fix crash in BasicDemo
add small experiments to distribute points on a sphere prepare for coordinate frame demo (incomplete) fix/hack around gwen update of scroll bars and Focu
This commit is contained in:
erwin coumans
345
Demos3/Geometry/SphereCreation.h
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345
Demos3/Geometry/SphereCreation.h
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#ifndef SPHERE_CREATION_H
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#define SPHERE_CREATION_H
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#include "Bullet3AppSupport/BulletDemoInterface.h"
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#include "OpenGLWindow/CommonGraphicsApp.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
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class SphereCreation : public BulletDemoInterface
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{
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CommonGraphicsApp* m_app;
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float m_x;
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float m_y;
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btAlignedObjectArray<btVector3> m_vertices;
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btConvexHullShape* m_convexHull;
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public:
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SphereCreation(CommonGraphicsApp* app)
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:m_app(app),
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m_x(0),
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m_y(0)
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{
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m_app->setUpAxis(1);
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m_app->m_renderer->writeTransforms();
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}
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virtual ~SphereCreation()
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{
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}
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static BulletDemoInterface* CreateFunc(CommonGraphicsApp* app)
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{
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return new SphereCreation(app);
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}
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inline btScalar randRange(btScalar minRange, btScalar maxRange)
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{
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return (rand() / (btScalar(RAND_MAX) + btScalar(1.0))) * (maxRange - minRange) + minRange;
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}
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virtual void initPhysics()
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{
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srand(0);
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//create random vertices
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int numVerts = 256;
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for (int i=0;i<numVerts;i++)
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{
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btVector3 v(randRange(-1,1),randRange(-1,1),randRange(-1,1));
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v.safeNormalize();
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m_vertices.push_back(v);
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}
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for (int i=0;i<1;i++)
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{
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distributeVerticesOnSphere(5,0.2);
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}
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m_convexHull = new btConvexHullShape(&m_vertices[0].x(),m_vertices.size(),sizeof(btVector3));
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m_convexHull->initializePolyhedralFeatures();
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}
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virtual void exitPhysics()
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{
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//dump vertices
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printf("indices:\n");
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const btConvexPolyhedron* poly = m_convexHull->getConvexPolyhedron();
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for (int i=0;i<poly->m_vertices.size();i++)
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{
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printf("%f,%f,%f,%f,%f,%f,%f,%f,%f,\n",poly->m_vertices[i].x(),
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poly->m_vertices[i].y(),
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poly->m_vertices[i].z(),
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1.f,
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poly->m_vertices[i].x(),
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poly->m_vertices[i].y(),
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poly->m_vertices[i].z(),
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0.5f,0.5f);
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}
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for (int p=0;p<poly->m_faces.size();p++)
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{
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for (int f=2;f<poly->m_faces[p].m_indices.size();f++)
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{
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int index0=poly->m_faces[p].m_indices[f-2];
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int index1=poly->m_faces[p].m_indices[f-1];
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int index2=poly->m_faces[p].m_indices[f];
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printf("%d,%d,%d,\n",index0,index1,index2);
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}
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}
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}
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void distributeVerticesOnSphere(int iterations,btScalar relaxation)
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{
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btScalar previousAverage=0;
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btScalar averageDist = 0;
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btScalar previousAverageError = 0.0f;
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btScalar maxError = -1e30f;
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btScalar averageError = 0.f;
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///bring closest the closest neighbor of each vertex closer to the 'average' neighbor distance
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for (int i=0;i<iterations;i++)
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{
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maxError = -1e30f;
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averageDist = 0.f;
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averageError = 0.f;
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int numActualVerts = 0;
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for (int v=0;v<m_vertices.size();v++)
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{
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btScalar minDist = 1e30f;
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int closestOther = -1;
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//find closest vertex
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for (int w=0;w<m_vertices.size();w++)
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{
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if (w!=v)
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{
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numActualVerts++;
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btVector3 vec = m_vertices[w]-m_vertices[v];
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btScalar d = vec.length();
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if (d<minDist)
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{
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minDist = d;
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closestOther = w;
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}
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}
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}
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btScalar errorDist = previousAverage-minDist;
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if (maxError < errorDist)
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{
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maxError = errorDist;
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}
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averageDist+=minDist;
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if (closestOther>=0)
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{
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btVector3 vec = m_vertices[closestOther]-m_vertices[v];
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vec.safeNormalize();
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if (previousAverage)
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{
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averageError+=btFabs(errorDist);
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m_vertices[v] -= vec*previousAverageError*relaxation;
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m_vertices[closestOther] += vec*previousAverageError*relaxation;
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m_vertices[v].normalize();
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m_vertices[closestOther].normalize();
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}
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}
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}
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averageDist /= btScalar(m_vertices.size());
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averageError /= btScalar(m_vertices.size());
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previousAverageError = averageError;
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previousAverage = averageDist;
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}
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char msg[1024];
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btScalar targetDist = 2.0f*sqrtf(4.0f/(btScalar)m_vertices.size());
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sprintf(msg,"averageDist = %f, previousAverageError = %f, maxError = %f, target = %f\n",averageDist,previousAverageError,maxError,targetDist);
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b3Printf(msg);
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}
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virtual void stepSimulation(float deltaTime)
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{
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m_x+=0.01f;
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m_y+=0.02f;
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//bringVerticesTogether();
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}
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virtual void renderScene()
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{
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m_app->m_renderer->renderScene();
