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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
View File

@@ -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);

640
Demos/OpenGL/DemoApplication.cpp
View File

@@ -51,29 +51,29 @@ extern int gTotalBytesAlignedAllocs;
DemoApplication::DemoApplication()
//see btIDebugDraw.h for modes
//see btIDebugDraw.h for modes
:
m_dynamicsWorld(0),
m_pickConstraint(0),
m_shootBoxShape(0),
m_cameraDistance(15.0),
m_debugMode(0),
m_ele(20.f),
m_azi(0.f),
m_cameraPosition(0.f,0.f,0.f),
m_cameraTargetPosition(0.f,0.f,0.f),
m_scaleBottom(0.5f),
m_scaleFactor(2.f),
m_cameraUp(0,1,0),
m_forwardAxis(2),
m_glutScreenWidth(0),
m_glutScreenHeight(0),
m_ShootBoxInitialSpeed(40.f),
m_stepping(true),
m_singleStep(false),
m_idle(false),
m_enableshadows(false),
m_sundirection(btVector3(1,-2,1)*1000)
m_cameraDistance(15.0),
m_debugMode(0),
m_ele(20.f),
m_azi(0.f),
m_cameraPosition(0.f,0.f,0.f),
m_cameraTargetPosition(0.f,0.f,0.f),
m_scaleBottom(0.5f),
m_scaleFactor(2.f),
m_cameraUp(0,1,0),
m_forwardAxis(2),
m_glutScreenWidth(0),
m_glutScreenHeight(0),
m_ShootBoxInitialSpeed(40.f),
m_stepping(true),
m_singleStep(false),
m_idle(false),
m_enableshadows(false),
m_sundirection(btVector3(1,-2,1)*1000)
{
#ifndef BT_NO_PROFILE
m_profileIterator = CProfileManager::Get_Iterator();
@@ -100,36 +100,36 @@ DemoApplication::~DemoApplication()
void DemoApplication::myinit(void)
{
GLfloat light_ambient[] = { 0.2, 0.2, 0.2, 1.0 };
GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
/* light_position is NOT default value */
GLfloat light_position0[] = { 1.0, 10.0, 1.0, 0.0 };
GLfloat light_position1[] = { -1.0, -10.0, -1.0, 0.0 };
GLfloat light_ambient[] = { 0.2, 0.2, 0.2, 1.0 };
GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
/* light_position is NOT default value */
GLfloat light_position0[] = { 1.0, 10.0, 1.0, 0.0 };
GLfloat light_position1[] = { -1.0, -10.0, -1.0, 0.0 };
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glClearColor(0.7,0.7,0.7,0);
glClearColor(0.7,0.7,0.7,0);
// glEnable(GL_CULL_FACE);
// glCullFace(GL_BACK);
// glEnable(GL_CULL_FACE);
// glCullFace(GL_BACK);
}
@@ -146,12 +146,12 @@ float DemoApplication::getCameraDistance()
void DemoApplication::toggleIdle() {
if (m_idle) {
m_idle = false;
}
else {
m_idle = true;
}
if (m_idle) {
m_idle = false;
}
else {
m_idle = true;
}
}
@@ -198,11 +198,11 @@ void DemoApplication::updateCamera() {
}
glMatrixMode(GL_MODELVIEW);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
}
@@ -262,23 +262,23 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
(void)x;
(void)y;
m_lastKey = 0;
m_lastKey = 0;
#ifndef BT_NO_PROFILE
if (key >= 0x31 && key < 0x37)
{
int child = key-0x31;
m_profileIterator->Enter_Child(child);
}
if (key==0x30)
{
m_profileIterator->Enter_Parent();
}
if (key >= 0x31 && key < 0x37)
{
int child = key-0x31;
m_profileIterator->Enter_Child(child);
}
if (key==0x30)
{
m_profileIterator->Enter_Parent();
}
#endif //BT_NO_PROFILE
switch (key)
{
case 'q' :
switch (key)
{
case 'q' :
#ifdef BT_USE_FREEGLUT
//return from glutMainLoop(), detect memory leaks etc.
glutLeaveMainLoop();
@@ -287,88 +287,88 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
#endif
break;
case 'l' : stepLeft(); break;
case 'r' : stepRight(); break;
case 'f' : stepFront(); break;
case 'b' : stepBack(); break;
case 'z' : zoomIn(); break;
case 'x' : zoomOut(); break;
case 'i' : toggleIdle(); break;
case 'g' : m_enableshadows=!m_enableshadows;break;
case 'u' : m_shapeDrawer.enableTexture(!m_shapeDrawer.enableTexture(false));break;
case 'l' : stepLeft(); break;
case 'r' : stepRight(); break;
case 'f' : stepFront(); break;
case 'b' : stepBack(); break;
case 'z' : zoomIn(); break;
case 'x' : zoomOut(); break;
case 'i' : toggleIdle(); break;
case 'g' : m_enableshadows=!m_enableshadows;break;
case 'u' : m_shapeDrawer.enableTexture(!m_shapeDrawer.enableTexture(false));break;
case 'h':
if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
else
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
break;
if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
else
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
break;
case 'w':
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
else
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
break;
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
else
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
break;
case 'p':
if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
else
m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
break;
case 'p':
if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
else
m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
break;
case 'm':
if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
else
m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
break;
case 'm':
if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
else
m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
break;
case 'n':
if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
else
m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
break;
case 'n':
if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
else
m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
break;
case 't' :
if (m_debugMode & btIDebugDraw::DBG_DrawText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
else
m_debugMode |= btIDebugDraw::DBG_DrawText;
break;
if (m_debugMode & btIDebugDraw::DBG_DrawText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
else
m_debugMode |= btIDebugDraw::DBG_DrawText;
break;
case 'y':
if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
else
m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
else
m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
