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WIP example for real-time collision detection features of Bullet

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This commit is contained in:
erwin coumans
2015-10-18 14:01:25 -07:00
parent abb7e22027
commit 7ac497d6f2
15 changed files with 355 additions and 92 deletions
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103
examples/Collision/CollisionTutorialBullet2.cpp
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@@ -17,11 +17,26 @@
#include "CollisionSdkC_Api.h"
static int myCounter=0;
///Not Invented Here link reminder http://www.joelonsoftware.com/articles/fog0000000007.html
void myNearCallback(plCollisionSdkHandle sdk, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
///todo: use the 'userData' to prevent this use of global variables
static int gTotalPoints = 0;
lwContactPoint pointsOut[10];
int pointCapacity=2;
void myNearCallback(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
{
myCounter++;
int remainingCapacity = pointCapacity-gTotalPoints;
btAssert(remainingCapacity>=0);
if (remainingCapacity>0)
{
lwContactPoint* pointPtr = &pointsOut[gTotalPoints];
int numNewPoints = plCollide(sdkHandle, worldHandle, objA,objB,pointPtr,remainingCapacity);
btAssert(numNewPoints <= remainingCapacity);
gTotalPoints+=numNewPoints;
}
}
class CollisionTutorialBullet2 : public CommonExampleInterface
@@ -44,6 +59,7 @@ public:
m_guiHelper(guiHelper),
m_tutorialIndex(tutorialIndex),
m_collisionSdkHandle(0),
m_collisionWorldHandle(0),
m_stage(0),
m_counter(0),
m_timeSeriesCanvas0(0)
@@ -58,33 +74,43 @@ public:
case TUT_SPHERE_SPHERE:
{
numBodies=10;
m_collisionSdkHandle = plCreateBullet2CollisionSdk();
//m_collisionSdkHandle = plCreateBullet2CollisionSdk();
m_collisionSdkHandle = plCreateRealTimeBullet3CollisionSdk();
if (m_collisionSdkHandle)
{
m_collisionWorldHandle = plCreateCollisionWorld(m_collisionSdkHandle);
int maxNumObjsCapacity=32;
int maxNumShapesCapacity=1024;
int maxNumPairsCapacity=16384;
m_collisionWorldHandle = plCreateCollisionWorld(m_collisionSdkHandle,maxNumObjsCapacity,maxNumShapesCapacity,maxNumPairsCapacity);
//create objects, do query etc
float radius = 1.f;
plCollisionShapeHandle colShape = plCreateSphereShape(m_collisionSdkHandle, radius);
void* userData = 0;
plCollisionShapeHandle colShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle,radius);
void* userPointer = 0;
btAlignedObjectArray<plCollisionObjectHandle> colliders;
int sphereGfxShapeId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH);//, textureIndex);
for (int i=0;i<3;i++)
{
btVector3 pos(0,i*1,0);
btVector3 pos(0,btScalar(i*1.5),0);
btQuaternion orn(0,0,0,1);
plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,userData,colShape,pos,orn);
b3Vector4 color = b3MakeVector4(0,1,0,0.8);
b3Vector3 scaling = b3MakeVector3(radius,radius,radius);
int gfxIndex = m_app->m_renderer->registerGraphicsInstance(sphereGfxShapeId,pos, orn,color,scaling);
plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, gfxIndex,colShape,pos,orn);
colliders.push_back(colObj);
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
}
lwContactPoint pointsOut[10];
int pointCapacity=10;
int numContacts = plCollide(m_collisionSdkHandle,m_collisionWorldHandle,colliders[0],colliders[1],pointsOut,pointCapacity);
printf("numContacts = %d\n", numContacts);
void* myUserPtr = 0;
myCounter = 0;
gTotalPoints = 0;
plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
printf("myCounter=%d\n",myCounter);
printf("total points=%d\n",gTotalPoints);
//plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj);
//plDeleteCollisionObject(m_collisionSdkHandle,colObj);
@@ -155,20 +181,6 @@ public:
}
}
// int boxId = m_app->registerCubeShape(1,1,1,textureIndex);
int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH);//, textureIndex);
b3Vector4 color = b3MakeVector4(0,1,0,0.8);
b3Vector3 scaling = b3MakeVector3(1,1,1);
float pos[3] = {1,0,0};
float orn[4] = {0,0,0,1};
int gfxIndex = m_app->m_renderer->registerGraphicsInstance(boxId,pos, orn,color,scaling);
// m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(boxId,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling);
//m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
}
m_app->m_renderer->writeTransforms();
@@ -232,23 +244,30 @@ public:
}
virtual void renderScene()
{
m_app->m_renderer->renderScene();
m_app->drawText3D("X",1,0,0,1);
m_app->drawText3D("Y",0,1,0,1);
m_app->drawText3D("Z",0,0,1,1);
/*for (int i=0;i<m_contactPoints.size();i++)
if (m_app && m_app->m_renderer)
{
const LWContactPoint& contact = m_contactPoints[i];
b3Vector3 color=b3MakeVector3(1,1,0);
float lineWidth=3;
if (contact.m_distance<0)
m_app->m_renderer->renderScene();
m_app->m_renderer->clearZBuffer();
m_app->drawText3D("X",1,0,0,1);
m_app->drawText3D("Y",0,1,0,1);
m_app->drawText3D("Z",0,0,1,1);
for (int i=0;i<gTotalPoints;i++)
{
color.setValue(1,0,0);
const lwContactPoint& contact = pointsOut[i];
b3Vector3 color=b3MakeVector3(1,1,0);
float lineWidth=3;
if (contact.m_distance<0)
{
color.setValue(1,0,0);
}
m_app->m_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
}
m_app->m_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
}
*/
}