Esempio n. 1
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void DebugDraw::drawLine(const btVector3& from, const btVector3& to, const btVector3& from_color, const btVector3& to_color) {
    sf::Vertex line[] = {
        sf::Vertex(sf::Vector2f(from.x(), from.y()), btToSfColor(from_color)),
        sf::Vertex(sf::Vector2f(to.x(), to.y()), btToSfColor(to_color))
    };
    m_target->draw(line, 2, sf::Lines);
}
	virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
	{
		ScnDebugRenderComponent::pImpl()->drawLine(
			MaVec3d( from.x(), from.y(), from.z() ),
			MaVec3d( to.x(), to.y(), to.z() ),
			RsColour( color.x(), color.y(), color.z(), 1.0f ) );
	}
void BeGraphicsModel::draw( unsigned int current_material, const btTransform& transform, const btVector3& scale )
{
// 	btScalar m[16];
	transform.getOpenGLMatrix(m_matrix);
// 	m_system->matrixPush(GL_MODELVIEW);
	glPushMatrix();

// 	m_system->matrixMult(GL_MODELVIEW, m_matrix);
	m_system->matrixMult(m_matrix);
// 	m_system->matrixLoad(GL_MODELVIEW, m_matrix);
	
// 		m_system->matrixPush(GL_MODELVIEW);
// 		glPushMatrix();

			if ( scale.x() != 1.0f || scale.y() != 1.0f || scale.z() != 1.0f )
				m_system->matrixScale(GL_MODELVIEW, scale.x(), scale.y(), scale.z());
			
			draw(current_material);

// 		glPopMatrix();
// 		m_system->matrixPop(GL_MODELVIEW);

// 	m_system->matrixPop(GL_MODELVIEW);
	glPopMatrix();

	//glEnable(GL_CULL_FACE);
	//glCullFace(GL_BACK);
}
Esempio n. 4
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	virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
	{
		elfCollision* collision;

		m_collisionObject = rayResult.m_collisionObject;
		if (normalInWorldSpace)
		{
			m_hitNormalWorld = rayResult.m_hitNormalLocal;
		}
		else
		{
			m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
		}
		m_hitPointWorld.setInterpolate3(m_rayFromWorld, m_rayToWorld, rayResult.m_hitFraction);

		collision = elfCreateCollision();

		collision->position.x = m_hitPointWorld.x();
		collision->position.y = m_hitPointWorld.y();
		collision->position.z = m_hitPointWorld.z();
		collision->normal.x = m_hitNormalWorld.x();
		collision->normal.y = m_hitNormalWorld.y();
		collision->normal.z = m_hitNormalWorld.z();
		collision->actor = ((elfPhysicsObject*)((btRigidBody*)m_collisionObject)->getUserPointer())->actor;
		elfIncRef((elfObject*)collision->actor);

		elfAppendListObject(m_list, (elfObject*)collision);

		return rayResult.m_hitFraction;
	}
Esempio n. 5
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void gkPhysicsDebug::drawLine(const btVector3& from, const btVector3& to, const btVector3& color)
{
    gkDebugger* dbg = m_physics->getScene()->getDebugger();
    if (dbg)
        dbg->drawLine(gkVector3(from.x(), from.y(), from.z()), gkVector3(to.x(), to.y(), to.z()), gkVector3(color.x(), color.y(), color.z()));

}
Esempio n. 6
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static inline btVector3 getPrincipalInertia(const btVector3 & p, const btScalar & m)
{
	return m * btVector3(
		p.y() * p.y() + p.z() * p.z(),
		p.x() * p.x() + p.z() * p.z(),
		p.x() * p.x() + p.y() * p.y());
}
Esempio n. 7
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void renderSPH()
{
	static const btVector3 activeColor = btVector3(1, 1, 1);
	static const btVector3 inactiveColor = btVector3(.3, .3, .7);
    for(int n = 0; n < fluid->numParticles(); ++n)
    {
        btVector3 p = fluid->getPosition(n);
		btVector3 vel = fluid->getVelocity(n);
		float speed = std::min(1.0f, vel.length() / 1.0f);
		btVector3 color = (1.0f - speed) * inactiveColor + speed * activeColor;