break;
case 'a':
if (m_debugMode & btIDebugDraw::DBG_DrawAabb)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
else
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
break;
case 'c' :
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
else
m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
break;
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
else
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
break;
case 'c' :
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
else
m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
break;
case 'd' :
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
else
m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
{
gDisableDeactivation = true;
} else
{
gDisableDeactivation = false;
}
break;
case 'd' :
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
else
m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
{
gDisableDeactivation = true;
} else
{
gDisableDeactivation = false;
}
break;
@@ -379,10 +379,10 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
break;
}
case 's' : clientMoveAndDisplay(); break;
// case ' ' : newRandom(); break;
// case ' ' : newRandom(); break;
case ' ':
clientResetScene();
break;
break;
case '1':
{
if (m_debugMode & btIDebugDraw::DBG_EnableCCD)
@@ -392,27 +392,27 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
break;
}
case '.':
case '.':
{
shootBox(getCameraTargetPosition());
break;
}
case '+':
case '+':
{
m_ShootBoxInitialSpeed += 10.f;
break;
}
case '-':
case '-':
{
m_ShootBoxInitialSpeed -= 10.f;
break;
}
default:
// std::cout << "unused key : " << key << std::endl;
break;
}
default:
// std::cout << "unused key : " << key << std::endl;
break;
}
if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
@@ -432,7 +432,7 @@ void DemoApplication::setDebugMode(int mode)
void DemoApplication::specialKeyboardUp(int key, int x, int y)
{
glutPostRedisplay();
glutPostRedisplay();
}
@@ -441,8 +441,8 @@ void DemoApplication::specialKeyboard(int key, int x, int y)
(void)x;
(void)y;
switch (key)
{
switch (key)
{
case GLUT_KEY_F1:
{
@@ -450,10 +450,10 @@ void DemoApplication::specialKeyboard(int key, int x, int y)
}
case GLUT_KEY_F2:
{
{
break;
}
break;
}
case GLUT_KEY_END:
@@ -475,17 +475,17 @@ void DemoApplication::specialKeyboard(int key, int x, int y)
}
break;
}
case GLUT_KEY_LEFT : stepLeft(); break;
case GLUT_KEY_RIGHT : stepRight(); break;
case GLUT_KEY_UP : stepFront(); break;
case GLUT_KEY_DOWN : stepBack(); break;
case GLUT_KEY_PAGE_UP : zoomIn(); break;
case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
case GLUT_KEY_HOME : toggleIdle(); break;
default:
// std::cout << "unused (special) key : " << key << std::endl;
break;
}
case GLUT_KEY_LEFT : stepLeft(); break;
case GLUT_KEY_RIGHT : stepRight(); break;
case GLUT_KEY_UP : stepFront(); break;
case GLUT_KEY_DOWN : stepBack(); break;
case GLUT_KEY_PAGE_UP : zoomIn(); break;
case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
case GLUT_KEY_HOME : toggleIdle(); break;
default:
// std::cout << "unused (special) key : " << key << std::endl;
break;
}
glutPostRedisplay();
@@ -522,12 +522,12 @@ void DemoApplication::shootBox(const btVector3& destination)
if (!m_shootBoxShape)
{
//#define TEST_UNIFORM_SCALING_SHAPE 1
//#define TEST_UNIFORM_SCALING_SHAPE 1
#ifdef TEST_UNIFORM_SCALING_SHAPE
btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
m_shootBoxShape = new btUniformScalingShape(childShape,0.5f);
btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
m_shootBoxShape = new btUniformScalingShape(childShape,0.5f);
#else
m_shootBoxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
m_shootBoxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
#endif//
}
@@ -555,7 +555,7 @@ btRigidBody* pickedBody = 0;//for deactivation state
btVector3 DemoApplication::getRayTo(int x,int y)
{
float top = 1.f;
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
@@ -642,14 +642,14 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
body->setActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
body->applyImpulse(impulse,relPos);
}
body->setActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
body->applyImpulse(impulse,relPos);
}
}
}
@@ -847,7 +847,7 @@ void DemoApplication::showProfileInfo(float& xOffset,float& yStart, float yIncr)
static double time_since_reset = 0.f;
if (!m_idle)
{
time_since_reset = CProfileManager::Get_Time_Since_Reset();
time_since_reset = CProfileManager::Get_Time_Since_Reset();
}
@@ -916,57 +916,64 @@ void DemoApplication::showProfileInfo(float& xOffset,float& yStart, float yIncr)
//
void DemoApplication::renderscene(int pass)
{
btScalar m[16];
btMatrix3x3 rot;rot.setIdentity();
const int numObjects=m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for(int i=0;i<numObjects;i++)
btScalar m[16];
btMatrix3x3 rot;rot.setIdentity();
const int numObjects=m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for(int i=0;i<numObjects;i++)
{
btCollisionObject* colObj=m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body=btRigidBody::upcast(colObj);
if(body&&body->getMotionState())
btCollisionObject* colObj=m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body=btRigidBody::upcast(colObj);
if(body&&body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
rot=myMotionState->m_graphicsWorldTrans.getBasis();
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
rot=myMotionState->m_graphicsWorldTrans.getBasis();
}
else
{
colObj->getWorldTransform().getOpenGLMatrix(m);
rot=colObj->getWorldTransform().getBasis();
colObj->getWorldTransform().getOpenGLMatrix(m);
rot=colObj->getWorldTransform().getBasis();
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
///color differently for active, sleeping, wantsdeactivation states
