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improved robustness of penetrations involving triangles and boxes, by adding their 'preferred' penetration directions.

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added wireframe/solid mode for meshes
updated solid penetration depth solver (comparison in Extras)
This commit is contained in:
ejcoumans
2006-11-05 05:12:10 +00:00
parent 6c61060339
commit 074e2b2d3b
9 changed files with 189 additions and 33 deletions
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7
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
View File

@@ -121,7 +121,10 @@ void ConcaveDemo::initPhysics()
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
2.f*sinf((float)i)*cosf((float)j),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
@@ -156,7 +159,7 @@ void ConcaveDemo::initPhysics()
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,0,0));
startTransform.setOrigin(btVector3(0,-2,0));
btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,trimeshShape);

44
Demos/OpenGL/GL_ShapeDrawer.cpp
View File

@@ -65,22 +65,43 @@ void GL_ShapeDrawer::drawCoordSystem() {
class GlDrawcallback : public btTriangleCallback
{
public:
bool m_wireframe;
GlDrawcallback()
:m_wireframe(false)
{
}
virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 1, 0);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 0, 1);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
if (m_wireframe)
{
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 1, 0);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 0, 1);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
} else
{
glBegin(GL_TRIANGLES);
glColor3f(1, 0, 0);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glColor3f(0, 1, 0);
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 0, 1);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glEnd();
}
}
};
@@ -312,6 +333,7 @@ void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const b
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
GlDrawcallback drawCallback;
drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);