//creates a Mesh with the appropriate values and returns its pointer
//calculates the rotation
Mesh*
Surfrev::createMesh() {
Mesh* m = new Mesh(); //empty mesh
float degrees = 360/slices;
float angle = 0;
vec3 Y(0,1,0);
//inserts all points doing the rotation around the y-axis
for(int i=0; i<slices; i++) {
for(int j=0; j<points; j++) {
vec3 v = rotation3D(Y,angle)*polyline[j];
//cout<<"X = "<<v[0]<<" Y = "<<v[1] <<" Z = "<< v[2]<<endl;
m->addVertex(v);
}
angle += degrees;
}
for(int i=0; i<(slices*points)-1; i++) {
//finds normal for face that is going to be inserted to the mesh
if(i<((slices*points)-(points+1))) {
int mod = (1+i)%points;
if(mod != 0) {
/*cout<<"--------\nPoint: "<<i<<endl;
cout<<"i+1: "<<i+1<<endl;
cout<<"i+1+points: "<<i+1+points<<endl;
cout<<"i+points: "<<i+points<<"\n"<<endl;
cout<<(mod)<<" = Mod\n\n";*/
}
vec4 vert1(m->getVertex(i)[0],m->getVertex(i)[1],m->getVertex(i)[2],1);
vec4 vert2(m->getVertex(i+1)[0],m->getVertex(i+1)[1],m->getVertex(i+1)[2],1);
vec4 vert3(m->getVertex(i+points+1)[0],m->getVertex(i+points+1)[1],m->getVertex(i+points+1)[2],1);
//check for final point that has x = 0: triangle not square
if(((i+2)%points) == 0 && m->getVertex(i+1)[0] == 0) {
vert3[0] = m->getVertex(i+points)[0];
vert3[1] = m->getVertex(i+points)[1];
vert3[2] = m->getVertex(i+points)[2];
}
vec4 n = getNormal(vert1,vert2,vert3);
vec3 normal(n[0],n[1],n[2]);
if(mod != 0) {
/*std::cout<<"Normal x = "<<normal[0]<<std::endl;
std::cout<<"Normal y = "<<normal[1]<<std::endl;
std::cout<<"Normal z = "<<normal[2]<<std::endl;*/
}
m->addNormal(normal);
////creates the faces, normal index is = i, always have 4 vertices for a face
vec2 f1((double)i,(double)i);
vec2 f2((double)i+1,(double)i);
vec2 f3((double)points+i+1,(double)i);
vec2 f4((double)points+i,(double)i);
std::vector<vec2> face;
face.push_back(f2);
face.push_back(f1);
face.push_back(f4);
face.push_back(f3);
if(mod != 0) {
//cout<<"add face: "<<i<<endl;
m->addFace(face);
}
}
//case: do last face
else {
int mod = (1+i)%points;
int k = (points*slices);
/*cout<<"Else Point: "<<i<<endl;
cout<<"i+1: "<<i+1<<endl;
cout<<"i+1+points: "<<i+1+points-k<<endl;
cout<<"i+points: "<<i+points-k<<"\n"<<endl;
cout<<(mod)<<" = Mod\n\n";*/
vec4 vert1L(m->getVertex(i)[0],m->getVertex(i)[1],m->getVertex(i)[2],1);
vec4 vert2L(m->getVertex(i+1)[0],m->getVertex(i+1)[1],m->getVertex(i+1)[2],1);
vec4 vert3L(m->getVertex(i+points+1-k)[0],m->getVertex(i+points+1-k)[1],m->getVertex(i+points+1-k)[2],1);
if(((i+2)%points) == 0 && m->getVertex(i+1)[0] == 0) {
vert3L[0] = m->getVertex(i+points-k)[0];
vert3L[1] = m->getVertex(i+points-k)[1];
vert3L[2] = m->getVertex(i+points-k)[2];
}
vec4 nL = getNormal(vert1L,vert2L,vert3L);
vec3 normalL(nL[0],nL[1],nL[2]);
/*std::cout<<"--------\nNormal x = "<<normal[0]<<std::endl;
std::cout<<"Normal y = "<<normal[1]<<std::endl;
std::cout<<"Normal z = "<<normal[2]<<std::endl;*/
m->addNormal(normalL);
//creates the faces, normal index is = i, always have 4 vertices for a face
vec2 f1L((double)i,(double)i);
vec2 f2L((double)i+1,(double)i);
vec2 f3L((double)points+i+1-k,(double)i);
vec2 f4L((double)points+i-k,(double)i);
