plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height)
{
//capsule is convex hull of 2 spheres, so use btMultiSphereShape
btVector3 inertiaHalfExtents(radius,height,radius);
const int numSpheres = 2;
btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)};
btScalar radi[numSpheres] = {radius,radius};
void* mem = btAlignedAlloc(sizeof(btMultiSphereShape),16);
return (plCollisionShapeHandle) new (mem)btMultiSphereShape(inertiaHalfExtents,positions,radi,numSpheres);
}
int main(int argc,char** argv)
{
raytracePicture = new RenderTexture(screenWidth,screenHeight);
myBox.SetMargin(0.02f);
myCone.SetMargin(0.2f);
simplex.SetSimplexSolver(&simplexSolver);
simplex.AddVertex(SimdPoint3(-1,0,-1));
simplex.AddVertex(SimdPoint3(1,0,-1));
simplex.AddVertex(SimdPoint3(0,0,1));
simplex.AddVertex(SimdPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
SimdVector3 positions[NUM_SPHERES] = {
SimdVector3(-1.2f, -0.3f, 0.f),
SimdVector3(0.8f, -0.3f, 0.f),
SimdVector3(0.5f, 0.6f, 0.f),
SimdVector3(-0.5f, 0.6f, 0.f),
SimdVector3(0.f, 0.f, 0.f)
};
SimdScalar radi[NUM_SPHERES] = { 0.35f,0.35f,0.45f,0.40f,0.40f };
MultiSphereShape multiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
ConvexHullShape convexHullShape(positions,3);
//choose shape
shapePtr[0] = &myCone;
shapePtr[1] =&simplex;
shapePtr[2] =&convexHullShape;
shapePtr[3] =&myMink;//myBox;
simplex.SetMargin(0.3f);
setCameraDistance(6.f);
return glutmain(argc, argv,screenWidth,screenHeight,"Minkowski-Sum Raytracer Demo");
}
void Raytracer::initPhysics()
{
raytracePicture = new RenderTexture(screenWidth,screenHeight);
myBox.SetMargin(0.02f);
myCone.SetMargin(0.2f);
simplex.SetSimplexSolver(&simplexSolver);
simplex.AddVertex(SimdPoint3(-1,0,-1));
simplex.AddVertex(SimdPoint3(1,0,-1));
simplex.AddVertex(SimdPoint3(0,0,1));
simplex.AddVertex(SimdPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
SimdVector3 positions[NUM_SPHERES] = {
SimdVector3(-1.2f, -0.3f, 0.f),
SimdVector3(0.8f, -0.3f, 0.f),
SimdVector3(0.5f, 0.6f, 0.f),
SimdVector3(-0.5f, 0.6f, 0.f),
SimdVector3(0.f, 0.f, 0.f)
};
// MultiSphereShape* multiSphereShape = new MultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
ConvexHullShape* convexHullShape = new ConvexHullShape(positions,3);
//choose shape
shapePtr[0] = &myCone;
shapePtr[1] =&simplex;
shapePtr[2] =convexHullShape;
shapePtr[3] =&myMink;//myBox;//multiSphereShape
simplex.SetMargin(0.3f);
}
void BasicDemo::initPhysics()
{
setTexturing(false);
setShadows(false);
#if OECAKE_LOADER
setCameraDistance(80.);
m_cameraTargetPosition.setValue(50, 10, 0);
#else
#if LARGE_DEMO
setCameraDistance(btScalar(SCALING*100.));
#else
setCameraDistance(btScalar(SCALING*20.));
#endif
m_cameraTargetPosition.setValue(START_POS_X, -START_POS_Y-20, START_POS_Z);
#endif
m_azi = btScalar(0.f);
m_ele = btScalar(0.f);
///collision configuration contains default setup for memory, collision setup
btDefaultCollisionConstructionInfo dci;
dci.m_defaultMaxPersistentManifoldPoolSize=50000;
dci.m_defaultMaxCollisionAlgorithmPoolSize=50000;
m_collisionConfiguration = new btDefaultCollisionConfiguration(dci);
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new btEmptyAlgorithm::CreateFunc);
m_dispatcher->setNearCallback(cudaDemoNearCallback);
#if USE_CUDA_DEMO_PAIR_CASHE
gPairCache = new (btAlignedAlloc(sizeof(btGpuDemoPairCache),16)) btGpuDemoPairCache(MAX_PROXIES, 24, MAX_SMALL_PROXIES);
#else
gPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16))btHashedOverlappingPairCache();
