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Added a refit to the quantized stackless tree, with updated ConcaveDemo.

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This commit is contained in:
ejcoumans
2007-03-21 02:45:43 +00:00
parent b39ee3f723
commit 4685f6acc8
6 changed files with 215 additions and 65 deletions
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73
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -23,12 +23,14 @@ subject to the following restrictions:
GLDebugDrawer debugDrawer;
static const int NUM_VERTICES = 5;
static const int NUM_TRIANGLES=4;
btVector3 gVertices[NUM_VERTICES];
int gIndices[NUM_TRIANGLES*3];
const float TRIANGLE_SIZE=80.f;
btVector3* gVertices=0;
int* gIndices=0;
btBvhTriangleMeshShape* trimeshShape =0;
btRigidBody* staticBody = 0;
static float waveheight = 5.f;
const float TRIANGLE_SIZE=8.f;
@@ -100,6 +102,27 @@ int main(int argc,char** argv)
return glutmain(argc, argv,640,480,"Static Concave Mesh Demo",concaveDemo);
}
const int NUM_VERTS_X = 50;
const int NUM_VERTS_Y = 50;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
void ConcaveDemo::setVertexPositions(float waveheight, float offset)
{
int i;
int j;
for ( i=0;i<NUM_VERTS_X;i++)
{
for (j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
}
void ConcaveDemo::initPhysics()
{
#define TRISIZE 10.f
@@ -107,27 +130,16 @@ void ConcaveDemo::initPhysics()
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 50;
const int NUM_VERTS_Y = 50;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
btVector3* gVertices = new btVector3[totalVerts];
int* gIndices = new int[totalTriangles*3];
gVertices = new btVector3[totalVerts];
gIndices = new int[totalTriangles*3];
int i;
for ( i=0;i<NUM_VERTS_X;i++)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
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);
}
}
setVertexPositions(waveheight,0.f);
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
@@ -150,8 +162,7 @@ void ConcaveDemo::initPhysics()
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
@@ -168,7 +179,7 @@ void ConcaveDemo::initPhysics()
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,trimeshShape);
staticBody = localCreateRigidBody(mass, startTransform,trimeshShape);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);
@@ -179,7 +190,7 @@ void ConcaveDemo::initPhysics()
for (int i=0;i<10;i++)
{
btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));
startTransform.setOrigin(btVector3(2*i,1,1));
startTransform.setOrigin(btVector3(2*i,10,1));
localCreateRigidBody(1, startTransform,boxShape);
}
}
@@ -192,6 +203,20 @@ void ConcaveDemo::clientMoveAndDisplay()
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
static float offset=0.f;
offset+=0.01f;
setVertexPositions(waveheight,offset);
trimeshShape->refitTree();
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->cleanProxyFromPairs(staticBody->getBroadphaseHandle());
m_dynamicsWorld->stepSimulation(dt);
renderme();