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 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/");
}
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);
}
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");
}
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.
}
}