		glPushMatrix();
        
	    glColor3f(color.x(), color.y(), color.z() );
		float xt = (p.getX() - minBound.x()) / (maxBound.x() - minBound.x());
		float yt = (p.getY() - minBound.y()) / (maxBound.y() - minBound.y());
		float zt = (p.getZ() - minBound.z()) / (maxBound.z() - minBound.z());
        glTranslatef(xt*scale.x() + origin.x(), yt*scale.y()  + origin.y(), zt*scale.z() + origin.z());
        glBegin( GL_LINE_LOOP );
        GLUquadricObj *quadric;
        quadric = gluNewQuadric();
        gluQuadricDrawStyle(quadric, GLU_FILL );
        gluSphere( quadric , 1.0f , 8 , 8);
		glGetError();
        gluDeleteQuadric(quadric);
        glEnd();
		glPopMatrix();
    }
}
Esempio n. 8
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void PhysicsDebug::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{
	D3D11_MAPPED_SUBRESOURCE mapStruct;

	ZeroMemory(&mapStruct, sizeof(mapStruct));

	ColourVertex vertexSet[] =
	{
		ColourVertex(D3DXVECTOR3(to.x(), to.y(), to.z()), D3DXVECTOR4(color.x(), color.y(), color.z(), 1.0f)),
		ColourVertex(D3DXVECTOR3(from.x(), from.y(), from.z()), D3DXVECTOR4(color.x(), color.y(), color.z(), 1.0f))
	};

	if(mContext->Map(mBuffer, 0, D3D11_MAP_WRITE_DISCARD, 0, &mapStruct) != S_OK)
	{
		std::cerr << "Buffer Mapping Failed!" << std::endl;
		return;
	}

		memcpy(mapStruct.pData, &vertexSet[0], sizeof(ColourVertex) * mTotalIndices);

	mContext->Unmap(mBuffer, 0);

	mContext->IASetPrimitiveTopology(D3D11_PRIMITIVE_TOPOLOGY_LINELIST);
	mShader.RenderVertexBuffer(mTotalIndices, mBuffer, mDevice, mContext, &ShaderData(mGameCam)); 
}
Esempio n. 9
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void DebugDraw::drawAabb(const btVector3 &from, const btVector3 &to, const btVector3 &color) {
    sf::RectangleShape rect(sf::Vector2f(to.x() - from.x(), to.y() - from.y()));
    rect.setPosition(from.x(), from.y());
    rect.setFillColor(sf::Color::Transparent);
    rect.setOutlineColor(btToSfColor(color));
    rect.setOutlineThickness(0.01f);
    m_target->draw(rect);
}
Esempio n. 10
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	void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color) override {
		DebugRenderQueue::addLine(
			Vec3(from.x(), from.y(), from.z()),
			Vec3(to.x(), to.y(), to.z()),
			Vec4(color.x(), color.y(), color.z(), 1.0f)
		);
		
	}
Esempio n. 11
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void DebugDraw::drawTriangle(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, const btVector3 &color, btScalar) {
    sf::Vertex triangle[] = {
        sf::Vertex(sf::Vector2f(v0.x(), v0.y()), btToSfColor(color)),
        sf::Vertex(sf::Vector2f(v1.x(), v1.y()), btToSfColor(color)),
        sf::Vertex(sf::Vector2f(v2.x(), v2.y()), btToSfColor(color))
    };
    m_target->draw(triangle, 3, sf::Triangles);
}
Esempio n. 12
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void PhysicsDebugRenderer::drawContactPoint(const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)
{
	const glm::vec3 center(PointOnB.x(), PointOnB.y(), PointOnB.z());
	const glm::vec3 cubeSize(0.1f, 0.1f, 0.1f);
	const glm::vec3 cubeColor(color.x(), color.y(), color.z());

