779 lines
21 KiB
C++
779 lines
21 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "hacdCircularList.h"
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#include "hacdVector.h"
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#include "hacdICHull.h"
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#include "hacdGraph.h"
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#include "hacdHACD.h"
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#include "cd_wavefront.h"
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#include "ConvexBuilder.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "LinearMath/btGeometryUtil.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"
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#include "GLDebugDrawer.h"
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GLDebugDrawer gDebugDrawer;
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//#define TEST_SERIALIZATION
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//#define NO_OBJ_TO_BULLET
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#ifdef TEST_SERIALIZATION
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#include "LinearMath/btSerializer.h"
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#include "btBulletFile.h"
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#include "btBulletWorldImporter.h"
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#endif
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//#define USE_PARALLEL_DISPATCHER 1
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#ifdef USE_PARALLEL_DISPATCHER
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#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
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#include "../../Extras/BulletMultiThreaded/Win32ThreadSupport.h"
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#include "../../Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
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#endif//USE_PARALLEL_DISPATCHER
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#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"//for the callback
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bool MyCompoundChildShapeCallback(const btCollisionShape* pShape0, const btCollisionShape* pShape1)
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{
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return true;
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}
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#include "GLDebugFont.h"
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#include <stdio.h> //printf debugging
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#include "ConvexDecompositionDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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btVector3 centroid=btVector3(0,0,0);
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btVector3 convexDecompositionObjectOffset(10,0,0);
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#define CUBE_HALF_EXTENTS 4
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////////////////////////////////////
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unsigned int tcount = 0;
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//sEnableSAT creates the data structures required for performing SAT tests between convex polyhedra, as alternative to GJK
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bool sEnableSAT = false;
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void ConvexDecompositionDemo::initPhysics()
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{
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initPhysics("file.obj");
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}
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///MyContactCallback is just an example to show how to get access to the child shape that collided
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bool MyContactCallback (
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btManifoldPoint& cp,
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const btCollisionObjectWrapper* colObj0Wrap,
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int partId0,
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int index0,
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const btCollisionObjectWrapper* colObj1Wrap,
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int partId1,
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int index1)
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{
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if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
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{
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btCompoundShape* compound = (btCompoundShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
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btCollisionShape* childShape;
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childShape = compound->getChildShape(index0);
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}
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if (colObj1Wrap->getCollisionObject()->getCollisionShape()->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
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{
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btCompoundShape* compound = (btCompoundShape*)colObj1Wrap->getCollisionObject()->getCollisionShape();
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btCollisionShape* childShape;
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childShape = compound->getChildShape(index1);
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}
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return true;
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}
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void ConvexDecompositionDemo::setupEmptyDynamicsWorld()
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{
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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#ifdef USE_PARALLEL_DISPATCHER
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#ifdef USE_WIN32_THREADING
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int maxNumOutstandingTasks = 4;//number of maximum outstanding tasks
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Win32ThreadSupport* threadSupport = new Win32ThreadSupport(Win32ThreadSupport::Win32ThreadConstructionInfo(
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"collision",
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processCollisionTask,
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createCollisionLocalStoreMemory,
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maxNumOutstandingTasks));
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#else
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///@todo other platform threading
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///Playstation 3 SPU (SPURS) version is available through PS3 Devnet
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///Libspe2 SPU support will be available soon
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///pthreads version
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///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
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#endif
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m_dispatcher = new SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
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#else
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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#endif//USE_PARALLEL_DISPATCHER
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gCompoundChildShapePairCallback = MyCompoundChildShapeCallback;
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convexDecompositionObjectOffset.setValue(10,0,0);
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btVector3 worldAabbMin(-10000,-10000,-10000);
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btVector3 worldAabbMax(10000,10000,10000);
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m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
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//m_broadphase = new btSimpleBroadphase();
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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#ifdef USE_PARALLEL_DISPATCHER
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m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
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#endif //USE_PARALLEL_DISPATCHER
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}
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void ConvexDecompositionDemo::initPhysics(const char* filename)
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{
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gContactAddedCallback = &MyContactCallback;
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setupEmptyDynamicsWorld();
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getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
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setTexturing(true);
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setShadows(true);
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setCameraDistance(26.f);
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#ifndef NO_OBJ_TO_BULLET
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ConvexDecomposition::WavefrontObj wo;
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tcount = wo.loadObj(filename);
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if (!tcount)
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{
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//when running this app from visual studio, the default starting folder is different, so make a second attempt...
