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Fixes for FPU exceptions, thanks to Phil Knight for reporting and John McCutchan for fix/workarounds.

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Added new cluster collision methods for soft bodies, thanks to Nathanael Presson.
Enable/disable textures/shadows for specific demos.
This commit is contained in:
erwin.coumans
2008-08-01 01:04:45 +00:00
parent af4520801b
commit 4894f24c9a
31 changed files with 169 additions and 59 deletions
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5
Demos/OpenGL/DebugCastResult.h
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@@ -70,12 +70,15 @@ struct btDebugCastResult : public btConvexCast::CastResult
virtual void DebugDraw(btScalar fraction)
{
btVector3 worldBoundsMin(-1000,-1000,-1000);
btVector3 worldBoundsMax(1000,1000,1000);
btScalar m[16];
btTransform hitTrans;
btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug);
m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug,worldBoundsMin,worldBoundsMax);
}
};

13
Demos/OpenGL/DemoApplication.cpp
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@@ -78,6 +78,9 @@ m_shootBoxShape(0),
#ifndef BT_NO_PROFILE
m_profileIterator = CProfileManager::Get_Iterator();
#endif //BT_NO_PROFILE
m_shapeDrawer.enableTexture(true);
m_enableshadows = false;
}
@@ -957,11 +960,15 @@ for(int i=0;i<numObjects;i++)
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
btVector3 aabbMin,aabbMax;
m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
switch(pass)
{
case 0: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());break;
case 1: m_shapeDrawer.drawShadow(m,m_sundirection*rot,colObj->getCollisionShape());break;
case 2: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0);break;
case 0: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
case 1: m_shapeDrawer.drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
case 2: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0,aabbMin,aabbMax);break;
}
}
}

33
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -360,7 +360,7 @@ GL_ShapeDrawer::ShapeCache* GL_ShapeDrawer::cache(btConvexShape* shape)
return(sc);
}
void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode)
void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{
@@ -378,7 +378,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
{0,0,scalingFactor,0},
{0,0,0,1}};
drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode);
drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
}
glPopMatrix();
return;
@@ -393,7 +393,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
const btCollisionShape* colShape = compoundShape->getChildShape(i);
btScalar childMat[16];
childTrans.getOpenGLMatrix(childMat);
drawOpenGL(childMat,colShape,color,debugMode);
drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
}
} else
@@ -447,9 +447,12 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
{
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,m_texturehandle);
} else
{
glDisable(GL_TEXTURE_2D);
}
glColor3f(color.x(),color.y(), color.z());
bool useWireframeFallback = true;
@@ -692,17 +695,11 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
//todo pass camera, for some culling
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
GlDrawcallback drawCallback;
drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
}
#endif
@@ -749,7 +746,7 @@ if(m_textureenabled) glDisable(GL_TEXTURE_2D);
}
//
void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape)
void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{
glPushMatrix();
btglMultMatrix(m);
@@ -762,7 +759,7 @@ void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
{0,scalingFactor,0,0},
{0,0,scalingFactor,0},
{0,0,0,1}};
drawShadow((btScalar*)tmpScaling,extrusion,convexShape);
drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax);
glPopMatrix();
return;
}
@@ -775,7 +772,7 @@ void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
const btCollisionShape* colShape = compoundShape->getChildShape(i);
btScalar childMat[16];
childTrans.getOpenGLMatrix(childMat);
drawShadow(childMat,extrusion*childTrans.getBasis(),colShape);
drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax);
}
}
else
@@ -812,17 +809,11 @@ void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const bt
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
//todo pass camera, for some culling
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
GlDrawcallback drawCallback;
drawCallback.m_wireframe = false;
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
}
glPopMatrix();

4
Demos/OpenGL/GL_ShapeDrawer.h
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@@ -47,8 +47,8 @@ class GL_ShapeDrawer
virtual ~GL_ShapeDrawer();
///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode);
void drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape);
void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
void drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
bool enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); }