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

Remove unused ROS urdf (was replaced by Bullet UrdfParser.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

192
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp Normal file
View File

@@ -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);
}
}
}
};
}