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}
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virtual void physicsDebugDraw()
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{
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int lineWidth = 1;
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int pointSize = 2;
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distributeVerticesOnSphere(12,0.2f);
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delete m_convexHull;
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m_convexHull = new btConvexHullShape(&m_vertices[0].x(),m_vertices.size(),sizeof(btVector3));
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m_convexHull->initializePolyhedralFeatures();
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const btConvexPolyhedron* poly = m_convexHull->getConvexPolyhedron();
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if (m_vertices.size() != poly->m_vertices.size())
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{
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printf("Warning: m_vertices.size()=%d and poly->m_vertices.size()=%d\n", m_vertices.size(),
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poly->m_vertices.size());
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return;
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} else
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{
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for (int i=0;i<m_vertices.size();i++)
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{
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m_vertices[i] = poly->m_vertices[i];
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}
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}
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btScalar maxEdgeLength = -1e30f;
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btScalar averageEdgeLength=0.f;
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btScalar numLengts = 0;
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for (int p=0;p<poly->m_faces.size();p++)
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{
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for (int f=2;f<poly->m_faces[p].m_indices.size();f++)
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{
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btVector4 color0(0,0,1,1);
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btVector4 color1(0,0,1,1);
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btVector4 color2(0,0,1,1);
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int index0=poly->m_faces[p].m_indices[f-2];
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int index1=poly->m_faces[p].m_indices[f-1];
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int index2=poly->m_faces[p].m_indices[f];
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btVector3 v0 = poly->m_vertices[index0];
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btVector3 v1 = poly->m_vertices[index1];
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btVector3 v2 = poly->m_vertices[index2];
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btVector3 e0 = v1-v0;
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btVector3 e1 = v2-v1;
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btVector3 e2 = v0-v2;
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btScalar e0Length = e0.length();
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btScalar e1Length = e1.length();
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btScalar e2Length = e2.length();
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averageEdgeLength+= e0Length;
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averageEdgeLength+= e1Length;
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averageEdgeLength+= e2Length;
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numLengts+=3.f;
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}
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}
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averageEdgeLength/=numLengts;
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for (int p=0;p<poly->m_faces.size();p++)
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{
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for (int f=2;f<poly->m_faces[p].m_indices.size();f++)
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{
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btVector4 color0(0,0,1,1);
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btVector4 color1(0,0,1,1);
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btVector4 color2(0,0,1,1);
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int index0=poly->m_faces[p].m_indices[f-2];
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int index1=poly->m_faces[p].m_indices[f-1];
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int index2=poly->m_faces[p].m_indices[f];
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btVector3 v0 = m_vertices[index0];
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btVector3 v1 = m_vertices[index1];
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btVector3 v2 = m_vertices[index2];
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btVector3 e0 = v1-v0;
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btVector3 e1 = v2-v1;
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btVector3 e2 = v0-v2;
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btScalar e0Length = e0.length();
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btScalar e1Length = e1.length();
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btScalar e2Length = e2.length();
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btScalar scaling = -0.01;//-0.01f;//0;//-0.02f;
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if (e0Length>maxEdgeLength)
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maxEdgeLength = e0Length;
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{
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btScalar errorLength = averageEdgeLength-e0Length;
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m_vertices[index0] += e0.normalized()*errorLength*scaling;
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m_vertices[index1] -= e0.normalized()*errorLength*scaling;
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m_vertices[index0].normalize();
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m_vertices[index1].normalize();
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color0.setValue(1,0,0,1);
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//shift vertices
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}
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if (e1Length>maxEdgeLength)
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maxEdgeLength = e1Length;
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{
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btScalar errorLength = averageEdgeLength-e1Length;
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m_vertices[index1] += e1.normalized()*errorLength*scaling;
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m_vertices[index2] -= e1.normalized()*errorLength*scaling;
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m_vertices[index1].normalize();
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m_vertices[index2].normalize();
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color1.setValue(1,0,0,1);
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}
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if (e2Length>maxEdgeLength)
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maxEdgeLength = e2Length;
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{
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btScalar errorLength = averageEdgeLength-e2Length;
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m_vertices[index2] += e2.normalized()*errorLength*scaling;
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m_vertices[index0] -= e2.normalized()*errorLength*scaling;
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color2.setValue(1,0,0,1);
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m_vertices[index2].normalize();
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m_vertices[index0].normalize();
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}
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}
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}
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for (int p=0;p<poly->m_faces.size();p++)
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{
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for (int f=2;f<poly->m_faces[p].m_indices.size();f++)
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{
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btVector4 color0(0,0,1,1);
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btVector4 color1(0,0,1,1);
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btVector4 color2(0,0,1,1);
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int index0=poly->m_faces[p].m_indices[f-2];
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int index1=poly->m_faces[p].m_indices[f-1];
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int index2=poly->m_faces[p].m_indices[f];
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btVector3 v0 = m_vertices[index0];
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btVector3 v1 = m_vertices[index1];
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btVector3 v2 = m_vertices[index2];
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m_app->m_renderer->drawLine(&v0.x(),
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&v1.x(),
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color0,lineWidth);
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m_app->m_renderer->drawLine(&v1.x(),
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&v2.x(),
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color1,lineWidth);
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m_app->m_renderer->drawLine(&v2.x(),
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&v0.x(),
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color2,lineWidth);
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}
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//printf("maxEdgeLength=%f\n",maxEdgeLength);
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}
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for (int i=0;i<m_vertices.size();i++)
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{
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btVector4 color(1,0,0,1);
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m_app->m_renderer->drawPoint(m_vertices[i],color,pointSize);
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}
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}
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virtual bool mouseMoveCallback(float x,float y)
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{
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return false;
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return false;
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}
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virtual bool keyboardCallback(int key, int state)
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{
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return false;
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}
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};
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#endif //SPHERE_CREATION_H
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