);
	}

	float m[16];
	int i;


	if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)
	{
		//don't use Bullet, use quickstep
		physicsEnvironmentPtr->setSolverType(0);
	} else
	{
		//Bullet LCP solver
		physicsEnvironmentPtr->setSolverType(1);
	}

	if (getDebugMode() & IDebugDraw::DBG_EnableCCD)
	{
		physicsEnvironmentPtr->setCcdMode(3);
	} else
	{
		physicsEnvironmentPtr->setCcdMode(0);
	}


	bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);

	physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);


#ifdef USE_HULL
	//some testing code for SAT
	if (isSatEnabled)
	{
		for (int s=0;s<numShapes;s++)
		{
			CollisionShape* shape = shapePtr[s];

			if (shape->IsPolyhedral())
			{
				PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(shape);
				if (!polyhedron->m_optionalHull)
				{
					//first convert vertices in 'Point3' format
					int numPoints = polyhedron->GetNumVertices();
					Point3* points = new Point3[numPoints+1];
					//first 4 points should not be co-planar, so add central point to satisfy MakeHull
					points[0] = Point3(0.f,0.f,0.f);

					SimdVector3 vertex;
					for (int p=0;p<numPoints;p++)
					{
						polyhedron->GetVertex(p,vertex);
						points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
					}

					Hull* hull = Hull::MakeHull(numPoints+1,points);
					polyhedron->m_optionalHull = hull;
				}

			}
		}

	}
#endif //USE_HULL


	for (i=0;i<numObjects;i++)
	{
		SimdTransform transA;
		transA.setIdentity();

		float pos[3];
		float rot[4];

		ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
		ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);

		SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
		transA.setRotation(q);

		SimdPoint3 dpos;
		dpos.setValue(pos[0],pos[1],pos[2]);

		transA.setOrigin( dpos );
		transA.getOpenGLMatrix( m );


		SimdVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
		if (i & 1)
		{
			wireColor = SimdVector3(0.f,0.0f,1.f);
		}
		///color differently for active, sleeping, wantsdeactivation states
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
		{
			if (i & 1)
			{
				wireColor += SimdVector3 (1.f,0.f,0.f);
			} else
			{			
				wireColor += SimdVector3 (.5f,0.f,0.f);
			}
		}
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
		{
			if (i & 1)
			{
				wireColor += SimdVector3 (0.f,1.f, 0.f);
			} else
			{
				wireColor += SimdVector3 (0.f,0.5f,0.f);
			}
		}

		char	extraDebug[125];
		sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
		physObjects[i]->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
		GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());

		///this block is just experimental code to show some internal issues with replacing shapes on the fly.
		if (getDebugMode()!=0 && (i>0))
		{
			if (physObjects[i]->GetRigidBody()->GetCollisionShape()->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
			{
				physObjects[i]->GetRigidBody()->SetCollisionShape(shapePtr[1]);

				//remove the persistent collision pairs that were created based on the previous shape

				BroadphaseProxy* bpproxy = physObjects[i]->GetRigidBody()->m_broadphaseHandle;

				physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);

				SimdVector3 newinertia;
				SimdScalar newmass = 10.f;
				physObjects[i]->GetRigidBody()->GetCollisionShape()->CalculateLocalInertia(newmass,newinertia);
				physObjects[i]->GetRigidBody()->setMassProps(newmass,newinertia);
				physObjects[i]->GetRigidBody()->updateInertiaTensor();

			}

		}


	}

	if (!(getDebugMode() & IDebugDraw::DBG_NoHelpText))
	{

		float xOffset = 10.f;
		float yStart = 20.f;

		float yIncr = -2.f;

		char buf[124];

		glColor3f(0, 0, 0);

#ifdef USE_QUICKPROF


		if ( getDebugMode() & IDebugDraw::DBG_ProfileTimings)
		{
			static int counter = 0;
			counter++;
			std::map<std::string, hidden::ProfileBlock*>::iterator iter;
			for (iter = Profiler::mProfileBlocks.begin(); iter != Profiler::mProfileBlocks.end(); ++iter)
			{
				char blockTime[128];
				sprintf(blockTime, "%s: %lf",&((*iter).first[0]),Profiler::getBlockTime((*iter).first, Profiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
				glRasterPos3f(xOffset,yStart,0);
				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
				yStart += yIncr;

			}
		}
#endif //USE_QUICKPROF
		//profiling << Profiler::createStatsString(Profiler::BLOCK_TOTAL_PERCENT); 
		//<< std::endl;



