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x() -> x or getX() or [0]

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y() -> y or getY() or [1]
z() -> z or getZ() or [2]
w() -> w or getW() or [3]

make sphere-convex and sphere-compound collision work (still issues remaining)
This commit is contained in:
erwin coumans
2013-04-03 18:27:36 -07:00
parent 8cee2e9b23
commit 4a93c2e704
23 changed files with 692 additions and 315 deletions
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6
demo/gpudemo/GpuDemo.h
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@@ -38,9 +38,9 @@ public:
:useOpenCL(true),
preferredOpenCLPlatformIndex(-1),
preferredOpenCLDeviceIndex(-1),
arraySizeX(25),
arraySizeY(23),
arraySizeZ(23),
arraySizeX(15),
arraySizeY(15),
arraySizeZ(15),
m_useConcaveMesh(false),
gapX(14.3),
gapY(14.0),

11
demo/gpudemo/main_opengl3core.cpp
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@@ -65,11 +65,16 @@ btAlignedObjectArray<const char*> demoNames;
int selectedDemo = 0;
GpuDemo::CreateFunc* allDemos[]=
{
GpuSphereScene::MyCreateFunc,
GpuCompoundScene::MyCreateFunc,
GpuConvexScene::MyCreateFunc,
ConcaveScene::MyCreateFunc,
GpuCompoundScene::MyCreateFunc,
PairBench::MyCreateFunc,
@@ -363,10 +368,14 @@ void DumpSimulationTime(FILE* f)
///extern const char* g_deviceName;
const char* g_deviceName = "blaat";
extern bool useNewBatchingKernel;
#include "BulletCommon/btVector3.h"
int main(int argc, char* argv[])
{
btVector3 test(1,2,3);
test.x = 1;
test.y = 4;
printf("main start");

87
demo/gpudemo/rigidbody/GpuCompoundScene.cpp
View File

@@ -32,21 +32,91 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
btAlignedObjectArray<int> indexArray;
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
int index=10;
int index=0;
float scaling[4] = {1,1,1,1};
int colIndex = 0;
{
if (1)
{
float radius = 41;
int prevGraphicsShapeIndex = -1;
{
if (radius>=100)
{
int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices);
} else
{
bool usePointSprites = false;
if (usePointSprites)
{
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,BT_GL_POINTS);
} else
{
if (radius>=10)
{
int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices);
} else
{
int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
int numIndices = sizeof(low_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices);
}
}
}
}
btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
int curColor = 1;
//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int colIndex = m_data->m_np->registerSphereShape(radius);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
float mass = 0.f;
//btVector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
btVector3 position(0,-41,0);
btQuaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
index++;
}
}
GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
int stride2 = sizeof(GLInstanceVertex);
btAssert(stride2 == strideInBytes);
{
int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector3 childPositions[3] = {
btVector3(0,-2,0),
@@ -54,6 +124,7 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
btVector3(0,2,0)
};
btAlignedObjectArray<btGpuChildShape> childShapes;
int numChildShapes = 3;
for (int i=0;i<numChildShapes;i++)
@@ -93,9 +164,10 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
}
colIndex= m_data->m_np->registerCompoundShape(&childShapes);
}
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0],vertexArray.size(),&indexArray[0],indexArray.size());
btVector4 colors[4] =
@@ -113,10 +185,11 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
float mass = j==0? 0.f : 1.f;
float mass = 1;//j==0? 0.f : 1.f;
btVector3 position(i*ci.gapX,j*ci.gapY,k*ci.gapZ);
btQuaternion orn(1,0,0,0);
btVector3 position(i*ci.gapX,10+j*ci.gapY,k*ci.gapZ);
//btQuaternion orn(0,0,0,1);
btQuaternion orn(btVector3(1,0,0),0.7);
btVector4 color = colors[curColor];
curColor++;

124
demo/gpudemo/rigidbody/GpuSphereScene.cpp
View File

@@ -32,36 +32,87 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
int mask=1;
int index=0;
if (1)
{
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
btVector4 scaling(120,2,120,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector3 normal(0,-1,0);
float constant=2;
//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector4 position(0,50,0,0);
//btQuaternion orn(0,0,0,1);
btQuaternion orn(btVector3(1,0,0),0.3);
btVector4 color(0,0,1,1);
if (0)
{
float radius = 40;
int prevGraphicsShapeIndex = -1;
{
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index);
if (1)//radius>=100)
{
int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices);
} else
{
bool usePointSprites = false;
if (usePointSprites)
{
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,BT_GL_POINTS);
} else
{
if (radius>=10)
{
int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices);
} else
{
int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
int numIndices = sizeof(low_sphere_indices)/sizeof(int);
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices);
}
}
}
}
btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
int curColor = 0;
//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int colIndex = m_data->m_np->registerSphereShape(radius);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
float mass = 0.f;
//btVector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
btVector3 position(0,-40,0);
btQuaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(radius,radius,radius,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
index++;
}
{
int prevGraphicsShapeIndex = -1;
float radius = 1;
if (radius>=100)
float radius = 41;
if (1)//radius>=100)
{
int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
@@ -119,10 +170,10 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
float mass = 1.f;
float mass = 0.f;
//btVector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
btVector3 position(i*radius*3,j*radius*3,k*radius*3);
btVector3 position((j&1)+i*142.2,-51+j*142.,(j&1)+k*142.2);
//btVector3 position(0,-41,0);//0,0,0);//i*radius*3,-41+j*radius*3,k*radius*3);
btQuaternion orn(0,0,0,1);
@@ -138,10 +189,39 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
}
}
}
if (1)
{
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
btVector4 scaling(0.5,0.5,0.5,1);//1,1,1,1);//0.1,0.1,0.1,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector3 normal(0,-1,0);
float constant=2;
for (int j=-10;j<10;j++)
for (int i=-10;i<10;i++)
for (int k=0;k<30;k++)
//int i=0;int j=0;
{
//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector4 position(2*i,k*2,2*j+8,0);
//btQuaternion orn(0,0,0,1);
btQuaternion orn(btVector3(1,0,0),0.3);
btVector4 color(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,index);
index++;
}
}
float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(150);
m_instancingRenderer->setCameraDistance(30);
char msg[1024];