std::vector<vec2> faceL;
faceL.push_back(f2L);
faceL.push_back(f1L);
faceL.push_back(f4L);
faceL.push_back(f3L);
if(mod != 0) {
//cout<<"add face: "<<i<<endl;
m->addFace(faceL);
}
}
}
//check if there is an opening at the top or bottom to cap or not
if(polyline[0][0] != 0) { //cap the bottom
/*cout<<"X1 = "<<m->getVertex(0)[0]<<" Y1 = "<<m->getVertex(0)[1]<<" Z1 = "<<m->getVertex(points-1)[2]<<endl;
cout<<"X2 = "<<m->getVertex((points))[0]<<" Y2 = "<<m->getVertex((points))[1]<<" Z2 = "<<m->getVertex((points))[2]<<endl;
cout<<"X3 = "<<m->getVertex((points*2))[0]<<" Y3 = "<<m->getVertex((points*2))[1]<<" Z3 = "<<m->getVertex((points*2))[2]<<"\n"<<endl;*/
vec4 vert1(m->getVertex(0)[0],m->getVertex(0)[1],m->getVertex(0)[2],1);
vec4 vert2(m->getVertex(points)[0],m->getVertex(points)[1],m->getVertex(points)[2],1);
vec4 vert3(m->getVertex(points*2)[0],m->getVertex(points*2)[1],m->getVertex(points*2)[2],1);
vec4 n = getNormal(vert1,vert2,vert3);
vec3 normal(n[0],n[1],n[2]);
m->addNormal(normal);
std::vector<vec2> face;
for(int k=0; k<slices; k++) {
vec2 f((double)points*k,(double)m->lastNorm());
face.push_back(f);
}
m->addFace(face);
}
if(polyline[points-1][0] != 0) { //cap the top
/*cout<<"Top\nX1 = "<<m->getVertex(points-1)[0]<<" Y1 = "<<m->getVertex(points-1)[1]<<" Z1 = "<<m->getVertex(points-1)[2]<<endl;
cout<<"X2 = "<<m->getVertex((points*2)-1)[0]<<" Y2 = "<<m->getVertex((points*2)-1)[1]<<" Z2 = "<<m->getVertex((points*2)-1)[2]<<endl;
cout<<"X3 = "<<m->getVertex((points*3)-1)[0]<<" Y3 = "<<m->getVertex((points*3)-1)[1]<<" Z3 = "<<m->getVertex((points*3)-1)[2]<<"\n"<<endl;*/
vec4 vert1(m->getVertex(points-1)[0],m->getVertex(points-1)[1],m->getVertex(points-1)[2],1);
vec4 vert2(m->getVertex((points*2)-1)[0],m->getVertex((points*2)-1)[1],m->getVertex((points*2)-1)[2],1);
vec4 vert3(m->getVertex((points*3)-1)[0],m->getVertex((points*3)-1)[1],m->getVertex((points*3)-1)[2],1);
vec4 n = getNormal(vert1,vert2,vert3);
n = n * (-1);
vec3 normal(n[0],n[1],n[2]);
m->addNormal(normal);
std::vector<vec2> face;
for(int k=1; k<slices+1; k++) {
vec2 f((double)(points*k)-1,(double)m->lastNorm());
face.push_back(f);
}
m->addFace(face);
}
return m;
}
Mesh*
Extrude::createMesh(){
cout<<isConvex()<<" - True = "<<true<<endl;
Mesh* m = new Mesh(isConvex()); //empty mesh
vector<vec3> polygon_top(polygon); //a copy of polygon
//inserts polygon to mesh
//so for polygon the index is k
for(int j = 0; j< sides; j++){
m->addVertex(polygon[j]);
}
//add y coordinate to polygon_top and inserts it to mesh
//so for top polygon the index is k+sides
for(int i = 0; i<sides; i++){
polygon_top[i][1] = distance;
m->addVertex(polygon_top[i]);
}
for(int k = 0; k<sides; k++){
if(k<(sides-1)){
//finds normal for face that is going to be inserted to the mesh
vec4 vert1(polygon[k][0],polygon[k][1],polygon[k][2],1);
vec4 vert2(polygon[k+1][0],polygon[k+1][1],polygon[k+1][2],1);
vec4 vert3(polygon_top[k+1][0],polygon_top[k+1][1],polygon_top[k+1][2],1);
vec4 n = getNormal(vert1,vert2,vert3);
vec3 normal(n[0],n[1],n[2]);
/*std::cout<<"--------\nNormal x = "<<normal[0]<<std::endl;
std::cout<<"Normal y = "<<normal[1]<<std::endl;
