CompoundCollisionShape* CollisionShapeManager::PerformConvexDecomposition(const String& Name, Graphics::Mesh* ObjectMesh, Whole Depth, Real CPercent, Real PPercent, Boole UseAllSubmeshes)
{
//new submesh friendly code
Ogre::MeshPtr myMesh = ObjectMesh->_GetInternalMesh();
Ogre::SubMesh* subMesh = NULL;
Ogre::IndexData* indexData = NULL;
Ogre::VertexData* vertexData = NULL;
Boole use32bitindexes = false;
unsigned int currtriCount = 0;
unsigned int triCount = 0;
unsigned int vCount = 0;
unsigned int iCount = 0;
Whole VertPrevSize = 0;
Whole IndiPrevSize = 0;
Boole SharedVerts = myMesh->getSubMesh(0)->useSharedVertices;
Whole* VertPerSubMesh = NULL;
if(UseAllSubmeshes)
{
VertPerSubMesh = new Whole[myMesh->getNumSubMeshes()];
for( Whole X = 0 ; X < myMesh->getNumSubMeshes() ; X++ )
{
vCount += SharedVerts ? myMesh->sharedVertexData->vertexCount : myMesh->getSubMesh(X)->vertexData->vertexCount;
iCount += myMesh->getSubMesh(X)->indexData->indexCount;
VertPerSubMesh[X] = SharedVerts ? myMesh->sharedVertexData->vertexCount : myMesh->getSubMesh(X)->vertexData->vertexCount;
}
}else{
vCount += SharedVerts ? myMesh->sharedVertexData->vertexCount : myMesh->getSubMesh(0)->vertexData->vertexCount;
iCount += myMesh->getSubMesh(0)->indexData->indexCount;
}
Ogre::Vector3* vertices = new Ogre::Vector3[vCount];
unsigned int* indices = new unsigned int[iCount];
for( unsigned short int SubMeshIndex = 0 ; SubMeshIndex < myMesh->getNumSubMeshes() ; SubMeshIndex++ )
{
if( !UseAllSubmeshes && (SubMeshIndex > 0) )
break;
if( SharedVerts && (SubMeshIndex > 0) )
break;
subMesh = myMesh->getSubMesh(SubMeshIndex);
indexData = subMesh->indexData;
vertexData = SharedVerts ? myMesh->sharedVertexData : myMesh->getSubMesh(SubMeshIndex)->vertexData;
const Ogre::VertexElement* posElem = vertexData->vertexDeclaration->findElementBySemantic(Ogre::VES_POSITION);
Ogre::HardwareVertexBufferSharedPtr vBuffer = vertexData->vertexBufferBinding->getBuffer(posElem->getSource());
Ogre::HardwareIndexBufferSharedPtr iBuffer = indexData->indexBuffer;
currtriCount=indexData->indexCount/3;
triCount+=(indexData->indexCount/3);
unsigned char* vertex = static_cast<unsigned char*>(vBuffer->lock(Ogre::HardwareBuffer::HBL_READ_ONLY));
float* pReal = NULL;
for( size_t j = 0 ; j < vertexData->vertexCount ; j++, vertex += vBuffer->getVertexSize() )
{
posElem->baseVertexPointerToElement(vertex, &pReal);
vertices[j + VertPrevSize].x = *pReal++;
vertices[j + VertPrevSize].y = *pReal++;
vertices[j + VertPrevSize].z = *pReal++;
}
vBuffer->unlock();
size_t index_offset = 0;
use32bitindexes = (iBuffer->getType() == Ogre::HardwareIndexBuffer::IT_32BIT);
unsigned long* pLong = static_cast<unsigned long*>(iBuffer->lock(Ogre::HardwareBuffer::HBL_READ_ONLY));
unsigned short* pShort = reinterpret_cast<unsigned short*>(pLong);
if( use32bitindexes )
{
for (size_t k = 0; k < currtriCount*3; ++k)
{
if(SubMeshIndex > 0 && VertPerSubMesh) {
indices[index_offset+IndiPrevSize] = pLong[k] + VertPerSubMesh[SubMeshIndex];
}else{
indices[index_offset+IndiPrevSize] = pLong[k];
}
index_offset++;
}
}else{
for( size_t k = 0 ; k < currtriCount * 3 ; ++k )
{
if(SubMeshIndex > 0 && VertPerSubMesh) {
indices[index_offset+IndiPrevSize] = (static_cast<unsigned long>(pShort[k])) + VertPerSubMesh[SubMeshIndex];
}else{
indices[index_offset+IndiPrevSize] = static_cast<unsigned long>(pShort[k]);
}
index_offset++;
}
}
iBuffer->unlock();
VertPrevSize += vertexData->vertexCount;
IndiPrevSize += indexData->indexCount;
}