if (colObj->getActivationState() == 1) //active
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
///color differently for active, sleeping, wantsdeactivation states
if (colObj->getActivationState() == 1) //active
{
if (i & 1)
if (i & 1)
{
wireColor += btVector3 (1.f,0.f,0.f);
wireColor += btVector3 (1.f,0.f,0.f);
}
else
{
wireColor += btVector3 (.5f,0.f,0.f);
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if(colObj->getActivationState()==2) //ISLAND_SLEEPING
if(colObj->getActivationState()==2) //ISLAND_SLEEPING
{
if(i&1)
if(i&1)
{
wireColor += btVector3 (0.f,1.f, 0.f);
wireColor += btVector3 (0.f,1.f, 0.f);
}
else
{
wireColor += btVector3 (0.f,0.5f,0.f);
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
btVector3 aabbMin,aabbMax;
m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
btVector3 aabbMin,aabbMax;
m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
switch(pass)
aabbMin-=btVector3(1e30,1e30,1e30);
aabbMax+=btVector3(1e30,1e30,1e30);
// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
// m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
switch(pass)
{
case 0: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
case 0: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break;
case 1: m_shapeDrawer.drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
case 2: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0,aabbMin,aabbMax);break;
}
@@ -983,7 +990,7 @@ void DemoApplication::renderme()
if (m_dynamicsWorld)
{
if(m_enableshadows)
{
{
glClear(GL_STENCIL_BUFFER_BIT);
glEnable(GL_CULL_FACE);
renderscene(0);
@@ -1023,27 +1030,28 @@ void DemoApplication::renderme()
glDepthFunc(GL_LESS);
glDisable(GL_STENCIL_TEST);
glDisable(GL_CULL_FACE);
}
else
{
}
else
{
glDisable(GL_CULL_FACE);
renderscene(0);
}
}
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
showProfileInfo(xOffset,yStart,yIncr);
showProfileInfo(xOffset,yStart,yIncr);
#ifdef USE_QUICKPROF
#ifdef USE_QUICKPROF
if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
@@ -1062,139 +1070,139 @@ void DemoApplication::renderme()
}
}
#endif //USE_QUICKPROF
#endif //USE_QUICKPROF
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"mouse to interact");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"mouse to interact");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"space to reset");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"space to reset");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"cursor keys and z,x to navigate");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"cursor keys and z,x to navigate");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"i to toggle simulation, s single step");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"i to toggle simulation, s single step");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"q to quit");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"q to quit");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,". to shoot box");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,". to shoot box");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
// not yet hooked up again after refactoring...
// not yet hooked up again after refactoring...
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"d to toggle deactivation");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"d to toggle deactivation");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"g to toggle mesh animation (ConcaveDemo)");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"g to toggle mesh animation (ConcaveDemo)");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"h to toggle help text");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"h to toggle help text");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"p to toggle profiling (+results to file)");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"p to toggle profiling (+results to file)");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
//bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
//glRasterPos3f(xOffset,yStart,0);
//sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
//yStart += yIncr;
//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
//bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
//glRasterPos3f(xOffset,yStart,0);
//sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
//yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
#ifdef SHOW_NUM_DEEP_PENETRATIONS
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedAllocs = %d",gNumAlignedAllocs);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedAllocs = %d",gNumAlignedAllocs);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
//enable BT_DEBUG_MEMORY_ALLOCATIONS define in Bullet/src/LinearMath/btAlignedAllocator.h for memory leak detection
//enable BT_DEBUG_MEMORY_ALLOCATIONS define in Bullet/src/LinearMath/btAlignedAllocator.h for memory leak detection
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
#endif //BT_DEBUG_MEMORY_ALLOCATIONS
if (getDynamicsWorld())
{
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
if (getDynamicsWorld())
{
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
}
}
#endif //SHOW_NUM_DEEP_PENETRATIONS
resetPerspectiveProjection();
}
resetPerspectiveProjection();
}
glEnable(GL_LIGHTING);
glEnable(GL_LIGHTING);
}
@@ -1243,13 +1251,13 @@ void DemoApplication::clientResetScene()
}
}
/*
//quickly search some issue at a certain simulation frame, pressing space to reset
/*
//quickly search some issue at a certain simulation frame, pressing space to reset
int fixed=18;
for (int i=0;i<fixed;i++)
{
getDynamicsWorld()->stepSimulation(1./60.f,1);
getDynamicsWorld()->stepSimulation(1./60.f,1);
}
*/
*/
}
}

