demo cleanup part 3 (fixed memory leaks in raytracer demo and linear convex cast demo)
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ejcoumans
@@ -4,8 +4,8 @@
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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@@ -15,7 +15,7 @@
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LinearConvexCastDemo implements an efficient continuous collision detection algorithm.
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Both linear and angular velocities are supported. Gjk or Simplex based methods.
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Motion using Exponential Map.
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Comparison with Screwing Motion.
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Comparison with Screwing Motion.
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Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
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*/
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@@ -23,201 +23,136 @@
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///Low level demo, doesn't include btBulletCollisionCommon.h
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#include "LinearMath/btQuaternion.h"
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#include "LinearMath/btTransform.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#ifdef USE_ALGEBRAIC_CCD
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#include "NarrowPhaseCollision/BU_CollisionPair.h"
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#endif //USE_ALGEBRAIC_CCD
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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#include "GL_ShapeDrawer.h"
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#include "LinearConvexCastDemo.h"
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#include "GlutStuff.h"
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static btVoronoiSimplexSolver sVoronoiSimplexSolver;
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btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
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static float yaw=0.f,pitch=0.f,roll=0.f;
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static const int maxNumObjects = 4;
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static const int numObjects = 2;
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static btPolyhedralConvexShape* shapePtr[maxNumObjects];
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static btTransform tr[numObjects];
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void DrawRasterizerLine(float const* , float const*, int)
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{
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}
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void LinearConvexCastDemo::initPhysics()
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{
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setCameraDistance(50.f);
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tr[0].setOrigin(btVector3(0,0,0));
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tr[1].setOrigin(btVector3(0,10,0));
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setCameraDistance(10.f);
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btMatrix3x3 basisA;
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basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
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-0.00029313788f,0.99753088f,0.070228584f,
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-0.00089153741f,-0.070228823f,0.99753052f);
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tr[0].setIdentity();
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tr[0].setOrigin( btVector3( 0.0f, 5.5f, 0.0f ) );
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btMatrix3x3 basisB;
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basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
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4.4865495e-018f,0.97979438f,0.20000751f,
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4.4410586e-017f,-0.20000751f,0.97979438f);
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tr[1].setIdentity();
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tr[1].setOrigin( btVector3( 0.0f, 0.0f, 0.0f ) );
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tr[0].setBasis(basisA);
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tr[1].setBasis(basisB);
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// Pyramide
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float r = 1.0f;
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float h = 2.0f;
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btConvexHullShape* shapeA = new btConvexHullShape;
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shapeA->addPoint( btVector3( 0.0f, 0.75f * h, 0.0f ) );
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shapeA->addPoint( btVector3( -r, -0.25f * h, r ) );
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shapeA->addPoint( btVector3( r, -0.25f * h, r ) );
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shapeA->addPoint( btVector3( r, -0.25f * h, -r ) );
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shapeA->addPoint( btVector3( -r, -0.25f * h, -r ) );
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// Triangle
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btConvexHullShape* shapeB = new btConvexHullShape;
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shapeB->addPoint( btVector3( 0.0f, 1.0f, 0.0f ) );
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shapeB->addPoint( btVector3( 1.0f, -1.0f, 0.0f ) );
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shapeB->addPoint( btVector3( -1.0f, -1.0f, 0.0f ) );
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btVector3 boxHalfExtentsA(0.2,4,4);
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btVector3 boxHalfExtentsB(6,6,6);
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shapePtr[0] = shapeA;
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shapePtr[1] = shapeB;
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btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
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/* btBU_Simplex1to4 boxB;
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boxB.addVertex(btPoint3(-5,0,-5));
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boxB.addVertex(btPoint3(5,0,-5));
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boxB.addVertex(btPoint3(0,0,5));
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boxB.addVertex(btPoint3(0,5,0));
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*/
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btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
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shapePtr[0] = boxA;
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shapePtr[1] = boxB;
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shapePtr[0]->setMargin(0.01f);
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shapePtr[1]->setMargin(0.01f);
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btTransform tr;
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tr.setIdentity();
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shapePtr[0]->setMargin( 0.01f );
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shapePtr[1]->setMargin( 0.01f );
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}
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//to be implemented by the demo
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void LinearConvexCastDemo::clientMoveAndDisplay()
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{
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displayCallback();
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}
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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LinearConvexCastDemo::~LinearConvexCastDemo()
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{
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delete shapePtr[0];
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delete shapePtr[1];
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}
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static btVoronoiSimplexSolver sVoronoiSimplexSolver;
