void ConvexDecompositionDemo::initPhysics(const char* filename)
{
gContactAddedCallback = &MyContactCallback;
setupEmptyDynamicsWorld();
getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
#ifndef NO_OBJ_TO_BULLET
ConvexDecomposition::WavefrontObj wo;
tcount = 0;
const char* prefix[]={"./","../","../../","../../../","../../../../", "ConvexDecompositionDemo/", "Demos/ConvexDecompositionDemo/",
"../Demos/ConvexDecompositionDemo/","../../Demos/ConvexDecompositionDemo/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024];
for (int i=0;i<numPrefixes;i++)
{
sprintf(relativeFileName,"%s%s",prefix[i],filename);
tcount = wo.loadObj(relativeFileName);
if (tcount)
break;
}
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-4.5,0));
btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
m_collisionShapes.push_back(boxShape);
localCreateRigidBody(0.f,startTransform,boxShape);
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
ConvexDecompositionDemo* m_convexDemo;
public:
btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
btAlignedObjectArray<btVector3> m_convexCentroids;
MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
:m_convexDemo(demo),
mBaseCount(0),
mHullCount(0),
mOutputFile(outputFile)
{
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_convexDemo->m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
//export data to .obj
printf("ConvexResult. ");
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);
btAlignedObjectArray<btVector3> vertices;
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
centroid += vertex;
}
}
centroid *= 1.f/(float(result.mHullVcount) );
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
vertex -= centroid ;
vertices.push_back(vertex);
}
}
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++;
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
btVector3 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 );
}
}
// float mass = 1.f;
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#ifdef SHRINK_OBJECT_INWARDS
float collisionMargin = 0.01f;
btAlignedObjectArray<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
btAlignedObjectArray<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] += collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray<btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif
if (sEnableSAT)
convexShape->initializePolyhedralFeatures();
convexShape->setMargin(0.01f);
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
m_convexDemo->m_collisionShapes.push_back(convexShape);
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
}
}
int mBaseCount;
int mHullCount;
FILE* mOutputFile;
};
if (tcount)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
int i;
for ( 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];
btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
btVector3 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);
}
btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
printf("old numTriangles= %d\n",wo.mTriCount);
printf("old numIndices = %d\n",wo.mTriCount*3);
printf("old numVertices = %d\n",wo.mVertexCount);
printf("reducing vertices by creating a convex hull\n");
//create a hull approximation
btShapeHull* hull = new btShapeHull(tmpConvexShape);
btScalar margin = tmpConvexShape->getMargin();
hull->buildHull(margin);
tmpConvexShape->setUserPointer(hull);
printf("new numTriangles = %d\n", hull->numTriangles ());
printf("new numIndices = %d\n", hull->numIndices ());
printf("new numVertices = %d\n", hull->numVertices ());
btConvexHullShape* convexShape = new btConvexHullShape();
bool updateLocalAabb = false;
for (i=0;i<hull->numVertices();i++)
{
convexShape->addPoint(hull->getVertexPointer()[i],updateLocalAabb);
}
convexShape->recalcLocalAabb();
if (sEnableSAT)
convexShape->initializePolyhedralFeatures();
delete tmpConvexShape;
delete hull;
m_collisionShapes.push_back(convexShape);
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2,14));
localCreateRigidBody(mass, startTransform,convexShape);
bool useQuantization = true;
btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
startTransform.setOrigin(convexDecompositionObjectOffset);
localCreateRigidBody(0.f,startTransform,concaveShape);
m_collisionShapes.push_back (concaveShape);
}
if (tcount)
{
//-----------------------------------
// Bullet Convex Decomposition
//-----------------------------------
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 = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0;
printf("WavefrontObj num triangles read %i\n",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;
//-----------------------------------------------
