RectangleLight SceneObject::createAreaLight() {
	ConvexDecomposition::WavefrontObj wo;
	wo.loadObj(m_objPath.c_str());

	// now we only support rectangular area light
	assert(wo.mVertexCount == 4);

	float3 v1 = make_float3(wo.mVertices[0], wo.mVertices[1], wo.mVertices[2]);
	float3 v2 = make_float3(wo.mVertices[3], wo.mVertices[4], wo.mVertices[5]);
	float3 v3 = make_float3(wo.mVertices[6], wo.mVertices[7], wo.mVertices[8]);
	float3 v4 = make_float3(wo.mVertices[9], wo.mVertices[10], wo.mVertices[11]);

	RectangleLight light;
	light.pos = v1;
	light.r1 = v2 - v1;
	light.r2 = v4 - v1;

	light.color = m_ke;

	light.intensity = m_intensity;

	light.attenuation_coeff = m_attenuation_coeff;

	return light;
}
Esempio n. 2
0
// See ConvexDecompositionDemo.cpp in Bullet Docs
btCollisionShape* GameObject::GenerateShape(std::string file, float scale)
{
  ConvexDecomposition::WavefrontObj wo;
  if (!wo.loadObj (strcat ("media/models/", file.c_str ()))) {
    printf("Failed to load Player obj file\n");
  }

  btTriangleMesh* trimesh = new btTriangleMesh();

  for (int i=0;i<wo.mTriCount;i++) {
    int index0 = wo.mIndices[i*3];
    int index1 = wo.mIndices[i*3+1];
    int index2 = wo.mIndices[i*3+2];

    btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
    btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
    btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);

    vertex0 *= scale;
    vertex1 *= scale;
    vertex2 *= scale;

    trimesh->addTriangle(vertex0,vertex1,vertex2);
  }

  btConvexShape* shape = new btConvexTriangleMeshShape(trimesh);

  /*printf("old numTriangles= %d\n",wo.mTriCount);
  printf("new numTrinagles= %d\n",trimesh->getNumTriangles());
  printf("old numIndices = %d\n",wo.mTriCount*3);
  printf("old numVertices = %d\n",wo.mVertexCount);*/

  return shape;
}
Esempio n. 3
0
void ConvexDecompositionDemo::initPhysics(const char* filename)
{

	gContactAddedCallback = &MyContactCallback;

	setupEmptyDynamicsWorld();

	getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);

	setTexturing(true);
	setShadows(true);

	setCameraDistance(26.f);


#ifndef NO_OBJ_TO_BULLET

	ConvexDecomposition::WavefrontObj wo;

	tcount = 0;
    const char* prefix[]={"./","../","../../","../../../","../../../../", "ConvexDecompositionDemo/", "Demos/ConvexDecompositionDemo/",
    "../Demos/ConvexDecompositionDemo/","../../Demos/ConvexDecompositionDemo/"};
    int numPrefixes = sizeof(prefix)/sizeof(const char*);
    char relativeFileName[1024];

    for (int i=0;i<numPrefixes;i++)
    {
        sprintf(relativeFileName,"%s%s",prefix[i],filename);
        tcount = wo.loadObj(relativeFileName);
        if (tcount)
            break;
    }



	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(0,-4.5,0));

	btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
	m_collisionShapes.push_back(boxShape);
	localCreateRigidBody(0.f,startTransform,boxShape);

	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
	{
		ConvexDecompositionDemo*	m_convexDemo;

		public:

		btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
		btAlignedObjectArray<btVector3> m_convexCentroids;

		MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
			:m_convexDemo(demo),
				mBaseCount(0),
			mHullCount(0),
			mOutputFile(outputFile)

		{
		}

			virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
			{

				btTriangleMesh* trimesh = new btTriangleMesh();
				m_convexDemo->m_trimeshes.push_back(trimesh);

				btVector3 localScaling(6.f,6.f,6.f);

				//export data to .obj
				printf("ConvexResult. ");
				if (mOutputFile)
				{
					fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );

					fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
					fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);

					for (unsigned int i=0; i<result.mHullVcount; i++)
					{
						const float *p = &result.mHullVertices[i*3];
						fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
					}

					//calc centroid, to shift vertices around center of mass
					centroid.setValue(0,0,0);

					btAlignedObjectArray<btVector3> vertices;
					if ( 1 )
					{
						//const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullVcount; i++)
						{
							btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
							vertex *= localScaling;
							centroid += vertex;

						}
					}

					centroid *= 1.f/(float(result.mHullVcount) );

					if ( 1 )
					{
						//const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullVcount; i++)
						{
							btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
							vertex *= localScaling;
							vertex -= centroid ;
							vertices.push_back(vertex);
						}
					}



					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;


							btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
							btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
							vertex0 *= localScaling;
							vertex1 *= localScaling;
							vertex2 *= localScaling;

							vertex0 -= centroid;
							vertex1 -= centroid;
							vertex2 -= centroid;


							trimesh->addTriangle(vertex0,vertex1,vertex2);

							index0+=mBaseCount;
							index1+=mBaseCount;
							index2+=mBaseCount;

							fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
						}
					}

				//	float mass = 1.f;


//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#ifdef SHRINK_OBJECT_INWARDS

					float collisionMargin = 0.01f;

					btAlignedObjectArray<btVector3> planeEquations;
					btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);

					btAlignedObjectArray<btVector3> shiftedPlaneEquations;
					for (int p=0;p<planeEquations.size();p++)
					{
						btVector3 plane = planeEquations[p];
						plane[3] += collisionMargin;
						shiftedPlaneEquations.push_back(plane);
					}
					btAlignedObjectArray<btVector3> shiftedVertices;
					btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);


					btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());

#else //SHRINK_OBJECT_INWARDS

					btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif
					if (sEnableSAT)
						convexShape->initializePolyhedralFeatures();
					convexShape->setMargin(0.01f);
					m_convexShapes.push_back(convexShape);
					m_convexCentroids.push_back(centroid);
					m_convexDemo->m_collisionShapes.push_back(convexShape);
					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.


				}
			}

			int   	mBaseCount;
  			int		mHullCount;
			FILE*	mOutputFile;

	};

	if (tcount)
	{
		btTriangleMesh* trimesh = new btTriangleMesh();
		m_trimeshes.push_back(trimesh);

		btVector3 localScaling(6.f,6.f,6.f);

		int i;
		for ( i=0;i<wo.mTriCount;i++)
		{
			int index0 = wo.mIndices[i*3];
			int index1 = wo.mIndices[i*3+1];
			int index2 = wo.mIndices[i*3+2];

			btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
			btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
			btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);

			vertex0 *= localScaling;
			vertex1 *= localScaling;
			vertex2 *= localScaling;

			trimesh->addTriangle(vertex0,vertex1,vertex2);
		}


		btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);

		printf("old numTriangles= %d\n",wo.mTriCount);
		printf("old numIndices = %d\n",wo.mTriCount*3);
		printf("old numVertices = %d\n",wo.mVertexCount);

		printf("reducing vertices by creating a convex hull\n");

		//create a hull approximation
		btShapeHull* hull = new btShapeHull(tmpConvexShape);
		btScalar margin = tmpConvexShape->getMargin();
		hull->buildHull(margin);
		tmpConvexShape->setUserPointer(hull);


		printf("new numTriangles = %d\n", hull->numTriangles ());
		printf("new numIndices = %d\n", hull->numIndices ());
		printf("new numVertices = %d\n", hull->numVertices ());

		btConvexHullShape* convexShape = new btConvexHullShape();
		bool updateLocalAabb = false;

		for (i=0;i<hull->numVertices();i++)
		{
			convexShape->addPoint(hull->getVertexPointer()[i],updateLocalAabb);
		}
		convexShape->recalcLocalAabb();

		if (sEnableSAT)
			convexShape->initializePolyhedralFeatures();
		delete tmpConvexShape;
		delete hull;



		m_collisionShapes.push_back(convexShape);

		float mass = 1.f;

		btTransform startTransform;
		startTransform.setIdentity();
		startTransform.setOrigin(btVector3(0,2,14));

		localCreateRigidBody(mass, startTransform,convexShape);

		bool useQuantization = true;
		btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
		startTransform.setOrigin(convexDecompositionObjectOffset);
		localCreateRigidBody(0.f,startTransform,concaveShape);

		m_collisionShapes.push_back (concaveShape);

