void VehicleDemo::initPhysics()
{
#ifdef FORCE_ZAXIS_UP
m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1;
#endif
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_collisionShapes.push_back(groundShape);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
#ifdef FORCE_ZAXIS_UP
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
#endif
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
//either use heightfield or triangle mesh
#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
int i;
const float TRIANGLE_SIZE=20.f;
//create a triangle-mesh ground
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 20;
const int NUM_VERTS_Y = 20;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
m_vertices = new btVector3[totalVerts];
int* gIndices = new int[totalTriangles*3];
for ( i=0; i<NUM_VERTS_X; i++)
{
for (int j=0; j<NUM_VERTS_Y; j++)
{
float wl = .2f;
//height set to zero, but can also use curved landscape, just uncomment out the code
float height = 0.f;//20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
#ifdef FORCE_ZAXIS_UP
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
height
);
#else
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
height,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
#endif
}
}
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;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
tr.setOrigin(btVector3(0,-4.5f,0));
#else
//testing btHeightfieldTerrainShape
int width=128;
int length=128;
unsigned char* heightfieldData = new unsigned char[width*length];
{
for (int i=0; i<width*length; i++)
{
heightfieldData[i]=0;
}
}
char* filename="heightfield128x128.raw";
FILE* heightfieldFile = fopen(filename,"r");
if (!heightfieldFile)
{
filename="../../heightfield128x128.raw";
heightfieldFile = fopen(filename,"r");
}
if (heightfieldFile)
{
int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
//btAssert(numBytes);
if (!numBytes)
{
printf("couldn't read heightfield at %s\n",filename);
}
fclose (heightfieldFile);
}
btScalar maxHeight = 20000.f;
bool useFloatDatam=false;
bool flipQuadEdges=false;
btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
groundShape = heightFieldShape;
heightFieldShape->setUseDiamondSubdivision(true);
btVector3 localScaling(20,20,20);
localScaling[upIndex]=1.f;
groundShape->setLocalScaling(localScaling);
tr.setOrigin(btVector3(0,-64.5f,0));
#endif //
m_collisionShapes.push_back(groundShape);
//create ground object
localCreateRigidBody(0,tr,groundShape);
#ifdef FORCE_ZAXIS_UP
// indexRightAxis = 0;
// indexUpAxis = 2;
// indexForwardAxis = 1;
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,0,1));
#else
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
m_collisionShapes.push_back(chassisShape);
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back(compound);
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,1,0));
#endif
compound->addChildShape(localTrans,chassisShape);
tr.setOrigin(btVector3(0,0.f,0));
m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
//m_carChassis->setDamping(0.2,0.2);
clientResetScene();
/// create vehicle
{
m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
///never deactivate the vehicle
m_carChassis->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addVehicle(m_vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel=true;
//choose coordinate system
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
#ifdef FORCE_ZAXIS_UP
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif //FORCE_ZAXIS_UP
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
for (int i=0; i<m_vehicle->getNumWheels(); i++)
{
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
}
setCameraDistance(26.f);
}
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.
}
}
void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{
B3_PROFILE("renderObject");
int width = renderData.m_rgbColorBuffer.get_width();
int height = renderData.m_rgbColorBuffer.get_height();
Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]);
Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]);
float light_distance = renderData.m_lightDistance;
Model* model = renderData.m_model;
if (0==model)
return;
//discard invisible objects (zero alpha)
if (model->getColorRGBA()[3]==0)
return;
renderData.m_viewportMatrix = viewport(0,0,width, height);
b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
b3AlignedObjectArray<float>* shadowBufferPtr = renderData.m_shadowBuffer;
int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0;
TGAImage& frame = renderData.m_rgbColorBuffer;
{
// light target is set to be the origin, and the up direction is set to be vertical up.
