add basic constraint demo
This commit is contained in:
erwin coumans
204
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
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204
Demos3/GpuDemos/constraints/ConstraintsDemo.cpp
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#include "ConstraintsDemo.h"
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#include "OpenGLWindow/ShapeData.h"
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#include "OpenGLWindow/GLInstancingRenderer.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "OpenGLWindow/b3gWindowInterface.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
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#include "../GpuDemoInternalData.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "OpenGLWindow/OpenGLInclude.h"
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#include "OpenGLWindow/GLInstanceRendererInternalData.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
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#include "Bullet3OpenCL/RigidBody/b3Config.h"
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#include "../rigidbody/GpuRigidBodyDemoInternalData.h"
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#include "../gwenUserInterface.h"
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#include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
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#include "OpenGLWindow/GLPrimitiveRenderer.h"
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#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
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#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
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#include "OpenGLWindow/GLRenderToTexture.h"
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void GpuConstraintsDemo::setupScene(const ConstructionInfo& ci)
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{
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m_primRenderer = ci.m_primRenderer;
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m_raycaster = new b3GpuRaycast(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
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int index=0;
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createStaticEnvironment(ci);
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index+=createDynamicsObjects(ci);
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m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
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float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
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//float camPos[4]={1,12.5,1.5,0};
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m_instancingRenderer->setCameraTargetPosition(camPos);
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m_instancingRenderer->setCameraDistance(100);
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m_instancingRenderer->updateCamera();
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char msg[1024];
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int numInstances = index;
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sprintf(msg,"Num objects = %d",numInstances);
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if (ci.m_gui)
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ci.m_gui->setStatusBarMessage(msg,true);
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}
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void GpuConstraintsDemo::destroyScene()
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{
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delete m_raycaster;
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m_raycaster = 0;
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}
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int GpuConstraintsDemo::createDynamicsObjects(const ConstructionInfo& ci)
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{
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/* int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(barrel_vertices)/strideInBytes;
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int numIndices = sizeof(barrel_indices)/sizeof(int);
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return createDynamicsObjects2(ci,barrel_vertices,numVertices,barrel_indices,numIndices);
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*/
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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return createDynamicsObjects2(ci,cube_vertices,numVertices,cube_indices,numIndices);
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}
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int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const float* vertices, int numVertices, const int* indices, int numIndices)
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{
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int strideInBytes = 9*sizeof(float);
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int shapeId = ci.m_instancingRenderer->registerShape(&vertices[0],numVertices,indices,numIndices);
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int group=1;
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int mask=1;
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int index=0;
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{
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b3Vector4 colors[4] =
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{
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b3Vector4(1,0,0,1),
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b3Vector4(0,1,0,1),
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b3Vector4(0,1,1,1),
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b3Vector4(1,1,0,1),
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};
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int curColor = 0;
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float scaling[4] = {1,1,1,1};
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int insta = 0;
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b3ConvexUtility* utilPtr = new b3ConvexUtility();
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{
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b3AlignedObjectArray<b3Vector3> verts;
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unsigned char* vts = (unsigned char*) vertices;
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for (int i=0;i<numVertices;i++)
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{
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float* vertex = (float*) &vts[i*strideInBytes];
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verts.push_back(b3Vector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
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}
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bool merge = true;
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if (numVertices)
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{
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utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
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}
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}
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int colIndex=-1;
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if (ci.m_useInstancedCollisionShapes)
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colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
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for (int i=0;i<20;i++)
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{
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for (int k=0;k<20;k++)
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{
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int prevBody = -1;
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//printf("%d of %d\n", i, ci.arraySizeX);
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for (int j=0;j<ci.arraySizeY;j++)
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{
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//int colIndex = m_data->m_np->registerConvexHullShape(&vertices[0],strideInBytes,numVertices, scaling);
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if (!ci.m_useInstancedCollisionShapes)
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colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
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float mass = 1.f;
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if (j==0)//ci.arraySizeY-1)
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{
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//mass=0.f;
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}
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//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
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b3Vector3 position(i*2.2,1+j*2.,k*2.2);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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b3Vector4 scaling(1,1,1,1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
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if (prevBody>=0)
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{
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b3Point2PointConstraint* p2p = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
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m_data->m_rigidBodyPipeline->addConstraint(p2p);//,false);
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}
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prevBody = pid;
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index++;
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}
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}
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}
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delete utilPtr;
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}
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return index;
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}
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void GpuConstraintsDemo::createStaticEnvironment(const ConstructionInfo& ci)
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{
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int group=1;
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int mask=1;
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int index=0;
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{
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b3Vector4 scaling(400,400,400,1);
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int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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b3Vector3 position(0,-400,0);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color(0,0,1,1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
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}
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}
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46
Demos3/GpuDemos/constraints/ConstraintsDemo.h
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46
Demos3/GpuDemos/constraints/ConstraintsDemo.h
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@@ -0,0 +1,46 @@
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#ifndef B3_GPU_CONSTRAINTS_DEMO_H
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#define B3_GPU_CONSTRAINTS_DEMO_H
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#include "../rigidbody/GpuRigidBodyDemo.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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class GpuConstraintsDemo : public GpuRigidBodyDemo
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{
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protected:
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class GLPrimitiveRenderer* m_primRenderer;
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class b3GpuRaycast* m_raycaster;
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public:
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GpuConstraintsDemo() :m_primRenderer(0), m_raycaster(0)
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{
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}
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virtual ~GpuConstraintsDemo(){}
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virtual const char* getName()
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{
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return "GpuConstraints";
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}
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static GpuDemo* MyCreateFunc()
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{
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GpuDemo* demo = new GpuConstraintsDemo;
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return demo;
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}
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virtual void setupScene(const ConstructionInfo& ci);
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virtual void destroyScene();
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virtual int createDynamicsObjects(const ConstructionInfo& ci);
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virtual int createDynamicsObjects2(const ConstructionInfo& ci,const float* vertices, int numVertices, const int* indices,int numIndices);
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virtual void createStaticEnvironment(const ConstructionInfo& ci);
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};
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#endif //B3_GPU_CONSTRAINTS_DEMO_H
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