	}


	if (tcount)
	{
		//-----------------------------------
		// Bullet Convex Decomposition
		//-----------------------------------

		char outputFileName[512];
  		strcpy(outputFileName,filename);
  		char *dot = strstr(outputFileName,".");
  		if ( dot )
			*dot = 0;
		strcat(outputFileName,"_convex.obj");
  		FILE* outputFile = fopen(outputFileName,"wb");

		unsigned int depth = 5;
		float cpercent     = 5;
		float ppercent     = 15;
		unsigned int maxv  = 16;
		float skinWidth    = 0.0;

		printf("WavefrontObj num triangles read %i\n",tcount);
		ConvexDecomposition::DecompDesc desc;
		desc.mVcount       = wo.mVertexCount;
		desc.mVertices     = wo.mVertices;
		desc.mTcount       = wo.mTriCount;
		desc.mIndices      = (unsigned int *)wo.mIndices;
		desc.mDepth        = depth;
		desc.mCpercent     = cpercent;
		desc.mPpercent     = ppercent;
		desc.mMaxVertices  = maxv;
		desc.mSkinWidth    = skinWidth;

		MyConvexDecomposition	convexDecomposition(outputFile,this);
		desc.mCallback = &convexDecomposition;


		//-----------------------------------------------
		// HACD
		//-----------------------------------------------

		std::vector< HACD::Vec3<HACD::Real> > points;
		std::vector< HACD::Vec3<long> > triangles;

		for(int i=0; i<wo.mVertexCount; i++ )
		{
			int index = i*3;
			HACD::Vec3<HACD::Real> vertex(wo.mVertices[index], wo.mVertices[index+1],wo.mVertices[index+2]);
			points.push_back(vertex);
		}

		for(int i=0;i<wo.mTriCount;i++)
		{
			int index = i*3;
			HACD::Vec3<long> triangle(wo.mIndices[index], wo.mIndices[index+1], wo.mIndices[index+2]);
			triangles.push_back(triangle);
		}


		HACD::HACD myHACD;
		myHACD.SetPoints(&points[0]);
		myHACD.SetNPoints(points.size());
		myHACD.SetTriangles(&triangles[0]);
		myHACD.SetNTriangles(triangles.size());
		myHACD.SetCompacityWeight(0.1);
		myHACD.SetVolumeWeight(0.0);

		// HACD parameters
		// Recommended parameters: 2 100 0 0 0 0
		size_t nClusters = 2;
		double concavity = 100;
		bool invert = false;
		bool addExtraDistPoints = false;
		bool addNeighboursDistPoints = false;
		bool addFacesPoints = false;

		myHACD.SetNClusters(nClusters);                     // minimum number of clusters
		myHACD.SetNVerticesPerCH(100);                      // max of 100 vertices per convex-hull
		myHACD.SetConcavity(concavity);                     // maximum concavity
		myHACD.SetAddExtraDistPoints(addExtraDistPoints);
		myHACD.SetAddNeighboursDistPoints(addNeighboursDistPoints);
		myHACD.SetAddFacesPoints(addFacesPoints);

		myHACD.Compute();
		nClusters = myHACD.GetNClusters();

		myHACD.Save("output.wrl", false);


		//convexDecomposition.performConvexDecomposition(desc);

//		ConvexBuilder cb(desc.mCallback);
//		cb.process(desc);
		//now create some bodies

		if (1)
		{
			btCompoundShape* compound = new btCompoundShape();
			m_collisionShapes.push_back (compound);

			btTransform trans;
			trans.setIdentity();

			for (int c=0;c<nClusters;c++)
			{
				//generate convex result
				size_t nPoints = myHACD.GetNPointsCH(c);
				size_t nTriangles = myHACD.GetNTrianglesCH(c);

				float* vertices = new float[nPoints*3];
				unsigned int* triangles = new unsigned int[nTriangles*3];

				HACD::Vec3<HACD::Real> * pointsCH = new HACD::Vec3<HACD::Real>[nPoints];
				HACD::Vec3<long> * trianglesCH = new HACD::Vec3<long>[nTriangles];
				myHACD.GetCH(c, pointsCH, trianglesCH);

				// points
				for(size_t v = 0; v < nPoints; v++)
				{
					vertices[3*v] = pointsCH[v].X();
					vertices[3*v+1] = pointsCH[v].Y();
					vertices[3*v+2] = pointsCH[v].Z();
				}
				// triangles
				for(size_t f = 0; f < nTriangles; f++)
				{
					triangles[3*f] = trianglesCH[f].X();
					triangles[3*f+1] = trianglesCH[f].Y();
					triangles[3*f+2] = trianglesCH[f].Z();
				}

				delete [] pointsCH;
				delete [] trianglesCH;

				ConvexResult r(nPoints, vertices, nTriangles, triangles);
				convexDecomposition.ConvexDecompResult(r);
			}

			for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
			{
				btVector3 centroid = convexDecomposition.m_convexCentroids[i];
				trans.setOrigin(centroid);
				btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
				compound->addChildShape(trans,convexShape);

				btRigidBody* body;
				body = localCreateRigidBody( 1.0, trans,convexShape);
			}
/*			for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
			{

				btVector3 centroid = convexDecomposition.m_convexCentroids[i];
				trans.setOrigin(centroid);
				btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
				compound->addChildShape(trans,convexShape);

				btRigidBody* body;
				body = localCreateRigidBody( 1.0, trans,convexShape);
			}*/

#if 1
			btScalar mass=10.f;
			trans.setOrigin(-convexDecompositionObjectOffset);
			btRigidBody* body = localCreateRigidBody( mass, trans,compound);
			body->setCollisionFlags(body->getCollisionFlags() |   btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);

			convexDecompositionObjectOffset.setZ(6);
			trans.setOrigin(-convexDecompositionObjectOffset);
			body = localCreateRigidBody( mass, trans,compound);
			body->setCollisionFlags(body->getCollisionFlags() |   btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);

			convexDecompositionObjectOffset.setZ(-6);
			trans.setOrigin(-convexDecompositionObjectOffset);
			body = localCreateRigidBody( mass, trans,compound);
			body->setCollisionFlags(body->getCollisionFlags() |   btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
#endif
		}


		if (outputFile)
			fclose(outputFile);


	}



#ifdef TEST_SERIALIZATION
	//test serializing this

	int maxSerializeBufferSize = 1024*1024*5;

	btDefaultSerializer*	serializer = new btDefaultSerializer(maxSerializeBufferSize);
	m_dynamicsWorld->serialize(serializer);

	FILE* f2 = fopen("testFile.bullet","wb");
	fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
	fclose(f2);

	exitPhysics();

	//now try again from the loaded file
	setupEmptyDynamicsWorld();
#endif //TEST_SERIALIZATION

#endif //NO_OBJ_TO_BULLET

#ifdef TEST_SERIALIZATION

	btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
	//fileLoader->setVerboseMode(true);

	fileLoader->loadFile("testFile.bullet");
	//fileLoader->loadFile("testFile64Double.bullet");
	//fileLoader->loadFile("testFile64Single.bullet");
	//fileLoader->loadFile("testFile32Single.bullet");




#endif //TEST_SERIALIZATION

}
Esempio n. 4
0
void PhysicWorld::initGround(const char* filename)
{
	ConvexDecomposition::WavefrontObj wo;

	btVector3 centroid=btVector3(0,0,0);
	btVector3 convexDecompositionObjectOffset(10,0,0);
	unsigned int tcount = wo.loadObj(filename);