Matrix lightViewMatrix = lookat(light_dir_local*light_distance, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0));
Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix;
Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
Matrix viewMatrixInv = renderData.m_viewMatrix.invert();
btVector3 P(viewMatrixInv[0][3], viewMatrixInv[1][3], viewMatrixInv[2][3]);
Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowBufferPtr, renderData.m_lightAmbientCoeff, renderData.m_lightDiffuseCoeff, renderData.m_lightSpecularCoeff);
{
B3_PROFILE("face");
for (int i=0; i<model->nfaces(); i++)
{
for (int j=0; j<3; j++) {
shader.vertex(i, j);
}
// backface culling
btVector3 v0(shader.world_tri.col(0)[0], shader.world_tri.col(0)[1], shader.world_tri.col(0)[2]);
btVector3 v1(shader.world_tri.col(1)[0], shader.world_tri.col(1)[1], shader.world_tri.col(1)[2]);
btVector3 v2(shader.world_tri.col(2)[0], shader.world_tri.col(2)[1], shader.world_tri.col(2)[2]);
btVector3 N = (v1-v0).cross(v2-v0);
if ((v0-P).dot(N) >= 0)
continue;
mat<4,3,float> stackTris[3];
b3AlignedObjectArray< mat<4,3,float> > clippedTriangles;
clippedTriangles.initializeFromBuffer(stackTris,0,3);
bool hasClipped = clipTriangleAgainstNearplane(shader.varying_tri,clippedTriangles);
if (hasClipped)
{
for (int t=0;t<clippedTriangles.size();t++)
{
triangleClipped(clippedTriangles[t], shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
}
}
else
{
triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex);
}
}
}
}
}
//--------------------------------------------------------------
void ofxBulletConvexShape::init( ofMesh& aMesh, ofVec3f a_localScaling, bool a_bUseConvexHull ) {
_centroid.zero();
btVector3 centroid = btVector3(0, 0, 0);
btVector3 localScaling( a_localScaling.x, a_localScaling.y, a_localScaling.z );
vector <ofIndexType> indicies = aMesh.getIndices();
vector <ofVec3f> verticies = aMesh.getVertices();
if(!a_bUseConvexHull) {
for(int i = 0; i < verticies.size(); i++) {
btVector3 tempVec = btVector3(verticies[i].x, verticies[i].y, verticies[i].z);
tempVec *= localScaling;
centroid += tempVec;
}
centroid /= (float)verticies.size();
vector<btVector3> newVerts;
for ( int i = 0; i < indicies.size(); i++) {
btVector3 vertex( verticies[indicies[i]].x, verticies[indicies[i]].y, verticies[indicies[i]].z);
vertex *= localScaling;
vertex -= centroid;
newVerts.push_back(vertex);
}
btConvexHullShape* convexShape = new btConvexHullShape(&(newVerts[0].getX()), newVerts.size());
convexShape->setMargin( 0.01f );
_shape = convexShape;
_centroid = ofVec3f(centroid.getX(), centroid.getY(), centroid.getZ() );
} else {
// HULL Building code from example ConvexDecompositionDemo.cpp //
btTriangleMesh* trimesh = new btTriangleMesh();
for ( int i = 0; i < indicies.size()/3; i++) {
int index0 = indicies[i*3];
int index1 = indicies[i*3+1];
int index2 = indicies[i*3+2];
btVector3 vertex0( verticies[index0].x, verticies[index0].y, verticies[index0].z );
btVector3 vertex1( verticies[index1].x, verticies[index1].y, verticies[index1].z );
btVector3 vertex2( verticies[index2].x, verticies[index2].y, verticies[index2].z );
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
trimesh->addTriangle(vertex0, vertex1, vertex2);
}
btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
//create a hull approximation
btShapeHull* hull = new btShapeHull(tmpConvexShape);
btScalar margin = tmpConvexShape->getMargin();
hull->buildHull(margin);
tmpConvexShape->setUserPointer(hull);
centroid = btVector3(0., 0., 0.);
for (int i = 0; i < hull->numVertices(); i++) {
centroid += hull->getVertexPointer()[i];
}
centroid /= (float)hull->numVertices();
btConvexHullShape* convexShape = new btConvexHullShape();
for (int i=0;i<hull->numVertices();i++) {
convexShape->addPoint(hull->getVertexPointer()[i] - centroid);
}
