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implemented sphere-convex (supports edge and corner-vertex cases)

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This commit is contained in:
erwincoumans
2013-04-02 22:09:40 -07:00
parent e38c032280
commit 5c8c8e1cbb
9 changed files with 1708 additions and 303 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(1),
arraySizeY(2),
arraySizeZ(1),
arraySizeX(25),
arraySizeY(23),
arraySizeZ(23),
m_useConcaveMesh(false),
gapX(14.3),
gapY(14.0),

33
demo/gpudemo/rigidbody/GpuSphereScene.cpp
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@@ -32,18 +32,19 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
int mask=1;
int index=0;
if (0)
if (1)
{
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
btVector4 scaling(400,0.01,400,1);
//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector3 normal(0,1,0);
float constant=0.01;
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(0,0,0,0);
btQuaternion orn(0,0,0,1);
//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);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
@@ -67,7 +68,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices);
} else
{
bool usePointSprites = false;
bool usePointSprites = true;
if (usePointSprites)
{
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
@@ -109,7 +110,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
int curColor = 0;
float scaling[4] = {1,1,1,1};
//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);
for (int i=0;i<ci.arraySizeX;i++)
@@ -119,18 +120,16 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
for (int k=0;k<ci.arraySizeZ;k++)
{
float mass = 1.f;
if (j==0)
mass=0.f;
//btVector3 position((j&1)+i*2.2,2+j*2.,(j&1)+k*2.2);
btVector3 position(i*2.2,2+j*4.,k*2.2);
//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);
btQuaternion orn(0,0,0,1);
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(1,1,1,1);
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);
@@ -142,7 +141,7 @@ void GpuSphereScene::setupScene(const ConstructionInfo& ci)
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(20);
m_instancingRenderer->setCameraDistance(150);
char msg[1024];