		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"mouse to interact");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"space to reset");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"cursor keys and z,x to navigate");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"i to toggle simulation, s single step");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"q to quit");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"d to toggle deactivation");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"a to draw temporal AABBs");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;


		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"h to toggle help text");
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		bool useBulletLCP = !(getDebugMode() & IDebugDraw::DBG_DisableBulletLCP);

		bool useCCD = (getDebugMode() & IDebugDraw::DBG_EnableCCD);

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

		glRasterPos3f(xOffset,yStart,0);
		sprintf(buf,"+- shooting speed = %10.2f",bulletSpeed);
		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
		yStart += yIncr;

	}

}
Beispiel #10
0
int main(int argc,char** argv)
{


	CollisionDispatcher* dispatcher = new	CollisionDispatcher();


	SimdVector3 worldAabbMin(-10000,-10000,-10000);
	SimdVector3 worldAabbMax(10000,10000,10000);

	BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
	//BroadphaseInterface* broadphase = new SimpleBroadphase();

	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
	physicsEnvironmentPtr->setDeactivationTime(2.f);

	physicsEnvironmentPtr->setGravity(0,-10,0);
	PHY_ShapeProps shapeProps;

	shapeProps.m_do_anisotropic = false;
	shapeProps.m_do_fh = false;
	shapeProps.m_do_rot_fh = false;
	shapeProps.m_friction_scaling[0] = 1.;
	shapeProps.m_friction_scaling[1] = 1.;
	shapeProps.m_friction_scaling[2] = 1.;

	shapeProps.m_inertia = 1.f;
	shapeProps.m_lin_drag = 0.2f;
	shapeProps.m_ang_drag = 0.1f;
	shapeProps.m_mass = 10.0f;

	PHY_MaterialProps materialProps;
	materialProps.m_friction = 10.5f;
	materialProps.m_restitution = 0.0f;

	CcdConstructionInfo ccdObjectCi;
	ccdObjectCi.m_friction = 0.5f;

	ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
	ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;

	SimdTransform tr;
	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++)
	{
		shapeProps.m_shape = shapePtr[shapeIndex[i]];
		shapeProps.m_shape->SetMargin(0.05f);



		bool isDyna = i>0;
		//if (i==1)
		//	isDyna=false;

		if (0)//i==1)
		{
			SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
			ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
		}


		if (i>0)
		{

			switch (i)
			{
			case 1:
				{
					ms[i].setWorldPosition(0,10,0);
					//for testing, rotate the ground cube so the stack has to recover a bit

					break;
				}
			case 2:
				{
					ms[i].setWorldPosition(0,8,2);
					break;
				}
			default:
				ms[i].setWorldPosition(0,i*CUBE_HALF_EXTENTS*2 - CUBE_HALF_EXTENTS,0);
			}

			float quatIma0,quatIma1,quatIma2,quatReal;
			SimdQuaternion quat;
			SimdVector3 axis(0,0,1);
			SimdScalar angle=0.5f;

			quat.setRotation(axis,angle);

			ms[i].setWorldOrientation(quat.getX(),quat.getY(),quat.getZ(),quat[3]);



		} else
		{
			ms[i].setWorldPosition(0,-10+EXTRA_HEIGHT,0);

		}

		ccdObjectCi.m_MotionState = &ms[i];
		ccdObjectCi.m_gravity = SimdVector3(0,0,0);
		ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
		if (!isDyna)
		{
			shapeProps.m_mass = 0.f;
			ccdObjectCi.m_mass = shapeProps.m_mass;
			ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
		}
		else
		{
			shapeProps.m_mass = 1.f;
			ccdObjectCi.m_mass = shapeProps.m_mass;
			ccdObjectCi.m_collisionFlags = 0;
		}


		SimdVector3 localInertia;
		if (shapePtr[shapeIndex[i]]->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
		{
			//take inertia from first shape
			shapePtr[1]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
		} else
		{
			shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
		}
		ccdObjectCi.m_localInertiaTensor = localInertia;

		ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];


		physObjects[i]= new CcdPhysicsController( ccdObjectCi);

		// Only do CCD if  motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
		physObjects[i]->GetRigidBody()->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
		
		//Experimental: better estimation of CCD Time of Impact:
		//physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;

		physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);

		if (i==1)
		{
			//physObjects[i]->SetAngularVelocity(0,0,-2,true);
		}

		physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);

