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Remove unused ROS urdf (was replaced by Bullet UrdfParser.

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Small refactoring for ExampleBrowser: move examples cpp files in the app/executable
Move ExtendedTutorials in its own app/executable as a test.
This commit is contained in:
erwin coumans
2016-05-12 23:03:12 -07:00
parent 257c1425d7
commit 6a9c54c4ef
64 changed files with 1027 additions and 6101 deletions
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208
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -7,7 +7,108 @@ INCLUDE_DIRECTORIES(
FILE(GLOB GwenGUISupport_SRCS "GwenGUISupport/*" )
FILE(GLOB GwenGUISupport_HDRS "GwenGUISupport/*" )
SET(ExtendedTutorialsSources
IF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
)
ADD_DEFINITIONS(-DGLEW_STATIC)
ELSE(WIN32)
IF(APPLE)
find_library(COCOA NAMES Cocoa)
ELSE(APPLE)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
ENDIF(APPLE)
ENDIF(WIN32)
ADD_LIBRARY(BulletExampleBrowserLib
OpenGLExampleBrowser.cpp
OpenGLGuiHelper.cpp
InProcessExampleBrowser.cpp
GL_ShapeDrawer.cpp
CollisionShape2TriangleMesh.cpp
CollisionShape2TriangleMesh.h
../Utils/b3Clock.cpp
../Utils/b3Clock.h
../Utils/b3ResourcePath.cpp
../Utils/b3ResourcePath.h
${GwenGUISupport_SRCS}
${GwenGUISupport_HDRS}
)
SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
IF (WIN32)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ELSE(WIN32)
IF(APPLE)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ELSE(APPLE)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
pthread dl
)
ENDIF(APPLE)
ENDIF(WIN32)
ENDIF(BUILD_SHARED_LIBS)
####################
#
# Bullet Example Browser main app
#
####################
INCLUDE_DIRECTORIES(
.
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
)
LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
)
IF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_DEFINITIONS(-DGLEW_STATIC)
ELSE(WIN32)
IF(APPLE)
find_library(COCOA NAMES Cocoa)
MESSAGE(${COCOA})
link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
ELSE(APPLE)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
LINK_LIBRARIES( pthread dl)
ENDIF(APPLE)
ENDIF(WIN32)
SET(ExtendedTutorialsSources
../ExtendedTutorials/SimpleBox.cpp
../ExtendedTutorials/MultipleBoxes.cpp
../ExtendedTutorials/SimpleJoint.cpp
@@ -18,10 +119,14 @@ SET(ExtendedTutorialsSources
)
SET(BulletExampleBrowser_SRCS
OpenGLExampleBrowser.cpp
OpenGLGuiHelper.cpp
InProcessExampleBrowser.cpp
GL_ShapeDrawer.cpp
../TinyRenderer/Bullet2TinyRenderer.cpp
../TinyRenderer/geometry.cpp
../TinyRenderer/model.cpp
../TinyRenderer/tgaimage.cpp
../TinyRenderer/our_gl.cpp
../TinyRenderer/TinyRenderer.cpp
../RenderingExamples/TinyRendererSetup.cpp
../SharedMemory/PhysicsServer.cpp
../SharedMemory/PhysicsClientSharedMemory.cpp
../SharedMemory/PhysicsClient.cpp
@@ -181,106 +286,17 @@ SET(BulletExampleBrowser_SRCS
../ThirdPartyLibs/tinyxml/tinyxml.cpp
../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../Utils/b3Clock.cpp
../Utils/b3Clock.h
../Utils/b3ResourcePath.cpp
../Utils/b3ResourcePath.h
${GwenGUISupport_SRCS}
${GwenGUISupport_HDRS}
${ExtendedTutorialsSources}
${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
)
IF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
)
ADD_DEFINITIONS(-DGLEW_STATIC)
ELSE(WIN32)
IF(APPLE)
find_library(COCOA NAMES Cocoa)
ELSE(APPLE)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
ENDIF(APPLE)
ENDIF(WIN32)
ADD_LIBRARY(BulletExampleBrowserLib ${BulletExampleBrowser_SRCS} )
SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
IF (WIN32)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ELSE(WIN32)
IF(APPLE)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ELSE(APPLE)
TARGET_LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
BulletInverseDynamics LinearMath OpenGLWindow gwen
pthread dl
)
ENDIF(APPLE)
ENDIF(WIN32)
ENDIF(BUILD_SHARED_LIBS)
####################
#
# Bullet Example Browser main app
#
####################
INCLUDE_DIRECTORIES(
.
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
)
LINK_LIBRARIES(
BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
)
IF (WIN32)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_DEFINITIONS(-DGLEW_STATIC)
ELSE(WIN32)
IF(APPLE)
find_library(COCOA NAMES Cocoa)
MESSAGE(${COCOA})
link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
ELSE(APPLE)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_STATIC")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew )
LINK_LIBRARIES( pthread dl)
ENDIF(APPLE)
ENDIF(WIN32)
ADD_EXECUTABLE(App_ExampleBrowser
main.cpp
ExampleEntries.cpp
ExampleEntries.h
${ExtendedTutorialsSources}
${BulletExampleBrowser_SRCS}
)
FILE( MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/data" )

