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Added Stan Melax Convex Hull utility under Zlib license, Thanks Stan!

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Use this Convex Hull to create a renderable shape, using btHullShape, Thanks to John McCutchan
This commit is contained in:
ejcoumans
2008-01-23 22:24:45 +00:00
parent 6eb97cd966
commit 127d911c9d
7 changed files with 3680 additions and 87 deletions
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231
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -39,7 +39,10 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btIDebugDraw.h"
@@ -302,12 +305,19 @@ void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
gluDisk(quadObj,0,radius,15, 10);
gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
glTranslatef(0.0, 0.0, 2.*halfHeight);
glRotatef(-180.0, 0.0, 1.0, 0.0);
gluDisk(quadObj,0,radius,15, 10);
glPopMatrix();
gluDeleteQuadric(quadObj);
}
void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode)
{
@@ -358,6 +368,8 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
{
///you can comment out any of the specific cases, and use the default
///the benefit of 'default' is that it approximates the actual collision shape including collision margin
switch (shape->getShapeType())
{
case BOX_SHAPE_PROXYTYPE:
@@ -369,15 +381,8 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
useWireframeFallback = false;
break;
}
case TRIANGLE_SHAPE_PROXYTYPE:
case TETRAHEDRAL_SHAPE_PROXYTYPE:
{
//todo:
// useWireframeFallback = false;
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
break;
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
@@ -386,29 +391,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
useWireframeFallback = false;
break;
}
case CAPSULE_SHAPE_PROXYTYPE:
{
const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
float radius = capsuleShape->getRadius();
float halfHeight = capsuleShape->getHalfHeight();
int upAxis = 1;
drawCylinder(radius,halfHeight,upAxis);
glPushMatrix();
glTranslatef(0.0, -halfHeight,0.0);
glutSolidSphere(radius,10,10);
glTranslatef(0.0, 2*halfHeight,0.0);
glutSolidSphere(radius,10,10);
glPopMatrix();
useWireframeFallback = false;
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
break;
}
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
@@ -436,13 +419,33 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
break;
}
case CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
case STATIC_PLANE_PROXYTYPE:
{
useWireframeFallback = false;
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
btVector3 planeOrigin = planeNormal * planeConst;
btVector3 vec0,vec1;
btPlaneSpace1(planeNormal,vec0,vec1);
btScalar vecLen = 100.f;
btVector3 pt0 = planeOrigin + vec0*vecLen;
btVector3 pt1 = planeOrigin - vec0*vecLen;
btVector3 pt2 = planeOrigin + vec1*vecLen;
btVector3 pt3 = planeOrigin - vec1*vecLen;
glBegin(GL_LINES);
glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ());
glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ());
glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ());
glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ());
glEnd();
break;
}
case CONVEX_SHAPE_PROXYTYPE:
case CYLINDER_SHAPE_PROXYTYPE:
{
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
@@ -456,75 +459,129 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
break;
}
default:
{
}
if (shape->isConvex())
{
btConvexShape* convexShape = (btConvexShape*)shape;
if (!shape->getUserPointer())
{
//create a hull approximation
btShapeHull* hull = new btShapeHull(convexShape);
btScalar margin = shape->getMargin();
hull->buildHull(margin);
convexShape->setUserPointer(hull);
};
printf("numTriangles = %d\n", hull->numTriangles ());
printf("numIndices = %d\n", hull->numIndices ());
printf("numVertices = %d\n", hull->numVertices ());
}
if (shape->getUserPointer())
{
//glutSolidCube(1.0);
btShapeHull* hull = (btShapeHull*)shape->getUserPointer();
if (hull->numTriangles () > 0)
{
int index = 0;
const unsigned int* idx = hull->getIndexPointer();
const btVector3* vtx = hull->getVertexPointer();
glBegin (GL_TRIANGLES);
for (int i = 0; i < hull->numTriangles (); i++)
{
int i1 = index++;
int i2 = index++;
int i3 = index++;
btAssert(i1 < hull->numIndices () &&
i2 < hull->numIndices () &&
i3 < hull->numIndices ());
int index1 = idx[i1];
int index2 = idx[i2];
int index3 = idx[i3];
btAssert(index1 < hull->numVertices () &&
index2 < hull->numVertices () &&
index3 < hull->numVertices ());
btVector3 v1 = vtx[index1];
btVector3 v2 = vtx[index2];
btVector3 v3 = vtx[index3];
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
}
glEnd ();
}
} else
{
// printf("unhandled drawing\n");
}
}
}
}
}
if (useWireframeFallback)
/// for polyhedral shapes
if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))
{
/// for polyhedral shapes
if (shape->isPolyhedral())
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
{
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
glBegin(GL_LINES);
glRasterPos3f(0.0, 0.0, 0.0);
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
glColor3f(1.f, 1.f, 1.f);
int i;
for (i=0;i<polyshape->getNumEdges();i++)
for (i=0;i<polyshape->getNumVertices();i++)
{
btPoint3 a,b;
polyshape->getEdge(i,a,b);
glVertex3f(a.getX(),a.getY(),a.getZ());
glVertex3f(b.getX(),b.getY(),b.getZ());
}
glEnd();
if (debugMode==btIDebugDraw::DBG_DrawFeaturesText)
{
glRasterPos3f(0.0, 0.0, 0.0);
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
glColor3f(1.f, 1.f, 1.f);
for (i=0;i<polyshape->getNumVertices();i++)
{
btPoint3 vtx;
polyshape->getVertex(i,vtx);
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
char buf[12];
sprintf(buf," %d",i);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
for (i=0;i<polyshape->getNumPlanes();i++)
{
btVector3 normal;
btPoint3 vtx;
polyshape->getPlane(normal,vtx,i);
btScalar d = vtx.dot(normal);
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
char buf[12];
sprintf(buf," plane %d",i);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
btPoint3 vtx;
polyshape->getVertex(i,vtx);
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
char buf[12];
sprintf(buf," %d",i);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
for (i=0;i<polyshape->getNumPlanes();i++)
{
btVector3 normal;
btPoint3 vtx;
polyshape->getPlane(normal,vtx,i);
btScalar d = vtx.dot(normal);
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
char buf[12];
sprintf(buf," plane %d",i);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
}
}