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btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
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bool drawLine= false;
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void LinearConvexCastDemo::displayCallback(void)
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void LinearConvexCastDemo::displayCallback(void)
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{
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updateCamera();
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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//GL_ShapeDrawer::drawCoordSystem();
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GL_ShapeDrawer::drawCoordSystem();
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btScalar m[16];
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int i;
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for (i=0;i<numObjects;i++)
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{
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tr[i].getOpenGLMatrix( m );
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GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
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}
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int shapeIndex = 1;
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btQuaternion orn;
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orn.setEuler(yaw,pitch,roll);
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tr[shapeIndex].setRotation(orn);
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if (m_stepping || m_singleStep)
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{
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m_singleStep = false;
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pitch += 0.005f;
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yaw += 0.01f;
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}
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btVector3 fromA(-25,11,0);
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btVector3 toA(15,11,0);
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btQuaternion ornFromA(0.f,0.f,0.f,1.f);
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btQuaternion ornToA(0.f,0.f,0.f,1.f);
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btTransform rayFromWorld(ornFromA,fromA);
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btTransform rayToWorld(ornToA,toA);
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tr[0] = rayFromWorld;
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if (drawLine)
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{
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glBegin(GL_LINES);
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glColor3f(0, 0, 1);
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glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
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glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
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glEnd();
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}
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//now perform a raycast on the shapes, in local (shape) space
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//choose one of the following lines
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for (i=1;i<numObjects;i++)
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{
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btContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0);
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btGjkConvexCast convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
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//BU_CollisionPair (algebraic version) is currently broken, will look into this
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//BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
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btSubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
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gGjkSimplexSolver.reset();
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btConvexCast::CastResult rayResult;
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if (convexCaster3.calcTimeOfImpact(rayFromWorld,rayToWorld,tr[i],tr[i],rayResult))
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{
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glDisable(GL_DEPTH_TEST);
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btVector3 hitPoint;
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hitPoint.setInterpolate3(rayFromWorld.getOrigin(),rayToWorld.getOrigin(),rayResult.m_fraction);
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//draw the raycast result
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glBegin(GL_LINES);
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glColor3f(1, 1, 1);
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glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
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glVertex3d(hitPoint.x(),hitPoint.y(),hitPoint.z());
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glEnd();
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glEnable(GL_DEPTH_TEST);
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btTransform toTransWorld;
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toTransWorld = tr[0];
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toTransWorld.setOrigin(hitPoint);
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toTransWorld.getOpenGLMatrix( m );
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GL_ShapeDrawer::drawOpenGL(m,shapePtr[0],btVector3(0,1,1),getDebugMode());
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btTransform toA, toB;
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toA.setIdentity();
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toA.setOrigin( btVector3( 0.0f, 1.5f, 0.0f ) );
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toB.setIdentity();
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toB.setOrigin( btVector3( 0.0f, 4.0f, 0.0f ) );
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}
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}
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gGjkSimplexSolver.reset();
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btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
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btConvexCast::CastResult result;
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convexCaster.calcTimeOfImpact( tr[ 0 ], toA, tr[ 1 ], toB, result );
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btScalar m1[16], m2[16];
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tr[ 0 ].getOpenGLMatrix( m1 );
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tr[ 1 ].getOpenGLMatrix( m2 );
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GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() );
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GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() );
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btVector3 originA, originB;
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originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction );
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originB.setInterpolate3( tr[ 1 ].getOrigin(), toB.getOrigin(), result.m_fraction );
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btTransform A = tr[ 0 ];
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A.setOrigin( originA );
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btTransform B = tr[ 1 ];
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B.setOrigin( originB );
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A.getOpenGLMatrix( m1 );
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B.getOpenGLMatrix( m2 );
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GL_ShapeDrawer::drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() );
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GL_ShapeDrawer::drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() );
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glFlush();
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glutSwapBuffers();
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