void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
btCollisionObject* boxObj = m_isSwapped? body0 : body1;
btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
btVector3 normalOnSurfaceB;
btVector3 pOnBox,pOnSphere;
btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
btScalar radius = sphere0->getRadius();
btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
if (dist < SIMD_EPSILON)
{
btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
}
}
void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap;
btVector3 pOnBox;
btVector3 normalOnSurfaceB;
btScalar penetrationDepth;
btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
btScalar radius = sphere0->getRadius();
btScalar maxContactDistance = m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (getSphereDistance(boxObjWrap, pOnBox, normalOnSurfaceB, penetrationDepth, sphereCenter, radius, maxContactDistance))
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->addContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
}
if (m_ownManifold)
{
if (m_manifoldPtr->getNumContacts())
{
resultOut->refreshContactPoints();
}
}
}
void main(void)\n\
{ \n\
float fTime0_X = parameters[0][0];\n\
vec4 coreSeed = parameters[1];\n\
\n\
vec3 rayDir = normalize(objectPosition * vec3(1.0, 0.6, 1.0));\n\
vec3 camPos = vec3(0.0, 0.0, -parameters[0][1]);\n\
\n\
// rotate camera around y axis\n\
float alpha = parameters[0][2] * 4.5f;\n\
camPos.xz = vec2(cos(alpha)*camPos.x - sin(alpha)*camPos.z,\n\
sin(alpha)*camPos.x + cos(alpha)*camPos.z);\n\
rayDir.xz = vec2(cos(alpha)*rayDir.x - sin(alpha)*rayDir.z,\n\
sin(alpha)*rayDir.x + cos(alpha)*rayDir.z);\n\
\n\
vec3 rayPos = camPos;\n\
float sceneSize = 8.0;\n\
vec3 totalColor = vec3(0.);\n\
float stepSize;\n\
float totalDensity = 0.0;\n\
float stepDepth = 0.0; // how far I went already.\n\
\n\
for(int step = 0; length(rayPos)<sceneSize && totalDensity < 0.9 && step < 50; step++)\n\
{ \n\
float implicitVal;\n\
\n\
// This stuff is the transformation information from previous stuff\n\
float transer = parameters[0][3];\n\
vec4 prevQuaternion = vec4(cos(transer), sin(transer), sin(transer * 1.3), sin(transer * 2.7));\n\
prevQuaternion = normalize(prevQuaternion);\n\
float prevLength = 1.0;\n\
vec3 prevMover = vec3(0.0);\n\
vec3 prevColor = vec3(1.0, 0.4, 0.2);\n\
\n\
// Multiple boxes\n\
implicitVal = 1.0e10;\n\
\n\
for (int loop = 0; loop < 12; loop++)\n\
{\n\
vec4 newQuaternion;\n\
float newLength;\n\
vec3 newMover;\n\
vec3 newColor;\n\
\n\
mat3 prevRotationMatrix = quaternionToMatrix(prevQuaternion);\n\
\n\
// Loop for solid stuff\n\
vec4 seed = coreSeed;\n\
for (int k = 0; k < 4; k++)\n\
{\n\
seed = randomIteration(seed);\n\
vec4 quaternion = normalize(seed - vec4(0.5));\n\
mat3 rotationMatrix = quaternionToMatrix(quatMult(quaternion, prevQuaternion));\n\
vec3 lengthes = seed.xyz * seed.xyz * seed.xyz * seed.xyz * vec3(0.2) + vec3(0.05);\n\
lengthes *= prevLength;\n\
vec3 mover = 0.5*seed.wzx - vec3(0.25);\n\
mover = (mover * prevRotationMatrix * prevLength) + prevMover;\n\
float curImplicitVal = getDistance(rotationMatrix, lengthes, mover, rayPos);\n\
implicitVal = min(implicitVal, curImplicitVal);\n\
}\n\
\n\
// Non-solid:\n\
float nonSolidDist = 1.0e10;\n\
for (int k = 0; k < 2; k++)\n\
{\n\
seed = randomIteration(seed);\n\
vec4 quaternion = normalize(seed - vec4(0.5));\n\
quaternion = quatMult(quaternion, prevQuaternion);\n\
vec3 lengthes = seed.xyz * vec3(0.3) + vec3(0.25);\n\
lengthes *= prevLength;\n\
vec3 mover = 0.5*seed.wzx - vec3(0.25);\n\
mover = (mover * prevRotationMatrix * prevLength) + prevMover;\n\
float curImplicitVal = getSphereDistance(lengthes.x, mover, rayPos);\n\
if (curImplicitVal < nonSolidDist)\n\
{\n\
nonSolidDist = curImplicitVal;\n\
newQuaternion = quaternion;\n\
newLength = lengthes.x;\n\
newMover = mover;\n\
newColor = seed.xyz;\n\
}\n\
}\n\
\n\
if (nonSolidDist > implicitVal)\n\
{\n\
// I will not get closer than where I am now.\n\
break;\n\
}\n\
else\n\
{\n\
prevQuaternion = newQuaternion;\n\
prevLength = newLength;\n\
prevMover = newMover;\n\
prevColor = 0.5 * prevColor + 0.5 * newColor; \n\
}\n\
}\n\
\n\
// I need to do this distance related to for the DOF! \n\
totalColor += vec3(1./50., 1./70., 1./90.) *\n\
1.7 / exp(abs(implicitVal*5.) + 0.0) * 1.8;\n\
totalDensity += 1./ 15. / exp(abs(implicitVal*10.0) + 0.5);\n\
// *(1.0 - cos(fTime0_X*3.)*0.5);\n\
//if (implicitVal < 0.0)\n\
stepDepth += abs(implicitVal) * 0.95; \n\
{\n\
// TODO: I could make this distance-related, with offset to get the size right?\n\
float localDensity = implicitVal < 0.0 ? 1.0 : 0.0;\n\
totalColor = totalColor + (1.-totalDensity) * prevColor * localDensity;\n\
totalDensity = totalDensity + (1.05-totalDensity) * localDensity;\n\
}\n\
\n\
stepSize = abs(implicitVal) * 0.99;\n\
stepSize = max(0.005 * stepDepth, stepSize);\n\
rayPos += rayDir * stepSize;\n\
}\n\
\n\
float grad = normalize(rayDir).y;\n\
totalColor += (1.-totalDensity) * (grad * vec3(0.0,-0.4,-0.3) + (1.-grad)*vec3(0.0,0.4,0.6));\n\
\n\
gl_FragColor = vec4(totalColor-vec3(0.0), 1.0);\n\
}\n\