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Some changes in rendering, to get shadows for trimeshes

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Add dynamic aabb tree (btDbvt) optimization for btCompoundShape/btCompoundCollisionAlgorithm
Add btTransformAabb util, todo: deploy it throughout the codebase
This commit is contained in:
erwin.coumans
2008-09-10 05:20:04 +00:00
parent aad1d574ef
commit 93d1d24234
10 changed files with 773 additions and 572 deletions
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57
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -45,7 +45,7 @@ subject to the following restrictions:
#include "GlutStuff.h"
btVector3 centroid;
btVector3 centroid=btVector3(0,0,0);
btVector3 convexDecompositionObjectOffset(10,0,0);
#define CUBE_HALF_EXTENTS 4
@@ -100,6 +100,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
#endif//USE_PARALLEL_DISPATCHER
convexDecompositionObjectOffset.setValue(10,0,0);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
@@ -124,10 +125,13 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
ConvexDecompositionDemo* m_convexDemo;
public:
btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
btAlignedObjectArray<btVector3> m_convexCentroids;
MyConvexDecomposition (FILE* outputFile,ConvexDecompositionDemo* demo)
:m_convexDemo(demo),
mBaseCount(0),
@@ -162,6 +166,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
//calc centroid, to shift vertices around center of mass
centroid.setValue(0,0,0);
btAlignedObjectArray<btVector3> vertices;
if ( 1 )
{
@@ -245,29 +250,17 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
btCollisionShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
#ifdef USE_PARALLEL_DISPATCHER
//SPU/multi threaded version only supports convex hull with contiguous vertices at the moment
btCollisionShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#else
btCollisionShape* convexShape = new btConvexTriangleMeshShape(trimesh);
#endif //USE_PARALLEL_DISPATCHER
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif
convexShape->setMargin(0.01);
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
m_convexDemo->m_collisionShapes.push_back(convexShape);
btTransform trans;
trans.setIdentity();
trans.setOrigin(centroid-convexDecompositionObjectOffset);
//btRigidBody* body = m_convexDemo->localCreateRigidBody( mass, trans,convexShape);
m_convexDemo->localCreateRigidBody( mass, trans,convexShape);
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
@@ -394,6 +387,34 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
ConvexBuilder cb(desc.mCallback);
cb.process(desc);
//now create some bodies
{
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back (compound);
btTransform trans;
trans.setIdentity();
for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
{
btVector3 centroid = convexDecomposition.m_convexCentroids[i];
trans.setOrigin(centroid);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
}
btScalar mass=10.f;
trans.setOrigin(-convexDecompositionObjectOffset);
localCreateRigidBody( mass, trans,compound);
convexDecompositionObjectOffset.setZ(6);
trans.setOrigin(-convexDecompositionObjectOffset);
localCreateRigidBody( mass, trans,compound);
convexDecompositionObjectOffset.setZ(-6);
trans.setOrigin(-convexDecompositionObjectOffset);
localCreateRigidBody( mass, trans,compound);
}
if (outputFile)
fclose(outputFile);

740
Demos/OpenGL/DemoApplication.cpp
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File diff suppressed because it is too large Load Diff

14
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -166,7 +166,7 @@ void OGL_displaylist_register_shape(btCollisionShape * shape)
glNewList(dlist.m_dlist,GL_COMPILE);
glEnable(GL_CULL_FACE);
// glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
@@ -177,7 +177,7 @@ void OGL_displaylist_register_shape(btCollisionShape * shape)
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
}
glDisable(GL_CULL_FACE);
// glDisable(GL_CULL_FACE);
glEndList();
}
@@ -237,12 +237,16 @@ public:
} else
{
glBegin(GL_TRIANGLES);
glColor3f(1, 1, 1);
//glColor3f(1, 1, 1);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
//glColor3f(0, 1, 0);
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
//glColor3f(0, 0, 1);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
}
}