#endif
// btVector3 numOfCells = (gWorldMax - gWorldMin) / (2. * SCALING);
// btVector3 numOfCells = (gWorldMax - gWorldMin) / CELL_SIZE;
// int numOfCellsX = (int)numOfCells[0];
// int numOfCellsY = (int)numOfCells[1];
// int numOfCellsZ = (int)numOfCells[2];
// if(!numOfCellsX) numOfCellsX = 1;
// if(!numOfCellsY) numOfCellsY = 1;
// if(!numOfCellsZ) numOfCellsZ = 1;
btScalar maxDiam = 2.0f * SCALING;
btVector3 cellSize(maxDiam, maxDiam, maxDiam);
btVector3 numOfCells = (gWorldMax - gWorldMin) / cellSize;
int numOfCellsX = btGpu3DGridBroadphase::getFloorPowOfTwo((int)numOfCells[0]);
int numOfCellsY = btGpu3DGridBroadphase::getFloorPowOfTwo((int)numOfCells[1]);
int numOfCellsZ = btGpu3DGridBroadphase::getFloorPowOfTwo((int)numOfCells[2]);
// m_broadphase = new btAxisSweep3(gWorldMin, gWorldMax, MAX_PROXIES,gPairCache);
// m_broadphase = new btDbvtBroadphase(gPairCache);
// m_broadphase = new btGpu3DGridBroadphase(gPairCache, gWorldMin, gWorldMax,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,20,24,24, 1.0f/1.5f);
// m_broadphase = new btCudaBroadphase(gPairCache, gWorldMin, gWorldMax,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,10,24,24);
// m_broadphase = new bt3dGridBroadphaseOCL(gPairCache, gWorldMin, gWorldMax,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,20,24,24,1./1.5);
m_broadphase = new bt3dGridBroadphaseOCL(gPairCache, cellSize,numOfCellsX, numOfCellsY, numOfCellsZ,MAX_SMALL_PROXIES,20,24,10.f, 24);
///the default constraint solver
m_solver = new btSequentialImpulseConstraintSolver();
btGpuDemoDynamicsWorld* pDdw = new btGpuDemoDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration, MAX_PROXIES);
m_dynamicsWorld = pDdw;
m_pWorld = pDdw;
pDdw->getSimulationIslandManager()->setSplitIslands(true);
pDdw->setObjRad(SCALING);
pDdw->setWorldMin(gWorldMin);
pDdw->setWorldMax(gWorldMax);
// gUseCPUSolver = true;
pDdw->setUseCPUSolver(gUseCPUSolver);
gUseBulletNarrowphase = false;
pDdw->setUseBulletNarrowphase(gUseBulletNarrowphase);
// m_dynamicsWorld->setGravity(btVector3(0,0,0));
m_dynamicsWorld->setGravity(btVector3(0,-10.,0));
m_dynamicsWorld->getSolverInfo().m_numIterations = 4;
{
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
#if 1
#define SPRADIUS btScalar(SCALING*0.1f)
#define SPRPOS btScalar(SCALING*0.05f)
static btVector3 sSphPos[8];
for (int k=0;k<8;k++)
{
sSphPos[k].setValue((k-4)*0.25*SCALING,0,0);
}
btVector3 inertiaHalfExtents(SPRADIUS, SPRADIUS, SPRADIUS);
static btScalar sSphRad[8] =
{
// SPRADIUS, SPRADIUS, SPRADIUS, SPRADIUS,SPRADIUS, SPRADIUS, SPRADIUS, 0.3
SPRADIUS, SPRADIUS, SPRADIUS, SPRADIUS,SPRADIUS, SPRADIUS, SPRADIUS, SPRADIUS
};
// sSphPos[0].setX(sSphPos[0].getX()-0.15);
#undef SPR
btMultiSphereShape* colShape[2];
colShape[0] = new btMultiSphereShape( sSphPos, sSphRad, 8);
colShape[1] = new btMultiSphereShape( sSphPos, sSphRad, 2);
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape[0]);
m_collisionShapes.push_back(colShape[1]);
#endif
/// Create Dynamic Objects
btTransform startTransform;
startTransform.setIdentity();
btScalar mass(0.f);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
#if OECAKE_LOADER
BasicDemoOecakeLoader loader(this);
if (!loader.processFile("test1.oec"))
{
loader.processFile("../../../../../Demos/Gpu2dDemo/test.oec");
}
#if 0 // perfomance test : work-in-progress
{ // add more object, but share their shapes
int numNewObjects = 500;
mass = 1.f;