delete tmpConvexShape;
delete hull;
_shape = convexShape;
_centroid = ofVec3f(centroid.getX(), centroid.getY(), centroid.getZ() );
}
_bInited = true;
}
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/");
}
int Test_mindot(void)
{
// Init an array flanked by guard pages
btSimdFloat4 *data = (btSimdFloat4 *)GuardCalloc(1, MAX_SIZE * sizeof(btSimdFloat4), NULL);
float *fp = (float *)data;
long correct, test;
btVector3 localScaling(0.1f, 0.2f, 0.3f);
size_t size;
// Init the data
size_t i;
for (i = 0; i < MAX_SIZE; i++)
{
fp[4 * i] = (int32_t)RANDF_16;
fp[4 * i + 1] = (int32_t)RANDF_16;
fp[4 * i + 2] = (int32_t)RANDF_16;
fp[4 * i + 3] = BT_NAN; // w channel NaN
}
float correctDot, testDot;
fp = (float *)localScaling;
float maxRelativeError = 0.f;
for (size = 1; size <= MAX_SIZE; size++)
{
float *in = (float *)(data + MAX_SIZE - size);
size_t position;
for (position = 0; position < size; position++)
{
float *biggest = in + position * 4;
float old[4] = {biggest[0], biggest[1], biggest[2], biggest[3]};
biggest[0] -= LARGE_FLOAT17;
biggest[1] -= LARGE_FLOAT17;
biggest[2] -= LARGE_FLOAT17;
biggest[3] -= LARGE_FLOAT17;
correctDot = BT_NAN;
testDot = BT_NAN;
correct = mindot_ref((btSimdFloat4 *)in, (float *)&localScaling, size, &correctDot);
test = localScaling.minDot((btVector3 *)in, size, testDot);
if (test < 0 || test >= size)
{
vlog("Error @ %ld: index out of bounds! *%ld vs %ld \n", size, correct, test);
continue;
}
if (correct != test)
{
vlog("Error @ %ld: index misreported! *%ld vs %ld (*%f, %f)\n", size, correct, test,
fp[0] * in[4 * correct] + fp[1] * in[4 * correct + 1] + fp[2] * in[4 * correct + 2],
fp[0] * in[4 * test] + fp[1] * in[4 * test + 1] + fp[2] * in[4 * test + 2]);
return 1;
}
if (test != position)
{
vlog("Biggest not found where it is supposed to be: *%ld vs %ld (*%f, %f)\n", position, test,
fp[0] * in[4 * test] + fp[1] * in[4 * test + 1] + fp[2] * in[4 * test + 2],
fp[0] * in[4 * position] + fp[1] * in[4 * position + 1] + fp[2] * in[4 * position + 2]);
return 1;
}
if (correctDot != testDot)
{
float relativeError = btFabs((testDot - correctDot) / correctDot);
if (relativeError > 1e6)
{
vlog("Error @ %ld: dotpr misreported! *%f vs %f (*%f, %f)\n", size, correctDot, testDot,
fp[0] * in[4 * correct] + fp[1] * in[4 * correct + 1] + fp[2] * in[4 * correct + 2],
fp[0] * in[4 * test] + fp[1] * in[4 * test + 1] + fp[2] * in[4 * test + 2]);
return 1;
}
else
{
if (maxRelativeError < relativeError)
{
maxRelativeError = relativeError;
}
}
}
memcpy(biggest, old, 16);
}
}
if (maxRelativeError)
{
printf("Warning: relative error = %e\n", maxRelativeError);
}
uint64_t scalarTimes[33 + (MAX_LOG2_SIZE - 5)];
uint64_t vectorTimes[33 + (MAX_LOG2_SIZE - 5)];
size_t j, k;
float *in = (float *)data;
for (size = 1; size <= 32; size++)
{
uint64_t startTime, bestTime, currentTime;
bestTime = -1LL;
scalarTimes[size] = 0;
for (j = 0; j < 100; j++)
{
startTime = ReadTicks();
for (k = 0; k < LOOPCOUNT; k++)
correct += mindot_ref((btSimdFloat4 *)in, (float *)&localScaling, size, &correctDot);
currentTime = ReadTicks() - startTime;
scalarTimes[size] += currentTime;
if (currentTime < bestTime)
bestTime = currentTime;
}
if (0 == gReportAverageTimes)
scalarTimes[size] = bestTime;
else
scalarTimes[size] /= 100;
}
uint64_t *timep = &scalarTimes[33];
for (size = 64; size <= MAX_SIZE; size *= 2)
{
uint64_t startTime, bestTime, currentTime;
bestTime = -1LL;
timep[0] = 0;
for (j = 0; j < 100; j++)
{
startTime = ReadTicks();
for (k = 0; k < LOOPCOUNT; k++)
correct += mindot_ref((btSimdFloat4 *)in, (float *)&localScaling, size, &correctDot);
currentTime = ReadTicks() - startTime;
timep[0] += currentTime;
if (currentTime < bestTime)
bestTime = currentTime;
}
if (0 == gReportAverageTimes)
timep[0] = bestTime;
else
timep[0] /= 100;
timep++;
}