// HACD
//-----------------------------------------------
std::vector< HACD::Vec3<HACD::Real> > points;
std::vector< HACD::Vec3<long> > triangles;
for(int i=0; i<wo.mVertexCount; i++ )
{
int index = i*3;
HACD::Vec3<HACD::Real> vertex(wo.mVertices[index], wo.mVertices[index+1],wo.mVertices[index+2]);
points.push_back(vertex);
}
for(int i=0;i<wo.mTriCount;i++)
{
int index = i*3;
HACD::Vec3<long> triangle(wo.mIndices[index], wo.mIndices[index+1], wo.mIndices[index+2]);
triangles.push_back(triangle);
}
HACD::HACD myHACD;
myHACD.SetPoints(&points[0]);
myHACD.SetNPoints(points.size());
myHACD.SetTriangles(&triangles[0]);
myHACD.SetNTriangles(triangles.size());
myHACD.SetCompacityWeight(0.1);
myHACD.SetVolumeWeight(0.0);
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
size_t nClusters = 2;
double concavity = 100;
bool invert = false;
bool addExtraDistPoints = false;
bool addNeighboursDistPoints = false;
bool addFacesPoints = false;
myHACD.SetNClusters(nClusters); // minimum number of clusters
myHACD.SetNVerticesPerCH(100); // max of 100 vertices per convex-hull
myHACD.SetConcavity(concavity); // maximum concavity
myHACD.SetAddExtraDistPoints(addExtraDistPoints);
myHACD.SetAddNeighboursDistPoints(addNeighboursDistPoints);
myHACD.SetAddFacesPoints(addFacesPoints);
myHACD.Compute();
nClusters = myHACD.GetNClusters();
myHACD.Save("output.wrl", false);
//convexDecomposition.performConvexDecomposition(desc);
// ConvexBuilder cb(desc.mCallback);
// cb.process(desc);
//now create some bodies
if (1)
{
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back (compound);
btTransform trans;
trans.setIdentity();
for (int c=0;c<nClusters;c++)
{
//generate convex result
size_t nPoints = myHACD.GetNPointsCH(c);
size_t nTriangles = myHACD.GetNTrianglesCH(c);
float* vertices = new float[nPoints*3];
unsigned int* triangles = new unsigned int[nTriangles*3];
HACD::Vec3<HACD::Real> * pointsCH = new HACD::Vec3<HACD::Real>[nPoints];
HACD::Vec3<long> * trianglesCH = new HACD::Vec3<long>[nTriangles];
myHACD.GetCH(c, pointsCH, trianglesCH);
// points
for(size_t v = 0; v < nPoints; v++)
{
vertices[3*v] = pointsCH[v].X();
vertices[3*v+1] = pointsCH[v].Y();
vertices[3*v+2] = pointsCH[v].Z();
}
// triangles
for(size_t f = 0; f < nTriangles; f++)
{
triangles[3*f] = trianglesCH[f].X();
triangles[3*f+1] = trianglesCH[f].Y();
triangles[3*f+2] = trianglesCH[f].Z();
}
delete [] pointsCH;
delete [] trianglesCH;
ConvexResult r(nPoints, vertices, nTriangles, triangles);
convexDecomposition.ConvexDecompResult(r);
}
for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
{
btVector3 centroid = convexDecomposition.m_convexCentroids[i];
trans.setOrigin(centroid);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
btRigidBody* body;
body = localCreateRigidBody( 1.0, trans,convexShape);
}
/* for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
{
btVector3 centroid = convexDecomposition.m_convexCentroids[i];
trans.setOrigin(centroid);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
btRigidBody* body;
body = localCreateRigidBody( 1.0, trans,convexShape);
}*/
#if 1
btScalar mass=10.f;
trans.setOrigin(-convexDecompositionObjectOffset);
btRigidBody* body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexDecompositionObjectOffset.setZ(6);
trans.setOrigin(-convexDecompositionObjectOffset);
body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexDecompositionObjectOffset.setZ(-6);
trans.setOrigin(-convexDecompositionObjectOffset);
body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
#endif
}
if (outputFile)
fclose(outputFile);
}
#ifdef TEST_SERIALIZATION
//test serializing this
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
exitPhysics();
//now try again from the loaded file
setupEmptyDynamicsWorld();
#endif //TEST_SERIALIZATION
#endif //NO_OBJ_TO_BULLET
#ifdef TEST_SERIALIZATION
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
//fileLoader->setVerboseMode(true);
fileLoader->loadFile("testFile.bullet");
//fileLoader->loadFile("testFile64Double.bullet");
//fileLoader->loadFile("testFile64Single.bullet");
//fileLoader->loadFile("testFile32Single.bullet");
#endif //TEST_SERIALIZATION
}
void PhysicWorld::initGround(const char* filename)
{
ConvexDecomposition::WavefrontObj wo;
btVector3 centroid=btVector3(0,0,0);
btVector3 convexDecompositionObjectOffset(10,0,0);
unsigned int tcount = wo.loadObj(filename);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
#endif //USE_PARALLEL_DISPATCHER
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
PhysicWorld* world;
btVector3 centroid;
public:
btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
