static void convertToBullet(void)
{
cleanupBullet();
m_config = new btDefaultCollisionConfiguration();
btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache();
//m_broadphase = new btDbvtBroadphase();
btLowLevelData* lowLevelData = new btLowLevelData;
lowLevelData->m_maxContacts = NUM_CONTACTS;//8024;
lowLevelData->m_contactIdPool = (int*) btAlignedAlloc(sizeof(int)*lowLevelData->m_maxContacts ,16);
lowLevelData->m_contacts = (PfxContactManifold*) btAlignedAlloc(sizeof(PfxContactManifold)*lowLevelData->m_maxContacts,16);
lowLevelData->m_maxPairs = lowLevelData->m_maxContacts;//??
lowLevelData->m_pairsBuff[0] = (PfxBroadphasePair*) btAlignedAlloc(sizeof(PfxBroadphasePair)*lowLevelData->m_maxPairs,16);
lowLevelData->m_pairsBuff[1] = (PfxBroadphasePair*) btAlignedAlloc(sizeof(PfxBroadphasePair)*lowLevelData->m_maxPairs,16);
#define USE_LL_BP
#ifdef USE_LL_BP
btLowLevelBroadphase* llbp = new btLowLevelBroadphase(lowLevelData,pairCache);
m_broadphase = llbp;
#else //USE_LL_BP
m_broadphase = new btDbvtBroadphase();
#endif //USE_LL_BP
//m_dispatcher = new btCollisionDispatcher(m_config);
m_dispatcher = new btLowLevelCollisionDispatcher(lowLevelData,m_config,NUM_CONTACTS);
//#ifdef USE_PARALLEL_SOLVER
// m_solver = new btSequentialImpulseConstraintSolver();
//#else
//sThreadSupport = createSolverThreadSupport(4);
//m_solver = new btLowLevelConstraintSolver(sThreadSupport);
m_solver = new btLowLevelConstraintSolver2(lowLevelData);
//#endif //USE_PARALLEL_SOLVER
//m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_config);
m_dynamicsWorld = new btBulletPhysicsEffectsWorld(lowLevelData, m_dispatcher,llbp,m_solver,m_config,0);
PEDebugDrawer* drawer = new PEDebugDrawer();
drawer->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawAabb);
m_dynamicsWorld->setDebugDrawer(drawer);
m_dynamicsWorld ->getSolverInfo().m_splitImpulse = true;
for(int i=0;i<physics_get_num_rigidbodies();i++) {
btRigidBody* body = 0;
btAlignedObjectArray<btCollisionShape*> shapes;
btAlignedObjectArray<btTransform> childTtransforms;
PfxRigidState &state = states[i];//physics_get_state(i);
state.setUserData(0);
const PfxCollidable &coll = physics_get_collidable(i);
PfxTransform3 rbT(state.getOrientation(), state.getPosition());
PfxShapeIterator itrShape(coll);
for(int j=0;j<coll.getNumShapes();j++,++itrShape) {
const PfxShape &shape = *itrShape;
PfxTransform3 offsetT = shape.getOffsetTransform();
PfxTransform3 worldT = rbT * offsetT;
btTransform childTransform;
childTransform.setIdentity();
childTransform.setOrigin(getBtVector3(offsetT.getTranslation()));
PfxQuat quat(offsetT.getUpper3x3());
childTransform.setBasis(btMatrix3x3(getBtQuat(quat)));
childTtransforms.push_back(childTransform);
switch(shape.getType()) {
case kPfxShapeSphere:
{
btSphereShape* sphere = new btSphereShape(shape.getSphere().m_radius);
shapes.push_back(sphere);
//render_sphere( worldT, Vectormath::Aos::Vector3(1,1,1),Vectormath::floatInVec(shape.getSphere().m_radius));
}
break;
case kPfxShapeBox:
{
btBoxShape* box = new btBoxShape(getBtVector3(shape.getBox().m_half));
shapes.push_back(box);
}