ConvexDecomposition::DecompDesc desc;
desc.mVcount = vertexData->vertexCount;
desc.mTcount = triCount;
desc.mVertices = &vertices[0].x;
desc.mIndices = &indices[0];
unsigned int maxv = 16;
float skinWidth = 0.0;
desc.mDepth = Depth;
desc.mCpercent = CPercent;
desc.mPpercent = PPercent;
desc.mMaxVertices = maxv;
desc.mSkinWidth = skinWidth;
Internal::MezzConvexDecomposition decomp;
desc.mCallback = &decomp;
ConvexBuilder cb(desc.mCallback);
cb.process(desc);
CompoundCollisionShape* compound = new CompoundCollisionShape(Name);
btTransform trans;
trans.setIdentity();
for (int i=0;i<decomp.m_convexShapes.size();i++)
{
std::stringstream namestream;
namestream << Name << "Child" << i;
Vector3 centroid(decomp.m_convexCentroids[i]);
ConvexHullCollisionShape* convexShape = new ConvexHullCollisionShape(namestream.str(),decomp.m_convexShapes[i]);
compound->AddChildShape(convexShape,centroid);
}
delete[] vertices;
delete[] indices;
delete[] VertPerSubMesh;
return compound;
}
// -------------------------------------------------------------------------
void Vehicle::init(Environment* env)
{
this->env = env;
mSceneMgr = env->getSceneMgr();
mWorld = env->getmWorld();
mWheelsEngineCount = 2;
mWheelsEngine[0] = 0;
mWheelsEngine[1] = 1;
mWheelsEngine[2] = 2;
mWheelsEngine[3] = 3;
mWheelsSteerableCount = 2;
mWheelsSteerable[0] = 0;
mWheelsSteerable[1] = 1;
mWheelEngineStyle = 0;
mWheelSteeringStyle = 0;
mSteeringLeft = false;
mSteeringRight = false;
mEngineForce = 0;
mSteering = 0;
/// create vehicle
{
const Ogre::Vector3 chassisShift(0, 1.0, 0);
float connectionHeight = 0.7f;
mChassis = mSceneMgr->createEntity(
"chassis" + StringConverter::toString(mNumEntitiesInstanced++),
"chassis.mesh");
SceneNode *node = mSceneMgr->getRootSceneNode ()->createChildSceneNode ();
SceneNode *chassisnode = node->createChildSceneNode ();
chassisnode->attachObject (mChassis);
chassisnode->setPosition (chassisShift);
// mChassis->setQueryFlags (GEOMETRY_QUERY_MASK);
#if (OGRE_VERSION < ((1 << 16) | (5 << 8) | 0)) // only applicable before shoggoth (1.5.0)
mChassis->setNormaliseNormals(true);
#endif
mChassis->setCastShadows(true);
BoxCollisionShape* chassisShape = new BoxCollisionShape(Ogre::Vector3(1.f,0.75f,2.1f));
CompoundCollisionShape* compound = new CompoundCollisionShape();
compound->addChildShape(chassisShape, chassisShift);
mCarChassis = new WheeledRigidBody("carChassis", mWorld);
//valor de 800 faz referencia a massa do chassis (OgrebulletDynamicsRigidBody.h) 03/09/2011
mCarChassis->setShape (node, compound, 0.6, 0.6, 800, CarPosition, Quaternion::IDENTITY);
mCarChassis->setDamping(0.2, 0.2);
mCarChassis->disableDeactivation ();
mTuning = new VehicleTuning(
gSuspensionStiffness,
gSuspensionCompression,
gSuspensionDamping,
gMaxSuspensionTravelCm,
gFrictionSlip);
mVehicleRayCaster = new VehicleRayCaster(mWorld);
mVehicle = new RaycastVehicle(mCarChassis, mTuning, mVehicleRayCaster);
{
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
mVehicle->setCoordinateSystem(rightIndex, upIndex, forwardIndex);
Ogre::Vector3 wheelDirectionCS0(0,-1,0);
Ogre::Vector3 wheelAxleCS(-1,0,0);
for (size_t i = 0; i < 4; i++)
{
mWheels[i] = mSceneMgr->createEntity(
"wheel" + StringConverter::toString(mNumEntitiesInstanced++),
"wheel.mesh");
// mWheels[i]->setQueryFlags (GEOMETRY_QUERY_MASK);
#if (OGRE_VERSION < ((1 << 16) | (5 << 8) | 0)) // only applicable before shoggoth (1.5.0)
mWheels[i]->setNormaliseNormals(true);
#endif
mWheels[i]->setCastShadows(true);