std::cout<<"Normal z = "<<normal[2]<<std::endl;*/
m->addNormal(normal);
//creates the faces, normal index is = k, always have 4 vertices for a face
vec2 f1((double)k,(double)k);
vec2 f2((double)k+1,(double)k);
vec2 f3((double)sides+k+1,(double)k);
vec2 f4((double)sides+k,(double)k);
std::vector<vec2> face;
face.push_back(f1);
face.push_back(f2);
face.push_back(f3);
face.push_back(f4);
m->addFace(face);
}
//case: need to do last one too
if(k == (sides-1)){
vec4 vert1L(polygon[k][0],polygon[k][1],polygon[k][2],1);
vec4 vert2L(polygon[0][0],polygon[0][1],polygon[0][2],1);
vec4 vert3L(polygon_top[0][0],polygon_top[0][1],polygon_top[0][2],1);
vec4 nL = getNormal(vert1L,vert2L,vert3L);
vec3 normalL(nL[0],nL[1],nL[2]);
m->addNormal(normalL);
//creates the faces, normal index is = k, always have 4 vertices for a face
vec2 f1L((double)k,(double)k);
vec2 f2L((double)0,(double)k);
vec2 f3L((double)sides,(double)k);
vec2 f4L((double)sides+k,(double)k);
std::vector<vec2> faceL;
faceL.push_back(f1L);
faceL.push_back(f2L);
faceL.push_back(f3L);
faceL.push_back(f4L);
m->addFace(faceL);
}
}
//check if convex to cap or not
if(isConvex()){
std::vector<vec2> cap;
std::vector<vec2> cap_top;
//add the two normals at side and side+1
vec4 vert1(polygon[0][0],polygon[0][1],polygon[0][2],1);
vec4 vert2(polygon[1][0],polygon[1][1],polygon[1][2],1);
vec4 vert3(polygon[2][0],polygon[2][1],polygon[2][2],1);
vec4 n = getNormal(vert1,vert2,vert3);
n = n*(-1);
vec3 normal(n[0],n[1],n[2]);
m->addNormal(normal);
vec4 vert1_top(polygon_top[0][0],polygon_top[0][1],polygon_top[0][2],1);
vec4 vert2_top(polygon_top[1][0],polygon_top[1][1],polygon_top[1][2],1);
vec4 vert3_top(polygon_top[2][0],polygon_top[2][1],polygon_top[2][2],1);
vec4 n_top = getNormal(vert1_top,vert2_top,vert3_top);
vec3 normal_top(n_top[0],n_top[1],n_top[2]);
m->addNormal(normal_top);
//adds the faces, vertices for bottom cap = polygon(i)
//for top cap = polygon_top(i+side)
for(int i = 0; i<sides; i++){
vec2 f((double)i,(double)sides);
cap.push_back(f);
vec2 f_top((double)i+sides,(double)sides+1);
cap_top.push_back(f_top);
}
m->addFace(cap);
m->addFace(cap_top);
}
return m;
}
int main(int argc,char** argv)
{
setCameraDistance(30.f);
#define TRISIZE 10.f
#ifdef DEBUG_MESH
SimdVector3 vert0(-TRISIZE ,0,TRISIZE );
SimdVector3 vert1(TRISIZE ,10,TRISIZE );
SimdVector3 vert2(TRISIZE ,0,-TRISIZE );
meshData.AddTriangle(vert0,vert1,vert2);
SimdVector3 vert3(-TRISIZE ,0,TRISIZE );
SimdVector3 vert4(TRISIZE ,0,-TRISIZE );
SimdVector3 vert5(-TRISIZE ,0,-TRISIZE );
meshData.AddTriangle(vert3,vert4,vert5);
#else
#ifdef ODE_MESH
SimdVector3 Size = SimdVector3(15.f,15.f,12.5f);
gVertices[0][0] = -Size[0];
gVertices[0][1] = Size[2];
gVertices[0][2] = -Size[1];
gVertices[1][0] = Size[0];
gVertices[1][1] = Size[2];
gVertices[1][2] = -Size[1];
gVertices[2][0] = Size[0];
gVertices[2][1] = Size[2];
gVertices[2][2] = Size[1];
gVertices[3][0] = -Size[0];
gVertices[3][1] = Size[2];
gVertices[3][2] = Size[1];
gVertices[4][0] = 0;
gVertices[4][1] = 0;
gVertices[4][2] = 0;
gIndices[0] = 0;
gIndices[1] = 1;
gIndices[2] = 4;
gIndices[3] = 1;
gIndices[4] = 2;
gIndices[5] = 4;
gIndices[6] = 2;