	}


	clientResetScene();

	{
		//physObjects[i]->SetAngularVelocity(0,0,-2,true);
		int constraintId;

			float pivotX=CUBE_HALF_EXTENTS,
				pivotY=CUBE_HALF_EXTENTS,
				pivotZ=CUBE_HALF_EXTENTS;
			float axisX=0,axisY=1,axisZ=0;


		constraintId =physicsEnvironmentPtr->createConstraint(
		physObjects[1],
		//0,
		physObjects[2],
			////PHY_POINT2POINT_CONSTRAINT,
			PHY_GENERIC_6DOF_CONSTRAINT,//can leave any of the 6 degree of freedom 'free' or 'locked'
			//PHY_LINEHINGE_CONSTRAINT,
			pivotX,pivotY,pivotZ,
			axisX,axisY,axisZ
			);

	}

	



	setCameraDistance(26.f);

	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/");
}
Beispiel #11
0
int main(int argc,char** argv)
{

	int i;
	for (i=0;i<numObjects;i++)
	{
		if (i>0)
		{
			shapePtr[i] = prebuildShapePtr[1];
			shapeIndex[i] = 1;//sphere
		}
		else
		{
			shapeIndex[i] = 0;
			shapePtr[i] = prebuildShapePtr[0];
		}
	}
	
	ConvexDecomposition::WavefrontObj wo;
	char* filename = "file.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);


	}

	CollisionDispatcher* dispatcher = new	CollisionDispatcher();


	SimdVector3 worldAabbMin(-10000,-10000,-10000);
	SimdVector3 worldAabbMax(10000,10000,10000);

	OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
	//OverlappingPairCache* broadphase = new SimpleBroadphase();

	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
	physicsEnvironmentPtr->setDeactivationTime(2.f);

	physicsEnvironmentPtr->setGravity(0,-10,0);
	PHY_ShapeProps shapeProps;

	shapeProps.m_do_anisotropic = false;
	shapeProps.m_do_fh = false;
	shapeProps.m_do_rot_fh = false;
	shapeProps.m_friction_scaling[0] = 1.;
	shapeProps.m_friction_scaling[1] = 1.;
	shapeProps.m_friction_scaling[2] = 1.;

	shapeProps.m_inertia = 1.f;
	shapeProps.m_lin_drag = 0.2f;
	shapeProps.m_ang_drag = 0.1f;
	shapeProps.m_mass = 10.0f;

	PHY_MaterialProps materialProps;
	materialProps.m_friction = 10.5f;
	materialProps.m_restitution = 0.0f;

	CcdConstructionInfo ccdObjectCi;
	ccdObjectCi.m_friction = 0.5f;

	ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
	ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;

	SimdTransform tr;
	tr.setIdentity();



	for (i=0;i<numObjects;i++)
	{
		shapeProps.m_shape = shapePtr[shapeIndex[i]];
		shapeProps.m_shape->SetMargin(0.05f);



		bool isDyna = i>0;
		//if (i==1)
		//	isDyna=false;

		if (0)//i==1)
		{
			SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
			ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
		}


		if (i>0)
		{

			switch (i)
			{
			case 1:
				{
					ms[i].setWorldPosition(0,10,0);
					//for testing, rotate the ground cube so the stack has to recover a bit

					break;
				}
			case 2:
				{
					ms[i].setWorldPosition(0,8,2);
					break;
				}
			default:
				ms[i].setWorldPosition(0,i*CUBE_HALF_EXTENTS*2 - CUBE_HALF_EXTENTS,0);
			}

			float quatIma0,quatIma1,quatIma2,quatReal;
			SimdQuaternion quat;
			SimdVector3 axis(0,0,1);
			SimdScalar angle=0.5f;

			quat.setRotation(axis,angle);

			ms[i].setWorldOrientation(quat.getX(),quat.getY(),quat.getZ(),quat[3]);



		} else
		{
			ms[i].setWorldPosition(0,-10+EXTRA_HEIGHT,0);

		}

		ccdObjectCi.m_MotionState = &ms[i];
		ccdObjectCi.m_gravity = SimdVector3(0,0,0);
		ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
		if (!isDyna)
		{
			shapeProps.m_mass = 0.f;
			ccdObjectCi.m_mass = shapeProps.m_mass;
			ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
		}
		else
		{
			shapeProps.m_mass = 1.f;
			ccdObjectCi.m_mass = shapeProps.m_mass;
			ccdObjectCi.m_collisionFlags = 0;
		}