	#ifdef USE_PARALLEL_DISPATCHER
	m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
	#endif //USE_PARALLEL_DISPATCHER

	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
	{
		PhysicWorld*	world;
		btVector3 centroid;

		public:

			btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
			btAlignedObjectArray<btVector3> m_convexCentroids;

			MyConvexDecomposition (FILE* outputFile,PhysicWorld* worldPhysic,btVector3& centre)
			:world(worldPhysic),
			mBaseCount(0),
			mHullCount(0),
			mOutputFile(outputFile),
			centroid(centre)

			{
			}

			virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
			{

				btTriangleMesh* trimesh = new btTriangleMesh();
				world->m_trimeshes.push_back(trimesh);

				btVector3 localScaling(6.f,6.f,6.f);

				//export data to .obj
				printf("ConvexResult. ");
				if (mOutputFile)
				{
					fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );

					fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
					fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);

					for (unsigned int i=0; i<result.mHullVcount; i++)
					{
						const float *p = &result.mHullVertices[i*3];
						fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
					}

					//calc centroid, to shift vertices around center of mass
					centroid.setValue(0,0,0);

					btAlignedObjectArray<btVector3> vertices;
					if ( 1 )
					{
						//const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullVcount; i++)
						{
							btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
							vertex *= localScaling;
							centroid += vertex;

						}
					}

					centroid *= 1.f/(float(result.mHullVcount) );

					if ( 1 )
					{
						//const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullVcount; i++)
						{
							btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
							vertex *= localScaling;
							vertex -= centroid ;
							vertices.push_back(vertex);
						}
					}



					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;


							btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
							btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
							vertex0 *= localScaling;
							vertex1 *= localScaling;
							vertex2 *= localScaling;

							vertex0 -= centroid;
							vertex1 -= centroid;
							vertex2 -= centroid;


							trimesh->addTriangle(vertex0,vertex1,vertex2);

							index0+=mBaseCount;
							index1+=mBaseCount;
							index2+=mBaseCount;

							fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
						}
					}

					float mass = 1.f;
					//float collisionMargin = 0.01f;

					//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
					//#define SHRINK_OBJECT_INWARDS 1
					#ifdef SHRINK_OBJECT_INWARDS


					std::vector<btVector3> planeEquations;
					btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);

					std::vector<btVector3> shiftedPlaneEquations;
					for (int p=0;p<planeEquations.size();p++)
					{
						btVector3 plane = planeEquations[p];
						plane[3] += 5*collisionMargin;
						shiftedPlaneEquations.push_back(plane);
					}
					std::vector<btVector3> shiftedVertices;
					btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);


					btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());

					#else //SHRINK_OBJECT_INWARDS

						btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
					#endif 

					convexShape->setMargin(btScalar(0.01));
					m_convexShapes.push_back(convexShape);
					m_convexCentroids.push_back(centroid);
					world->m_collisionShapes.push_back(convexShape);
					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.


				}
			}

			int   	mBaseCount;
			int		mHullCount;
			FILE*	mOutputFile;

	};

	if (tcount)
	{
		btTriangleMesh* trimesh = new btTriangleMesh();
		m_trimeshes.push_back(trimesh);

		btVector3 localScaling(1.f,1.f,1.f);

		int i;
		for ( i=0;i<wo.mTriCount;i++)
		{
			int index0 = wo.mIndices[i*3];
			int index1 = wo.mIndices[i*3+1];
			int index2 = wo.mIndices[i*3+2];

			btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
			btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
			btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);

			vertex0 *= localScaling;
			vertex1 *= localScaling;
			vertex2 *= localScaling;

			trimesh->addTriangle(vertex0,vertex1,vertex2);
		}


		btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);

		printf("old numTriangles= %d\n",wo.mTriCount);
		printf("old numIndices = %d\n",wo.mTriCount*3);
		printf("old numVertices = %d\n",wo.mVertexCount);

		printf("reducing vertices by creating a convex hull\n");

		//create a hull approximation
		btShapeHull* hull = new btShapeHull(tmpConvexShape);
		btScalar margin = tmpConvexShape->getMargin();
		hull->buildHull(margin);
		tmpConvexShape->setUserPointer(hull);


		printf("new numTriangles = %d\n", hull->numTriangles ());
		printf("new numIndices = %d\n", hull->numIndices ());
		printf("new numVertices = %d\n", hull->numVertices ());

		btConvexHullShape* convexShape = new btConvexHullShape();
		for (i=0;i<hull->numVertices();i++)
		{
			convexShape->addPoint(hull->getVertexPointer()[i]);	
		}

		delete tmpConvexShape;
		delete hull;



		m_collisionShapes.push_back(convexShape);

		float mass = 1.f;

		/*		btTransform startTransform;
		startTransform.setIdentity();
		startTransform.setOrigin(btVector3(0,2,0));

		localCreateRigidBody(mass, startTransform,convexShape);

		bool useQuantization = true;
		btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
		startTransform.setOrigin(convexDecompositionObjectOffset);
		localCreateRigidBody(0.f,startTransform,concaveShape);

		m_collisionShapes.push_back (concaveShape);
		 */
	}


	if (tcount)
	{

		char outputFileName[512];
		strcpy(outputFileName,filename);
		char *dot = strstr(outputFileName,".");
		if ( dot ) 
			*dot = 0;
		strcat(outputFileName,"_convex.obj");
		FILE* outputFile = fopen(outputFileName,"wb");

		unsigned int depth = 5;
		float cpercent     = 5;
		float ppercent     = 15;
		unsigned int maxv  = 16;
		float skinWidth    = 0.0;

		printf("WavefrontObj num triangles read %i\n",tcount);
		ConvexDecomposition::DecompDesc desc;
		desc.mVcount       =	wo.mVertexCount;
		desc.mVertices     = wo.mVertices;
		desc.mTcount       = wo.mTriCount;
		desc.mIndices      = (unsigned int *)wo.mIndices;
		desc.mDepth        = depth;
		desc.mCpercent     = cpercent;
		desc.mPpercent     = ppercent;
		desc.mMaxVertices  = maxv;
		desc.mSkinWidth    = skinWidth;

		MyConvexDecomposition	convexDecomposition(outputFile,this,centroid);
		desc.mCallback = &convexDecomposition;



		//convexDecomposition.performConvexDecomposition(desc);

		ConvexBuilder cb(desc.mCallback);
		cb.process(desc);



		// creation d'un SOL

		{
			btCompoundShape* compound = new btCompoundShape();
			m_collisionShapes.push_back (compound);

			btTransform trans;
			trans.setIdentity();
			for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
			{

				btVector3 centroid2 = convexDecomposition.m_convexCentroids[i];
				trans.setOrigin(centroid2);
				btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
				compound->addChildShape(trans,convexShape);
			}
			trans.setOrigin(-convexDecompositionObjectOffset);


			btDefaultMotionState* myMotionState = new btDefaultMotionState(trans);	
			btRigidBody::btRigidBodyConstructionInfo rbInfo(0,myMotionState,compound,btVector3(0,0,0));
			m_ground = new btRigidBody(rbInfo);
			this->m_dynamicsWorld->addRigidBody(m_ground);


			//			localCreateRigidBody( btScalar(0.F), trans,compound);
		}


		if (outputFile)
			fclose(outputFile);


	}

}
Esempio n. 5
0
// Loads all the object files as Rigid Bodies into the physics world
void MapLoader::loadMap()
{

	ConvexDecomposition::WavefrontObj wobj;

	// push all the strings for loading objects
	std::string* file;
	