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tcount = wo.loadObj("../../file.obj");
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}
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if (!tcount)
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{
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//cmake generated msvc files need 4 levels deep back... so make a 3rd attempt...
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tcount = wo.loadObj("../../../../file.obj");
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}
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,-4.5,0));
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btCollisionShape* boxShape = new btBoxShape(btVector3(30,2,30));
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m_collisionShapes.push_back(boxShape);
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localCreateRigidBody(0.f,startTransform,boxShape);
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class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
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{
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ConvexDecompositionDemo* m_convexDemo;
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public:
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btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
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btAlignedObjectArray<btVector3> m_convexCentroids;
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MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
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:m_convexDemo(demo),
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mBaseCount(0),
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mHullCount(0),
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mOutputFile(outputFile)
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{
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}
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virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
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{
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btTriangleMesh* trimesh = new btTriangleMesh();
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m_convexDemo->m_trimeshes.push_back(trimesh);
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btVector3 localScaling(6.f,6.f,6.f);
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//export data to .obj
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printf("ConvexResult. ");
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if (mOutputFile)
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{
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fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );
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fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
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fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);
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for (unsigned int i=0; i<result.mHullVcount; i++)
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{
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const float *p = &result.mHullVertices[i*3];
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fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
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}
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//calc centroid, to shift vertices around center of mass
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centroid.setValue(0,0,0);
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btAlignedObjectArray<btVector3> vertices;
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if ( 1 )
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{
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//const unsigned int *src = result.mHullIndices;
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for (unsigned int i=0; i<result.mHullVcount; i++)
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{
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btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
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vertex *= localScaling;
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centroid += vertex;
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}
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}
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centroid *= 1.f/(float(result.mHullVcount) );
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if ( 1 )
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{
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//const unsigned int *src = result.mHullIndices;
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for (unsigned int i=0; i<result.mHullVcount; i++)
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{
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btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
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vertex *= localScaling;
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vertex -= centroid ;
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vertices.push_back(vertex);
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}
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}
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if ( 1 )
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{
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const unsigned int *src = result.mHullIndices;
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for (unsigned int i=0; i<result.mHullTcount; i++)
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{
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unsigned int index0 = *src++;
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unsigned int index1 = *src++;
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unsigned int index2 = *src++;
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btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
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btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
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btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
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vertex0 *= localScaling;
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vertex1 *= localScaling;
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vertex2 *= localScaling;
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vertex0 -= centroid;
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vertex1 -= centroid;
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vertex2 -= centroid;
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trimesh->addTriangle(vertex0,vertex1,vertex2);
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index0+=mBaseCount;
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index1+=mBaseCount;
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index2+=mBaseCount;
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fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
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}
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}
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// float mass = 1.f;