192
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp Normal file
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@@ -0,0 +1,192 @@
#include "CollisionShape2TriangleMesh.h"
#include "btBulletCollisionCommon.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<btVector3>& vertexPositions, btAlignedObjectArray<btVector3>& vertexNormals, btAlignedObjectArray<int>& indicesOut)
{
//todo: support all collision shape types
switch (collisionShape->getShapeType())
{
case SOFTBODY_SHAPE_PROXYTYPE:
{
//skip the soft body collision shape for now
break;
}
case STATIC_PLANE_PROXYTYPE:
{
//draw a box, oriented along the plane normal
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
btVector3 planeOrigin = planeNormal * planeConst;
btVector3 vec0,vec1;
btPlaneSpace1(planeNormal,vec0,vec1);
btScalar vecLen = 100.f;
btVector3 verts[4];
verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
int startIndex = vertexPositions.size();
indicesOut.push_back(startIndex+0);
indicesOut.push_back(startIndex+1);
indicesOut.push_back(startIndex+2);
indicesOut.push_back(startIndex+0);
indicesOut.push_back(startIndex+2);
indicesOut.push_back(startIndex+3);
btVector3 triNormal = parentTransform.getBasis()*planeNormal;
for (int i=0;i<4;i++)
{
btVector3 vtxPos;
btVector3 pos =parentTransform*verts[i];
vertexPositions.push_back(pos);
vertexNormals.push_back(triNormal);
}
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) collisionShape;
btVector3 trimeshScaling = trimesh->getLocalScaling();
btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
btAlignedObjectArray<btVector3> vertices;
btAlignedObjectArray<int> indices;
for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
{
const unsigned char *vertexbase = 0;
int numverts = 0;
PHY_ScalarType type = PHY_INTEGER;
int stride = 0;
const unsigned char *indexbase = 0;
int indexstride = 0;
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
//PHY_ScalarType indexType=0;
btVector3 triangleVerts[3];
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
btVector3 aabbMin,aabbMax;
for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
{
unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
graphicsbase[0]*trimeshScaling.getX(),
graphicsbase[1]*trimeshScaling.getY(),
graphicsbase[2]*trimeshScaling.getZ());
}
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
btScalar(graphicsbase[1]*trimeshScaling.getY()),
btScalar(graphicsbase[2]*trimeshScaling.getZ()));
}
}
indices.push_back(vertices.size());
vertices.push_back(triangleVerts[0]);
indices.push_back(vertices.size());
vertices.push_back(triangleVerts[1]);
indices.push_back(vertices.size());
vertices.push_back(triangleVerts[2]);
btVector3 triNormal = (triangleVerts[1]-triangleVerts[0]).cross(triangleVerts[2]-triangleVerts[0]);
triNormal.normalize();
for (int v=0;v<3;v++)
{
btVector3 pos =parentTransform*triangleVerts[v];
indicesOut.push_back(vertexPositions.size());
vertexPositions.push_back(pos);
vertexNormals.push_back(triNormal);
}
}
}
break;
}
default:
{
if (collisionShape->isConvex())
{
btConvexShape* convex = (btConvexShape*)collisionShape;
{
btShapeHull* hull = new btShapeHull(convex);
hull->buildHull(0.0);
{
//int strideInBytes = 9*sizeof(float);
//int numVertices = hull->numVertices();
//int numIndices =hull->numIndices();
for (int t=0;t<hull->numTriangles();t++)
{
btVector3 triNormal;
int index0 = hull->getIndexPointer()[t*3+0];
int index1 = hull->getIndexPointer()[t*3+1];
int index2 = hull->getIndexPointer()[t*3+2];
btVector3 pos0 =parentTransform*hull->getVertexPointer()[index0];
btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
triNormal = (pos1-pos0).cross(pos2-pos0);
triNormal.normalize();
for (int v=0;v<3;v++)
{
int index = hull->getIndexPointer()[t*3+v];
btVector3 pos =parentTransform*hull->getVertexPointer()[index];
indicesOut.push_back(vertexPositions.size());
vertexPositions.push_back(pos);
vertexNormals.push_back(triNormal);
}
}
}
}
} else
{
if (collisionShape->isCompound())
{
btCompoundShape* compound = (btCompoundShape*) collisionShape;
for (int i=0;i<compound->getNumChildShapes();i++)
{
btTransform childWorldTrans = parentTransform * compound->getChildTransform(i);
CollisionShape2TriangleMesh(compound->getChildShape(i),childWorldTrans,vertexPositions,vertexNormals,indicesOut);
}
} else
{
btAssert(0);
}
}
}
};
}