	DebugRenderer::DrawCube(center, cubeSize, cubeColor);
}
Esempio n. 13
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void PhysicsDebugRenderer::drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)
{
	const glm::vec3 start(from.x(), from.y(), from.z());
	const glm::vec3 end(to.x(), to.y(), to.z());
	const glm::vec3 lineColor(color.x(), color.y(), color.z());

	DebugRenderer::DrawLine(start, end, lineColor);
}
Esempio n. 14
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void glDebugDraw::drawLine(const btVector3 &from, const btVector3 &to, 
            const btVector3 &color)
{
    glColor3f(color.x(), color.y(), color.z());
    glBegin(GL_LINES);
    glVertex3f(from.x(), from.y(), from.z());
    glVertex3f(to.x(), to.y(), to.z());
    glEnd();
}
Esempio n. 15
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void PhysicsDebugDrawer::drawLine(const btVector3& from, const btVector3& to, const btVector3& color)
{
    // Draw a line with the 'from' position being slightly darker.
    glm::vec3 glmColor = glm::vec3(color.x(), color.y(), color.z());
    lines.positions.push_back(glm::vec3(from.x(), from.y(), from.z()));
    lines.colors.push_back(glmColor * 0.80f);

    lines.positions.push_back(glm::vec3(to.x(), to.y(), to.z()));
    lines.colors.push_back(glmColor);
}
Esempio n. 16
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btVector3 btRigidBody::getLocalInertia() const
{

	btVector3 inertiaLocal;
	const btVector3 inertia = m_invInertiaLocal;
	inertiaLocal.setValue(inertia.x() != btScalar(0.0) ? btScalar(1.0) / inertia.x() : btScalar(0.0),
		inertia.y() != btScalar(0.0) ? btScalar(1.0) / inertia.y() : btScalar(0.0),
		inertia.z() != btScalar(0.0) ? btScalar(1.0) / inertia.z() : btScalar(0.0));
	return inertiaLocal;
}
Esempio n. 17
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	void PhysicsDebugDraw::drawTriangle( const btVector3& a, const btVector3& b, const btVector3& c,const btVector3& color, btScalar alpha )
	{
		const Vector3 v1 = { a.x(), a.y(), a.z() };
		const Vector3 v2 = { b.x(), b.y(), b.z() };
		const Vector3 v3 = { c.x(), c.y(), c.z() };
		const Color color2 = color::fromFloatRGBA( color.x(), color.y(), color.z(), 1.0f );

		const Vector3 points[] = { v1, v2, v3, v1 };
		debugrenderer::drawLines( points, TIKI_COUNT( points ), color2 );
	}
Esempio n. 18
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void PhysicsDebug::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{
	mIC->BeginVertex();
	mIC->SetPosition3(from.get128());
	mIC->SetColor(FromRGBf(color.x(), color.y(), color.z()));
	mIC->EndVertex();
	mIC->BeginVertex();
	mIC->SetPosition3(to.get128());
	mIC->SetColor(FromRGBf(color.x(), color.y(), color.z()));
	mIC->EndVertex();
}
Esempio n. 19
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void updateCollisionSphere(float x, float y, float z, float vx, float vy, float vz)
{
	x = (x - origin.x()) / scale.x();
	y = (y - origin.y()) / scale.y();
	z = (z - origin.z()) / scale.z();
	x = x * (maxBound.x() - minBound.x()) + minBound.x();
	y = y * (maxBound.y() - minBound.y()) + minBound.y();
	z = z * (maxBound.z() - minBound.z()) + minBound.z();
	collisionSpherePos = btVector3(x, y, z);
	collisionSphereVel = btVector3(vx, vy, vz);
}
Esempio n. 20
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  virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
  {
    double p_[3] = {p.x() / bulletWorldScalingFactor,
                    p.y() / bulletWorldScalingFactor,
                    p.z() / bulletWorldScalingFactor};
    double color_[3] = {color.x(), color.y(), color.z()};

