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enable auto-conversion of btConvexHullShape to basic graphics representation for the GLInstancedPrimitiveRenderer

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This commit is contained in:
erwin coumans
2014-06-26 22:06:01 -07:00
parent a7f0567d04
commit 771a2e0bcb
1 changed files with 69 additions and 1 deletions
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70
Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp
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@@ -1,6 +1,14 @@
#include "Bullet2RigidBodyDemo.h"
#include "btBulletDynamicsCommon.h"
#include "OpenGLWindow/SimpleOpenGL3App.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
struct GraphicsVertex
{
float pos[4];
float normal[3];
float texcoord[2];
};
struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
{
@@ -33,9 +41,69 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
box->setUserIndex(cubeShapeId);
break;
}
default:
{
btAssert(0);
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();
btAlignedObjectArray<GraphicsVertex> gvertices;
btAlignedObjectArray<int> indices;
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 =hull->getVertexPointer()[index0];
btVector3 pos1 =hull->getVertexPointer()[index1];
btVector3 pos2 =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];
GraphicsVertex vtx;
btVector3 pos =hull->getVertexPointer()[index];
vtx.pos[0] = pos.x();
vtx.pos[1] = pos.y();
vtx.pos[2] = pos.z();
vtx.pos[3] = 0.f;
vtx.normal[0] =triNormal.x();
vtx.normal[1] =triNormal.y();
vtx.normal[2] =triNormal.z();
vtx.normal[3] =0;
vtx.texcoord[0] = 0.5f;
vtx.texcoord[1] = 0.5f;
indices.push_back(gvertices.size());
gvertices.push_back(vtx);
}
}
int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
convex->setUserIndex(shapeId);
}
}
} else
{
btAssert(0);
}
}
};
}