btAlignedObjectArray<btVector3> m_convexCentroids;
MyConvexDecomposition (FILE* outputFile,PhysicWorld* worldPhysic,btVector3& centre)
:world(worldPhysic),
mBaseCount(0),
mHullCount(0),
mOutputFile(outputFile),
centroid(centre)
{
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
btTriangleMesh* trimesh = new btTriangleMesh();
world->m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
//export data to .obj
printf("ConvexResult. ");
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);
btAlignedObjectArray<btVector3> vertices;
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
centroid += vertex;
}
}
centroid *= 1.f/(float(result.mHullVcount) );
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
vertex -= centroid ;
vertices.push_back(vertex);
}
}
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++;
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
btVector3 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 );
}
}
float mass = 1.f;
//float collisionMargin = 0.01f;
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#ifdef SHRINK_OBJECT_INWARDS
std::vector<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
std::vector<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] += 5*collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
std::vector<btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif
convexShape->setMargin(btScalar(0.01));
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
world->m_collisionShapes.push_back(convexShape);
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
}
}
int mBaseCount;
int mHullCount;
FILE* mOutputFile;
};
if (tcount)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_trimeshes.push_back(trimesh);
btVector3 localScaling(1.f,1.f,1.f);
int i;
for ( 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];
btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
btVector3 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);
}
btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
printf("old numTriangles= %d\n",wo.mTriCount);
printf("old numIndices = %d\n",wo.mTriCount*3);
printf("old numVertices = %d\n",wo.mVertexCount);
printf("reducing vertices by creating a convex hull\n");
//create a hull approximation
btShapeHull* hull = new btShapeHull(tmpConvexShape);
btScalar margin = tmpConvexShape->getMargin();
hull->buildHull(margin);
tmpConvexShape->setUserPointer(hull);
printf("new numTriangles = %d\n", hull->numTriangles ());
printf("new numIndices = %d\n", hull->numIndices ());
printf("new numVertices = %d\n", hull->numVertices ());
btConvexHullShape* convexShape = new btConvexHullShape();
for (i=0;i<hull->numVertices();i++)
{
convexShape->addPoint(hull->getVertexPointer()[i]);
}
delete tmpConvexShape;
delete hull;
m_collisionShapes.push_back(convexShape);
float mass = 1.f;
/* btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2,0));
localCreateRigidBody(mass, startTransform,convexShape);
bool useQuantization = true;
btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
startTransform.setOrigin(convexDecompositionObjectOffset);
localCreateRigidBody(0.f,startTransform,concaveShape);
m_collisionShapes.push_back (concaveShape);
*/
}
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 = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0;
printf("WavefrontObj num triangles read %i\n",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,centroid);
desc.mCallback = &convexDecomposition;
//convexDecomposition.performConvexDecomposition(desc);
ConvexBuilder cb(desc.mCallback);
cb.process(desc);
// creation d'un SOL
{
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back (compound);
btTransform trans;
trans.setIdentity();
for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
{
btVector3 centroid2 = convexDecomposition.m_convexCentroids[i];
trans.setOrigin(centroid2);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
}
trans.setOrigin(-convexDecompositionObjectOffset);
btDefaultMotionState* myMotionState = new btDefaultMotionState(trans);
btRigidBody::btRigidBodyConstructionInfo rbInfo(0,myMotionState,compound,btVector3(0,0,0));
m_ground = new btRigidBody(rbInfo);
this->m_dynamicsWorld->addRigidBody(m_ground);
// localCreateRigidBody( btScalar(0.F), trans,compound);
}
if (outputFile)
fclose(outputFile);
}
}
void ConvexDecompositionDemo::initPhysics(const char* filename)
{
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
ConvexDecomposition::WavefrontObj wo;
tcount = wo.loadObj(filename);
if (!tcount)
{
//when running this app from visual studio, the default starting folder is different, so make a second attempt...