//render_box( worldT, Vectormath::Aos::Vector3(1,1,1), shape.getBox().m_half);
break;
case kPfxShapeCapsule:
shapes.push_back(new btCapsuleShapeX(shape.getCapsule().m_radius,2.f*shape.getCapsule().m_halfLen));
//render_capsule( worldT, Vectormath::Aos::Vector3(1,1,1), Vectormath::floatInVec(shape.getCapsule().m_radius), Vectormath::floatInVec(shape.getCapsule().m_halfLen));
break;
case kPfxShapeCylinder:
shapes.push_back(new btCylinderShapeX(btVector3(shape.getCylinder().m_halfLen,shape.getCylinder().m_radius,shape.getCylinder().m_radius)));
//render_cylinder( worldT, Vectormath::Aos::Vector3(1,1,1), Vectormath::floatInVec(shape.getCylinder().m_radius),Vectormath::floatInVec(shape.getCylinder().m_halfLen));
break;
case kPfxShapeConvexMesh:
{
const PfxConvexMesh* convex = shape.getConvexMesh();
const btScalar* vertices = (const btScalar*)&convex->m_verts[0];
btConvexHullShape* convexHull = new btConvexHullShape(vertices,convex->m_numVerts, sizeof(PfxVector3));
shapes.push_back(convexHull);
}
break;
case kPfxShapeLargeTriMesh:
{
const PfxLargeTriMesh* mesh = shape.getLargeTriMesh();
btTriangleIndexVertexArray* meshInterface = new btTriangleIndexVertexArray();
int i;
for (i= 0; i < mesh->m_numIslands;i++)
{
PfxTriMesh* island = &mesh->m_islands[i];
//mesh->m_islands
//mesh->m_numIslands
btIndexedMesh indexedMesh;
indexedMesh.m_indexType = PHY_UCHAR;
indexedMesh.m_numTriangles = island->m_numFacets;
indexedMesh.m_triangleIndexBase = &island->m_facets[0].m_vertIds[0];
indexedMesh.m_triangleIndexStride = sizeof(PfxFacet);
indexedMesh.m_vertexBase = (const unsigned char*) &island->m_verts[0];
indexedMesh.m_numVertices = island->m_numVerts;//unused
indexedMesh.m_vertexStride = sizeof(PfxVector3);
meshInterface->addIndexedMesh(indexedMesh,PHY_UCHAR);
}
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true);
shapes.push_back(trimesh);
}
break;
default:
{
printf("unknown\n");
}
break;
}
}
if(shapes.size()>0)
{
printf("shapes!\n");
btCollisionShape* colShape = 0;
if (shapes.size()==1 && childTtransforms[0].getOrigin().fuzzyZero())
//todo: also check orientation
{
colShape = shapes[0];
}
else
{
btCompoundShape* compound = new btCompoundShape();
for (int i=0;i<shapes.size();i++)
{
compound->addChildShape(childTtransforms[i],shapes[i]);
}
colShape = compound;
}
btTransform worldTransform;
worldTransform.setIdentity();
worldTransform.setOrigin(getBtVector3(rbT.getTranslation()));
PfxQuat quat(rbT.getUpper3x3());
worldTransform.setBasis(btMatrix3x3(getBtQuat(quat)));
btScalar mass = physics_get_body(i).getMass();
btRigidBody* body = addRigidBody(colShape,mass,worldTransform);
void* ptr = (void*)&state;
body->setUserPointer(ptr);
state.setUserData(body);
}
}
//very basic joint conversion (only limits of PFX_JOINT_SWINGTWIST joint)
for (int i=0;i<numJoints;i++)
{
PfxJoint& joint = joints[i];
switch (joint.m_type)
{
case kPfxJointSwingtwist:
{
//btConeTwistConstraint* coneTwist = new btConeTwistConstraint(rbA,rbB,frameA,frameB);
bool referenceA = true;
btRigidBody* bodyA = (btRigidBody*)states[joint.m_rigidBodyIdA].getUserData();
btRigidBody* bodyB = (btRigidBody*)states[joint.m_rigidBodyIdB].getUserData();