	/*
	file = new std::string("./assets/map/new_objects/structures/barn.obj");
	fileNames.push_back((*file).c_str());
	file = new std::string("./assets/map/new_objects/structures/bench.obj");
	fileNames.push_back((*file).c_str());
	//file = new std::string("./assets/map/new_objects/structures/house.obj");
	//fileNames.push_back((*file).c_str());
	//file = new std::string("./assets/map/new_objects/structures/boat.obj");
	//fileNames.push_back((*file).c_str());
	file = new std::string("./assets/map/new_objects/structures/floating_hottub.obj");
	fileNames.push_back((*file).c_str());
	file = new std::string("./assets/map/new_objects/structures/silo.obj");
	fileNames.push_back((*file).c_str());
	file = new std::string("./assets/map/new_objects/structures/windmill.obj");             
	fileNames.push_back((*file).c_str());
	file = new std::string("./assets/map/new_objects/structures/house_under_construction.obj");     
	fileNames.push_back((*file).c_str());
	//file = new std::string("./assets/map/new_objects/structures/patio.obj");
	//fileNames.push_back((*file).c_str());
	//file = new std::string("./assets/map/new_objects/nature/pumpkin_patch.obj");
	//fileNames.push_back((*file).c_str());
	*/

	int result;
	for (auto const& file : fileNames)
	{
		result = wobj.loadObj(file);
		printf("loading file: %s\n", file);

		// Error loops if the obj file wasn't loaded correctly
		while (!result)
		{
			printf("loading failed \"%s\"\n", file);
		}

		btTriangleMesh* trimesh = new btTriangleMesh();
		int i;
		for (i = 0; i < wobj.mTriCount; i++)
		{
			int index0 = wobj.mIndices[i * 3];
			int index1 = wobj.mIndices[i * 3 + 1];
			int index2 = wobj.mIndices[i * 3 + 2];

			btVector3 vertex0(wobj.mVertices[index0 * 3], wobj.mVertices[index0 * 3 + 1], wobj.mVertices[index0 * 3 + 2]);
			btVector3 vertex1(wobj.mVertices[index1 * 3], wobj.mVertices[index1 * 3 + 1], wobj.mVertices[index1 * 3 + 2]);
			btVector3 vertex2(wobj.mVertices[index2 * 3], wobj.mVertices[index2 * 3 + 1], wobj.mVertices[index2 * 3 + 2]);

			trimesh->addTriangle(vertex0, vertex1, vertex2);
		}

		btBvhTriangleMeshShape* tmpConvexShape = new btBvhTriangleMeshShape(trimesh, false);

		btDefaultMotionState*playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 0, 0)));
		//btScalar mass = 500;
		//btVector3 playerInertia(0, 0, 0);
		//convexShape->calculateLocalInertia(mass, playerInertia);
		btRigidBody::btRigidBodyConstructionInfo playerRigidBodyCI(0, playerMotionState, tmpConvexShape, btVector3(0, 0, 0));
		btRigidBody* pRigidBody = new btRigidBody(playerRigidBodyCI);
		pRigidBody->setFriction((btScalar)0.5);
		pRigidBody->setDamping((btScalar)100, (btScalar)100);
		pRigidBody->setUserIndex(ClassId::OBSTACLE);
		curWorld->addRigidBody(pRigidBody);

	}

	// Windmill object                                       bottom    top
	
	btCollisionShape* windmill = new btCylinderShape(btVector3(30, 110, 15));
	btDefaultMotionState*playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(-128, 1, 3)));
	btRigidBody::btRigidBodyConstructionInfo playerRigidBodyCIz(0, playerMotionState, windmill, btVector3(0, 0, 0));
	btRigidBody* pRigidBody = new btRigidBody(playerRigidBodyCIz);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	btCollisionShape* windmill_plat = new btCylinderShape(btVector3(33, 2, 33));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(-129, 37, 4)));
	btRigidBody::btRigidBodyConstructionInfo platRigidBodyCIy(0, playerMotionState, windmill_plat, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(platRigidBodyCIy);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);
	
	// patio
	btCollisionShape* patio = new btBoxShape(btVector3(32, 2, 16));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(49, 16, 111)));
	btRigidBody::btRigidBodyConstructionInfo patioCI(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(patioCI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	patio = new btBoxShape(btVector3(10, 15, 6));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(31.6, 0, 130)));
	btRigidBody::btRigidBodyConstructionInfo patio4CI(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(patio4CI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	patio = new btBoxShape(btVector3(10, 15, 6));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(69, 0, 130)));
	btRigidBody::btRigidBodyConstructionInfo patio1CI(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(patio1CI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	
	patio = new btBoxShape(btVector3(5, 15, 7));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(15, 0, 101)));
	btRigidBody::btRigidBodyConstructionInfo patio2CI(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(patio2CI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	patio = new btBoxShape(btVector3(5, 15, 7));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(83, 0, 100)));
	btRigidBody::btRigidBodyConstructionInfo patio3CI(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(patio3CI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);


	// Rock
	btCollisionShape* rock = new btCylinderShape(btVector3(7, 11, 7));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(-15.4, 0, 103)));
	btRigidBody::btRigidBodyConstructionInfo platRigidBodyCI(0, playerMotionState, rock, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(platRigidBodyCI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	//boat
	patio = new btBoxShape(btVector3(50, 2, 23));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(-145, 20, 136)));
	btRigidBody::btRigidBodyConstructionInfo boatCI(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(boatCI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	
	// House
	patio = new btBoxShape(btVector3(40, 50, 60));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(155, 0, 114)));
	btRigidBody::btRigidBodyConstructionInfo houseCI(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(houseCI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);
	

	patio = new btBoxShape(btVector3(22, 2, 60));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(btVector3(0,0,-1), -.60), btVector3(135, 60, 114)));
	btRigidBody::btRigidBodyConstructionInfo roof1(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(roof1);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	patio = new btBoxShape(btVector3(22, 2, 60));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(btVector3(0, 0, 1), -.60), btVector3(175, 60, 114)));
	btRigidBody::btRigidBodyConstructionInfo roof2(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(roof2);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	// Construction House
	patio = new btBoxShape(btVector3(36, 9, 55));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(-141, 0, -121)));
	btRigidBody::btRigidBodyConstructionInfo conH(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(conH);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);
	
	patio = new btBoxShape(btVector3(36, 1, 55));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(-141, 24, -121)));
	btRigidBody::btRigidBodyConstructionInfo conH0(0, playerMotionState, patio, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(conH0);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	// Silo
	btCollisionShape* silo = new btCylinderShape(btVector3(20, 63, 20));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(146.5, 0, 4)));
	btRigidBody::btRigidBodyConstructionInfo siloc(0, playerMotionState, silo, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(siloc);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	// barn
	btCollisionShape* barn = new btBoxShape(btVector3(18, 50, 25));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(143.6, 0, -54)));
	btRigidBody::btRigidBodyConstructionInfo barnCI(0, playerMotionState, barn, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(barnCI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	// barbara
	btCollisionShape* bb = new btBoxShape(btVector3(20, 7, 10));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(-71, 0, 108)));
	btRigidBody::btRigidBodyConstructionInfo bbCI(0, playerMotionState, bb, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(bbCI);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);

	btCollisionShape* bb1 = new btBoxShape(btVector3(20, 2, 10));
	playerMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(-71, 17, 108)));
	btRigidBody::btRigidBodyConstructionInfo bbCI1(0, playerMotionState, bb1, btVector3(0, 0, 0));
	pRigidBody = new btRigidBody(bbCI1);
	pRigidBody->setFriction((btScalar)0.5);
	pRigidBody->setDamping((btScalar)100, (btScalar)100);
	pRigidBody->setUserIndex(ClassId::OBSTACLE);
	curWorld->addRigidBody(pRigidBody);
}
Esempio n. 6
0
void ConvexDecompositionDemo::initPhysics(const char* filename)
{
	setTexturing(true);
	setShadows(true);

	setCameraDistance(26.f);

	ConvexDecomposition::WavefrontObj wo;

	tcount = wo.loadObj(filename);

	if (!tcount)
	{
		//when running this app from visual studio, the default starting folder is different, so make a second attempt...
		tcount = wo.loadObj("../../file.obj");
	}


	m_collisionConfiguration = new btDefaultCollisionConfiguration();

