void Bvh::CreateBoneMesh()
{
m_block.Clear();
for (BONE_ID i = 0; (unsigned)i < m_frames.size(); i++) {
BvhFrame& f2 = m_frames[i];
BONE_ID pId = f2.parentId;
if (pId < 0) {
continue;
}
int depth = GetDepth(pId);
BvhFrame& f1 = m_frames[pId];
Vec3 v1 = f1.offsetCombined;
Vec3 v2 = f2.offsetCombined;
static const uint32_t depthToColor[] = {
0xffffffff,
0xffffff00,
0xffff00ff,
0xffff0000,
0xff00ffff,
0xff00ff00,
0xff0000ff,
0xff000000,
};
CreateCone(m_block, v1, v2, pId, depthToColor[depth % dimof(depthToColor)]);
}
m_block.Verify();
m_meshRenderer.Init(m_block);
Material mat;
mat.faceColor.x = 0.6f;
mat.faceColor.y = 0.6f;
mat.faceColor.z = 0.6f;
mat.faceColor.w = 1.0f;
mat.power = 1.0f;
mat.specular.x = 1.0f;
mat.specular.y = 1.0f;
mat.specular.z = 1.0f;
mat.emissive.x = 0.4f;
mat.emissive.y = 0.4f;
mat.emissive.z = 0.4f;
mat.texture = texMan.CreateWhiteTexture();
MaterialMap map;
map.materialId = matMan.Create(mat);
map.faceStartIndex = 0;
map.faces = m_block.indices.size() / 3;
m_block.materialMaps.push_back(map);
}
bool EpaPolyhedron::Expand( const btPoint3& wSupportPoint,
const btPoint3& wSupportPointOnA,
const btPoint3& wSupportPointOnB,
EpaFace* pFace, std::list< EpaFace* >& newFaces )
{
EPA_DEBUG_ASSERT( !pFace->m_deleted ,"Face is already deleted!" );
EPA_DEBUG_ASSERT( newFaces.empty() ,"NewFaces list must be empty!" );
EPA_DEBUG_ASSERT( !pFace->m_deleted ,"Cannot expand deleted face!" );
// wSupportPoint must be front of face's plane used to do the expansion
#ifdef EPA_POLYHEDRON_USE_PLANES
btScalar dist = pFace->m_planeNormal.dot( wSupportPoint ) + pFace->m_planeDistance;
if ( dist <= PLANE_THICKNESS )
{
return false;
}
#endif
std::list< EpaHalfEdge* > coneBaseEdges;
DeleteVisibleFaces( wSupportPoint, pFace, coneBaseEdges );
EPA_DEBUG_ASSERT( ( coneBaseEdges.size() >= 3 ) ,"Cone base must have at least 3 edges!" );
EpaVertex* pConeAppex = CreateVertex( wSupportPoint, wSupportPointOnA, wSupportPointOnB );
EPA_DEBUG_ASSERT( pConeAppex ,"Failed to create vertex!" );
CreateCone( pConeAppex, coneBaseEdges, newFaces );
// Initialize new faces
std::list< EpaFace* >::iterator newFacesItr( newFaces.begin() );
while ( newFacesItr != newFaces.end() )
{
EpaFace* pNewFace = *newFacesItr;
if ( !pNewFace->Initialize() )
{
return false;
}
++newFacesItr;
}
return true;
}
// Initialisierung des Rendering Kontextes
void SetupRC() {
// Schwarzer Hintergrund
glClearColor(0.1f, 0.1f, 0.1f, 1.0f);
// In Uhrzeigerrichtung zeigende Polygone sind die Vorderseiten.
// Dies ist umgekehrt als bei der Default-Einstellung weil wir Triangle_Fans benützen
glFrontFace(GL_CW);
//initialisiert die standard shader
shaderManager.InitializeStockShaders();
transformPipeline.SetMatrixStacks(modelViewMatrix, projectionMatrix);
//erzeuge die geometrie
CreateCone(0, 0, 0);
CreateCube(0, 0, 0);
CreateCylinder(0, 0, 0);
CreateSphere(0, 0, 0);
InitGUI();
}
void Draw3DArrow (const dMatrix& location, int segments, dFloat radius, dFloat height, const dVector& color)
{
#ifdef COMPILE_OPENGL
SetMaterial (color);
dVector points[128 * 3];
dVector normals[128];
int count = CreateCone (points, normals, segments, radius, height, 128);
glPushMatrix();
glMultMatrix(&location[0][0]);
glBegin(GL_TRIANGLES);
for (int i = 0; i < count; i ++) {
glNormal3f(normals[i].m_x, normals[i].m_y, normals[i].m_z);
glVertex3f(points[i * 3 + 0].m_x, points[i * 3 + 0].m_y, points[i * 3 + 0].m_z);
glNormal3f(normals[i].m_x, normals[i].m_y, normals[i].m_z);
glVertex3f(points[i * 3 + 1].m_x, points[i * 3 + 1].m_y, points[i * 3 + 1].m_z);
glNormal3f(normals[i].m_x, normals[i].m_y, normals[i].m_z);
glVertex3f(points[i * 3 + 2].m_x, points[i * 3 + 2].m_y, points[i * 3 + 2].m_z);
}
glEnd();
glPopMatrix();
#endif
}