for (size = 1; size <= 32; size++)
{
uint64_t startTime, bestTime, currentTime;
bestTime = -1LL;
vectorTimes[size] = 0;
for (j = 0; j < 100; j++)
{
startTime = ReadTicks();
for (k = 0; k < LOOPCOUNT; k++)
test += localScaling.minDot((btVector3 *)in, size, testDot);
currentTime = ReadTicks() - startTime;
vectorTimes[size] += currentTime;
if (currentTime < bestTime)
bestTime = currentTime;
}
if (0 == gReportAverageTimes)
vectorTimes[size] = bestTime;
else
vectorTimes[size] /= 100;
}
timep = &vectorTimes[33];
for (size = 64; size <= MAX_SIZE; size *= 2)
{
uint64_t startTime, bestTime, currentTime;
bestTime = -1LL;
timep[0] = 0;
for (j = 0; j < 100; j++)
{
startTime = ReadTicks();
for (k = 0; k < LOOPCOUNT; k++)
test += localScaling.minDot((btVector3 *)in, size, testDot);
currentTime = ReadTicks() - startTime;
timep[0] += currentTime;
if (currentTime < bestTime)
bestTime = currentTime;
}
if (0 == gReportAverageTimes)
timep[0] = bestTime;
else
timep[0] /= 100;
timep++;
}
vlog("Timing:\n");
vlog(" size\t scalar\t vector\n");
for (size = 1; size <= 32; size++)
vlog("%5lu\t%10.2f\t%10.2f\n", size, TicksToCycles(scalarTimes[size]) / LOOPCOUNT, TicksToCycles(vectorTimes[size]) / LOOPCOUNT);
size_t index = 33;
for (size = 64; size <= MAX_SIZE; size *= 2)
{
vlog("%5lu\t%10.2f\t%10.2f\n", size, TicksToCycles(scalarTimes[index]) / LOOPCOUNT, TicksToCycles(vectorTimes[index]) / LOOPCOUNT);
index++;
}
// Useless check to make sure that the timing loops are not optimized away
if (test != correct)
vlog("Error: Test != correct: *%ld vs. %ld\n", correct, test);
GuardFree(data);
return 0;
}
//--------------------------------------------------------------
bool ofxBulletCustomShape::addMesh( ofMesh a_mesh, ofVec3f a_localScaling, bool a_bUseConvexHull ) {
if(a_mesh.getMode() != OF_PRIMITIVE_TRIANGLES) {
ofLog( OF_LOG_ERROR, "ofxBulletCustomShape :: addMesh : mesh must be set to OF_PRIMITIVE_TRIANGLES!! aborting");
return false;
}
if(_bAdded == true) {
ofLog( OF_LOG_ERROR, "ofxBulletCustomShape :: addMesh : can not call after calling add()" );
return false;
}
btVector3 localScaling( a_localScaling.x, a_localScaling.y, a_localScaling.z );
vector <ofIndexType> indicies = a_mesh.getIndices();
vector <ofVec3f> verticies = a_mesh.getVertices();
btVector3 centroid = btVector3(0, 0, 0);
if(!a_bUseConvexHull) {
for(int i = 0; i < verticies.size(); i++) {
btVector3 tempVec = btVector3(verticies[i].x, verticies[i].y, verticies[i].z);
tempVec *= localScaling;
centroid += tempVec;
}
centroid /= (float)verticies.size();
vector<btVector3> newVerts;
for ( int i = 0; i < indicies.size(); i++) {
btVector3 vertex( verticies[indicies[i]].x, verticies[indicies[i]].y, verticies[indicies[i]].z);
vertex *= localScaling;
vertex -= centroid;
newVerts.push_back(vertex);
}
btConvexHullShape* convexShape = new btConvexHullShape(&(newVerts[0].getX()), newVerts.size());
convexShape->setMargin( 0.01f );
shapes.push_back( convexShape );
centroids.push_back( ofVec3f(centroid.getX(), centroid.getY(), centroid.getZ()) );
} else {
// HULL Building code from example ConvexDecompositionDemo.cpp //
btTriangleMesh* trimesh = new btTriangleMesh();
for ( int i = 0; i < indicies.size()/3; i++) {
int index0 = indicies[i*3];
int index1 = indicies[i*3+1];
int index2 = indicies[i*3+2];
btVector3 vertex0( verticies[index0].x, verticies[index0].y, verticies[index0].z );
btVector3 vertex1( verticies[index1].x, verticies[index1].y, verticies[index1].z );
btVector3 vertex2( verticies[index2].x, verticies[index2].y, verticies[index2].z );
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
trimesh->addTriangle(vertex0, vertex1, vertex2);
}
//cout << "ofxBulletCustomShape :: addMesh : input triangles = " << trimesh->getNumTriangles() << endl;
//cout << "ofxBulletCustomShape :: addMesh : input indicies = " << indicies.size() << endl;
