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); }