    if(callbacks_.drawSphere)
      (*callbacks_.drawSphere)(p_, radius / bulletWorldScalingFactor, color_, arg_);
    else
      btIDebugDraw::drawSphere(p/bulletWorldScalingFactor, radius / bulletWorldScalingFactor, color);
  }
Esempio n. 21
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void PhysicsDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{

	
	data.push_back( from.x());
	data.push_back( from.y());
	data.push_back( from.z());

	data.push_back( to.x());
	data.push_back( to.y());
	data.push_back( to.z());
}
 void btWorldFactory::createBoxAreaSpawn(QVariantList &spawnsList, btVector3 size, btVector3 pos)
 {
     QVariantMap spawnMap;
     spawnMap.insert("type", "boxArea");
     spawnMap.insert("sizeX", (double)size.x());
     spawnMap.insert("sizeY", (double)size.y());
     spawnMap.insert("sizeZ", (double)size.z());
     spawnMap.insert("posX", (double)pos.x());
     spawnMap.insert("posY", (double)pos.y());
     spawnMap.insert("posZ", (double)pos.z());
     spawnsList.append(spawnMap);
 }
Esempio n. 23
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	void PhysicsDebugDraw::drawLine( const btVector3& from, const btVector3& to, const btVector3& color )
	{
		const Color color2	= color::fromFloatRGBA( color.x(), color.y(), color.z(), 1.0f );

		const Vector3 points[] =
		{
			{ from.x(), from.y(), from.z() },
			{ to.x(), to.y(), to.z() }
		};

		debugrenderer::drawLines( points, TIKI_COUNT( points ), color2 );
	}
Esempio n. 24
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  virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
  {
    double PointOnB_[3] = {PointOnB.x() / bulletWorldScalingFactor,
                           PointOnB.y() / bulletWorldScalingFactor,
                           PointOnB.z() / bulletWorldScalingFactor};
    double normalOnB_[3] = {normalOnB.x() / bulletWorldScalingFactor,
                            normalOnB.y() / bulletWorldScalingFactor,
                            normalOnB.z() / bulletWorldScalingFactor};
    double color_[3] = {color.x(), color.y(), color.z()};

    if(callbacks_.drawContactPoint)
      (*callbacks_.drawContactPoint)(PointOnB_, normalOnB_, distance, lifeTime, color_, arg_);
  }
Esempio n. 25
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 virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
 {
   double from_[3] = {from.x() / bulletWorldScalingFactor,
                      from.y() / bulletWorldScalingFactor,
                      from.z() / bulletWorldScalingFactor};
   double to_[3] = {to.x() / bulletWorldScalingFactor,
                    to.y() / bulletWorldScalingFactor,
                    to.z() / bulletWorldScalingFactor};
   double color_[3] = {color.x(), color.y(), color.z()};
   
   if(callbacks_.drawLine)
     (*callbacks_.drawLine)(from_, to_, color_, arg_);
 }
Esempio n. 26
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void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTransform& tr)
{
	const btMatrix3x3& rot = tr.getBasis();
	const btVector3& r0 = rot[0];
	const btVector3& r1 = rot[1];
	const btVector3& r2 = rot[2];

	const btScalar x = r0.x()*in.x() + r1.x()*in.y() + r2.x()*in.z();
	const btScalar y = r0.y()*in.x() + r1.y()*in.y() + r2.y()*in.z();
	const btScalar z = r0.z()*in.x() + r1.z()*in.y() + r2.z()*in.z();

	out.setValue(x, y, z);
}
Esempio n. 27
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// void BeGraphicsModel::draw( const float* transform, const float x, const float y, const float z )
void BeGraphicsModel::drawToDepth(const float* transform, const btVector3& scale )
{
	m_system->matrixPush(GL_MODELVIEW);
// 	std::cout << "scale" << std::endl;
	m_system->matrixMult(GL_MODELVIEW, transform);
	if ( scale.x() != 1.0f || scale.y() != 1.0f || scale.z() != 1.0f )
		m_system->matrixScale(GL_MODELVIEW, scale.x(), scale.y(), scale.z());
	drawToDepth();
	m_system->matrixPop(GL_MODELVIEW);