//cout << "ofxBulletCustomShape :: addMesh : input verticies = " << verticies.size() << endl;
btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
//create a hull approximation
btShapeHull* hull = new btShapeHull(tmpConvexShape);
btScalar margin = tmpConvexShape->getMargin();
hull->buildHull(margin);
tmpConvexShape->setUserPointer(hull);
centroid = btVector3(0., 0., 0.);
for (int i = 0; i < hull->numVertices(); i++) {
centroid += hull->getVertexPointer()[i];
}
centroid /= (float)hull->numVertices();
//printf("ofxBulletCustomShape :: addMesh : new hull numTriangles = %d\n", hull->numTriangles());
//printf("ofxBulletCustomShape :: addMesh : new hull numIndices = %d\n", hull->numIndices());
//printf("ofxBulletCustomShape :: addMesh : new hull numVertices = %d\n", hull->numVertices());
btConvexHullShape* convexShape = new btConvexHullShape();
for (int i=0;i<hull->numVertices();i++) {
convexShape->addPoint(hull->getVertexPointer()[i] - centroid);
}
delete tmpConvexShape;
delete hull;
shapes.push_back( convexShape );
centroids.push_back( ofVec3f(centroid.getX(), centroid.getY(), centroid.getZ()) );
}
return true;
}
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.
}
}
// ---------------------------------------------------------
PhysBody3D* ModulePhysics3D::AddHeighField(const char* filename, int width, int length)
{
unsigned char* heightfieldData = new unsigned char[width*length];
{
for(int i = 0; i<width*length; i++)
heightfieldData[i] = 0;
}
FILE* heightfieldFile;
fopen_s(&heightfieldFile, filename, "r");
if(heightfieldFile)
{
int numBytes = fread(heightfieldData, 1, width*length, heightfieldFile);
//btAssert(numBytes);
if(!numBytes)
{
printf("couldn't read heightfield at %s\n", filename);
}
fclose(heightfieldFile);
}
//btScalar maxHeight = 20000.f;//exposes a bug
btScalar maxHeight = 100;
bool useFloatDatam = false;
bool flipQuadEdges = false;
int upIndex = 1;
btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width, length, heightfieldData, maxHeight, upIndex, useFloatDatam, flipQuadEdges);
btVector3 mmin, mmax;
heightFieldShape->getAabb(btTransform::getIdentity(), mmin, mmax);
btCollisionShape* groundShape = heightFieldShape;
heightFieldShape->setUseDiamondSubdivision(true);
btVector3 localScaling(10, 1, 10);
localScaling[upIndex] = 1.f;
groundShape->setLocalScaling(localScaling);
shapes.add(groundShape);
//create ground object
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0, 49.4, 0));
btVector3 localInertia(0, 0, 0);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(0.0f, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
PhysBody3D* pbody = new PhysBody3D(body);
body->setUserPointer(pbody);
world->addRigidBody(body);
bodies.add(pbody);
return pbody;
}
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);
}
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.
}
}
//-----------------------------------------------------------------------
// C o n v e x D e c o m p R e s u l t
//-----------------------------------------------------------------------
void TMeshShape::ConvexDecompResult(ConvexResult &result)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_triMeshes.push_back(trimesh);
btVector3 localScaling(1.f,1.f,1.f);
btVector3 centroid(0,0,0);
btVector3 convexDecompositionObjectOffset(0,0,0);
btAlignedObjectArray<btVector3> vertices;
//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) );
//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);
}
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+=m_baseCount;
index1+=m_baseCount;
index2+=m_baseCount;
}
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
convexShape->setMargin(0.01f);
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
m_baseCount+=result.mHullVcount; // advance the 'base index' counter.
