int main(int argc,char** argv)
{
raytracePicture = new RenderTexture(screenWidth,screenHeight);
myBox.SetMargin(0.02f);
myCone.SetMargin(0.2f);
simplex.SetSimplexSolver(&simplexSolver);
simplex.AddVertex(SimdPoint3(-1,0,-1));
simplex.AddVertex(SimdPoint3(1,0,-1));
simplex.AddVertex(SimdPoint3(0,0,1));
simplex.AddVertex(SimdPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
SimdVector3 positions[NUM_SPHERES] = {
SimdVector3(-1.2f, -0.3f, 0.f),
SimdVector3(0.8f, -0.3f, 0.f),
SimdVector3(0.5f, 0.6f, 0.f),
SimdVector3(-0.5f, 0.6f, 0.f),
SimdVector3(0.f, 0.f, 0.f)
};
SimdScalar radi[NUM_SPHERES] = { 0.35f,0.35f,0.45f,0.40f,0.40f };
MultiSphereShape multiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
ConvexHullShape convexHullShape(positions,3);
//choose shape
shapePtr[0] = &myCone;
shapePtr[1] =&simplex;
shapePtr[2] =&convexHullShape;
shapePtr[3] =&myMink;//myBox;
simplex.SetMargin(0.3f);
setCameraDistance(6.f);
return glutmain(argc, argv,screenWidth,screenHeight,"Minkowski-Sum Raytracer Demo");
}
void Raytracer::initPhysics()
{
raytracePicture = new RenderTexture(screenWidth,screenHeight);
myBox.SetMargin(0.02f);
myCone.SetMargin(0.2f);
simplex.SetSimplexSolver(&simplexSolver);
simplex.AddVertex(SimdPoint3(-1,0,-1));
simplex.AddVertex(SimdPoint3(1,0,-1));
simplex.AddVertex(SimdPoint3(0,0,1));
simplex.AddVertex(SimdPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
SimdVector3 positions[NUM_SPHERES] = {
SimdVector3(-1.2f, -0.3f, 0.f),
SimdVector3(0.8f, -0.3f, 0.f),
SimdVector3(0.5f, 0.6f, 0.f),
SimdVector3(-0.5f, 0.6f, 0.f),
SimdVector3(0.f, 0.f, 0.f)
};
// MultiSphereShape* multiSphereShape = new MultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
ConvexHullShape* convexHullShape = new ConvexHullShape(positions,3);
//choose shape
shapePtr[0] = &myCone;
shapePtr[1] =&simplex;
shapePtr[2] =convexHullShape;
shapePtr[3] =&myMink;//myBox;//multiSphereShape
simplex.SetMargin(0.3f);
}
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();
}