Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

render the tetrahedral mesh (no mesh normals)

Browse Source
This commit is contained in:
Erwin Coumans
2014-10-31 15:24:07 -07:00
parent eac8b32782
commit 65225575ed
4 changed files with 118 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files

149
Demos3/FiniteElementMethod/FiniteElementDemo.cpp
View File

@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "FiniteElementDemo.h"
#include "OpenGLWindow/CommonRenderInterface.h"
#include "LinearMath/btQuaternion.h"
//#include "OpenGLWindow/ShapeData.h"
#include "MyFemMesh.h"
#include <OpenTissue/core/math/math_basic_types.h>
@@ -58,7 +59,8 @@ struct FiniteElementDemoInternalData
real_type m_c_creep;// = .20; //--- controls how fast the plasticity effect occurs (it is a rate-like control).
real_type m_c_max;// = 0.2; //--- This is maximum allowed plasticity strain (works as a maximum).
double m_damp;
int m_tetrahedralMeshRenderIndex;
FiniteElementDemoInternalData()
{
m_stiffness_warp_on= true;
@@ -75,6 +77,7 @@ struct FiniteElementDemoInternalData
m_c_creep = 0;//0.20;//.20; //--- controls how fast the plasticity effect occurs (it is a rate-like control).
m_c_max = 1e30f;//0.2; //--- This is maximum allowed plasticity strain (works as a maximum).
m_damp=0.2f;
m_tetrahedralMeshRenderIndex=-1;
}
};
@@ -87,13 +90,23 @@ m_z(0)
{
m_app->setUpAxis(2);
m_data = new FiniteElementDemoInternalData;
}
FiniteElementDemo::~FiniteElementDemo()
{
delete m_data;
m_app->m_renderer->enableBlend(false);
m_app->m_renderer->removeAllInstances();
}
struct MyTetVertex
{
float x,y,z,w;
float nx,ny,nz;
float u,v;
};
void FiniteElementDemo::initPhysics()
{
{
@@ -130,9 +143,68 @@ void FiniteElementDemo::initPhysics()
m_app->m_parameterInterface->registerSliderFloatParameter(slider);
}
{
int strideInBytes = 9*sizeof(float);
int numVertices =m_data->m_mesh1.m_nodes.size();
btAlignedObjectArray<MyTetVertex> verts;
verts.resize(numVertices);
for (int n=0;n<m_data->m_mesh1.m_nodes.size();n++)
{
verts[n].x = m_data->m_mesh1.m_nodes[n].m_coord(0);
verts[n].y = m_data->m_mesh1.m_nodes[n].m_coord(1);
verts[n].z = m_data->m_mesh1.m_nodes[n].m_coord(2);
verts[n].w = 1;
verts[n].nx = 0;
verts[n].ny = 1;
verts[n].nz = 0;
verts[n].u = 0.5;
verts[n].v = 0.4;
}
btAlignedObjectArray<int> indices;
for (int t=0;t<m_data->m_mesh1.m_tetrahedra.size();t++)
{
int index0 =m_data->m_mesh1.m_tetrahedra[t].m_nodes[0];
int index1 =m_data->m_mesh1.m_tetrahedra[t].m_nodes[1];
int index2 =m_data->m_mesh1.m_tetrahedra[t].m_nodes[2];
int index3 =m_data->m_mesh1.m_tetrahedra[t].m_nodes[3];
indices.push_back(index0); indices.push_back(index1); indices.push_back(index2);
indices.push_back(index2); indices.push_back(index1); indices.push_back(index3);
indices.push_back(index1); indices.push_back(index0); indices.push_back(index3);
indices.push_back(index0); indices.push_back(index2); indices.push_back(index3);
}
m_data->m_tetrahedralMeshRenderIndex = m_app->m_renderer->registerShape(&verts[0].x,verts.size(),&indices[0],indices.size());
float pos[4] = {0,0,0,1};
float orn[4] = {0,0,0,1};
float color[4] = {0,1,1,1};
float scaling[4] = {1,1,1,1};
m_app->m_renderer->registerGraphicsInstance(m_data->m_tetrahedralMeshRenderIndex,pos,orn,color,scaling);
}
{
//ground shape
btVector3 cubeHalfExtents(10,10,10);
cubeHalfExtents[m_app->getUpAxis()] = 0.01;
int cubeIn = m_app->registerCubeShape(cubeHalfExtents[0],cubeHalfExtents[1],cubeHalfExtents[2]);
float pos[4] = {0,0,0,1};
pos[m_app->getUpAxis()]=-0.02;
float orn[4] = {0,0,0,1};
float color[4] = {0,1,1,1};
float scaling[4] = {1,1,1,1};
m_app->m_renderer->registerGraphicsInstance(cubeIn,pos,orn,color,scaling);
}
m_app->m_renderer->writeTransforms();
}
void FiniteElementDemo::exitPhysics()
{
@@ -206,45 +278,48 @@ void FiniteElementDemo::stepSimulation(float deltaTime)
}
void FiniteElementDemo::renderScene()
{
{
int strideInBytes = 9*sizeof(float);
int numVertices =m_data->m_mesh1.m_nodes.size();
btAlignedObjectArray<MyTetVertex> verts;
verts.resize(numVertices);
for (int n=0;n<m_data->m_mesh1.m_nodes.size();n++)
{