/*
btConvexHullShape* chShape = new btConvexHullShape();
unsigned int vidx=0;
getApplication()->logMessage(LOG_INFO, "ConvexDecompResult() mHullVcount: %d, "
"mHullTcount: %d ", result.mHullVcount, result.mHullTcount);
while (vidx < result.mHullVcount)
{
btVector3 v;
v.setX(result.mHullVertices[vidx]);
vidx++;
v.setY(result.mHullVertices[vidx]);
vidx++;
v.setZ(result.mHullVertices[vidx]);
vidx++;
chShape->addPoint(v);
}
m_compound->addChildShape(m_localTransform, chShape);
*/
}
/* -----------------------------------------------------------------------
| build bullet height field shape and generate ogre mesh from grayscale image
|
| @param in :
| @param out: raw data of height field terrain
| ToDo: adjest grid scale, grid height, local scale, max/min height
----------------------------------------------------------------------- */
bool
buildHeightFieldTerrainFromImage(const Ogre::String& filename,
btDynamicsWorld* dynamicsWorld,
btAlignedObjectArray<btCollisionShape*>& collisionShapes,
void* &data)
{
Ogre::Image img;
try
{
img.load(filename, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
}
catch(Ogre::Exception err)
{
LOG(err.what());
return false;
}
size_t grid_w = 65, grid_h = 65; // must be (2^N) + 1
size_t grid_max_w = 129, grid_max_h = 129; // must be (2^N) + 1
size_t img_w = img.getWidth();
size_t img_h = img.getHeight();
// validate image size is (2^N) + 1
if ((img_w-1) & (img_w-2)) img_w = grid_w;
if ((img_h-1) & (img_h-2)) img_h = grid_h;
//if (img_w > grid_max_w) img_w = grid_max_w;
//if (img_h > grid_max_h) img_h = grid_max_h;
LOG("LoadImage name=%s, width=%d, height=%d, width^2+1=%d, height^2+1=%d",
filename.c_str(), img.getWidth(), img.getHeight(), img_w, img_h);
img.resize(img_w, img_h);
size_t pixelSize = Ogre::PixelUtil::getNumElemBytes(img.getFormat());
size_t bufSize = img.getSize() / pixelSize;
data = new Ogre::Real[ bufSize ];
Ogre::Real* dest = static_cast<Ogre::Real*>(data);
memset(dest, 0, bufSize);
/*
| @ Notice the alignment problem
| - uchar to float alignment
| - pixel format in bytes as rawdata type, also affects alignment
*/
Ogre::uchar* src = img.getData();
for (size_t i=0;i<bufSize;++i)
{
dest[i] = ((Ogre::Real)src[i * pixelSize] - 127.0f)/16.0f;
}
// parameter
int upAxis = 1;
btScalar gridSpacing = 5.0f;
btScalar gridHeightScale = 0.2f;
btScalar minHeight = -10.0f;
btScalar maxHeight = 10.0f;
btScalar defaultContactProcessingThreshold = BT_LARGE_FLOAT;
btHeightfieldTerrainShape *heightfieldShape =
new btHeightfieldTerrainShape(img_w, img_h,
dest,
gridHeightScale,
minHeight, maxHeight,
upAxis, PHY_FLOAT, false);
btAssert(heightfieldShape && "null heightfield");
// shape
btVector3 localScaling(1.0f, 1.0f, 1.0f);
heightfieldShape->setLocalScaling(localScaling);
collisionShapes.push_back(heightfieldShape);
// rigidBody
btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0)));
btRigidBody::btRigidBodyConstructionInfo cInfo(0, motionState, heightfieldShape, btVector3(0,0,0));
btRigidBody* rigidBody = new btRigidBody(cInfo);
rigidBody->setContactProcessingThreshold(defaultContactProcessingThreshold);
int flags = rigidBody->getCollisionFlags();
rigidBody->setCollisionFlags(flags | btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT);
dynamicsWorld->addRigidBody(rigidBody);
// add ogre height field mesh
Ogre::SceneManager* sceneMgr = Ogre::Root::getSingletonPtr()->getSceneManager("DefaultSceneManager");
btAssert(sceneMgr);
Ogre::ManualObject* obj = sceneMgr->createManualObject("btHeightFieldEntity");
btVector3 aabbMin, aabbMax;
heightfieldShape->getAabb(btTransform(btQuaternion(0,0,0,1),btVector3(0,0,0)), aabbMin, aabbMax);
btHeightFieldProcessor callback(obj, "DefaultPlane");
heightfieldShape->processAllTriangles(&callback, aabbMin, aabbMax);
sceneMgr->getRootSceneNode()->attachObject(obj);
return true;
}
