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Merge pull request #2204 from erwincoumans/master

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add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc…
This commit is contained in:
erwincoumans
2019-04-15 22:20:06 -07:00
committed by GitHub
parent a936e98300 f28fd91e4f
commit 2a9bfbdb1c
12 changed files with 1702 additions and 38 deletions
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29
examples/Benchmarks/BenchmarkDemo.cpp
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@@ -313,35 +313,6 @@ public:
m_guiHelper->getRenderInterface()->drawLines(&points[0].m_floats[0], lineColor, points.size(), sizeof(btVector3FloatData), &indices[0], indices.size(), 1);
}
#if 0
glDisable (GL_LIGHTING);
glColor3f (0.0, 1.0, 0.0);
glBegin (GL_LINES);
int i;
for (i = 0; i < NUMRAYS; i++)
{
glVertex3f (source[i][0], source[i][1], source[i][2]);
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
}
glEnd ();
glColor3f (1.0, 1.0, 1.0);
glBegin (GL_LINES);
for (i = 0; i < NUMRAYS; i++)
{
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
glVertex3f (hit[i][0] + normal[i][0], hit[i][1] + normal[i][1], hit[i][2] + normal[i][2]);
}
glEnd ();
glColor3f (0.0, 1.0, 1.0);
glBegin (GL_POINTS);
for ( i = 0; i < NUMRAYS; i++)
{
glVertex3f (hit[i][0], hit[i][1], hit[i][2]);
}
glEnd ();
glEnable (GL_LIGHTING);
#endif //USE_GRAPHICAL_BENCHMARK
}
};

11
examples/CommonInterfaces/CommonRigidBodyBase.h
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@@ -439,12 +439,15 @@ struct CommonRigidBodyBase : public CommonExampleInterface
virtual void renderScene()
{
if (m_dynamicsWorld)
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
}
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
}
{
m_guiHelper->render(m_dynamicsWorld);
{
m_guiHelper->render(m_dynamicsWorld);
}
}
}
};

2
examples/ExampleBrowser/CMakeLists.txt
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@@ -207,6 +207,8 @@ SET(BulletExampleBrowser_SRCS
../MultiThreadedDemo/MultiThreadedDemo.h
../MultiThreadedDemo/CommonRigidBodyMTBase.cpp
../MultiThreadedDemo/CommonRigidBodyMTBase.h
../Heightfield/HeightfieldExample.cpp
../Heightfield/HeightfieldExample.h
../BlockSolver/btBlockSolver.cpp
../BlockSolver/btBlockSolver.h
../BlockSolver/BlockSolverExample.cpp

6
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -5,6 +5,7 @@
#include "../BlockSolver/RigidBodyBoxes.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "EmptyExample.h"
#include "../Heightfield/HeightfieldExample.h"
#include "../RenderingExamples/RenderInstancingDemo.h"
#include "../RenderingExamples/CoordinateSystemDemo.h"
#include "../RenderingExamples/RaytracerSetup.h"
@@ -157,8 +158,8 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_PGS),
ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_BLOCK),
ExampleEntry(1, "Stack RigidBody SI", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack RigidBody Block", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_BLOCK),
//ExampleEntry(1, "Stack RigidBody SI", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_SI),
//ExampleEntry(1, "Stack RigidBody Block", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_BLOCK),
ExampleEntry(0, "Inverse Dynamics"),
ExampleEntry(1, "Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_LOAD_URDF),
@@ -234,6 +235,7 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Convex vs Mesh", "Benchmark the performance and stability of rigid bodies using convex hull collision shapes (btConvexHullShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 6),
ExampleEntry(1, "Raycast", "Benchmark the performance of the btCollisionWorld::rayTest. Note that currently the rays are not rendered.", BenchmarkCreateFunc, 7),
ExampleEntry(1, "Convex Pack", "Benchmark the performance of the convex hull primitive.", BenchmarkCreateFunc, 8),
ExampleEntry(1, "Heightfield", "Raycast against a btHeightfieldTerrainShape", HeightfieldExampleCreateFunc),
//#endif
ExampleEntry(0, "Importers"),

58
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -1,7 +1,7 @@
#include "OpenGLGuiHelper.h"
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "Bullet3Common/b3Scalar.h"
@@ -255,6 +255,38 @@ void OpenGLGuiHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btV
createCollisionObjectGraphicsObject(body, color);
}
class MyTriangleCollector2 : public btTriangleCallback
{
public:
btAlignedObjectArray<GLInstanceVertex>* m_pVerticesOut;
btAlignedObjectArray<int>* m_pIndicesOut;
MyTriangleCollector2()
{
m_pVerticesOut = 0;
m_pIndicesOut = 0;
}
virtual void processTriangle(btVector3* tris, int partId, int triangleIndex)
{
for (int k = 0; k < 3; k++)
{
GLInstanceVertex v;
v.xyzw[3] = 0;
v.uv[0] = v.uv[1] = 0.5f;
btVector3 normal = (tris[0] - tris[1]).cross(tris[0] - tris[2]);
normal.safeNormalize();
for (int l = 0; l < 3; l++)
{
v.xyzw[l] = tris[k][l];
v.normal[l] = normal[l];
}
m_pIndicesOut->push_back(m_pVerticesOut->size());
m_pVerticesOut->push_back(v);
}
}
};
void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color)
{
if (body->getUserIndex() < 0)
@@ -409,6 +441,30 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
//if (collisionShape->getShapeType()==BOX_SHAPE_PROXYTYPE)
{
}
if (collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
{
const btHeightfieldTerrainShape* heightField = static_cast<const btHeightfieldTerrainShape*>(collisionShape);
MyTriangleCollector2 col;
col.m_pVerticesOut = &gfxVertices;
col.m_pIndicesOut = &indices;
btVector3 aabbMin, aabbMax;
for (int k = 0; k < 3; k++)
{
aabbMin[k] = -BT_LARGE_FLOAT;
aabbMax[k] = BT_LARGE_FLOAT;
}
heightField->processAllTriangles(&col, aabbMin, aabbMax);
if (gfxVertices.size() && indices.size())
{
int shapeId = m_data->m_glApp->m_renderer->registerShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size());
collisionShape->setUserIndex(shapeId);
}
return;
}
if (collisionShape->getShapeType() == SOFTBODY_SHAPE_PROXYTYPE)
{
computeSoftBodyVertices(collisionShape, gfxVertices, indices);

1
examples/ExampleBrowser/premake4.lua
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@@ -169,6 +169,7 @@ project "App_BulletExampleBrowser"
"../Collision/Internal/*",
"../Benchmarks/*",
"../MultiThreadedDemo/*",
"../Heightfield/HeightfieldExample.*",
"../CommonInterfaces/*.h",
"../ForkLift/ForkLiftDemo.*",
"../Importers/**",

1116
examples/Heightfield/HeightfieldExample.cpp Normal file
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21
examples/Heightfield/HeightfieldExample.h Normal file
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@@ -0,0 +1,21 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef HEIGHTFIELD_EXAMPLE_H
#define HEIGHTFIELD_EXAMPLE_H
class CommonExampleInterface* HeightfieldExampleCreateFunc(struct CommonExampleOptions& options);
#endif //HEIGHTFIELD_EXAMPLE_H