10
examples/ExampleBrowser/CollisionShape2TriangleMesh.h Normal file
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@@ -0,0 +1,10 @@
#ifndef COLLISION_SHAPE_2_GRAPHICS_H
#define COLLISION_SHAPE_2_GRAPHICS_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
class btCollisionShape;
void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<btVector3>& vertexPositions, btAlignedObjectArray<btVector3>& vertexNormals, btAlignedObjectArray<int>& indicesOut);
#endif //COLLISION_SHAPE_2_GRAPHICS_H

5
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -5,6 +5,8 @@
#include "../RenderingExamples/RenderInstancingDemo.h"
#include "../RenderingExamples/CoordinateSystemDemo.h"
#include "../RenderingExamples/RaytracerSetup.h"
#include "../RenderingExamples/TinyRendererSetup.h"
#include "../ForkLift/ForkLiftDemo.h"
#include "../BasicDemo/BasicExample.h"
#include "../Planar2D/Planar2D.h"
@@ -84,6 +86,7 @@ struct ExampleEntry
};
static ExampleEntry gDefaultExamples[]=
{
@@ -223,6 +226,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Raytest", "Cast rays using the btCollisionWorld::rayTest method. The example shows how to receive the hit position and normal along the ray against the first object. Also it shows how to receive all the hits along a ray.", RaytestCreateFunc),
ExampleEntry(1,"Raytracer","Implement an extremely simple ray tracer using the ray trace functionality in btCollisionWorld.",
RayTracerCreateFunc),
ExampleEntry(0,"Experiments"),
@@ -255,6 +259,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Instanced Rendering", "Simple example of fast instanced rendering, only active when using OpenGL3+.",RenderInstancingCreateFunc),
ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc),
ExampleEntry(1,"TinyRenderer", "Very small software renderer.", TinyRendererCreateFunc),
//Extended Tutorials Added by Mobeen
ExampleEntry(0,"Extended Tutorials"),

25
examples/ExampleBrowser/ExampleEntries.h
View File

@@ -6,31 +6,6 @@
class ExampleEntries
{
public:
virtual ~ExampleEntries() {}
virtual void initExampleEntries()=0;
virtual void initOpenCLExampleEntries()=0;
virtual int getNumRegisteredExamples()=0;
virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
virtual const char* getExampleName(int index)=0;
virtual const char* getExampleDescription(int index)=0;
virtual int getExampleOption(int index)=0;
};
class ExampleEntriesAll : public ExampleEntries
{

1
examples/ExampleBrowser/InProcessExampleBrowser.cpp
View File

@@ -130,7 +130,6 @@ static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntryPhysicsServer(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
};

36
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -256,6 +256,21 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
}
#include <string.h>
struct FileImporterByExtension
{
std::string m_extension;
CommonExampleInterface::CreateFunc* m_createFunc;
};
static btAlignedObjectArray<FileImporterByExtension> gFileImporterByExtension;
void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExampleInterface::CreateFunc* createFunc)
{
FileImporterByExtension fi;
fi.m_extension = extension;
fi.m_createFunc = createFunc;
gFileImporterByExtension.push_back(fi);
}
void openFileDemo(const char* filename)
{
@@ -279,20 +294,15 @@ void openFileDemo(const char* filename)
char fullPath[1024];
sprintf(fullPath, "%s", filename);
b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".urdf"))
{
sCurrentDemo = ImportURDFCreateFunc(options);
} else
{
if (strstr(fullPath, ".bullet"))
{
sCurrentDemo = SerializeBulletCreateFunc(options);
}
}
for (int i=0;i<gFileImporterByExtension.size();i++)
{
if (strstr(fullPath, gFileImporterByExtension[i].m_extension.c_str()))
{
sCurrentDemo = gFileImporterByExtension[i].m_createFunc(options);
}
}
//physicsSetup->setFileName(filename);
if (sCurrentDemo)
{