verts[n].x = m_data->m_mesh1.m_nodes[n].m_coord(0);
verts[n].y = m_data->m_mesh1.m_nodes[n].m_coord(1);
verts[n].z = m_data->m_mesh1.m_nodes[n].m_coord(2);
verts[n].w = 1;
verts[n].nx = 0;
verts[n].ny = 1;
verts[n].nz = 0;
verts[n].u = 0.5;
verts[n].v = 0.4;
}
btAlignedObjectArray<int> indices;
for (int t=0;t<m_data->m_mesh1.m_tetrahedra.size();t++)
{
int index0 =m_data->m_mesh1.m_tetrahedra[t].m_nodes[0];
int index1 =m_data->m_mesh1.m_tetrahedra[t].m_nodes[1];
int index2 =m_data->m_mesh1.m_tetrahedra[t].m_nodes[2];
int index3 =m_data->m_mesh1.m_tetrahedra[t].m_nodes[3];
indices.push_back(index0); indices.push_back(index1); indices.push_back(index2);
indices.push_back(index2); indices.push_back(index1); indices.push_back(index3);
indices.push_back(index1); indices.push_back(index0); indices.push_back(index3);
indices.push_back(index0); indices.push_back(index2); indices.push_back(index3);
}
m_app->m_renderer->updateShape(m_data->m_tetrahedralMeshRenderIndex,&verts[0].x);
}
m_app->m_renderer->renderScene();
}
void FiniteElementDemo::physicsDebugDraw()
{
#if 0
btVector3 xUnit(1,0,0);
btVector3 yUnit(0,1,0);
btVector3 zUnit(0,0,1);
btScalar lineWidth=3;
btQuaternion rotAroundX(xUnit,m_x);
btQuaternion rotAroundY(yUnit,m_y);
btQuaternion rotAroundZ(zUnit,m_z);
btScalar radius=0.5;
btVector3 toX=radius*quatRotate(rotAroundX,yUnit);
btVector3 toY=radius*quatRotate(rotAroundY,xUnit);
btVector3 toZ=radius*quatRotate(rotAroundZ,xUnit);
m_app->m_renderer->drawLine(xUnit+toX+quatRotate(rotAroundX,btVector3(0,0.1,-0.2)),xUnit+toX,xUnit,lineWidth);
m_app->m_renderer->drawLine(xUnit+toX+quatRotate(rotAroundX,btVector3(0,-0.2,-0.2)),xUnit+toX,xUnit,lineWidth);
//draw the letter 'x' on the x-axis
//m_app->m_renderer->drawLine(xUnit-0.1*zUnit+0.1*yUnit,xUnit+0.1*zUnit-0.1*yUnit,xUnit,lineWidth);
//m_app->m_renderer->drawLine(xUnit+0.1*zUnit+0.1*yUnit,xUnit-0.1*zUnit-0.1*yUnit,xUnit,lineWidth);
m_app->m_renderer->drawLine(xUnit+toX+quatRotate(rotAroundX,btVector3(0,-0.2,-0.2)),xUnit+toX,xUnit,lineWidth);
m_app->m_renderer->drawLine(yUnit+toY+quatRotate(rotAroundY,btVector3(-0.2,0,0.2)),yUnit+toY,yUnit,lineWidth);
m_app->m_renderer->drawLine(yUnit+toY+quatRotate(rotAroundY,btVector3(0.1,0,0.2)),yUnit+toY,yUnit,lineWidth);
m_app->m_renderer->drawLine(zUnit+toZ+quatRotate(rotAroundZ,btVector3(0.1,-0.2,0)),zUnit+toZ,zUnit,lineWidth);
m_app->m_renderer->drawLine(zUnit+toZ+quatRotate(rotAroundZ,btVector3(-0.2,-0.2,0)),zUnit+toZ,zUnit,lineWidth);
#endif
//template <typename point_container, typename t4mesh >
//inline void DrawPointsT4Mesh( point_container const& points, t4mesh const& mesh, double const& scale = 0.95, bool wireframe = false)
{
//geometry::Tetrahedron<math::default_math_types> T; // From OpenTissue/core/geometry/geometry_tetrahederon.h
btAlignedObjectArray<btVector3FloatData> m_linePoints;
btAlignedObjectArray<unsigned int> m_lineIndices;

3
btgui/OpenGLWindow/CommonRenderInterface.h
View File

@@ -43,7 +43,8 @@ struct CommonRenderInterface
virtual void drawLine(const float from[4], const float to[4], const float color[4], float lineWidth) = 0;
virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth) = 0;
virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1)=0;
virtual void updateShape(int shapeIndex, const float* vertices)=0;
virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)=0;
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
virtual void writeTransforms()=0;

2
btgui/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -690,6 +690,8 @@ void GLInstancingRenderer::updateShape(int shapeIndex, const float* vertices)
glUnmapBuffer( GL_ARRAY_BUFFER);
}
int GLInstancingRenderer::registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
b3GraphicsInstance* gfxObj = new b3GraphicsInstance;

3
btgui/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -64,7 +64,8 @@ public:
///vertices must be in the format x,y,z, nx,ny,nz, u,v
virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1);
virtual int registerTexture(const unsigned char* texels, int width, int height);
///position x,y,z, quaternion x,y,z,w, color r,g,b,a, scaling x,y,z