#ifdef USE_PARALLEL_DISPATCHER
#ifdef USE_WIN32_THREADING

	int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
	Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
								"collision",
								processCollisionTask,
								createCollisionLocalStoreMemory,
								maxNumOutstandingTasks));
#else
///@todo other platform threading
///Playstation 3 SPU (SPURS)  version is available through PS3 Devnet
///Libspe2 SPU support will be available soon
///pthreads version
///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
#endif

	m_dispatcher = new	SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
#else
	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
#endif//USE_PARALLEL_DISPATCHER


	convexDecompositionObjectOffset.setValue(10,0,0);

	btVector3 worldAabbMin(-10000,-10000,-10000);
	btVector3 worldAabbMax(10000,10000,10000);

	m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
	//m_broadphase = new btSimpleBroadphase();

	m_solver = new btSequentialImpulseConstraintSolver();
	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);

#ifdef USE_PARALLEL_DISPATCHER
	m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
#endif //USE_PARALLEL_DISPATCHER

	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(0,-4.5,0));

	btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
	m_collisionShapes.push_back(boxShape);
	localCreateRigidBody(0.f,startTransform,boxShape);

	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
	{
		ConvexDecompositionDemo*	m_convexDemo;
		
		public:

		btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
		btAlignedObjectArray<btVector3> m_convexCentroids;

		MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
			:m_convexDemo(demo),
				mBaseCount(0),
			mHullCount(0),
			mOutputFile(outputFile)

		{
		}
		
			virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
			{

				btTriangleMesh* trimesh = new btTriangleMesh();
				m_convexDemo->m_trimeshes.push_back(trimesh);

				btVector3 localScaling(6.f,6.f,6.f);

				//export data to .obj
				printf("ConvexResult. ");
				if (mOutputFile)
				{
					fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );

					fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
					fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);

					for (unsigned int i=0; i<result.mHullVcount; i++)
					{
						const float *p = &result.mHullVertices[i*3];
						fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
					}

					//calc centroid, to shift vertices around center of mass
					centroid.setValue(0,0,0);

					btAlignedObjectArray<btVector3> vertices;
					if ( 1 )
					{
						//const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullVcount; i++)
						{
							btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
							vertex *= localScaling;
							centroid += vertex;
							
						}
					}

					centroid *= 1.f/(float(result.mHullVcount) );

					if ( 1 )
					{
						//const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullVcount; i++)
						{
							btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
							vertex *= localScaling;
							vertex -= centroid ;
							vertices.push_back(vertex);
						}
					}
					
			

					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;


							btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
							btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
							vertex0 *= localScaling;
							vertex1 *= localScaling;
							vertex2 *= localScaling;
							
							vertex0 -= centroid;
							vertex1 -= centroid;
							vertex2 -= centroid;


							trimesh->addTriangle(vertex0,vertex1,vertex2);

							index0+=mBaseCount;
							index1+=mBaseCount;
							index2+=mBaseCount;
							
							fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
						}
					}

					float mass = 1.f;
					//float collisionMargin = 0.01f;

//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#ifdef SHRINK_OBJECT_INWARDS

					
					std::vector<btVector3> planeEquations;
					btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);

					std::vector<btVector3> shiftedPlaneEquations;
					for (int p=0;p<planeEquations.size();p++)
					{
						btVector3 plane = planeEquations[p];
						plane[3] += 5*collisionMargin;
						shiftedPlaneEquations.push_back(plane);
					}
					std::vector<btVector3> shiftedVertices;
					btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);

					
					btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
					
#else //SHRINK_OBJECT_INWARDS
					
					btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif 

					convexShape->setMargin(0.01);
					m_convexShapes.push_back(convexShape);
					m_convexCentroids.push_back(centroid);
					m_convexDemo->m_collisionShapes.push_back(convexShape);
					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.


				}
			}

			int   	mBaseCount;
  			int		mHullCount;
			FILE*	mOutputFile;

	};

	if (tcount)
	{
		btTriangleMesh* trimesh = new btTriangleMesh();
		m_trimeshes.push_back(trimesh);

		btVector3 localScaling(6.f,6.f,6.f);
		
		int i;
		for ( i=0;i<wo.mTriCount;i++)
		{
			int index0 = wo.mIndices[i*3];
			int index1 = wo.mIndices[i*3+1];
			int index2 = wo.mIndices[i*3+2];

			btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
			btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
			btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
			
			vertex0 *= localScaling;
			vertex1 *= localScaling;
			vertex2 *= localScaling;

			trimesh->addTriangle(vertex0,vertex1,vertex2);
		}

		
		btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
	
		printf("old numTriangles= %d\n",wo.mTriCount);
		printf("old numIndices = %d\n",wo.mTriCount*3);
		printf("old numVertices = %d\n",wo.mVertexCount);
		
		printf("reducing vertices by creating a convex hull\n");

		//create a hull approximation
		btShapeHull* hull = new btShapeHull(tmpConvexShape);
		btScalar margin = tmpConvexShape->getMargin();
		hull->buildHull(margin);
		tmpConvexShape->setUserPointer(hull);
		
		
		printf("new numTriangles = %d\n", hull->numTriangles ());
		printf("new numIndices = %d\n", hull->numIndices ());
		printf("new numVertices = %d\n", hull->numVertices ());
		
		btConvexHullShape* convexShape = new btConvexHullShape();
		for (i=0;i<hull->numVertices();i++)
		{
			convexShape->addPoint(hull->getVertexPointer()[i]);	
		}

		delete tmpConvexShape;
		delete hull;



		m_collisionShapes.push_back(convexShape);

		float mass = 1.f;
		
		btTransform startTransform;
		startTransform.setIdentity();
		startTransform.setOrigin(btVector3(0,2,0));

		localCreateRigidBody(mass, startTransform,convexShape);
		
		bool useQuantization = true;
		btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
		startTransform.setOrigin(convexDecompositionObjectOffset);
		localCreateRigidBody(0.f,startTransform,concaveShape);

		m_collisionShapes.push_back (concaveShape);

	}
			

	if (tcount)
	{

		char outputFileName[512];
  		strcpy(outputFileName,filename);
  		char *dot = strstr(outputFileName,".");
  		if ( dot ) 
			*dot = 0;
		strcat(outputFileName,"_convex.obj");
  		FILE* outputFile = fopen(outputFileName,"wb");
				
		unsigned int depth = 5;
		float cpercent     = 5;
		float ppercent     = 15;
		unsigned int maxv  = 16;
		float skinWidth    = 0.0;

		printf("WavefrontObj num triangles read %i\n",tcount);
		ConvexDecomposition::DecompDesc desc;
		desc.mVcount       =	wo.mVertexCount;
		desc.mVertices     = wo.mVertices;
		desc.mTcount       = wo.mTriCount;
		desc.mIndices      = (unsigned int *)wo.mIndices;
		desc.mDepth        = depth;
		desc.mCpercent     = cpercent;
		desc.mPpercent     = ppercent;
		desc.mMaxVertices  = maxv;
		desc.mSkinWidth    = skinWidth;

		MyConvexDecomposition	convexDecomposition(outputFile,this);
		desc.mCallback = &convexDecomposition;
		
		

		//convexDecomposition.performConvexDecomposition(desc);

		ConvexBuilder cb(desc.mCallback);
		cb.process(desc);
		//now create some bodies
		
		{
			btCompoundShape* compound = new btCompoundShape();
			m_collisionShapes.push_back (compound);

			btTransform trans;
			trans.setIdentity();
			for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
			{
				
				btVector3 centroid = convexDecomposition.m_convexCentroids[i];
				trans.setOrigin(centroid);
				btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
				compound->addChildShape(trans,convexShape);
			}
			btScalar mass=10.f;
			trans.setOrigin(-convexDecompositionObjectOffset);
			localCreateRigidBody( mass, trans,compound);
			convexDecompositionObjectOffset.setZ(6);
			trans.setOrigin(-convexDecompositionObjectOffset);
			localCreateRigidBody( mass, trans,compound);
			convexDecompositionObjectOffset.setZ(-6);
			trans.setOrigin(-convexDecompositionObjectOffset);
			localCreateRigidBody( mass, trans,compound);
			