1
examples/ExampleBrowser/OpenGLExampleBrowser.h
View File

@@ -20,6 +20,7 @@ public:
virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem);
static void registerFileImporter(const char* extension, CommonExampleInterface::CreateFunc* createFunc);
};
#endif //OPENGL_BROWSER_GUI_H

251
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -5,8 +5,9 @@
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "Bullet3Common/b3Scalar.h"
#include "CollisionShape2TriangleMesh.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
//backwards compatibility
@@ -206,222 +207,6 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
}
static void createCollisionShapeGraphicsObjectInternal(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{
//todo: support all collision shape types
switch (collisionShape->getShapeType())
{
case SOFTBODY_SHAPE_PROXYTYPE:
{
//skip the soft body collision shape for now
break;
}
case STATIC_PLANE_PROXYTYPE:
{
//draw a box, oriented along the plane normal
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
btVector3 planeOrigin = planeNormal * planeConst;
btVector3 vec0,vec1;
btPlaneSpace1(planeNormal,vec0,vec1);
btScalar vecLen = 100.f;
btVector3 verts[4];
verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
int startIndex = verticesOut.size();
indicesOut.push_back(startIndex+0);
indicesOut.push_back(startIndex+1);
indicesOut.push_back(startIndex+2);
indicesOut.push_back(startIndex+0);
indicesOut.push_back(startIndex+2);
indicesOut.push_back(startIndex+3);
btVector3 triNormal = parentTransform.getBasis()*planeNormal;
for (int i=0;i<4;i++)
{
GLInstanceVertex vtx;
btVector3 pos =parentTransform*verts[i];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 0.f;
vtx.normal[0] =triNormal.x();
vtx.normal[1] =triNormal.y();
vtx.normal[2] =triNormal.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
verticesOut.push_back(vtx);
}
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) collisionShape;
btVector3 trimeshScaling = trimesh->getLocalScaling();
btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
btAlignedObjectArray<btVector3> vertices;
btAlignedObjectArray<int> indices;
for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
{
const unsigned char *vertexbase = 0;
int numverts = 0;
PHY_ScalarType type = PHY_INTEGER;
int stride = 0;
const unsigned char *indexbase = 0;
int indexstride = 0;
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
//PHY_ScalarType indexType=0;
btVector3 triangleVerts[3];
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
btVector3 aabbMin,aabbMax;
for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
{
unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
graphicsbase[0]*trimeshScaling.getX(),
graphicsbase[1]*trimeshScaling.getY(),
graphicsbase[2]*trimeshScaling.getZ());
}
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
btScalar(graphicsbase[1]*trimeshScaling.getY()),
btScalar(graphicsbase[2]*trimeshScaling.getZ()));
}
}
indices.push_back(vertices.size());
vertices.push_back(triangleVerts[0]);
indices.push_back(vertices.size());
vertices.push_back(triangleVerts[1]);
indices.push_back(vertices.size());
vertices.push_back(triangleVerts[2]);
btVector3 triNormal = (triangleVerts[1]-triangleVerts[0]).cross(triangleVerts[2]-triangleVerts[0]);
triNormal.normalize();
for (int v=0;v<3;v++)
{
GLInstanceVertex vtx;
btVector3 pos =parentTransform*triangleVerts[v];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 0.f;
vtx.normal[0] =triNormal.x();
vtx.normal[1] =triNormal.y();
vtx.normal[2] =triNormal.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
indicesOut.push_back(verticesOut.size());
verticesOut.push_back(vtx);
}
}
}
break;
}
default:
{
if (collisionShape->isConvex())
{
btConvexShape* convex = (btConvexShape*)collisionShape;
{
btShapeHull* hull = new btShapeHull(convex);
hull->buildHull(0.0);
{
//int strideInBytes = 9*sizeof(float);
//int numVertices = hull->numVertices();
//int numIndices =hull->numIndices();
for (int t=0;t<hull->numTriangles();t++)
{
btVector3 triNormal;
int index0 = hull->getIndexPointer()[t*3+0];
int index1 = hull->getIndexPointer()[t*3+1];
int index2 = hull->getIndexPointer()[t*3+2];
btVector3 pos0 =parentTransform*hull->getVertexPointer()[index0];
btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
triNormal = (pos1-pos0).cross(pos2-pos0);
triNormal.normalize();
for (int v=0;v<3;v++)
{
int index = hull->getIndexPointer()[t*3+v];
GLInstanceVertex vtx;
btVector3 pos =parentTransform*hull->getVertexPointer()[index];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 0.f;
vtx.normal[0] =triNormal.x();
vtx.normal[1] =triNormal.y();
vtx.normal[2] =triNormal.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
indicesOut.push_back(verticesOut.size());
verticesOut.push_back(vtx);
}
}
}
}
} else
{
if (collisionShape->isCompound())
{
btCompoundShape* compound = (btCompoundShape*) collisionShape;
for (int i=0;i<compound->getNumChildShapes();i++)
{
btTransform childWorldTrans = parentTransform * compound->getChildTransform(i);
createCollisionShapeGraphicsObjectInternal(compound->getChildShape(i),childWorldTrans,verticesOut,indicesOut);
}
} else
{
btAssert(0);
}
}
}
};
}
void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
@@ -429,15 +214,39 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
if (collisionShape->getUserIndex()>=0)
return;
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<GLInstanceVertex> gfxVertices;
btAlignedObjectArray<int> indices;
btTransform startTrans;startTrans.setIdentity();
createCollisionShapeGraphicsObjectInternal(collisionShape,startTrans,vertices,indices);
{
btAlignedObjectArray<btVector3> vertexPositions;
btAlignedObjectArray<btVector3> vertexNormals;
CollisionShape2TriangleMesh(collisionShape,startTrans,vertexPositions,vertexNormals,indices);
gfxVertices.resize(vertexPositions.size());
for (int i=0;i<vertexPositions.size();i++)
{
for (int j=0;j<4;j++)
{
gfxVertices[i].xyzw[j] = vertexPositions[i][j];
}
for (int j=0;j<3;j++)
{
gfxVertices[i].normal[j] = vertexNormals[i][j];
}
for (int j=0;j<2;j++)
{
gfxVertices[i].uv[j] = 0.5;//we don't have UV info...
}
}
}
if (vertices.size() && indices.size())
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size());
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
collisionShape->setUserIndex(shapeId);
}