		SimdVector3 localInertia;
		if (shapePtr[shapeIndex[i]]->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
		{
			//take inertia from first shape
			shapePtr[1]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
		} else
		{
			shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
		}
		ccdObjectCi.m_localInertiaTensor = localInertia;

		ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];


		physObjects[i]= new CcdPhysicsController( ccdObjectCi);

		// Only do CCD if  motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
		physObjects[i]->GetRigidBody()->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
		
		//Experimental: better estimation of CCD Time of Impact:
		//physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;

		physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);

		if (i==1)
		{
			//physObjects[i]->SetAngularVelocity(0,0,-2,true);
		}

		physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);

	}


	//create a constraint
	if (createConstraint)
	{
		//physObjects[i]->SetAngularVelocity(0,0,-2,true);
		int constraintId;

		float pivotX=CUBE_HALF_EXTENTS,
			pivotY=-CUBE_HALF_EXTENTS,
			pivotZ=CUBE_HALF_EXTENTS;

		float axisX=1,axisY=0,axisZ=0;



		HingeConstraint* hinge = 0;

		SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
		SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
		SimdVector3 axisInA(0,1,0);
		SimdVector3 axisInB(0,-1,0);

		RigidBody* rb0 = physObjects[1]->GetRigidBody();
		RigidBody* rb1 = physObjects[2]->GetRigidBody();

		hinge = new HingeConstraint(
			*rb0,
			*rb1,pivotInA,pivotInB,axisInA,axisInB);

		physicsEnvironmentPtr->m_constraints.push_back(hinge);

		hinge->SetUserConstraintId(100);
		hinge->SetUserConstraintType(PHY_LINEHINGE_CONSTRAINT);

	}




	clientResetScene();

	setCameraDistance(26.f);

	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/");
}
Beispiel #12
0
int main(int argc,char** argv)
{

	setCameraDistance(30.f);

#define TRISIZE 10.f
#ifdef DEBUG_MESH
	SimdVector3 vert0(-TRISIZE ,0,TRISIZE );
	SimdVector3 vert1(TRISIZE ,10,TRISIZE );
	SimdVector3 vert2(TRISIZE ,0,-TRISIZE );
	meshData.AddTriangle(vert0,vert1,vert2);
	SimdVector3 vert3(-TRISIZE ,0,TRISIZE );
	SimdVector3 vert4(TRISIZE ,0,-TRISIZE );
	SimdVector3 vert5(-TRISIZE ,0,-TRISIZE );
	meshData.AddTriangle(vert3,vert4,vert5);
#else
#ifdef ODE_MESH
	SimdVector3 Size = SimdVector3(15.f,15.f,12.5f);
	
  gVertices[0][0] = -Size[0];
  gVertices[0][1] = Size[2];
  gVertices[0][2] = -Size[1];
  
  gVertices[1][0] = Size[0];
  gVertices[1][1] = Size[2];
  gVertices[1][2] = -Size[1];
  
  gVertices[2][0] = Size[0];
  gVertices[2][1] = Size[2];
  gVertices[2][2] = Size[1];  

  gVertices[3][0] = -Size[0];
  gVertices[3][1] = Size[2];
  gVertices[3][2] = Size[1];
  
  gVertices[4][0] = 0;
  gVertices[4][1] = 0;
  gVertices[4][2] = 0;
  
  gIndices[0] = 0;
  gIndices[1] = 1;
  gIndices[2] = 4;
  
  gIndices[3] = 1;
  gIndices[4] = 2;
  gIndices[5] = 4;
  
  gIndices[6] = 2;
  gIndices[7] = 3;
  gIndices[8] = 4;
  
  gIndices[9] = 3;
  gIndices[10] = 0;
  gIndices[11] = 4;

  int vertStride = sizeof(SimdVector3);
  int indexStride = 3*sizeof(int);

	TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(NUM_TRIANGLES,
		gIndices,
		indexStride,
		NUM_VERTICES,(float*) &gVertices[0].x(),vertStride);

	//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
	shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
#else

	int vertStride = sizeof(SimdVector3);
	int indexStride = 3*sizeof(int);

	const int NUM_VERTS_X = 50;
	const int NUM_VERTS_Y = 50;
	const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
	
	const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);