mWheelNodes[i] = mSceneMgr->getRootSceneNode ()->createChildSceneNode ();
mWheelNodes[i]->attachObject (mWheels[i]);
}
{
bool isFrontWheel = true;
Ogre::Vector3 connectionPointCS0 (
CUBE_HALF_EXTENTS-(0.3*gWheelWidth),
connectionHeight,
2*CUBE_HALF_EXTENTS-gWheelRadius);
mVehicle->addWheel(
mWheelNodes[0],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
gSuspensionRestLength,
gWheelRadius,
isFrontWheel, gWheelFriction, gRollInfluence);
connectionPointCS0 = Ogre::Vector3(
-CUBE_HALF_EXTENTS+(0.3*gWheelWidth),
connectionHeight,
2*CUBE_HALF_EXTENTS-gWheelRadius);
mVehicle->addWheel(
mWheelNodes[1],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
gSuspensionRestLength,
gWheelRadius,
isFrontWheel, gWheelFriction, gRollInfluence);
connectionPointCS0 = Ogre::Vector3(
-CUBE_HALF_EXTENTS+(0.3*gWheelWidth),
connectionHeight,
-2*CUBE_HALF_EXTENTS+gWheelRadius);
isFrontWheel = false;
mVehicle->addWheel(
mWheelNodes[2],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
gSuspensionRestLength,
gWheelRadius,
isFrontWheel, gWheelFriction, gRollInfluence);
connectionPointCS0 = Ogre::Vector3(
CUBE_HALF_EXTENTS-(0.3*gWheelWidth),
connectionHeight,
-2*CUBE_HALF_EXTENTS+gWheelRadius);
mVehicle->addWheel(
mWheelNodes[3],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
gSuspensionRestLength,
gWheelRadius,
isFrontWheel, gWheelFriction, gRollInfluence);
}
}
}
}
// -------------------------------------------------------------------------
void Terrain_Demo::init(Ogre::Root *root, Ogre::RenderWindow *win, OgreBulletApplication *application)
{
mCameraMove = 1;
mHelpKeys.clear();
mHelpKeys.push_back(BASIC_HELP_INFO0);
mHelpKeys.push_back(BASIC_HELP_INFO1);
mHelpKeys.push_back(BASIC_HELP_INFO2);
mHelpKeys.push_back(BASIC_HELP_INFO3);
mHelpKeys.push_back(BASIC_HELP_INFO4);
mHelpKeys.push_back(BASIC_HELP_INFO5);
mHelpKeys.push_back(BASIC_HELP_INFO6);
mHelpKeys.push_back("Use Arrow Key to move Car.");
// reset
for (int i = 0; i < 4; i++)
{
mWheelsEngine[i] = 0;
mWheelsSteerable[i] = 0;
}
mWheelsEngineCount = 2;
mWheelsEngine[0] = 0;
mWheelsEngine[1] = 1;
mWheelsEngine[2] = 2;
mWheelsEngine[3] = 3;
mWheelsSteerableCount = 2;
mWheelsSteerable[0] = 0;
mWheelsSteerable[1] = 1;
//mWheelsSteerable[2] = 2;
//mWheelsSteerable[3] = 3;
mWheelEngineStyle = 0;
mWheelSteeringStyle = 0;
mSteeringLeft = false;
mSteeringRight = false;
mEngineForce = 0;
mSteering = 0;
// ------------------------
// Start OgreScene
mSceneMgr = root->createSceneManager("TerrainSceneManager", "BulletTerrain");
mCamera = mSceneMgr->createCamera("Cam");
//mCamera->setFOVy(Degree(90));
mCamera->setNearClipDistance(0.1);
mCamera->setFarClipDistance(1000);
Viewport *vp = win->addViewport(mCamera);
vp->setBackgroundColour(ColourValue(0,0,0));
// Alter the camera aspect ratio to match the viewport
mCamera->setAspectRatio(
Real(vp->getActualWidth()) / Real(vp->getActualHeight()));
mCamera->setPosition(CameraStart + terrain_Shift);
mCamera->lookAt(CarPosition + terrain_Shift);
// Create a terrain
std::string terrain_cfg("terrain.cfg");
mSceneMgr->setWorldGeometry(terrain_cfg);
OgreBulletListener::init(root, win, application);
// ------------------------
// add lights
setBasicLight();
// ------------------------
// Add the Gui
setPhysicGUI();
// ------------------------
// Start Bullet
initWorld();
// ------------------------
// Add the ground
// 0.1, 0.8
//addStaticPlane(0.3, 0.8);
{
Ogre::ConfigFile config;
config.loadFromResourceSystem(terrain_cfg, ResourceGroupManager::AUTODETECT_RESOURCE_GROUP_NAME, "=", true);