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//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
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//#define SHRINK_OBJECT_INWARDS 1
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#ifdef SHRINK_OBJECT_INWARDS
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float collisionMargin = 0.01f;
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btAlignedObjectArray<btVector3> planeEquations;
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btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
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btAlignedObjectArray<btVector3> shiftedPlaneEquations;
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for (int p=0;p<planeEquations.size();p++)
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{
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btVector3 plane = planeEquations[p];
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plane[3] += collisionMargin;
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shiftedPlaneEquations.push_back(plane);
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}
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btAlignedObjectArray<btVector3> shiftedVertices;
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btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
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btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
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#else //SHRINK_OBJECT_INWARDS
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btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
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#endif
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if (sEnableSAT)
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convexShape->initializePolyhedralFeatures();
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convexShape->setMargin(0.01f);
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m_convexShapes.push_back(convexShape);
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m_convexCentroids.push_back(centroid);
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m_convexDemo->m_collisionShapes.push_back(convexShape);
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mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
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}
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}
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int mBaseCount;
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int mHullCount;
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FILE* mOutputFile;
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};
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if (tcount)
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{
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btTriangleMesh* trimesh = new btTriangleMesh();
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m_trimeshes.push_back(trimesh);
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btVector3 localScaling(6.f,6.f,6.f);
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int i;
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for ( i=0;i<wo.mTriCount;i++)
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{
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int index0 = wo.mIndices[i*3];
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int index1 = wo.mIndices[i*3+1];
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int index2 = wo.mIndices[i*3+2];
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btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
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btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
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btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
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vertex0 *= localScaling;
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vertex1 *= localScaling;
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vertex2 *= localScaling;
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trimesh->addTriangle(vertex0,vertex1,vertex2);
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}
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btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
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printf("old numTriangles= %d\n",wo.mTriCount);
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printf("old numIndices = %d\n",wo.mTriCount*3);
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printf("old numVertices = %d\n",wo.mVertexCount);
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printf("reducing vertices by creating a convex hull\n");
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//create a hull approximation
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btShapeHull* hull = new btShapeHull(tmpConvexShape);
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btScalar margin = tmpConvexShape->getMargin();
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hull->buildHull(margin);
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tmpConvexShape->setUserPointer(hull);
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printf("new numTriangles = %d\n", hull->numTriangles ());
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printf("new numIndices = %d\n", hull->numIndices ());
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printf("new numVertices = %d\n", hull->numVertices ());
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btConvexHullShape* convexShape = new btConvexHullShape();
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bool updateLocalAabb = false;
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for (i=0;i<hull->numVertices();i++)
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{
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convexShape->addPoint(hull->getVertexPointer()[i],updateLocalAabb);
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}
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convexShape->recalcLocalAabb();
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if (sEnableSAT)
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convexShape->initializePolyhedralFeatures();
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delete tmpConvexShape;
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delete hull;
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m_collisionShapes.push_back(convexShape);
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float mass = 1.f;
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btTransform startTransform;
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startTransform.setIdentity();
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startTransform.setOrigin(btVector3(0,2,14));
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localCreateRigidBody(mass, startTransform,convexShape);
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bool useQuantization = true;
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btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
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startTransform.setOrigin(convexDecompositionObjectOffset);
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localCreateRigidBody(0.f,startTransform,concaveShape);
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m_collisionShapes.push_back (concaveShape);