gIndices[7] = 3;
gIndices[8] = 4;
gIndices[9] = 3;
gIndices[10] = 0;
gIndices[11] = 4;
int vertStride = sizeof(SimdVector3);
int indexStride = 3*sizeof(int);
TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(NUM_TRIANGLES,
gIndices,
indexStride,
NUM_VERTICES,(float*) &gVertices[0].x(),vertStride);
//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
#else
int vertStride = sizeof(SimdVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 50;
const int NUM_VERTS_Y = 50;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
SimdVector3* gVertices = new SimdVector3[totalVerts];
int* gIndices = new int[totalTriangles*3];
int i;
for ( i=0;i<NUM_VERTS_X;i++)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*10.f,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*10.f);
}
}
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;
}
}
TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(float*) &gVertices[0].x(),vertStride);
//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
#endif
#endif//DEBUG_MESH
// GLDebugDrawer debugDrawer;
//ConstraintSolver* solver = new SimpleConstraintSolver;
ConstraintSolver* solver = new OdeConstraintSolver;
CollisionDispatcher* dispatcher = new CollisionDispatcher();
BroadphaseInterface* broadphase = new SimpleBroadphase();
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
physicsEnvironmentPtr->setGravity(-1,-10,1);
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 = 0.95999998f;
shapeProps.m_ang_drag = 0.89999998f;
shapeProps.m_mass = 1.0f;
PHY_MaterialProps materialProps;
materialProps.m_friction = 0.f;// 50.5f;
materialProps.m_restitution = 0.1f;
CcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.f;//50.5f;
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
SimdTransform tr;
tr.setIdentity();
for (i=0;i<numObjects;i++)
{
if (i>0)
shapeIndex[i] = 1;//2 = tetrahedron
else
shapeIndex[i] = 4;
}
for (i=0;i<numObjects;i++)
{
shapeProps.m_shape = shapePtr[shapeIndex[i]];
bool isDyna = i>0;
if (!i)
{
//SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
//ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
//ms[i].setWorldPosition(0,-10,0);
} else
{
ms[i].setWorldPosition(10,i*15-10,0);
}
//either create a few stacks, to show several islands, or create 1 large stack, showing stability
//ms[i].setWorldPosition((i*5) % 30,i*15-10,0);
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;
}
else
{
shapeProps.m_mass = 1.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
}
SimdVector3 localInertia;
if (shapeProps.m_mass>0.f)
{
shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
} else
{
localInertia.setValue(0.f,0.f,0.f);
}
ccdObjectCi.m_localInertiaTensor = localInertia;
ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];
physObjects[i]= new CcdPhysicsController( ccdObjectCi);
physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
/* if (i==0)
{
physObjects[i]->SetAngularVelocity(0,0,-2,true);
physObjects[i]->GetRigidBody()->setDamping(0,0);
}
*/
//for the line that represents the AABB extents
// physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
}
return glutmain(argc, argv,640,480,"Static Concave Mesh Demo");
}
