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added non-uniform scaling to btMultiSphereShape

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added ray-aabb check
modified Raycast demo to be more useful for debugging collision shapes
This commit is contained in:
ejcoumans
2006-11-09 01:58:33 +00:00
parent db65601f9a
commit 6d47d9492e
12 changed files with 211 additions and 54 deletions
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33
Demos/OpenGL/GLDebugDrawer.cpp
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@@ -61,3 +61,36 @@ void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3&
}
}
void GLDebugDrawer::drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
{
btVector3 halfExtents = (to-from)* 0.5f;
btVector3 center = (to+from) *0.5f;
int i,j;
btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
for (i=0;i<4;i++)
{
for (j=0;j<3;j++)
{
pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pa+=center;
int othercoord = j%3;
edgecoord[othercoord]*=-1.f;
pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],
edgecoord[2]*halfExtents[2]);
pb+=center;
drawLine(pa,pb,color);
}
edgecoord = btVector3(-1.f,-1.f,-1.f);
if (i<3)
edgecoord[i]*=-1.f;
}
}

2
Demos/OpenGL/GLDebugDrawer.h
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@@ -13,6 +13,8 @@ public:
GLDebugDrawer();
void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color);
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color);
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,float distance,int lifeTime,const btVector3& color);

2
Demos/OpenGL/RenderTexture.cpp
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@@ -53,7 +53,7 @@ void renderTexture::grapicalPrintf(char* str, BMF_FontData* fontData, int startx
for (int x=0;x<cd.width;x++)
{
char packedColor = bitmap[y];
float colorf = packedColor & bit ? 1.f : 0.f;
float colorf = packedColor & bit ? 0.f : 1.f;
btVector4 rgba(colorf,colorf,colorf,1.f);
setPixel(rasterposx+x,rasterposy+8-y-1,rgba);
bit >>=1;

9
Demos/OpenGL/RenderTexture.h
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@@ -43,6 +43,15 @@ public:
pixel[3] = (unsigned char)(255*rgba.getW());
}
inline btVector4 getPixel(int x,int y)
{
unsigned char* pixel = &m_buffer[ (x+y*m_width) * 4];
return btVector4(pixel[0]*1.f/255.f,
pixel[1]*1.f/255.f,
pixel[2]*1.f/255.f,
pixel[3]*1.f/255.f);
}
const unsigned char* getBuffer() const { return m_buffer;}
int getWidth() const { return m_width;}
int getHeight() const { return m_height;}