	SimdVector3*	gVertices = new SimdVector3[totalVerts];
	int*	gIndices = new int[totalTriangles*3];

	int i;

	for ( i=0;i<NUM_VERTS_X;i++)
	{
		for (int j=0;j<NUM_VERTS_Y;j++)
		{
			gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*10.f,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*10.f);
		}
	}

	int index=0;
	for ( i=0;i<NUM_VERTS_X-1;i++)
	{
		for (int j=0;j<NUM_VERTS_Y-1;j++)
		{
			gIndices[index++] = j*NUM_VERTS_X+i;
			gIndices[index++] = j*NUM_VERTS_X+i+1;
			gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;

			gIndices[index++] = j*NUM_VERTS_X+i;
			gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
			gIndices[index++] = (j+1)*NUM_VERTS_X+i;
		}
	}
	
	TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
		gIndices,
		indexStride,
		totalVerts,(float*) &gVertices[0].x(),vertStride);

	//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
	shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
#endif

	

#endif//DEBUG_MESH


//	GLDebugDrawer	debugDrawer;

	//ConstraintSolver* solver = new SimpleConstraintSolver;
	ConstraintSolver* solver = new OdeConstraintSolver;

	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
		
	BroadphaseInterface* broadphase = new SimpleBroadphase();


	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
	

	physicsEnvironmentPtr->setGravity(-1,-10,1);
	PHY_ShapeProps shapeProps;
	
	shapeProps.m_do_anisotropic = false;
	shapeProps.m_do_fh = false;
	shapeProps.m_do_rot_fh = false;
	shapeProps.m_friction_scaling[0] = 1.;
	shapeProps.m_friction_scaling[1] = 1.;
	shapeProps.m_friction_scaling[2] = 1.;

	shapeProps.m_inertia = 1.f;
	shapeProps.m_lin_drag = 0.95999998f;
	shapeProps.m_ang_drag = 0.89999998f;
	shapeProps.m_mass = 1.0f;
	
	PHY_MaterialProps materialProps;
	materialProps.m_friction = 0.f;// 50.5f;
	materialProps.m_restitution = 0.1f;

	CcdConstructionInfo ccdObjectCi;
	ccdObjectCi.m_friction = 0.f;//50.5f;

	ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
	ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;

	SimdTransform tr;
	tr.setIdentity();

	
	for (i=0;i<numObjects;i++)
	{
		if (i>0)
			shapeIndex[i] = 1;//2 = tetrahedron
		else
			shapeIndex[i] = 4;
	}
	for (i=0;i<numObjects;i++)
	{
		shapeProps.m_shape = shapePtr[shapeIndex[i]];

		bool isDyna = i>0;
		
		if (!i)
		{
			//SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
			//ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
			//ms[i].setWorldPosition(0,-10,0);
		} else
		{
				ms[i].setWorldPosition(10,i*15-10,0);
		}
		
//either create a few stacks, to show several islands, or create 1 large stack, showing stability
		//ms[i].setWorldPosition((i*5) % 30,i*15-10,0);
		

		ccdObjectCi.m_MotionState = &ms[i];
		ccdObjectCi.m_gravity = SimdVector3(0,0,0);
		ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
		if (!isDyna)
		{
			shapeProps.m_mass = 0.f;
			ccdObjectCi.m_mass = shapeProps.m_mass;
		}
		else
		{
			shapeProps.m_mass = 1.f;
			ccdObjectCi.m_mass = shapeProps.m_mass;
		}

		
		SimdVector3 localInertia;
		if (shapeProps.m_mass>0.f)
		{
			shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
		} else
		{
			localInertia.setValue(0.f,0.f,0.f);

		}
		ccdObjectCi.m_localInertiaTensor = localInertia;

		ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];


		physObjects[i]= new CcdPhysicsController( ccdObjectCi);
		physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);

/*		if (i==0)
		{
			physObjects[i]->SetAngularVelocity(0,0,-2,true);
			physObjects[i]->GetRigidBody()->setDamping(0,0);
		}
*/
		//for the line that represents the AABB extents
//	physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);

		
	}
	return glutmain(argc, argv,640,480,"Static Concave Mesh Demo");
}
Beispiel #13
0
void clientDisplay(void) {

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glDisable(GL_LIGHTING);

    //GL_ShapeDrawer::DrawCoordSystem();

    float m[16];
    int i;

    GjkPairDetector	convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);

    SimdVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
    convexConvex.SetCachedSeperatingAxis(seperatingAxis);

