https://github.com/bulletphysics/bullet3/pull/618 by Mobeen

Summary of changes: 1) Changed include paths to be relative to the current sources (affected files: LoadMeshFromObj.cpp, Wavefront2GLInstanceGraphicsShape.h/cpp) 2) Added new tutorials in the ExtendedTutorials folder 3) Modified the main_opengl_single_example.cpp file to enable picking support in standalone demos
2016-05-06 15:07:54 -07:00
parent 85368973a1
commit 5151519b94
18 changed files with 1206 additions and 8 deletions
--- a/examples/ExtendedTutorials/RigidBodyFromObj.cpp
+++ b/examples/ExtendedTutorials/RigidBodyFromObj.cpp
@@ -0,0 +1,159 @@
+/*
+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.
+*/
+
+
+
+#include "RigidBodyFromObj.h"
+
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h" 
+#include "../CommonInterfaces/CommonRigidBodyBase.h"
+
+#include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
+
+
+struct RigidBodyFromObjExample : public CommonRigidBodyBase
+{
+    int m_options;
+    
+	RigidBodyFromObjExample(struct GUIHelperInterface* helper, int options)
+		:CommonRigidBodyBase(helper),
+		m_options(options)
+	{
+	}
+	virtual ~RigidBodyFromObjExample(){}
+	virtual void initPhysics();
+	virtual void renderScene();
+	void resetCamera()
+	{
+		float dist = 41;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0.46,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+};
+
+void RigidBodyFromObjExample::initPhysics()
+{
+	m_guiHelper->setUpAxis(1);
+
+	createEmptyDynamicsWorld();
+	
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+
+	//if (m_dynamicsWorld->getDebugDrawer())
+	//	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
+
+	///create a few basic rigid bodies
+	btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+	m_collisionShapes.push_back(groundShape);
+
+	btTransform groundTransform;
+	groundTransform.setIdentity();
+	groundTransform.setOrigin(btVector3(0,-50,0)); 
+	{
+		btScalar mass(0.);
+		createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
+	}
+
+	//load our obj mesh
+	const char* fileName = "teddy.obj";//sphere8.obj";//sponza_closed.obj";//sphere8.obj";
+    char relativeFileName[1024];
+    if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
+    {
+		char pathPrefix[1024];
+		b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
+	}
+	
+	GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, "");
+	printf("[INFO] Obj loaded: Extracted %d verticed from obj file [%s]\n", glmesh->m_numvertices, fileName);
+
+	const GLInstanceVertex& v = glmesh->m_vertices->at(0);
+	btConvexHullShape* shape = new btConvexHullShape((const btScalar*)(&(v.xyzw[0])), glmesh->m_numvertices, sizeof(GLInstanceVertex));
+	
+	shape->setLocalScaling(btVector3(0.1,0.1,0.1));
+	    
+    if (m_options & OptimizeConvexObj)
+    {
+        shape->optimizeConvexHull();
+    }
+
+    if (m_options & ComputePolyhedralFeatures)
+    {
+        shape->initializePolyhedralFeatures();    
+    }
+	
+	
+	
+	//shape->setMargin(0.001);
+	m_collisionShapes.push_back(shape);
+
+	btTransform startTransform;
+	startTransform.setIdentity();
+
+	btScalar	mass(1.f);
+	bool isDynamic = (mass != 0.f);
+	btVector3 localInertia(0,0,0);
+	if (isDynamic)
+		shape->calculateLocalInertia(mass,localInertia);
+
+	btVector3 position(0,20,0);
+	startTransform.setOrigin(position);
+	btRigidBody* body = createRigidBody(mass,startTransform,shape);	
+	 
+	btVector3 color(1,1,1);
+	btVector3 scaling(0.1,0.1,0.1);
+	bool useObjForRendering = ((m_options & ObjUseConvexHullForRendering)!=0);
+    
+	    
+	if (useObjForRendering)
+    {
+        int shapeId = m_guiHelper->getRenderInterface()->registerShape(&glmesh->m_vertices->at(0).xyzw[0], 
+                                                                        glmesh->m_numvertices, 
+                                                                        &glmesh->m_indices->at(0), 
+                                                                        glmesh->m_numIndices,
+                                                                    B3_GL_TRIANGLES,-1);
+        shape->setUserIndex(shapeId);
+        int renderInstance = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,startTransform.getRotation(),color,scaling);
+        body->setUserIndex(renderInstance);
+    }
+    
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void RigidBodyFromObjExample::renderScene()
+{
+	CommonRigidBodyBase::renderScene();	
+}
+
+
+
+
+
+
+
+CommonExampleInterface*    ET_RigidBodyFromObjCreateFunc(CommonExampleOptions& options)
+{
+	return new RigidBodyFromObjExample(options.m_guiHelper,options.m_option);
+}
+
+
+