123
Demos/Raytracer/Raytracer.cpp
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@@ -22,10 +22,12 @@ Very basic raytracer, rendering into a texture.
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "GL_ShapeDrawer.h"
#include "GLDebugDrawer.h"
#include "Raytracer.h"
#include "GlutStuff.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
@@ -37,8 +39,13 @@ Very basic raytracer, rendering into a texture.
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
@@ -48,11 +55,13 @@ Very basic raytracer, rendering into a texture.
#include "RenderTexture.h"
btVoronoiSimplexSolver simplexSolver;
float yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
const int numObjects = 4;
const int numObjects = 1;
/// simplex contains the vertices, and some extra code to draw and debug
GL_Simplex1to4 simplex;
@@ -62,8 +71,10 @@ btTransform transforms[maxNumObjects];
renderTexture* raytracePicture = 0;
//this applies to the raytracer virtual screen/image buffer
int screenWidth = 128;
int screenHeight = 128;
float aspectRatio = (3.f/4.f);
int screenHeight = screenWidth * aspectRatio;
GLuint glTextureId;
btSphereShape mySphere(1);
@@ -72,6 +83,9 @@ btCylinderShape myCylinder(btVector3(0.3f,0.3f,0.3f));
btConeShape myCone(1,1);
btMinkowskiSumShape myMink(&myCylinder,&myBox);
GLDebugDrawer debugDrawer;
///
@@ -85,7 +99,7 @@ int main(int argc,char** argv)
raytraceDemo->setCameraDistance(6.f);
return glutmain(argc, argv,screenWidth,screenHeight,"Minkowski-Sum Raytracer Demo",raytraceDemo);
return glutmain(argc, argv,640,480,"Bullet GJK Implicit Shape Raytracer Demo",raytraceDemo);
}
void Raytracer::initPhysics()
@@ -113,12 +127,18 @@ void Raytracer::initPhysics()
btVector3(0.f, 0.f, 0.f)
};
// btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
//btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
btVector3 sphereOffset(0,0,0);
btScalar sphereRadius = 2.f;
btVector3 nonUniformScaling(0.5,2,0.5);
btMultiSphereShape* nonuniformScaledSphere = new btMultiSphereShape(inertiaHalfExtents,&sphereOffset,&sphereRadius,1);
nonuniformScaledSphere->setLocalScaling(nonUniformScaling);
nonuniformScaledSphere->setMargin(0.04);
btConvexHullShape* convexHullShape = new btConvexHullShape(&positions[0].getX(),3);
//choose shape
shapePtr[0] = &myCone;
shapePtr[0] = &myCone;//&myBox;//nonuniformScaledSphere;//&myCone;
shapePtr[1] =&simplex;
shapePtr[2] =convexHullShape;
shapePtr[3] =&myMink;//myBox;//multiSphereShape
@@ -138,6 +158,10 @@ void Raytracer::clientMoveAndDisplay()
int once = 1;
void Raytracer::displayCallback()
{
@@ -146,7 +170,7 @@ void Raytracer::displayCallback()
for (int i=0;i<numObjects;i++)
{
transforms[i].setIdentity();
btVector3 pos(-3.5f+i*2.5f,0.f,0.f);
btVector3 pos(-(2.5* numObjects * 0.5)+i*2.5f,0.f,0.f);
transforms[i].setOrigin( pos );
btQuaternion orn;
if (i < 2)
@@ -256,46 +280,54 @@ void Raytracer::displayCallback()
rayToTrans.setOrigin(rayTo);
for (int s=0;s<numObjects;s++)
{
// rayFromLocal = transforms[s].inverse()* rayFromTrans;
// rayToLocal = transforms[s].inverse()* rayToTrans;
//do some culling, ray versus aabb
btVector3 aabbMin,aabbMax;
shapePtr[s]->getAabb(transforms[s],aabbMin,aabbMax);
btScalar hitLambda = 1.f;
btVector3 hitNormal;
//choose the continuous collision detection method
btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
// btBU_Simplex1to4 ptShape(btVector3(0,0,0));//algebraic needs features, doesnt use 'supporting vertex'
// BU_CollisionPair convexCaster(&ptShape,shapePtr[0]);
//reset previous result
rayResult.m_fraction = 1.f;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
if (btRayAabb(rayFrom,rayTo,aabbMin,aabbMax,hitLambda,hitNormal))
{
//float fog = 1.f - 0.1f * rayResult.m_fraction;
rayResult.m_normal.normalize();
//choose the continuous collision detection method
btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
//reset previous result
rayResult.m_fraction = 1.f;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
{
//float fog = 1.f - 0.1f * rayResult.m_fraction;
rayResult.m_normal.normalize();
btVector3 worldNormal;
worldNormal = transforms[s].getBasis() *rayResult.m_normal;
btVector3 worldNormal;
worldNormal = transforms[s].getBasis() *rayResult.m_normal;
float light = worldNormal.dot(btVector3(0.4f,-1.f,-0.4f));
if (light < 0.2f)
light = 0.2f;
if (light > 1.f)
light = 1.f;
float lightVec0 = worldNormal.dot(btVector3(0,-1,-1));//0.4f,-1.f,-0.4f));
float lightVec1= worldNormal.dot(btVector3(-1,0,-1));//-0.4f,-1.f,-0.4f));
rgba = btVector4(light,light,light,1.f);
raytracePicture->setPixel(x,y,rgba);
rgba = btVector4(lightVec0,lightVec1,0,1.f);
rgba.setMin(btVector3(1,1,1));
rgba.setMax(btVector3(0.2,0.2,0.2));
rgba[3] = 1.f;
raytracePicture->setPixel(x,y,rgba);
} else
{
//clear is already done
//rgba = btVector4(0.f,0.f,0.f,0.f);
//raytracePicture->setPixel(x,y,rgba);
}
} else
{
//clear is already done
//rgba = btVector4(0.f,0.f,0.f,0.f);
//raytracePicture->setPixel(x,y,rgba);
btVector4 rgba = raytracePicture->getPixel(x,y);
if (!rgba.length2())
{
raytracePicture->setPixel(x,y,btVector4(1,1,1,1));
}
}
}
}
@@ -371,9 +403,20 @@ void Raytracer::displayCallback()
GL_ShapeDrawer::drawCoordSystem();
{
for (int i=0;i<numObjects;i++)
{
btVector3 aabbMin,aabbMax;
shapePtr[i]->getAabb(transforms[i],aabbMin,aabbMax);
debugDrawer.setDebugMode(1);
debugDrawer.drawAabb(aabbMin,aabbMax,btVector3(255,0,0));
}
}
glPushMatrix();
/*