		}

		
		if (outputFile)
			fclose(outputFile);


	}


	
}
Esempio n. 7
0
int main(int argc,char** argv)
{

	int i;
	for (i=0;i<numObjects;i++)
	{
		if (i>0)
		{
			shapePtr[i] = prebuildShapePtr[1];
			shapeIndex[i] = 1;//sphere
		}
		else
		{
			shapeIndex[i] = 0;
			shapePtr[i] = prebuildShapePtr[0];
		}
	}
	
	ConvexDecomposition::WavefrontObj wo;
	char* filename = "file.obj";
	tcount = wo.loadObj(filename);

	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
	{
		public:

		MyConvexDecomposition (FILE* outputFile)
			:mBaseCount(0),
			mHullCount(0),
			mOutputFile(outputFile)

		{
		}
		
			virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
			{

				TriangleMesh* trimesh = new TriangleMesh();

				SimdVector3 localScaling(6.f,6.f,6.f);

				//export data to .obj
				printf("ConvexResult\n");
				if (mOutputFile)
				{
					fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );

					fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
					fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);

					for (unsigned int i=0; i<result.mHullVcount; i++)
					{
						const float *p = &result.mHullVertices[i*3];
						fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
					}

					//calc centroid, to shift vertices around center of mass
					centroids[numObjects] = SimdVector3(0,0,0);
					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;
							SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
							SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
							vertex0 *= localScaling;
							vertex1 *= localScaling;
							vertex2 *= localScaling;
							centroids[numObjects] += vertex0;
							centroids[numObjects]+= vertex1;
							centroids[numObjects]+= vertex2;
							
						}
					}

					centroids[numObjects] *= 1.f/(float(result.mHullTcount) * 3);

					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;


							SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
							SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
							vertex0 *= localScaling;
							vertex1 *= localScaling;
							vertex2 *= localScaling;
							
							vertex0 -= centroids[numObjects];
							vertex1 -= centroids[numObjects];
							vertex2 -= centroids[numObjects];

							trimesh->AddTriangle(vertex0,vertex1,vertex2);

							index0+=mBaseCount;
							index1+=mBaseCount;
							index2+=mBaseCount;
							
							fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
						}
					}

					shapeIndex[numObjects] = numObjects;
					shapePtr[numObjects++] = new ConvexTriangleMeshShape(trimesh);
					
					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.


				}
			}

			int   	mBaseCount;
  			int		mHullCount;
			FILE*	mOutputFile;

	};

	if (tcount)
	{
		numObjects = 1; //always have the ground object first
		
		TriangleMesh* trimesh = new TriangleMesh();

		SimdVector3 localScaling(6.f,6.f,6.f);
		
		for (int i=0;i<wo.mTriCount;i++)
		{
			int index0 = wo.mIndices[i*3];
			int index1 = wo.mIndices[i*3+1];
			int index2 = wo.mIndices[i*3+2];

			SimdVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
			SimdVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
			SimdVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
			
			vertex0 *= localScaling;
			vertex1 *= localScaling;
			vertex2 *= localScaling;

			trimesh->AddTriangle(vertex0,vertex1,vertex2);
		}

		shapePtr[numObjects++] = new ConvexTriangleMeshShape(trimesh);
	}
			

	if (tcount)
	{

		char outputFileName[512];
  		strcpy(outputFileName,filename);
  		char *dot = strstr(outputFileName,".");
  		if ( dot ) 
			*dot = 0;
		strcat(outputFileName,"_convex.obj");
  		FILE* outputFile = fopen(outputFileName,"wb");
				
		unsigned int depth = 7;
		float cpercent     = 5;
		float ppercent     = 15;
		unsigned int maxv  = 16;
		float skinWidth    = 0.01;

		printf("WavefrontObj num triangles read %i",tcount);
		ConvexDecomposition::DecompDesc desc;
		desc.mVcount       =	wo.mVertexCount;
		desc.mVertices     = wo.mVertices;
		desc.mTcount       = wo.mTriCount;
		desc.mIndices      = (unsigned int *)wo.mIndices;
		desc.mDepth        = depth;
		desc.mCpercent     = cpercent;
		desc.mPpercent     = ppercent;
		desc.mMaxVertices  = maxv;
		desc.mSkinWidth    = skinWidth;

		MyConvexDecomposition	convexDecomposition(outputFile);
		desc.mCallback = &convexDecomposition;
		
		

		//convexDecomposition.performConvexDecomposition(desc);

		ConvexBuilder cb(desc.mCallback);
		int ret = cb.process(desc);
		
		if (outputFile)
			fclose(outputFile);


	}

	CollisionDispatcher* dispatcher = new	CollisionDispatcher();


	SimdVector3 worldAabbMin(-10000,-10000,-10000);
	SimdVector3 worldAabbMax(10000,10000,10000);

	OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
	//OverlappingPairCache* broadphase = new SimpleBroadphase();

	physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
	physicsEnvironmentPtr->setDeactivationTime(2.f);

	physicsEnvironmentPtr->setGravity(0,-10,0);
	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 = 0.2f;
	shapeProps.m_ang_drag = 0.1f;
	shapeProps.m_mass = 10.0f;

	PHY_MaterialProps materialProps;
	materialProps.m_friction = 10.5f;
	materialProps.m_restitution = 0.0f;

	CcdConstructionInfo ccdObjectCi;
	ccdObjectCi.m_friction = 0.5f;

	ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
	ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;

	SimdTransform tr;
	tr.setIdentity();



	for (i=0;i<numObjects;i++)
	{
		shapeProps.m_shape = shapePtr[shapeIndex[i]];
		shapeProps.m_shape->SetMargin(0.05f);



		bool isDyna = i>0;
		//if (i==1)
		//	isDyna=false;

		if (0)//i==1)
		{
			SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
			ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
		}


		if (i>0)
		{

			switch (i)
			{
			case 1:
				{
					ms[i].setWorldPosition(0,10,0);
					//for testing, rotate the ground cube so the stack has to recover a bit

					break;
				}
			case 2:
				{
					ms[i].setWorldPosition(0,8,2);
					break;
				}
			default:
				ms[i].setWorldPosition(0,i*CUBE_HALF_EXTENTS*2 - CUBE_HALF_EXTENTS,0);
			}

			float quatIma0,quatIma1,quatIma2,quatReal;
			SimdQuaternion quat;
			SimdVector3 axis(0,0,1);
			SimdScalar angle=0.5f;

			quat.setRotation(axis,angle);

			ms[i].setWorldOrientation(quat.getX(),quat.getY(),quat.getZ(),quat[3]);



		} else
		{
			ms[i].setWorldPosition(0,-10+EXTRA_HEIGHT,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;
			ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
		}
		else
		{
			shapeProps.m_mass = 1.f;
			ccdObjectCi.m_mass = shapeProps.m_mass;
			ccdObjectCi.m_collisionFlags = 0;
		}


		SimdVector3 localInertia;
		if (shapePtr[shapeIndex[i]]->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
		{
			//take inertia from first shape
			shapePtr[1]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
		} else
		{
			shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
		}
		ccdObjectCi.m_localInertiaTensor = localInertia;

		ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];


		physObjects[i]= new CcdPhysicsController( ccdObjectCi);

		// Only do CCD if  motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
		physObjects[i]->GetRigidBody()->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
		
		//Experimental: better estimation of CCD Time of Impact:
		//physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;

		physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);

		if (i==1)
		{
			//physObjects[i]->SetAngularVelocity(0,0,-2,true);
		}

		physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);

	}


	//create a constraint
	if (createConstraint)
	{
		//physObjects[i]->SetAngularVelocity(0,0,-2,true);
		int constraintId;

		float pivotX=CUBE_HALF_EXTENTS,
			pivotY=-CUBE_HALF_EXTENTS,
			pivotZ=CUBE_HALF_EXTENTS;

		float axisX=1,axisY=0,axisZ=0;