if (bodyA&&bodyB)
{
btTransform frameA,frameB;
frameA.setIdentity();
frameB.setIdentity();
frameA.setOrigin(getBtVector3(joint.m_anchorA));
frameB.setOrigin(getBtVector3(joint.m_anchorB));
bool referenceA = false;
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*bodyA,*bodyB,frameA,frameB,referenceA);
for (int i=0;i<joint.m_numConstraints;i++)
{
switch (joint.m_constraints[i].m_lock)
{
case SCE_PFX_JOINT_LOCK_FIX:
{
dof6->setLimit(i,0,0);
break;
}
case SCE_PFX_JOINT_LOCK_FREE:
{
dof6->setLimit(i,1,0);
break;
}
case SCE_PFX_JOINT_LOCK_LIMIT:
{
//deal with the case where angular limits of Y-axis are free and/or beyond -PI/2 and PI/2
if ((i==4) && ((joint.m_constraints[i].m_movableLowerLimit<-SIMD_PI/2)||(joint.m_constraints[i].m_movableUpperLimit>SIMD_PI/2)))
{
printf("error with joint limits, forcing DOF to fixed\n");
dof6->setLimit(i,0,0);
} else
{
dof6->setLimit(i,joint.m_constraints[i].m_movableLowerLimit,joint.m_constraints[i].m_movableUpperLimit);
}
break;
}
default:
{
printf("unknown joint lock state\n");
}
}
}
m_dynamicsWorld->addConstraint(dof6,true);
} else
{
printf("error: missing bodies during joint conversion\n");
}
break;
};
case kPfxJointBall:
case kPfxJointHinge:
case kPfxJointSlider:
case kPfxJointFix:
case kPfxJointUniversal:
case kPfxJointAnimation:
default:
{
printf("unknown joint\n");
}
}
}
//create a large enough buffer. There is no method to pre-calculate the buffer size yet.
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* file = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
fclose(file);
}
void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOnly)
{
int cubeShapeIndex = -1;
int strideInBytes = sizeof(float)*9;
if (!syncTransformsOnly)
{
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
cubeShapeIndex = renderer.registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
}
int curGraphicsIndex=0;
for(int i=0;i<physics_get_num_rigidbodies();i++)
{
const PfxRigidState &state = physics_get_state(i);
const PfxCollidable &coll = physics_get_collidable(i);
const PfxRigidBody& body = physics_get_body(i);
float color[4]={0,0,0,1};
if (body.getMass()==0.f)
{
color[0]=1.f;
} else
{
color[1]=1.f;
}
PfxTransform3 rbT(state.getOrientation(), state.getPosition());
PfxShapeIterator itrShape(coll);
for(int j=0;j<coll.getNumShapes();j++,++itrShape) {
const PfxShape &shape = *itrShape;
PfxTransform3 offsetT = shape.getOffsetTransform();
PfxTransform3 worldT = rbT * offsetT;
PfxQuat ornWorld( worldT.getUpper3x3());
switch(shape.getType()) {
case kPfxShapeSphere:
printf("render sphere\n");
/*render_sphere(
worldT,
PfxVector3(1,1,1),
PfxFloatInVec(shape.getSphere().m_radius));
*/
break;
case kPfxShapeBox:
{
// printf("render box\n");
float cubeScaling[4] = {shape.getBox().m_half.getX(),shape.getBox().m_half.getY(),shape.getBox().m_half.getZ(),1};
float rotOrn[4] = {ornWorld.getX(),ornWorld.getY(),ornWorld.getZ(),ornWorld.getW()};
float position[4]={worldT.getTranslation().getX(),worldT.getTranslation().getY(),worldT.getTranslation().getZ(),0};
if (!syncTransformsOnly)
{
renderer.registerGraphicsInstance(cubeShapeIndex,position,rotOrn,color,cubeScaling);