tcount = wo.loadObj("../../file.obj");
}
m_collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef USE_PARALLEL_DISPATCHER
#ifdef USE_WIN32_THREADING
int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
"collision",
processCollisionTask,
createCollisionLocalStoreMemory,
maxNumOutstandingTasks));
#else
///@todo other platform threading
///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
///Libspe2 SPU support will be available soon
///pthreads version
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
#endif
m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
#else
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif//USE_PARALLEL_DISPATCHER
convexDecompositionObjectOffset.setValue(10,0,0);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
//m_broadphase = new btSimpleBroadphase();
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
#endif //USE_PARALLEL_DISPATCHER
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-4.5,0));
btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
m_collisionShapes.push_back(boxShape);
localCreateRigidBody(0.f,startTransform,boxShape);
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
ConvexDecompositionDemo* m_convexDemo;
public:
btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
btAlignedObjectArray<btVector3> m_convexCentroids;
MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
:m_convexDemo(demo),
mBaseCount(0),
mHullCount(0),
mOutputFile(outputFile)
{
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_convexDemo->m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
//export data to .obj
printf("ConvexResult. ");
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);
btAlignedObjectArray<btVector3> vertices;
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
centroid += vertex;
}
}
centroid *= 1.f/(float(result.mHullVcount) );
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
vertex -= centroid ;
vertices.push_back(vertex);
}
}
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++;
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
btVector3 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 );
}
}
float mass = 1.f;
//float collisionMargin = 0.01f;
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#ifdef SHRINK_OBJECT_INWARDS
std::vector<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
std::vector<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] += 5*collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
std::vector<btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif
convexShape->setMargin(0.01);
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
m_convexDemo->m_collisionShapes.push_back(convexShape);
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
}
}
int mBaseCount;
int mHullCount;
FILE* mOutputFile;
};
if (tcount)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
int i;
for ( 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];
btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
btVector3 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);
}
btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
printf("old numTriangles= %d\n",wo.mTriCount);
printf("old numIndices = %d\n",wo.mTriCount*3);
printf("old numVertices = %d\n",wo.mVertexCount);
printf("reducing vertices by creating a convex hull\n");
//create a hull approximation
btShapeHull* hull = new btShapeHull(tmpConvexShape);
btScalar margin = tmpConvexShape->getMargin();
hull->buildHull(margin);
tmpConvexShape->setUserPointer(hull);
printf("new numTriangles = %d\n", hull->numTriangles ());
printf("new numIndices = %d\n", hull->numIndices ());
printf("new numVertices = %d\n", hull->numVertices ());
btConvexHullShape* convexShape = new btConvexHullShape();
for (i=0;i<hull->numVertices();i++)
{
convexShape->addPoint(hull->getVertexPointer()[i]);
}
delete tmpConvexShape;
delete hull;
m_collisionShapes.push_back(convexShape);
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2,0));
localCreateRigidBody(mass, startTransform,convexShape);
bool useQuantization = true;
btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
startTransform.setOrigin(convexDecompositionObjectOffset);
localCreateRigidBody(0.f,startTransform,concaveShape);
m_collisionShapes.push_back (concaveShape);
}
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 = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0;
printf("WavefrontObj num triangles read %i\n",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);
//now create some bodies
{
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back (compound);
btTransform trans;
trans.setIdentity();
for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
{
btVector3 centroid = convexDecomposition.m_convexCentroids[i];
trans.setOrigin(centroid);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
}
btScalar mass=10.f;
trans.setOrigin(-convexDecompositionObjectOffset);
localCreateRigidBody( mass, trans,compound);
convexDecompositionObjectOffset.setZ(6);
trans.setOrigin(-convexDecompositionObjectOffset);
localCreateRigidBody( mass, trans,compound);
convexDecompositionObjectOffset.setZ(-6);
trans.setOrigin(-convexDecompositionObjectOffset);
localCreateRigidBody( mass, trans,compound);
}
if (outputFile)
fclose(outputFile);
}
}
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)
{
gContactAddedCallback = &MyContactCallback;
setupEmptyDynamicsWorld();
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
#ifndef NO_OBJ_TO_BULLET
ConvexDecomposition::WavefrontObj wo;
tcount = wo.loadObj(filename);
if (!tcount)
{
//when running this app from visual studio, the default starting folder is different, so make a second attempt...