		HingeConstraint* hinge = 0;

		SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
		SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
		SimdVector3 axisInA(0,1,0);
		SimdVector3 axisInB(0,-1,0);

		RigidBody* rb0 = physObjects[1]->GetRigidBody();
		RigidBody* rb1 = physObjects[2]->GetRigidBody();

		hinge = new HingeConstraint(
			*rb0,
			*rb1,pivotInA,pivotInB,axisInA,axisInB);

		physicsEnvironmentPtr->m_constraints.push_back(hinge);

		hinge->SetUserConstraintId(100);
		hinge->SetUserConstraintType(PHY_LINEHINGE_CONSTRAINT);

	}




	clientResetScene();

	setCameraDistance(26.f);

	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/");
}
void ConvexDecompositionDemo::initPhysics(const char* filename)
{


	gContactAddedCallback = &MyContactCallback;

	setupEmptyDynamicsWorld();

	setTexturing(true);
	setShadows(true);

	setCameraDistance(26.f);


#ifndef NO_OBJ_TO_BULLET

	ConvexDecomposition::WavefrontObj wo;

	tcount = wo.loadObj(filename);

	if (!tcount)
	{
		//when running this app from visual studio, the default starting folder is different, so make a second attempt...
		tcount = wo.loadObj("../../file.obj");
	}
	if (!tcount)
	{
		//cmake generated msvc files need 4 levels deep back... so make a 3rd attempt...
		tcount = wo.loadObj("../../../../file.obj");
	}


	
	
	
	btTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(btVector3(0,-4.5,0));

	btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
	m_collisionShapes.push_back(boxShape);
	localCreateRigidBody(0.f,startTransform,boxShape);

	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
	{
		ConvexDecompositionDemo*	m_convexDemo;
		
		public:

		btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
		btAlignedObjectArray<btVector3> m_convexCentroids;

		MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
			:m_convexDemo(demo),
				mBaseCount(0),
			mHullCount(0),
			mOutputFile(outputFile)

		{
		}
		
			virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
			{

				btTriangleMesh* trimesh = new btTriangleMesh();
				m_convexDemo->m_trimeshes.push_back(trimesh);

				btVector3 localScaling(6.f,6.f,6.f);

				//export data to .obj
				printf("ConvexResult. ");
				if (mOutputFile)
				{
					fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );

					fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
					fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);

					for (unsigned int i=0; i<result.mHullVcount; i++)
					{
						const float *p = &result.mHullVertices[i*3];
						fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
					}

					//calc centroid, to shift vertices around center of mass
					centroid.setValue(0,0,0);

					btAlignedObjectArray<btVector3> vertices;
					if ( 1 )
					{
						//const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullVcount; i++)
						{
							btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
							vertex *= localScaling;
							centroid += vertex;
							
						}
					}

					centroid *= 1.f/(float(result.mHullVcount) );

					if ( 1 )
					{
						//const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullVcount; i++)
						{
							btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
							vertex *= localScaling;
							vertex -= centroid ;
							vertices.push_back(vertex);
						}
					}
					
			

					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;


							btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
							btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
							vertex0 *= localScaling;
							vertex1 *= localScaling;
							vertex2 *= localScaling;
							
							vertex0 -= centroid;
							vertex1 -= centroid;
							vertex2 -= centroid;


							trimesh->addTriangle(vertex0,vertex1,vertex2);

							index0+=mBaseCount;
							index1+=mBaseCount;
							index2+=mBaseCount;
							
							fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
						}
					}

				//	float mass = 1.f;
					

//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#ifdef SHRINK_OBJECT_INWARDS

					float collisionMargin = 0.01f;
					
					btAlignedObjectArray<btVector3> planeEquations;
					btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);

					btAlignedObjectArray<btVector3> shiftedPlaneEquations;
					for (int p=0;p<planeEquations.size();p++)
					{
						btVector3 plane = planeEquations[p];
						plane[3] += collisionMargin;
						shiftedPlaneEquations.push_back(plane);
					}
					btAlignedObjectArray<btVector3> shiftedVertices;
					btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);

					
					btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
					
#else //SHRINK_OBJECT_INWARDS
					
					btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif 

					convexShape->setMargin(0.01f);
					m_convexShapes.push_back(convexShape);
					m_convexCentroids.push_back(centroid);
					m_convexDemo->m_collisionShapes.push_back(convexShape);
					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.


				}
			}

			int   	mBaseCount;
  			int		mHullCount;
			FILE*	mOutputFile;

	};

	if (tcount)
	{
		btTriangleMesh* trimesh = new btTriangleMesh();
		m_trimeshes.push_back(trimesh);

		btVector3 localScaling(6.f,6.f,6.f);
		
		int i;
		for ( i=0;i<wo.mTriCount;i++)
		{
			int index0 = wo.mIndices[i*3];
			int index1 = wo.mIndices[i*3+1];
			int index2 = wo.mIndices[i*3+2];

			btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
			btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
			btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
			
			vertex0 *= localScaling;
			vertex1 *= localScaling;
			vertex2 *= localScaling;

			trimesh->addTriangle(vertex0,vertex1,vertex2);
		}

		
		btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
	
		printf("old numTriangles= %d\n",wo.mTriCount);
		printf("old numIndices = %d\n",wo.mTriCount*3);
		printf("old numVertices = %d\n",wo.mVertexCount);
		
		printf("reducing vertices by creating a convex hull\n");

		//create a hull approximation
		btShapeHull* hull = new btShapeHull(tmpConvexShape);
		btScalar margin = tmpConvexShape->getMargin();
		hull->buildHull(margin);
		tmpConvexShape->setUserPointer(hull);
		
		
		printf("new numTriangles = %d\n", hull->numTriangles ());
		printf("new numIndices = %d\n", hull->numIndices ());
		printf("new numVertices = %d\n", hull->numVertices ());
		
		btConvexHullShape* convexShape = new btConvexHullShape();
		for (i=0;i<hull->numVertices();i++)
		{
			convexShape->addPoint(hull->getVertexPointer()[i]);	
		}

		delete tmpConvexShape;
		delete hull;



		m_collisionShapes.push_back(convexShape);

		float mass = 1.f;
		
		btTransform startTransform;
		startTransform.setIdentity();
		startTransform.setOrigin(btVector3(0,2,14));

		localCreateRigidBody(mass, startTransform,convexShape);
		
		bool useQuantization = true;
		btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
		startTransform.setOrigin(convexDecompositionObjectOffset);
		localCreateRigidBody(0.f,startTransform,concaveShape);

		m_collisionShapes.push_back (concaveShape);

	}
			

	if (tcount)
	{

		char outputFileName[512];
  		strcpy(outputFileName,filename);
  		char *dot = strstr(outputFileName,".");
  		if ( dot ) 
			*dot = 0;
		strcat(outputFileName,"_convex.obj");
  		FILE* outputFile = fopen(outputFileName,"wb");
				
		unsigned int depth = 5;
		float cpercent     = 5;
		float ppercent     = 15;
		unsigned int maxv  = 16;
		float skinWidth    = 0.0;

		printf("WavefrontObj num triangles read %i\n",tcount);
		ConvexDecomposition::DecompDesc desc;
		desc.mVcount       =	wo.mVertexCount;
		desc.mVertices     = wo.mVertices;
		desc.mTcount       = wo.mTriCount;
		desc.mIndices      = (unsigned int *)wo.mIndices;
		desc.mDepth        = depth;
		desc.mCpercent     = cpercent;
		desc.mPpercent     = ppercent;
		desc.mMaxVertices  = maxv;
		desc.mSkinWidth    = skinWidth;

		MyConvexDecomposition	convexDecomposition(outputFile,this);
		desc.mCallback = &convexDecomposition;
		
		

