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);
}
///
/// Debugging method CalcClosest calculates the closest point to the origin, using m_simplexSolver
///
void GL_Simplex1to4::CalcClosest(float* m)
{
SimdTransform tr;
tr.setFromOpenGLMatrix(m);
GL_ShapeDrawer::DrawCoordSystem();
if (m_simplexSolver)
{
m_simplexSolver->reset();
bool res;
SimdVector3 v;
SimdPoint3 pBuf[4];
SimdPoint3 qBuf[4];
SimdPoint3 yBuf[4];
for (int i=0; i<m_numVertices; i++)
{
v = tr(m_vertices[i]);
m_simplexSolver->addVertex(v,v,SimdPoint3(0.f,0.f,0.f));
res = m_simplexSolver->closest(v);
int res = m_simplexSolver->getSimplex(pBuf, qBuf, yBuf);
}
//draw v?
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
glColor3f(1.f, 0.f, 0.f);
glVertex3f(0.f, 0.f, 0.f);
glVertex3f(v.x(),v.y(),v.z());
glEnd();
glEnable(GL_LIGHTING);
}
}
int main(int argc,char** argv)
{
clientResetScene();
SimdMatrix3x3 basisA;
basisA.setIdentity();
SimdMatrix3x3 basisB;
basisB.setIdentity();
objects[0].m_worldTransform.setBasis(basisA);
objects[1].m_worldTransform.setBasis(basisB);
SimdPoint3 points0[3]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1)};
SimdPoint3 points1[5]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1),SimdPoint3(0,0,-1),SimdPoint3(-1,-1,0)};
BoxShape boxA(SimdVector3(1,1,1));
BoxShape boxB(SimdVector3(0.5,0.5,0.5));
//ConvexHullShape hullA(points0,3);
//hullA.setLocalScaling(SimdVector3(3,3,3));
//ConvexHullShape hullB(points1,4);
//hullB.setLocalScaling(SimdVector3(4,4,4));
objects[0].m_collisionShape = &boxA;//&hullA;
objects[1].m_collisionShape = &boxB;//&hullB;
CollisionDispatcher dispatcher;
//SimpleBroadphase broadphase;
SimdVector3 worldAabbMin(-1000,-1000,-1000);
SimdVector3 worldAabbMax(1000,1000,1000);
AxisSweep3 broadphase(worldAabbMin,worldAabbMax);
collisionWorld = new CollisionWorld(&dispatcher,&broadphase);
collisionWorld->AddCollisionObject(&objects[0]);
collisionWorld->AddCollisionObject(&objects[1]);
return glutmain(argc, argv,screenWidth,screenHeight,"Collision Interface Demo");
}
MyMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
int shapeIndex[maxNumObjects];
CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
TriangleMesh meshData;
StridingMeshInterface* ptr;
//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
// SimdPoint3(50,0,0));
CollisionShape* shapePtr[5] =
{
new BoxShape (SimdVector3(100,10,100)),
new BoxShape (SimdVector3(2,2,2)),
new BU_Simplex1to4(SimdPoint3(-2,-2,-2),SimdPoint3(2,-2,-2),SimdPoint3(-2,2,-2),SimdPoint3(0,0,2)),
new BoxShape (SimdVector3(1,3,1)),
#ifdef DEBUG_MESH
new TriangleMeshShape(&meshData),
#else
NULL,
#endif
//(&meshData)
};
static const int NUM_VERTICES = 5;
static const int NUM_TRIANGLES=4;