Esempio n. 1
0
int main(int argc,char** argv)
{
	raytracePicture = new RenderTexture(screenWidth,screenHeight);

	myBox.SetMargin(0.02f);
	myCone.SetMargin(0.2f);

	simplex.SetSimplexSolver(&simplexSolver);
	simplex.AddVertex(SimdPoint3(-1,0,-1));
	simplex.AddVertex(SimdPoint3(1,0,-1));
	simplex.AddVertex(SimdPoint3(0,0,1));
	simplex.AddVertex(SimdPoint3(0,1,0));
	
	
	/// convex hull of 5 spheres
#define NUM_SPHERES 5
	SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
	SimdVector3 positions[NUM_SPHERES] = {
		SimdVector3(-1.2f,	-0.3f,	0.f),
		SimdVector3(0.8f,	-0.3f,	0.f),
		SimdVector3(0.5f,	0.6f,	0.f),
		SimdVector3(-0.5f,	0.6f,	0.f),
		SimdVector3(0.f,	0.f,	0.f)
	};
	SimdScalar radi[NUM_SPHERES] = { 0.35f,0.35f,0.45f,0.40f,0.40f };

	MultiSphereShape multiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);

	ConvexHullShape convexHullShape(positions,3);


	//choose shape
	shapePtr[0] = &myCone;
	shapePtr[1] =&simplex;
	shapePtr[2] =&convexHullShape;
	shapePtr[3] =&myMink;//myBox;

	simplex.SetMargin(0.3f);

	setCameraDistance(6.f);

	return glutmain(argc, argv,screenWidth,screenHeight,"Minkowski-Sum Raytracer Demo");
}
Esempio n. 2
0
void	Raytracer::initPhysics()
{
	raytracePicture = new RenderTexture(screenWidth,screenHeight);

	myBox.SetMargin(0.02f);
	myCone.SetMargin(0.2f);

	simplex.SetSimplexSolver(&simplexSolver);
	simplex.AddVertex(SimdPoint3(-1,0,-1));
	simplex.AddVertex(SimdPoint3(1,0,-1));
	simplex.AddVertex(SimdPoint3(0,0,1));
	simplex.AddVertex(SimdPoint3(0,1,0));
	
	
	/// convex hull of 5 spheres
#define NUM_SPHERES 5
	SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
	SimdVector3 positions[NUM_SPHERES] = {
		SimdVector3(-1.2f,	-0.3f,	0.f),
		SimdVector3(0.8f,	-0.3f,	0.f),
		SimdVector3(0.5f,	0.6f,	0.f),
		SimdVector3(-0.5f,	0.6f,	0.f),
		SimdVector3(0.f,	0.f,	0.f)
	};

	// MultiSphereShape* multiSphereShape = new MultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
	ConvexHullShape* convexHullShape = new ConvexHullShape(positions,3);


	//choose shape
	shapePtr[0] = &myCone;
	shapePtr[1] =&simplex;
	shapePtr[2] =convexHullShape;
	shapePtr[3] =&myMink;//myBox;//multiSphereShape

	simplex.SetMargin(0.3f);


}
Esempio n. 3
0
void clientDisplay(void) {

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glDisable(GL_LIGHTING);

    //GL_ShapeDrawer::DrawCoordSystem();

    float m[16];
    int i;

    GjkPairDetector	convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);

    SimdVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
    convexConvex.SetCachedSeperatingAxis(seperatingAxis);

    PointCollector gjkOutput;
    GjkPairDetector::ClosestPointInput input;
    input.m_transformA = tr[0];
    input.m_transformB = tr[1];

    convexConvex.GetClosestPoints(input ,gjkOutput,0);

    if (gjkOutput.m_hasResult)
    {
        SimdVector3 endPt = gjkOutput.m_pointInWorld +
                            gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;

        glBegin(GL_LINES);
        glColor3f(1, 0, 0);
        glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z());
        glVertex3d(endPt.x(),endPt.y(),endPt.z());
        //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
        //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
        glEnd();

    }

    for (i=0; i<numObjects; i++)
    {

        tr[i].getOpenGLMatrix( m );

        GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());


    }

    simplex.SetSimplexSolver(&sGjkSimplexSolver);
    SimdPoint3 ybuf[4],pbuf[4],qbuf[4];
    int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
    simplex.Reset();

    for (i=0; i<numpoints; i++)
        simplex.AddVertex(ybuf[i]);

    SimdTransform ident;
    ident.setIdentity();
    ident.getOpenGLMatrix(m);
    GL_ShapeDrawer::DrawOpenGL(m,&simplex,SimdVector3(1,1,1),getDebugMode());


    SimdQuaternion orn;
    orn.setEuler(yaw,pitch,roll);
    tr[0].setRotation(orn);

//	pitch += 0.005f;
//	yaw += 0.01f;

    glFlush();
    glutSwapBuffers();
}