		//convexDecomposition.performConvexDecomposition(desc);

		ConvexBuilder cb(desc.mCallback);
		cb.process(desc);
		//now create some bodies
		
		if (1)
		{
			btCompoundShape* compound = new btCompoundShape();
			m_collisionShapes.push_back (compound);

			btTransform trans;
			trans.setIdentity();
			for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
			{
				
				btVector3 centroid = convexDecomposition.m_convexCentroids[i];
				trans.setOrigin(centroid);
				btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
				compound->addChildShape(trans,convexShape);

				btRigidBody* body;
				body = localCreateRigidBody( 1.0, trans,convexShape);

			}
#if 1
			btScalar mass=10.f;
			trans.setOrigin(-convexDecompositionObjectOffset);
			btRigidBody* body = localCreateRigidBody( mass, trans,compound);
			body->setCollisionFlags(body->getCollisionFlags() |   btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);

			convexDecompositionObjectOffset.setZ(6);
			trans.setOrigin(-convexDecompositionObjectOffset);
			body = localCreateRigidBody( mass, trans,compound);
			body->setCollisionFlags(body->getCollisionFlags() |   btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);

			convexDecompositionObjectOffset.setZ(-6);
			trans.setOrigin(-convexDecompositionObjectOffset);
			body = localCreateRigidBody( mass, trans,compound);
			body->setCollisionFlags(body->getCollisionFlags() |   btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
#endif
		}

		
		if (outputFile)
			fclose(outputFile);


	}



#ifdef TEST_SERIALIZATION
	//test serializing this 

	int maxSerializeBufferSize = 1024*1024*5;

	btDefaultSerializer*	serializer = new btDefaultSerializer(maxSerializeBufferSize);
	m_dynamicsWorld->serialize(serializer);
	
	FILE* f2 = fopen("testFile.bullet","wb");
	fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
	fclose(f2);

	exitPhysics();

	//now try again from the loaded file
	setupEmptyDynamicsWorld();
#endif //TEST_SERIALIZATION

#endif //NO_OBJ_TO_BULLET

#ifdef TEST_SERIALIZATION

	btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
	//fileLoader->setVerboseMode(true);

	fileLoader->loadFile("testFile.bullet");
	//fileLoader->loadFile("testFile64Double.bullet");
	//fileLoader->loadFile("testFile64Single.bullet");
	//fileLoader->loadFile("testFile32Single.bullet");
	



#endif //TEST_SERIALIZATION
	
}
Esempio n. 9
0
void ConvexDecompositionDemo::initPhysics(const char* filename)
{
	ConvexDecomposition::WavefrontObj wo;

	tcount = wo.loadObj(filename);

	CollisionDispatcher* dispatcher = new	CollisionDispatcher();


	SimdVector3 worldAabbMin(-10000,-10000,-10000);
	SimdVector3 worldAabbMax(10000,10000,10000);

	OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
	//OverlappingPairCache* broadphase = new SimpleBroadphase();

	m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
	m_physicsEnvironmentPtr->setDeactivationTime(2.f);

	m_physicsEnvironmentPtr->setGravity(0,-10,0);

	SimdTransform startTransform;
	startTransform.setIdentity();
	startTransform.setOrigin(SimdVector3(0,-4,0));

	LocalCreatePhysicsObject(false,0,startTransform,new BoxShape(SimdVector3(30,2,30)));

	class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
	{

		ConvexDecompositionDemo*	m_convexDemo;
		public:

		MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
			:m_convexDemo(demo),
				mBaseCount(0),
			mHullCount(0),
			mOutputFile(outputFile)

		{
		}
		
			virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
			{

				TriangleMesh* trimesh = new TriangleMesh();

				SimdVector3 localScaling(6.f,6.f,6.f);

				//export data to .obj
				printf("ConvexResult\n");
				if (mOutputFile)
				{
					fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );

					fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
					fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);

					for (unsigned int i=0; i<result.mHullVcount; i++)
					{
						const float *p = &result.mHullVertices[i*3];
						fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
					}

					//calc centroid, to shift vertices around center of mass
					centroid.setValue(0,0,0);
					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;
							SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
							SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
							vertex0 *= localScaling;
							vertex1 *= localScaling;
							vertex2 *= localScaling;
							centroid += vertex0;
							centroid += vertex1;
							centroid += vertex2;
							
						}
					}

					centroid *= 1.f/(float(result.mHullTcount) * 3);

					if ( 1 )
					{
						const unsigned int *src = result.mHullIndices;
						for (unsigned int i=0; i<result.mHullTcount; i++)
						{
							unsigned int index0 = *src++;
							unsigned int index1 = *src++;
							unsigned int index2 = *src++;


							SimdVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
							SimdVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
							SimdVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
							vertex0 *= localScaling;
							vertex1 *= localScaling;
							vertex2 *= localScaling;
							
							vertex0 -= centroid;
							vertex1 -= centroid;
							vertex2 -= centroid;

							trimesh->AddTriangle(vertex0,vertex1,vertex2);

							index0+=mBaseCount;
							index1+=mBaseCount;
							index2+=mBaseCount;
							
							fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
						}
					}

					bool isDynamic = true;
					float mass = 1.f;
					CollisionShape* convexShape = new ConvexTriangleMeshShape(trimesh);
					SimdTransform trans;
					trans.setIdentity();
					trans.setOrigin(centroid);
					m_convexDemo->LocalCreatePhysicsObject(isDynamic, mass, trans,convexShape);

					mBaseCount+=result.mHullVcount; // advance the 'base index' counter.


				}
			}

			int   	mBaseCount;
  			int		mHullCount;
			FILE*	mOutputFile;

	};

	if (tcount)
	{
		TriangleMesh* trimesh = new TriangleMesh();

		SimdVector3 localScaling(6.f,6.f,6.f);
		
		for (int i=0;i<wo.mTriCount;i++)
		{
			int index0 = wo.mIndices[i*3];
			int index1 = wo.mIndices[i*3+1];
			int index2 = wo.mIndices[i*3+2];

			SimdVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
			SimdVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
			SimdVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
			
			vertex0 *= localScaling;
			vertex1 *= localScaling;
			vertex2 *= localScaling;

			trimesh->AddTriangle(vertex0,vertex1,vertex2);
		}

		CollisionShape* convexShape = new ConvexTriangleMeshShape(trimesh);
		bool isDynamic = true;
		float mass = 1.f;
		
		SimdTransform startTransform;
		startTransform.setIdentity();
		startTransform.setOrigin(SimdVector3(20,2,0));

		LocalCreatePhysicsObject(isDynamic, mass, startTransform,convexShape);

	}
			

	if (tcount)
	{

		char outputFileName[512];
  		strcpy(outputFileName,filename);
  		char *dot = strstr(outputFileName,".");
  		if ( dot ) 
			*dot = 0;
		strcat(outputFileName,"_convex.obj");
  		FILE* outputFile = fopen(outputFileName,"wb");
				
		unsigned int depth = 7;
		float cpercent     = 5;
		float ppercent     = 15;
		unsigned int maxv  = 16;
		float skinWidth    = 0.01;

		printf("WavefrontObj num triangles read %i",tcount);
		ConvexDecomposition::DecompDesc desc;
		desc.mVcount       =	wo.mVertexCount;
		desc.mVertices     = wo.mVertices;
		desc.mTcount       = wo.mTriCount;
		desc.mIndices      = (unsigned int *)wo.mIndices;
		desc.mDepth        = depth;
		desc.mCpercent     = cpercent;
		desc.mPpercent     = ppercent;
		desc.mMaxVertices  = maxv;
		desc.mSkinWidth    = skinWidth;

		MyConvexDecomposition	convexDecomposition(outputFile,this);
		desc.mCallback = &convexDecomposition;
		
		

		//convexDecomposition.performConvexDecomposition(desc);

		ConvexBuilder cb(desc.mCallback);
		cb.process(desc);
		
		if (outputFile)
			fclose(outputFile);


	}


	m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);

}