unsigned page_size = Ogre::StringConverter::parseUnsignedInt(config.getSetting("PageSize"));
Ogre::Vector3 terrainScale(Ogre::StringConverter::parseReal(config.getSetting("PageWorldX")) / (page_size - 1),
Ogre::StringConverter::parseReal(config.getSetting("MaxHeight")),
Ogre::StringConverter::parseReal(config.getSetting("PageWorldZ")) / (page_size - 1));
Ogre::String terrainfileName = config.getSetting("Heightmap.image");
float *heights = new float[page_size*page_size];
Ogre::Image terrainHeightMap;
terrainHeightMap.load(terrainfileName, Ogre::ResourceGroupManager::AUTODETECT_RESOURCE_GROUP_NAME);
for (unsigned y = 0; y < page_size; ++y)
{
for (unsigned x = 0; x < page_size; ++x)
{
Ogre::ColourValue color = terrainHeightMap.getColourAt(x, y, 0);
heights[x + y * page_size] = color.r;
}
}
mTerrainShape = new HeightmapCollisionShape(page_size,
page_size,
terrainScale,
heights,
true);
RigidBody *defaultTerrainBody = new RigidBody("Terrain",
mWorld);
const float terrainBodyRestitution = 0.1f;
const float terrainBodyFriction = 0.8f;
Ogre::Vector3 terrainShiftPos( (terrainScale.x * (page_size - 1) / 2), \
0,
(terrainScale.z * (page_size - 1) / 2));
terrainShiftPos.y = terrainScale.y / 2 * terrainScale.y;
Ogre::SceneNode* pTerrainNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
defaultTerrainBody->setStaticShape (pTerrainNode, mTerrainShape, terrainBodyRestitution, terrainBodyFriction, terrainShiftPos);
mBodies.push_back(defaultTerrainBody);
mShapes.push_back(mTerrainShape);
}
// create obstacle in front of car
addCube("obstacle", Ogre::Vector3(13, -5.25, -5) + terrain_Shift , Quaternion(Radian(Degree(22.5)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(15, -5.25, -5) + terrain_Shift , Quaternion(Radian(Degree(22.5)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(17, -5.25, -5) + terrain_Shift , Quaternion(Radian(Degree(22.5)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(13, -5.25, -10) + terrain_Shift , Quaternion(Radian(Degree(-22.5)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(15, -5.25, -10) + terrain_Shift , Quaternion(Radian(Degree(-22.5)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(17, -5.25, -10) + terrain_Shift , Quaternion(Radian(Degree(-22.5)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
// create obstacle a bit aside
addCube("obstacle", Ogre::Vector3(-2, 0, -5) + terrain_Shift , Quaternion(Radian(Degree(45.0)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(0, 0, -5) + terrain_Shift , Quaternion(Radian(Degree(45.0)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(2, 0, -5) + terrain_Shift , Quaternion(Radian(Degree(45.0)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(-2, 0, -10) + terrain_Shift , Quaternion(Radian(Degree(-45.0)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(0, 0, -10) + terrain_Shift , Quaternion(Radian(Degree(-45.0)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(2, 0, -10) + terrain_Shift , Quaternion(Radian(Degree(-45.0)), Ogre::Vector3::UNIT_X), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
// create obstacle just for fun
addCube("obstacle", Ogre::Vector3(25, -10, -25) + terrain_Shift , Quaternion(Radian(Degree(45.0)), Ogre::Vector3::UNIT_Z), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(25, -10, -27) + terrain_Shift , Quaternion(Radian(Degree(45.0)), Ogre::Vector3::UNIT_Z), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