21
examples/ExampleBrowser/main.cpp
View File

@@ -1,12 +1,5 @@
//#define EXAMPLE_CONSOLE_ONLY
#ifdef EXAMPLE_CONSOLE_ONLY
#include "EmptyBrowser.h"
typedef EmptyBrowser DefaultBrowser;
#else
#include "OpenGLExampleBrowser.h"
typedef OpenGLExampleBrowser DefaultBrowser;
#endif //EXAMPLE_CONSOLE_ONLY
#include "OpenGLExampleBrowser.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "../Utils/b3Clock.h"
@@ -14,6 +7,12 @@
#include "ExampleEntries.h"
#include "Bullet3Common/b3Logging.h"
#include "../Importers/ImportObjDemo/ImportObjExample.h"
#include "../Importers/ImportBsp/ImportBspExample.h"
#include "../Importers/ImportColladaDemo/ImportColladaSetup.h"
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
int main(int argc, char* argv[])
@@ -25,8 +24,12 @@ int main(int argc, char* argv[])
ExampleEntriesAll examples;
examples.initExampleEntries();
ExampleBrowserInterface* exampleBrowser = new DefaultBrowser(&examples);
OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
bool init = exampleBrowser->init(argc,argv);
exampleBrowser->registerFileImporter(".urdf",ImportURDFCreateFunc);
exampleBrowser->registerFileImporter(".sdf",ImportSDFCreateFunc);
exampleBrowser->registerFileImporter(".obj",ImportObjCreateFunc);
clock.reset();
if (init)
{