}
else
{
renderer.writeSingleInstanceTransformToCPU(position,rotOrn,curGraphicsIndex);
}
curGraphicsIndex++;
/* render_box(
worldT,
PfxVector3(1,1,1),
shape.getBox().m_half);
*/
break;
}
case kPfxShapeCapsule:
printf("render_capsule\n");
/*render_capsule(
worldT,
PfxVector3(1,1,1),
PfxFloatInVec(shape.getCapsule().m_radius),
PfxFloatInVec(shape.getCapsule().m_halfLen));
*/
break;
case kPfxShapeCylinder:
printf("render_cylinder\n");
/* render_cylinder(
worldT,
PfxVector3(1,1,1),
PfxFloatInVec(shape.getCylinder().m_radius),
PfxFloatInVec(shape.getCylinder().m_halfLen));
*/
break;
case kPfxShapeConvexMesh:
printf("render_mesh\n");
/*
render_mesh(
worldT,
PfxVector3(1,1,1),
convexMeshId);
*/
break;
case kPfxShapeLargeTriMesh:
printf("render_mesh\n");
/*
render_mesh(
worldT,
PfxVector3(1,1,1),
landscapeMeshId);
*/
break;
default:
break;
}
}
}
}
void render(void)
{
render_begin();
const PfxVector3 colorWhite(1.0f);
const PfxVector3 colorGray(0.7f);
for(int i=0;i<physics_get_num_rigidbodies();i++) {
const PfxRigidState &state = physics_get_state(i);
const PfxCollidable &coll = physics_get_collidable(i);
PfxVector3 color = state.isAsleep()?colorGray:colorWhite;
PfxTransform3 rbT(state.getOrientation(), state.getPosition());
PfxShapeIterator itrShape(coll);
for(PfxUInt32 j=0;j<coll.getNumShapes();j++,++itrShape) {
const PfxShape &shape = *itrShape;
PfxTransform3 offsetT = shape.getOffsetTransform();
PfxTransform3 worldT = rbT * offsetT;
switch(shape.getType()) {
case kPfxShapeSphere:
render_sphere(
worldT,
color,
PfxFloatInVec(shape.getSphere().m_radius));
break;
case kPfxShapeBox:
render_box(
worldT,
color,
shape.getBox().m_half);
break;
case kPfxShapeCapsule:
render_capsule(
worldT,
color,
PfxFloatInVec(shape.getCapsule().m_radius),
PfxFloatInVec(shape.getCapsule().m_halfLen));
break;
case kPfxShapeCylinder:
render_cylinder(
worldT,
color,
PfxFloatInVec(shape.getCylinder().m_radius),
PfxFloatInVec(shape.getCylinder().m_halfLen));
break;
case kPfxShapeConvexMesh:
render_mesh(
worldT,
color,
convexMeshId);
break;
case kPfxShapeLargeTriMesh:
render_mesh(
worldT,
color,
landscapeMeshId);
break;
default:
break;
}
}
}
render_debug_begin();
#ifdef ENABLE_DEBUG_DRAW_CONTACT
for(int i=0;i<physics_get_num_contacts();i++) {
const PfxContactManifold &contact = physics_get_contact(i);
const PfxRigidState &stateA = physics_get_state(contact.getRigidBodyIdA());
const PfxRigidState &stateB = physics_get_state(contact.getRigidBodyIdB());
for(int j=0;j<contact.getNumContacts();j++) {
const PfxContactPoint &cp = contact.getContactPoint(j);
PfxVector3 pA = stateA.getPosition()+rotate(stateA.getOrientation(),pfxReadVector3(cp.m_localPointA));
const float w = 0.05f;
render_debug_line(pA+PfxVector3(-w,0.0f,0.0f),pA+PfxVector3(w,0.0f,0.0f),PfxVector3(0,0,1));
render_debug_line(pA+PfxVector3(0.0f,-w,0.0f),pA+PfxVector3(0.0f,w,0.0f),PfxVector3(0,0,1));
render_debug_line(pA+PfxVector3(0.0f,0.0f,-w),pA+PfxVector3(0.0f,0.0f,w),PfxVector3(0,0,1));
}
}
#endif
#ifdef ENABLE_DEBUG_DRAW_AABB
for(int i=0;i<physics_get_num_rigidbodies();i++) {