addCube("obstacle", Ogre::Vector3(25, -10, -29) + terrain_Shift , Quaternion(Radian(Degree(45.0)), Ogre::Vector3::UNIT_Z), Ogre::Vector3(1, 1, 1), 0.3, 0.8, 0);
/// create vehicle
{
const Ogre::Vector3 chassisShift(0, 1.0, 0);
float connectionHeight = 0.7f;
mChassis = mSceneMgr->createEntity(
"chassis" + StringConverter::toString(mNumEntitiesInstanced++),
"chassis.mesh");
SceneNode *node = mSceneMgr->getRootSceneNode ()->createChildSceneNode ();
SceneNode *chassisnode = node->createChildSceneNode ();
chassisnode->attachObject (mChassis);
chassisnode->setPosition (chassisShift);
mChassis->setQueryFlags (GEOMETRY_QUERY_MASK);
#if (OGRE_VERSION < ((1 << 16) | (5 << 8) | 0)) // only applicable before shoggoth (1.5.0)
mChassis->setNormaliseNormals(true);
#endif
mChassis->setCastShadows(true);
CompoundCollisionShape* compound = new CompoundCollisionShape();
BoxCollisionShape* chassisShape = new BoxCollisionShape(Ogre::Vector3(1.f,0.75f,2.1f));
compound->addChildShape(chassisShape, chassisShift);
mCarChassis = new WheeledRigidBody("carChassis", mWorld);
mCarChassis->setShape(node,
compound,
0.6, //restitution
0.6, //friction
800, //bodyMass
CarPosition + terrain_Shift,
Quaternion::IDENTITY);
mCarChassis->setDamping(0.2, 0.2);
mCarChassis->disableDeactivation();
mTuning = new VehicleTuning(gSuspensionStiffness,
gSuspensionCompression,
gSuspensionDamping,
gMaxSuspensionTravelCm,
gMaxSuspensionForce,
gFrictionSlip);
mVehicleRayCaster = new VehicleRayCaster(mWorld);
mVehicle = new RaycastVehicle(mCarChassis, mTuning, mVehicleRayCaster);
{
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
mVehicle->setCoordinateSystem(rightIndex, upIndex, forwardIndex);
Ogre::Vector3 wheelDirectionCS0(0,-1,0);
Ogre::Vector3 wheelAxleCS(-1,0,0);
for (size_t i = 0; i < 4; i++)
{
mWheels[i] = mSceneMgr->createEntity(
"wheel" + StringConverter::toString(mNumEntitiesInstanced++),
"wheel.mesh");
mWheels[i]->setQueryFlags (GEOMETRY_QUERY_MASK);
#if (OGRE_VERSION < ((1 << 16) | (5 << 8) | 0)) // only applicable before shoggoth (1.5.0)
mWheels[i]->setNormaliseNormals(true);
#endif
mWheels[i]->setCastShadows(true);
mWheelNodes[i] = mSceneMgr->getRootSceneNode ()->createChildSceneNode ();
mWheelNodes[i]->attachObject (mWheels[i]);
}
{
bool isFrontWheel = true;
Ogre::Vector3 connectionPointCS0 (
CUBE_HALF_EXTENTS-(0.3*gWheelWidth),
connectionHeight,
2*CUBE_HALF_EXTENTS-gWheelRadius);
mVehicle->addWheel(
mWheelNodes[0],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
gSuspensionRestLength,
gWheelRadius,
isFrontWheel, gWheelFriction, gRollInfluence);
connectionPointCS0 = Ogre::Vector3(
-CUBE_HALF_EXTENTS+(0.3*gWheelWidth),
connectionHeight,
2*CUBE_HALF_EXTENTS-gWheelRadius);
mVehicle->addWheel(
mWheelNodes[1],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
gSuspensionRestLength,
gWheelRadius,
isFrontWheel, gWheelFriction, gRollInfluence);
connectionPointCS0 = Ogre::Vector3(
-CUBE_HALF_EXTENTS+(0.3*gWheelWidth),
connectionHeight,
-2*CUBE_HALF_EXTENTS+gWheelRadius);
isFrontWheel = false;
mVehicle->addWheel(
mWheelNodes[2],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
gSuspensionRestLength,
gWheelRadius,
isFrontWheel, gWheelFriction, gRollInfluence);
connectionPointCS0 = Ogre::Vector3(
CUBE_HALF_EXTENTS-(0.3*gWheelWidth),
connectionHeight,
-2*CUBE_HALF_EXTENTS+gWheelRadius);
mVehicle->addWheel(
mWheelNodes[3],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
gSuspensionRestLength,
gWheelRadius,
isFrontWheel, gWheelFriction, gRollInfluence);
//mVehicle->setWheelsAttached();
}
}
}
}
