int b3GpuNarrowPhase::registerConvexHullShape(b3ConvexUtility* utilPtr)
{
int collidableIndex = allocateCollidable();
if (collidableIndex<0)
return collidableIndex;
b3Collidable& col = getCollidableCpu(collidableIndex);
col.m_shapeType = SHAPE_CONVEX_HULL;
col.m_shapeIndex = -1;
{
b3Vector3 localCenter(0,0,0);
for (int i=0;i<utilPtr->m_vertices.size();i++)
localCenter+=utilPtr->m_vertices[i];
localCenter*= (1.f/utilPtr->m_vertices.size());
utilPtr->m_localCenter = localCenter;
col.m_shapeIndex = registerConvexHullShape(utilPtr,col);
}
if (col.m_shapeIndex>=0)
{
b3SapAabb aabb;
b3Vector3 myAabbMin(1e30f,1e30f,1e30f);
b3Vector3 myAabbMax(-1e30f,-1e30f,-1e30f);
for (int i=0;i<utilPtr->m_vertices.size();i++)
{
myAabbMin.setMin(utilPtr->m_vertices[i]);
myAabbMax.setMax(utilPtr->m_vertices[i]);
}
aabb.m_min[0] = myAabbMin[0];
aabb.m_min[1] = myAabbMin[1];
aabb.m_min[2] = myAabbMin[2];
aabb.m_minIndices[3] = 0;
aabb.m_max[0] = myAabbMax[0];
aabb.m_max[1] = myAabbMax[1];
aabb.m_max[2] = myAabbMax[2];
aabb.m_signedMaxIndices[3] = 0;
m_data->m_localShapeAABBCPU->push_back(aabb);
// m_data->m_localShapeAABBGPU->push_back(aabb);
}
return collidableIndex;
}
Vec2 CPuppet::GetCenterInWorld() const
{
Vec2 localCenter(0, 0);
return convertToWorldSpace(localCenter);
}
int CLPhysicsDemo::registerConvexShape(btConvexUtility* utilPtr , bool noHeightField)
{
int collidableIndex = narrowphaseAndSolver->allocateCollidable();
btCollidable& col = narrowphaseAndSolver->getCollidableCpu(collidableIndex);
col.m_shapeType = CollisionShape::SHAPE_CONVEX_HULL;
col.m_shapeIndex = -1;
int numFaces= utilPtr->m_faces.size();
float4* eqn = new float4[numFaces];
for (int i=0;i<numFaces;i++)
{
eqn[i].x = utilPtr->m_faces[i].m_plane[0];
eqn[i].y = utilPtr->m_faces[i].m_plane[1];
eqn[i].z = utilPtr->m_faces[i].m_plane[2];
eqn[i].w = utilPtr->m_faces[i].m_plane[3];
}
printf("numFaces = %d\n", numFaces);
if (noHeightField)
{
s_convexHeightField = 0;
} else
{
s_convexHeightField = new ConvexHeightField(eqn,numFaces);
}
if (narrowphaseAndSolver)
{
btVector3 localCenter(0,0,0);
for (int i=0;i<utilPtr->m_vertices.size();i++)
localCenter+=utilPtr->m_vertices[i];
localCenter*= (1./utilPtr->m_vertices.size());
utilPtr->m_localCenter = localCenter;
if (useConvexHeightfield)
col.m_shapeIndex = narrowphaseAndSolver->registerConvexHeightfield(s_convexHeightField,col);
else
col.m_shapeIndex = narrowphaseAndSolver->registerConvexHullShape(utilPtr,col);
}
if (col.m_shapeIndex>=0)
{
btAABBHost aabbMin, aabbMax;
btVector3 myAabbMin(1e30f,1e30f,1e30f);
btVector3 myAabbMax(-1e30f,-1e30f,-1e30f);
for (int i=0;i<utilPtr->m_vertices.size();i++)
{
myAabbMin.setMin(utilPtr->m_vertices[i]);
myAabbMax.setMax(utilPtr->m_vertices[i]);
}
aabbMin.fx = myAabbMin[0];//s_convexHeightField->m_aabb.m_min.x;
aabbMin.fy = myAabbMin[1];//s_convexHeightField->m_aabb.m_min.y;
aabbMin.fz= myAabbMin[2];//s_convexHeightField->m_aabb.m_min.z;
aabbMin.uw = 0;
aabbMax.fx = myAabbMax[0];//s_convexHeightField->m_aabb.m_max.x;
aabbMax.fy = myAabbMax[1];//s_convexHeightField->m_aabb.m_max.y;
aabbMax.fz= myAabbMax[2];//s_convexHeightField->m_aabb.m_max.z;
aabbMax.uw = 0;
m_data->m_localShapeAABBCPU->push_back(aabbMin);
m_data->m_localShapeAABBGPU->push_back(aabbMin);
m_data->m_localShapeAABBCPU->push_back(aabbMax);
m_data->m_localShapeAABBGPU->push_back(aabbMax);
//m_data->m_localShapeAABB->copyFromHostPointer(&aabbMin,1,shapeIndex*2);
//m_data->m_localShapeAABB->copyFromHostPointer(&aabbMax,1,shapeIndex*2+1);
clFinish(g_cqCommandQue);
}
delete[] eqn;
return collidableIndex;
}