for(int n_obj = 0; n_obj < numNewObjects; n_obj++)
{
btDefaultMotionState* myMotionState= 0;
btVector3 localInertia(0,0,0);
btTransform worldTransform;
worldTransform.setIdentity();
btScalar fx = fRandMinMax(-30., 30.);
btScalar fy = fRandMinMax(5., 30.);
worldTransform.setOrigin(btVector3(fx, fy, 0.f));
int sz = m_collisionShapes.size();
btMultiSphereShape* multiSphere = (btMultiSphereShape*)m_collisionShapes[1];
myMotionState = new btDefaultMotionState(worldTransform);
multiSphere->calculateLocalInertia(mass, localInertia);
btRigidBody* body = new btRigidBody(mass,myMotionState,multiSphere,localInertia);
body->setLinearFactor(btVector3(1,1,0));
body->setAngularFactor(btVector3(0,0,1));
body->setWorldTransform(worldTransform);
getDynamicsWorld()->addRigidBody(body);
}
}
#endif
#else
#if (!SPEC_TEST)
float start_x = START_POS_X - ARRAY_SIZE_X * SCALING;
float start_y = START_POS_Y - ARRAY_SIZE_Y * SCALING;
float start_z = START_POS_Z - ARRAY_SIZE_Z * SCALING;
int collisionShapeIndex = 0;
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
float offs = (2. * (float)rand() / (float)RAND_MAX - 1.f) * 0.05f;
startTransform.setOrigin(SCALING*btVector3(
2.0*SCALING*i + start_x + offs,
2.0*SCALING*k + start_y + offs,
2.0*SCALING*j + start_z));
if (isDynamic)
colShape[collisionShapeIndex]->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
//btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape[collisionShapeIndex],localInertia);
collisionShapeIndex = 1 - collisionShapeIndex;
rbInfo.m_startWorldTransform=startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
}
}
}
#else//SPEC_TEST
// narrowphase test - 2 bodies at the same position
float start_x = START_POS_X;
// float start_y = START_POS_Y;
float start_y = gWorldMin[1] + SCALING * 0.7f + 5.f;
float start_z = START_POS_Z;
startTransform.setOrigin(SCALING*btVector3(start_x,start_y,start_z));
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,0,colShape[0],localInertia);
rbInfo.m_startWorldTransform=startTransform;
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
btPoint2PointConstraint * p2pConstr = new btPoint2PointConstraint(*body, btVector3(1., 0., 0.));
m_dynamicsWorld->addConstraint(p2pConstr);
startTransform.setOrigin(SCALING*btVector3(start_x-2.f, start_y,start_z));
rbInfo.m_startWorldTransform=startTransform;
btRigidBody* body1 = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body1);
p2pConstr = new btPoint2PointConstraint(*body, *body1, btVector3(-1., 0., 0.), btVector3(1., 0., 0.));
m_dynamicsWorld->addConstraint(p2pConstr);
#endif//SPEC_TEST
#endif //OE_CAKE_LOADER
}
// now set Ids used by collision detector and constraint solver
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
btCollisionObjectArray& collisionObjects = m_dynamicsWorld->getCollisionObjectArray();
for(int i = 0; i < numObjects; i++)
{
btCollisionObject* colObj = collisionObjects[i];
colObj->setCompanionId(i+1); // 0 reserved for the "world" object
btCollisionShape* pShape = colObj->getCollisionShape();
int shapeType = pShape->getShapeType();
if(shapeType == MULTI_SPHERE_SHAPE_PROXYTYPE)
{
btMultiSphereShape* pMs = (btMultiSphereShape*)pShape;
int numSpheres = pMs->getSphereCount();
pDdw->addMultiShereObject(numSpheres, i + 1);
for(int j = 0; j < numSpheres; j++)
{
btVector3 sphPos = pMs->getSpherePosition(j);
float sphRad = pMs->getSphereRadius(j);
pDdw->addSphere(sphPos, sphRad);
}
}
else
{
btAssert(0);
}
}
#if OECAKE_LOADER
clientResetScene();
#endif
}