tcount = wo.loadObj("../../file.obj");
}
if (!tcount)
{
//cmake generated msvc files need 4 levels deep back... so make a 3rd attempt...
tcount = wo.loadObj("../../../../file.obj");
}
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-4.5,0));
btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
m_collisionShapes.push_back(boxShape);
localCreateRigidBody(0.f,startTransform,boxShape);
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
ConvexDecompositionDemo* m_convexDemo;
public:
btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
btAlignedObjectArray<btVector3> m_convexCentroids;
MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
:m_convexDemo(demo),
mBaseCount(0),
mHullCount(0),
mOutputFile(outputFile)
{
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_convexDemo->m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
//export data to .obj
printf("ConvexResult. ");
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);
btAlignedObjectArray<btVector3> vertices;
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
centroid += vertex;
}
}
centroid *= 1.f/(float(result.mHullVcount) );
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
vertex -= centroid ;
vertices.push_back(vertex);
}
}
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++;
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
btVector3 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 );
}
}
// float mass = 1.f;
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#ifdef SHRINK_OBJECT_INWARDS
float collisionMargin = 0.01f;
btAlignedObjectArray<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
btAlignedObjectArray<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] += collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray<btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif
convexShape->setMargin(0.01f);
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
m_convexDemo->m_collisionShapes.push_back(convexShape);
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
}
}
int mBaseCount;
int mHullCount;
FILE* mOutputFile;
};
if (tcount)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
int i;
for ( 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];
btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
btVector3 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);
}
btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
printf("old numTriangles= %d\n",wo.mTriCount);
printf("old numIndices = %d\n",wo.mTriCount*3);
printf("old numVertices = %d\n",wo.mVertexCount);
printf("reducing vertices by creating a convex hull\n");
//create a hull approximation
btShapeHull* hull = new btShapeHull(tmpConvexShape);
btScalar margin = tmpConvexShape->getMargin();
hull->buildHull(margin);
tmpConvexShape->setUserPointer(hull);
printf("new numTriangles = %d\n", hull->numTriangles ());
printf("new numIndices = %d\n", hull->numIndices ());
printf("new numVertices = %d\n", hull->numVertices ());
btConvexHullShape* convexShape = new btConvexHullShape();
for (i=0;i<hull->numVertices();i++)
{
convexShape->addPoint(hull->getVertexPointer()[i]);
}
delete tmpConvexShape;
delete hull;
m_collisionShapes.push_back(convexShape);
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2,14));
localCreateRigidBody(mass, startTransform,convexShape);
bool useQuantization = true;
btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
startTransform.setOrigin(convexDecompositionObjectOffset);
localCreateRigidBody(0.f,startTransform,concaveShape);
m_collisionShapes.push_back (concaveShape);
}
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 = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0;
printf("WavefrontObj num triangles read %i\n",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);
//now create some bodies
if (1)
{
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back (compound);
btTransform trans;
trans.setIdentity();
for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
{
btVector3 centroid = convexDecomposition.m_convexCentroids[i];
trans.setOrigin(centroid);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
btRigidBody* body;
body = localCreateRigidBody( 1.0, trans,convexShape);
}
#if 1
btScalar mass=10.f;
trans.setOrigin(-convexDecompositionObjectOffset);
btRigidBody* body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexDecompositionObjectOffset.setZ(6);
trans.setOrigin(-convexDecompositionObjectOffset);
body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
convexDecompositionObjectOffset.setZ(-6);
trans.setOrigin(-convexDecompositionObjectOffset);
body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
#endif
}
if (outputFile)
fclose(outputFile);
}
#ifdef TEST_SERIALIZATION
//test serializing this
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
exitPhysics();
//now try again from the loaded file
setupEmptyDynamicsWorld();
#endif //TEST_SERIALIZATION
#endif //NO_OBJ_TO_BULLET
#ifdef TEST_SERIALIZATION
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
//fileLoader->setVerboseMode(true);
fileLoader->loadFile("testFile.bullet");
//fileLoader->loadFile("testFile64Double.bullet");
//fileLoader->loadFile("testFile64Single.bullet");
//fileLoader->loadFile("testFile32Single.bullet");
#endif //TEST_SERIALIZATION
}
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);
}