	//glEnable(GL_CULL_FACE);
	//glCullFace(GL_BACK);
}
Esempio n. 28
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void boundaryConstrain(int i)
{
    btFluidParticles& particles = fluid->internalGetParticles();
    btVector3 &velFluid = particles.m_vel[i];
    btVector3 &posFluid = particles.m_pos[i];
    
    collisionWithBound(velFluid, posFluid, btVector3( 1.0, 0.0, 0.0), posFluid.x() - minBound.x() - Constant.m_particleRadius);
    collisionWithBound(velFluid, posFluid, btVector3( -1.0, 0.0, 0.0), maxBound.x() - posFluid.x() - Constant.m_particleRadius);
    collisionWithBound(velFluid, posFluid, btVector3( 0.0,  1.0, 0.0), posFluid.y() - minBound.y() - Constant.m_particleRadius);
    collisionWithBound(velFluid, posFluid, btVector3( 0.0, -1.0, 0.0), maxBound.y() - posFluid.y() - Constant.m_particleRadius);
    collisionWithBound(velFluid, posFluid, btVector3( 0.0, 0.0,  1.0), posFluid.z() - minBound.z() - Constant.m_particleRadius);
    collisionWithBound(velFluid, posFluid, btVector3( 0.0, 0.0, -1.0), maxBound.z() - posFluid.z() - Constant.m_particleRadius);
}
Esempio n. 29
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	void multiply(const NxQuat& left, const btVector3& right)
	{
	float a,b,c,d;

	a = - left.x*right.x() - left.y*right.y() - left.z *right.z();
	b =   left.w*right.x() + left.y*right.z() - right.y()*left.z;
	c =   left.w*right.y() + left.z*right.x() - right.z()*left.x;
	d =   left.w*right.z() + left.x*right.y() - right.x()*left.y;

	w = a;
	x = b;
	y = c;
	z = d;
	}
Esempio n. 30
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int RudeCollision::LineSegmentAndSphere(const btVector3 &p1, const btVector3 &p2, const btVector3 &sc, float r, btVector3 &int_p1, btVector3 &int_p2)
{
const float kEps = 0.00001f;

btVector3 dp = p2 - p1;

float a = dp.x() * dp.x() + dp.y() * dp.y() + dp.z() * dp.z();
float b = 2.0f * (dp.x() * (p1.x() - sc.x()) + dp.y() * (p1.y() - sc.y()) + dp.z() * (p1.z() - sc.z()));
float c = sc.x() * sc.x() + sc.y() * sc.y() + sc.z() * sc.z();

c += p1.x() * p1.x() + p1.y() * p1.y() + p1.z() * p1.z();
c -= 2 * (sc.x() * p1.x() + sc.y() * p1.y() + sc.z() * p1.z());
c -= r * r;

float bb4ac = b * b - 4 * a * c;
float absa = a > 0.0f ? a : -a;
if (absa < kEps || bb4ac < 0.0f)
    return 0;

float abs_bb4ac = bb4ac ? bb4ac : -bb4ac;
if(abs_bb4ac < kEps)
{
    float u = -b / (2.0f * a);
    int_p1 = p1 + u * dp;
    int_p2 = int_p1;
    return 1;
}

int solns = 0;

float bb4acsqrt = sqrt(bb4ac);
float a2 = 2.0f * a;

float u1 = (-b + bb4acsqrt) / a2;

if(0.0f <= u1 && u1 <= 1.0f)
{
    int_p1 = p1 + u1 * dp;
    int_p2 = int_p1;
    solns++;
}

float u2 = (-b - bb4acsqrt) / a2;

if(0.0f <= u2 && u2 <= 1.0f)
{
    if(solns)
    {
        int_p2 = p1 + u2 * dp;
    }
    else
    {
        int_p1 = p1 + u2 * dp;
        int_p2 = int_p2;
    }
    solns++;
}

return solns;
}