2
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -297,7 +297,7 @@ public:
}
///users can point to their objects, userPointer is not used by Bullet
void* getUserPointer()
void* getUserPointer() const
{
return m_userObjectPointer;
}

4
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -344,7 +344,9 @@ void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& r
//check aabb overlap
if (TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax))
float hitLambda = 1.f;
btVector3 hitNormal;
if (btRayAabb(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
{
rayTestSingle(rayFromTrans,rayToTrans,
collisionObject,

12
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
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@@ -20,17 +20,17 @@ subject to the following restrictions:
btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres)
:m_inertiaHalfExtents(inertiaHalfExtents)
{
m_minRadius = 1e30f;
float startMargin = 1e30f;
m_numSpheres = numSpheres;
for (int i=0;i<m_numSpheres;i++)
{
m_localPositions[i] = positions[i];
m_radi[i] = radi[i];
if (radi[i] < m_minRadius)
m_minRadius = radi[i];
if (radi[i] < startMargin)
startMargin = radi[i];
}
setMargin(m_minRadius);
setMargin(startMargin);
}
@@ -64,7 +64,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
for (i=0;i<m_numSpheres;i++)
{
vtx = (*pos) +vec*((*rad)-m_minRadius);
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
newDot = vec.dot(vtx);
@@ -96,7 +96,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
for (int i=0;i<m_numSpheres;i++)
{
vtx = (*pos) +vec*((*rad)-m_minRadius);
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
newDot = vec.dot(vtx);

4
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
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@@ -31,9 +31,7 @@ class btMultiSphereShape : public btConvexShape
btVector3 m_inertiaHalfExtents;
int m_numSpheres;
float m_minRadius;

69
src/LinearMath/btAabbUtil2.h
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@@ -18,6 +18,8 @@ subject to the following restrictions:
#define AABB_UTIL2
#include "LinearMath/btVector3.h"
#include "LinearMath/btSimdMinMax.h"
#define btMin(a,b) ((a < b ? a : b))
#define btMax(a,b) ((a > b ? a : b))
@@ -53,5 +55,72 @@ SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices,
return true;
}
SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent)
{
return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
(p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
(p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
(p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
(p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
(p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
}
SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
const btVector3& rayTo,
const btVector3& aabbMin,
const btVector3& aabbMax,
btScalar& param, btVector3& normal)
{
btVector3 aabbHalfExtent = (aabbMax-aabbMin)* 0.5f;
btVector3 aabbCenter = (aabbMax+aabbMin)* 0.5f;
btVector3 source = rayFrom - aabbCenter;
btVector3 target = rayTo - aabbCenter;
int sourceOutcode = btOutcode(source,aabbHalfExtent);
int targetOutcode = btOutcode(target,aabbHalfExtent);
if ((sourceOutcode & targetOutcode) == 0x0)
{
btScalar lambda_enter = btScalar(0.0);
btScalar lambda_exit = param;
btVector3 r = target - source;
int i;
btScalar normSign = 1;
btVector3 hitNormal(0,0,0);
int bit=1;
for (int j=0;j<2;j++)
{
for (i = 0; i != 3; ++i)
{
if (sourceOutcode & bit)
{
btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
if (lambda_enter <= lambda)
{
lambda_enter = lambda;
hitNormal.setValue(0,0,0);
hitNormal[i] = normSign;
}
}
else if (targetOutcode & bit)
{
btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
btSetMin(lambda_exit, lambda);
}
bit<<=1;
}
normSign = -1.f;
}
if (lambda_enter <= lambda_exit)
{
param = lambda_enter;
normal = hitNormal;
return true;
}
}
return false;
}
#endif

4
src/LinearMath/btScalar.h
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@@ -114,8 +114,8 @@ SIMD_FORCE_INLINE btScalar btAtan(btScalar x) { return atanf(x); }
SIMD_FORCE_INLINE btScalar btAtan2(btScalar x, btScalar y) { return atan2f(x, y); }
*/
SIMD_FORCE_INLINE int btSign(btScalar x) {
return x < 0.0f ? -1 : x > 0.0f ? 1 : 0;
SIMD_FORCE_INLINE int btIsNegative(btScalar x) {
return x < 0.0f ? 1 : 0;
}
SIMD_FORCE_INLINE btScalar btRadians(btScalar x) { return x * SIMD_RADS_PER_DEG; }

1
src/LinearMath/btSimdMinMax.h
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@@ -16,6 +16,7 @@ subject to the following restrictions:
#ifndef SIMD_MINMAX_H
#define SIMD_MINMAX_H
#include "LinearMath/btScalar.h"
template <class T>
SIMD_FORCE_INLINE const T& btMin(const T& a, const T& b) {