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added initial support for per-triangle material properties in a non-convex mesh. needs testing.

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This commit is contained in:
ejcoumans
2006-08-10 08:18:05 +00:00
parent 3a27e8b1bf
commit 16781831dc
22 changed files with 206 additions and 55 deletions
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69
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -91,9 +91,69 @@ static const int NUM_TRIANGLES=4;
SimdVector3 gVertices[NUM_VERTICES];
int gIndices[NUM_TRIANGLES*3];
const float TRIANGLE_SIZE=80.f;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= CollisionObject::customMaterialCallback;
inline SimdScalar calculateCombinedFriction(float friction0,float friction1)
{
SimdScalar friction = friction0 * friction1;
const SimdScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline SimdScalar calculateCombinedRestitution(float restitution0,float restitution1)
{
return restitution0 * restitution1;
}
bool CustomMaterialCombinerCallback(ManifoldPoint& cp, const CollisionObject* colObj0,int partId0,int index0,const CollisionObject* colObj1,int partId1,int index1)
{
float friction0 = colObj0->getFriction();
float friction1 = colObj1->getFriction();
float restitution0 = colObj0->getRestitution();
float restitution1 = colObj1->getRestitution();
if (colObj0->m_collisionFlags & CollisionObject::customMaterialCallback)
{
friction0 = 1.0;//partId0,index0
restitution0 = 0.f;
}
if (colObj1->m_collisionFlags & CollisionObject::customMaterialCallback)
{
if (index1&1)
{
friction1 = 1.0f;//partId1,index1
} else
{
friction1 = 0.f;
}
restitution1 = 0.f;
}
cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
extern ContactAddedCallback gContactAddedCallback;
int main(int argc,char** argv)
{
gContactAddedCallback = CustomMaterialCombinerCallback;
printf("BroadphaseProxy: %i\n",sizeof(BroadphaseProxy));
printf("AxisSweep3::Handle : %i\n",sizeof(AxisSweep3::Handle));
@@ -190,7 +250,7 @@ int main(int argc,char** argv)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*10.f,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*10.f);
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);
}
}
@@ -280,11 +340,13 @@ int main(int argc,char** argv)
if (!i)
{
ccdObjectCi.m_friction = 0.0f;
//SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
//ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
//ms[i].setWorldPosition(0,-10,0);
} else
{
ccdObjectCi.m_friction = 0.5f;
ms[i].setWorldPosition(10,i*15-10,0);
}
@@ -299,11 +361,14 @@ int main(int argc,char** argv)
{
shapeProps.m_mass = 0.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = CollisionObject::customMaterialCallback;
}
else
{
shapeProps.m_mass = 1.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags =0;
}
@@ -314,13 +379,13 @@ int main(int argc,char** argv)
} else
{
localInertia.setValue(0.f,0.f,0.f);
}
ccdObjectCi.m_localInertiaTensor = localInertia;
ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];
physObjects[i]= new CcdPhysicsController( ccdObjectCi);
physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);