198
examples/ExampleBrowser/premake4.lua
View File

@@ -6,13 +6,9 @@ project "App_BulletExampleBrowser"
hasCL = findOpenCL("clew")
if (hasCL) then
-- project ("App_Bullet3_OpenCL_Demos_" .. vendor)
initOpenCL("clew")
end
if (hasCL) then
initOpenCL("clew")
end
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
initOpenGL()
@@ -39,7 +35,7 @@ project "App_BulletExampleBrowser"
}
end
if _OPTIONS["lua"] then
if _OPTIONS["lua"] then
includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
links {"lua-5.2.3"}
defines {"ENABLE_LUA"}
@@ -51,8 +47,94 @@ project "App_BulletExampleBrowser"
files {
"main.cpp",
"ExampleEntries.cpp",
"../TinyRenderer/Bullet2TinyRenderer.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../RenderingExamples/TinyRendererSetup.cpp",
"../SharedMemory/PhysicsClientC_API.cpp",
"../SharedMemory/PhysicsClientC_API.h",
"../SharedMemory/PhysicsServerExample.cpp",
"../SharedMemory/PhysicsClientExample.cpp",
"../SharedMemory/PhysicsServer.cpp",
"../SharedMemory/PhysicsServerSharedMemory.cpp",
"../SharedMemory/PhysicsClientSharedMemory.cpp",
"../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
"../SharedMemory/PhysicsClient.cpp",
"../SharedMemory/PosixSharedMemory.cpp",
"../SharedMemory/Win32SharedMemory.cpp",
"../SharedMemory/InProcessMemory.cpp",
"../SharedMemory/PhysicsDirect.cpp",
"../SharedMemory/PhysicsDirect.h",
"../SharedMemory/PhysicsDirectC_API.cpp",
"../SharedMemory/PhysicsDirectC_API.h",
"../SharedMemory/PhysicsLoopBack.cpp",
"../SharedMemory/PhysicsLoopBack.h",
"../SharedMemory/PhysicsLoopBackC_API.cpp",
"../SharedMemory/PhysicsLoopBackC_API.h",
"../SharedMemory/PhysicsServerCommandProcessor.cpp",
"../SharedMemory/PhysicsServerCommandProcessor.h",
"../MultiThreading/MultiThreadingExample.cpp",
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../InverseDynamics/InverseDynamicsExample.cpp",
"../InverseDynamics/InverseDynamicsExample.h",
"../BasicDemo/BasicExample.*",
"../Tutorial/*",
"../ExtendedTutorials/SimpleBox.cpp",
"../ExtendedTutorials/MultipleBoxes.cpp",
"../ExtendedTutorials/SimpleJoint.cpp",
"../ExtendedTutorials/SimpleCloth.cpp",
"../ExtendedTutorials/Chain.cpp",
"../ExtendedTutorials/Bridge.cpp",
"../ExtendedTutorials/RigidBodyFromObj.cpp",
"../Collision/*",
"../Collision/Internal/*",
"../Benchmarks/*",
"../CommonInterfaces/*",
"../ForkLift/ForkLiftDemo.*",
"../Importers/**",
"../../Extras/Serialize/BulletWorldImporter/*",
"../../Extras/Serialize/BulletFileLoader/*",
"../Planar2D/Planar2D.*",
"../RenderingExamples/*",
"../VoronoiFracture/*",
"../SoftDemo/*",
"../RollingFrictionDemo/*",
"../FractureDemo/*",
"../DynamicControlDemo/*",
"../Constraints/*",
"../Vehicles/*",
"../Raycast/*",
"../MultiBody/MultiDofDemo.cpp",
"../MultiBody/TestJointTorqueSetup.cpp",
"../MultiBody/Pendulum.cpp",
"../MultiBody/MultiBodySoftContact.cpp",
"../MultiBody/MultiBodyConstraintFeedback.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../RigidBody/RigidBodySoftContact.cpp",
"../ThirdPartyLibs/stb_image/*",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/tinyxml/*",
"../GyroscopicDemo/GyroscopicSetup.cpp",
"../GyroscopicDemo/GyroscopicSetup.h",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
}
if (hasCL and findOpenGL3()) then
files {
"../OpenCL/broadphase/*",
"../OpenCL/CommonOpenCL/*",
"../OpenCL/rigidbody/GpuConvexScene.cpp",
"../OpenCL/rigidbody/GpuRigidBodyDemo.cpp",
}
end
if os.is("Linux") then
initX11()
end
@@ -99,106 +181,22 @@ project "BulletExampleBrowserLib"
files {
"OpenGLExampleBrowser.cpp",
"OpenGLGuiHelper.cpp",
"InProcessExampleBrowser.cpp",
"GL_ShapeDrawer.cpp",
"OpenGLExampleBrowser.cpp",