const PfxRigidState &state = physics_get_state(i);
const PfxCollidable &coll = physics_get_collidable(i);
PfxVector3 center = state.getPosition() + coll.getCenter();
PfxVector3 half = absPerElem(PfxMatrix3(state.getOrientation())) * coll.getHalf();
render_debug_box(center,half,PfxVector3(1,0,0));
}
#endif
#ifdef ENABLE_DEBUG_DRAW_ISLAND
const PfxIsland *island = physics_get_islands();
if(island) {
for(PfxUInt32 i=0;i<pfxGetNumIslands(island);i++) {
PfxIslandUnit *islandUnit = pfxGetFirstUnitInIsland(island,i);
PfxVector3 aabbMin(SCE_PFX_FLT_MAX);
PfxVector3 aabbMax(-SCE_PFX_FLT_MAX);
for(;islandUnit!=NULL;islandUnit=pfxGetNextUnitInIsland(islandUnit)) {
const PfxRigidState &state = physics_get_state(pfxGetUnitId(islandUnit));
const PfxCollidable &coll = physics_get_collidable(pfxGetUnitId(islandUnit));
PfxVector3 center = state.getPosition() + coll.getCenter();
PfxVector3 half = absPerElem(PfxMatrix3(state.getOrientation())) * coll.getHalf();
aabbMin = minPerElem(aabbMin,center-half);
aabbMax = maxPerElem(aabbMax,center+half);
}
render_debug_box((aabbMax+aabbMin)*0.5f,(aabbMax-aabbMin)*0.5f,PfxVector3(0,1,0));
}
}
#endif
for(int i=0;i<physics_get_num_rays();i++) {
const PfxRayInput& rayInput = physics_get_rayinput(i);
const PfxRayOutput& rayOutput = physics_get_rayoutput(i);
if(rayOutput.m_contactFlag) {
render_debug_line(
rayInput.m_startPosition,
rayOutput.m_contactPoint,
PfxVector3(1.0f,0.0f,1.0f));
render_debug_line(
rayOutput.m_contactPoint,
rayOutput.m_contactPoint+rayOutput.m_contactNormal,
PfxVector3(1.0f,0.0f,1.0f));
}
else {
render_debug_line(rayInput.m_startPosition,
rayInput.m_startPosition+rayInput.m_direction,
PfxVector3(0.5f,0.0f,0.5f));
}
}
extern bool doAreaRaycast;
extern PfxVector3 areaCenter;
extern PfxVector3 areaExtent;
if(doAreaRaycast) {
render_debug_box(areaCenter,areaExtent,PfxVector3(0,0,1));
}
render_debug_end();
render_end();
}
void render(void)
{
render_begin();
for(int i=0;i<physics_get_num_rigidbodies();i++) {
const PfxRigidState &state = physics_get_state(i);
const PfxCollidable &coll = physics_get_collidable(i);
PfxTransform3 rbT(state.getOrientation(), state.getPosition());
PfxShapeIterator itrShape(coll);
for(int j=0;j<coll.getNumShapes();j++,++itrShape) {
const PfxShape &shape = *itrShape;
PfxTransform3 offsetT = shape.getOffsetTransform();
PfxTransform3 worldT = rbT * offsetT;
switch(shape.getType()) {
case kPfxShapeSphere:
render_sphere(
worldT,
PfxVector3(1,1,1),
PfxFloatInVec(shape.getSphere().m_radius));
break;
case kPfxShapeBox:
render_box(
worldT,
PfxVector3(1,1,1),
shape.getBox().m_half);
break;
case kPfxShapeCapsule:
render_capsule(
worldT,
PfxVector3(1,1,1),
PfxFloatInVec(shape.getCapsule().m_radius),
PfxFloatInVec(shape.getCapsule().m_halfLen));
break;
case kPfxShapeCylinder:
render_cylinder(
worldT,
PfxVector3(1,1,1),
PfxFloatInVec(shape.getCylinder().m_radius),
PfxFloatInVec(shape.getCylinder().m_halfLen));
break;
case kPfxShapeConvexMesh:
render_mesh(
worldT,
PfxVector3(1,1,1),
convexMeshId);
break;
case kPfxShapeLargeTriMesh:
render_mesh(
worldT,
PfxVector3(1,1,1),
landscapeMeshId);
break;
default:
break;
}
}
}
render_end();
}