    PointCollector gjkOutput;
    GjkPairDetector::ClosestPointInput input;
    input.m_transformA = tr[0];
    input.m_transformB = tr[1];

    convexConvex.GetClosestPoints(input ,gjkOutput,0);

    if (gjkOutput.m_hasResult)
    {
        SimdVector3 endPt = gjkOutput.m_pointInWorld +
                            gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;

        glBegin(GL_LINES);
        glColor3f(1, 0, 0);
        glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z());
        glVertex3d(endPt.x(),endPt.y(),endPt.z());
        //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
        //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
        glEnd();

    }

    for (i=0; i<numObjects; i++)
    {

        tr[i].getOpenGLMatrix( m );

        GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());


    }

    simplex.SetSimplexSolver(&sGjkSimplexSolver);
    SimdPoint3 ybuf[4],pbuf[4],qbuf[4];
    int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
    simplex.Reset();

    for (i=0; i<numpoints; i++)
        simplex.AddVertex(ybuf[i]);

    SimdTransform ident;
    ident.setIdentity();
    ident.getOpenGLMatrix(m);
    GL_ShapeDrawer::DrawOpenGL(m,&simplex,SimdVector3(1,1,1),getDebugMode());


    SimdQuaternion orn;
    orn.setEuler(yaw,pitch,roll);
    tr[0].setRotation(orn);

//	pitch += 0.005f;
//	yaw += 0.01f;

    glFlush();
    glutSwapBuffers();
}
Beispiel #14
0
void ConvexDecompositionDemo::initPhysics(const char* filename)
{
	ConvexDecomposition::WavefrontObj wo;

	tcount = wo.loadObj(filename);

	CollisionDispatcher* dispatcher = new	CollisionDispatcher();


	SimdVector3 worldAabbMin(-10000,-10000,-10000);
	SimdVector3 worldAabbMax(10000,10000,10000);

	OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
	//OverlappingPairCache* broadphase = new SimpleBroadphase();

	m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
	m_physicsEnvironmentPtr->setDeactivationTime(2.f);

	m_physicsEnvironmentPtr->setGravity(0,-10,0);

	SimdTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(SimdVector3(0,-4,0));

	LocalCreatePhysicsObject(false,0,startTransform,new BoxShape(SimdVector3(30,2,30)));

	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
	{

		ConvexDecompositionDemo*	m_convexDemo;
		public:

		MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
			:m_convexDemo(demo),
				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
					centroid.setValue(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;
							centroid += vertex0;
							centroid += vertex1;
							centroid += vertex2;
							
						}
					}

					centroid *= 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 -= centroid;
							vertex1 -= centroid;
							vertex2 -= centroid;

							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 );
						}
					}

					bool isDynamic = true;
					float mass = 1.f;
					CollisionShape* convexShape = new ConvexTriangleMeshShape(trimesh);
					SimdTransform trans;
					trans.setIdentity();
					trans.setOrigin(centroid);
					m_convexDemo->LocalCreatePhysicsObject(isDynamic, mass, trans,convexShape);

					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.


				}
			}

			int   	mBaseCount;
  			int		mHullCount;
			FILE*	mOutputFile;

	};

	if (tcount)
	{
		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);
		}

		CollisionShape* convexShape = new ConvexTriangleMeshShape(trimesh);
		bool isDynamic = true;
		float mass = 1.f;
		
		SimdTransform startTransform;
		startTransform.setIdentity();
		startTransform.setOrigin(SimdVector3(20,2,0));

		LocalCreatePhysicsObject(isDynamic, mass, startTransform,convexShape);

	}
			

	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,this);
		desc.mCallback = &convexDecomposition;
		
		

		//convexDecomposition.performConvexDecomposition(desc);

		ConvexBuilder cb(desc.mCallback);
		cb.process(desc);
		
		if (outputFile)
			fclose(outputFile);


	}


	m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);

}
Beispiel #15
0
			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
					centroid.setValue(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;
							centroid += vertex0;
							centroid += vertex1;
							centroid += vertex2;
							
						}
					}

					centroid *= 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 -= centroid;
							vertex1 -= centroid;
							vertex2 -= centroid;

							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 );
						}
					}

					bool isDynamic = true;
					float mass = 1.f;
					CollisionShape* convexShape = new ConvexTriangleMeshShape(trimesh);
					SimdTransform trans;
					trans.setIdentity();
					trans.setOrigin(centroid);
					m_convexDemo->LocalCreatePhysicsObject(isDynamic, mass, trans,convexShape);

					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.


				}
			}