"../Utils/b3Clock.cpp",
"*.h",
"GwenGUISupport/*.cpp",
"GwenGUISupport/*.h",
"../SharedMemory/PhysicsClientC_API.cpp",
"../SharedMemory/PhysicsClientC_API.h",
"../SharedMemory/PhysicsServerExample.cpp",
"../SharedMemory/PhysicsClientExample.cpp",
"../SharedMemory/PhysicsServer.cpp",
"../SharedMemory/PhysicsServerSharedMemory.cpp",
"../SharedMemory/PhysicsClientSharedMemory.cpp",
"../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
"../SharedMemory/PhysicsClient.cpp",
"../SharedMemory/PosixSharedMemory.cpp",
"../SharedMemory/Win32SharedMemory.cpp",
"../SharedMemory/InProcessMemory.cpp",
"../SharedMemory/PhysicsDirect.cpp",
"../SharedMemory/PhysicsDirect.h",
"../SharedMemory/PhysicsDirectC_API.cpp",
"../SharedMemory/PhysicsDirectC_API.h",
"../SharedMemory/PhysicsLoopBack.cpp",
"../SharedMemory/PhysicsLoopBack.h",
"../SharedMemory/PhysicsLoopBackC_API.cpp",
"../SharedMemory/PhysicsLoopBackC_API.h",
"../SharedMemory/PhysicsServerCommandProcessor.cpp",
"../SharedMemory/PhysicsServerCommandProcessor.h",
"../MultiThreading/MultiThreadingExample.cpp",
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../InverseDynamics/InverseDynamicsExample.cpp",
"../InverseDynamics/InverseDynamicsExample.h",
"../BasicDemo/BasicExample.*",
"../Tutorial/*",
"../ExtendedTutorials/*",
"../Collision/*",
"../Collision/Internal/*",
"../Benchmarks/*",
"../CommonInterfaces/*",
"../ForkLift/ForkLiftDemo.*",
"../Importers/**",
"../../Extras/Serialize/BulletWorldImporter/*",
"../../Extras/Serialize/BulletFileLoader/*",
"../Planar2D/Planar2D.*",
"../RenderingExamples/*",
"../VoronoiFracture/*",
"../SoftDemo/*",
"../RollingFrictionDemo/*",
"../FractureDemo/*",
"../DynamicControlDemo/*",
"../Constraints/*",
"../Vehicles/*",
"../Raycast/*",
"../MultiBody/MultiDofDemo.cpp",
"../MultiBody/TestJointTorqueSetup.cpp",
"../MultiBody/Pendulum.cpp",
"../MultiBody/MultiBodySoftContact.cpp",
"../MultiBody/MultiBodyConstraintFeedback.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../RigidBody/RigidBodySoftContact.cpp",
"../ThirdPartyLibs/stb_image/*",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/tinyxml/*",
"CollisionShape2TriangleMesh.cpp",
"CollisionShape2TriangleMesh.h",
"../Utils/b3ResourcePath.*",
"../GyroscopicDemo/GyroscopicSetup.cpp",
"../GyroscopicDemo/GyroscopicSetup.h",
"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/pose.cpp",
"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/model.cpp",
"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/link.cpp",
"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/src/joint.cpp",
"../ThirdPartyLibs/urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h",
"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h",
"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/pose.h",
"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h",
"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h",
"../ThirdPartyLibs/urdf/urdfdom_headers/urdf_model/include/urdf_model/joint.h",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/urdf/boost_replacement/lexical_cast.h",
"../ThirdPartyLibs/urdf/boost_replacement/shared_ptr.h",
"../ThirdPartyLibs/urdf/boost_replacement/printf_console.cpp",
"../ThirdPartyLibs/urdf/boost_replacement/printf_console.h",
"../ThirdPartyLibs/urdf/boost_replacement/string_split.cpp",
"../ThirdPartyLibs/urdf/boost_replacement/string_split.h",
"GL_ShapeDrawer.cpp",
"InProcessExampleBrowser.cpp",
}
if (hasCL and findOpenGL3()) then
files {
"../OpenCL/broadphase/*",
"../OpenCL/CommonOpenCL/*",
"../OpenCL/rigidbody/GpuConvexScene.cpp",
"../OpenCL/rigidbody/GpuRigidBodyDemo.cpp",
}
end
if os.is("Linux") then
initX11()