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}
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if (tcount)
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{
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//-----------------------------------
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// Bullet Convex Decomposition
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//-----------------------------------
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char outputFileName[512];
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strcpy(outputFileName,filename);
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char *dot = strstr(outputFileName,".");
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if ( dot )
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*dot = 0;
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strcat(outputFileName,"_convex.obj");
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FILE* outputFile = fopen(outputFileName,"wb");
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unsigned int depth = 5;
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float cpercent = 5;
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float ppercent = 15;
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unsigned int maxv = 16;
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float skinWidth = 0.0;
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printf("WavefrontObj num triangles read %i\n",tcount);
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ConvexDecomposition::DecompDesc desc;
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desc.mVcount = wo.mVertexCount;
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desc.mVertices = wo.mVertices;
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desc.mTcount = wo.mTriCount;
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desc.mIndices = (unsigned int *)wo.mIndices;
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desc.mDepth = depth;
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desc.mCpercent = cpercent;
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desc.mPpercent = ppercent;
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desc.mMaxVertices = maxv;
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desc.mSkinWidth = skinWidth;
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MyConvexDecomposition convexDecomposition(outputFile,this);
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desc.mCallback = &convexDecomposition;
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//-----------------------------------------------
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// HACD
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//-----------------------------------------------
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std::vector< HACD::Vec3<HACD::Real> > points;
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std::vector< HACD::Vec3<long> > triangles;
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for(int i=0; i<wo.mVertexCount; i++ )
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{
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int index = i*3;
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HACD::Vec3<HACD::Real> vertex(wo.mVertices[index], wo.mVertices[index+1],wo.mVertices[index+2]);
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points.push_back(vertex);
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}
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for(int i=0;i<wo.mTriCount;i++)
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{
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int index = i*3;
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HACD::Vec3<long> triangle(wo.mIndices[index], wo.mIndices[index+1], wo.mIndices[index+2]);
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triangles.push_back(triangle);
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}
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HACD::HACD myHACD;
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myHACD.SetPoints(&points[0]);
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myHACD.SetNPoints(points.size());
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myHACD.SetTriangles(&triangles[0]);
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myHACD.SetNTriangles(triangles.size());
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myHACD.SetCompacityWeight(0.1);
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myHACD.SetVolumeWeight(0.0);
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// HACD parameters
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// Recommended parameters: 2 100 0 0 0 0
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size_t nClusters = 2;
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double concavity = 100;
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bool invert = false;
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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
|
|
|
|
}
|
|
|
|
void ConvexDecompositionDemo::clientMoveAndDisplay()
|
|
{
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
float dt = getDeltaTimeMicroseconds() * 0.000001f;
|
|
|
|
m_dynamicsWorld->stepSimulation(dt);
|
|
|
|
//optional but useful: debug drawing
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
renderme();
|
|
|
|
glFlush();
|
|
swapBuffers();
|
|
|
|
}
|
|
|
|
|
|
|
|
void ConvexDecompositionDemo::displayCallback(void) {
|
|
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
|
|
|
|
if (m_dynamicsWorld)
|
|
m_dynamicsWorld->debugDrawWorld();
|
|
|
|
renderme();
|
|
|
|
|
|
glFlush();
|
|
swapBuffers();
|
|
}
|
|
|
|
|
|
|
|
|
|
void ConvexDecompositionDemo::exitPhysics()
|
|
{
|
|
|
|
|
|
//cleanup in the reverse order of creation/initialization
|
|
|
|
//remove the rigidbodies from the dynamics world and delete them
|
|
int i;
|
|
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
|
{
|
|
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
|
btRigidBody* body = btRigidBody::upcast(obj);
|
|
if (body && body->getMotionState())
|
|
{
|
|
delete body->getMotionState();
|
|
}
|
|
m_dynamicsWorld->removeCollisionObject( obj );
|
|
delete obj;
|
|
}
|
|
|
|
//delete collision shapes
|
|
for (i=0;i<m_collisionShapes.size();i++)
|
|
{
|
|
btCollisionShape* shape = m_collisionShapes[i];
|
|
delete shape;
|
|
}
|
|
|
|
m_collisionShapes.clear();
|
|
|
|
for (i=0;i<m_trimeshes.size();i++)
|
|
{
|
|
btTriangleMesh* mesh = m_trimeshes[i];
|
|
delete mesh;
|
|
}
|
|
|
|
m_trimeshes.clear();
|
|
|
|
|
|
//delete dynamics world
|
|
delete m_dynamicsWorld;
|
|
|
|
//delete solver
|
|
delete m_solver;
|
|
|
|
//delete broadphase
|
|
delete m_broadphase;
|
|
|
|
//delete dispatcher
|
|
delete m_dispatcher;
|
|
|
|
delete m_collisionConfiguration;
|
|
|
|
|
|
}
|
|
|
|
|
|
void ConvexDecompositionDemo::clientResetScene()
|
|
{
|
|
exitPhysics();
|
|
initPhysics("file.obj");
|
|
}
|
|
|
|
void ConvexDecompositionDemo::keyboardCallback(unsigned char key, int x, int y)
|
|
{
|
|
if (key=='S')
|
|
{
|
|
sEnableSAT= !sEnableSAT;
|
|
if (sEnableSAT)
|
|
{
|
|
printf("SAT enabled after the next restart of the demo\n");
|
|
} else
|
|
{
|
|
printf("SAT disabled after the next restart of the demo\n");
|
|
}
|
|
} else
|
|
{
|
|
PlatformDemoApplication::keyboardCallback(key,x,y);
|
|
}
|
|
|
|
} |