14
Demos/OpenGL/GL_ShapeDrawer.cpp
View File

@@ -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();
}
}

211
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
View File

@@ -16,12 +16,17 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btAabbUtil2.h"
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
:btCollisionAlgorithm(ci),
m_isSwapped(isSwapped)
m_isSwapped(isSwapped),
m_sharedManifold(ci.m_manifold)
{
m_ownsManifold = false;
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->getCollisionShape()->isCompound());
@@ -33,11 +38,17 @@ m_isSwapped(isSwapped)
m_childCollisionAlgorithms.resize(numChildren);
for (i=0;i<numChildren;i++)
{
btCollisionShape* tmpShape = colObj->getCollisionShape();
btCollisionShape* childShape = compoundShape->getChildShape(i);
colObj->internalSetTemporaryCollisionShape( childShape );
m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj);
colObj->internalSetTemporaryCollisionShape( tmpShape );
if (compoundShape->getDynamicAabbTree())
{
m_childCollisionAlgorithms[i] = 0;
} else
{
btCollisionShape* tmpShape = colObj->getCollisionShape();
btCollisionShape* childShape = compoundShape->getChildShape(i);
colObj->internalSetTemporaryCollisionShape( childShape );
m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj,m_sharedManifold);
colObj->internalSetTemporaryCollisionShape( tmpShape );
}
}
}
@@ -48,11 +59,109 @@ btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
int i;
for (i=0;i<numChildren;i++)
{
m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
if (m_childCollisionAlgorithms[i])
{
m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
}
}
}
struct btCompoundLeafCallback : btDbvt::ICollide
{
public:
btCollisionObject* m_compoundColObj;
btCollisionObject* m_otherObj;
btDispatcher* m_dispatcher;
const btDispatcherInfo& m_dispatchInfo;
btManifoldResult* m_resultOut;
btCollisionAlgorithm** m_childCollisionAlgorithms;
btPersistentManifold* m_sharedManifold;
btCompoundLeafCallback (btCollisionObject* compoundObj,btCollisionObject* otherObj,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold)
:m_compoundColObj(compoundObj),m_otherObj(otherObj),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
m_childCollisionAlgorithms(childCollisionAlgorithms),
m_sharedManifold(sharedManifold)
{
}
void ProcessChildShape(btCollisionShape* childShape,int index)
{
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
//backup
btTransform orgTrans = m_compoundColObj->getWorldTransform();
btTransform orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1);
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
m_compoundColObj->setWorldTransform( newChildWorldTrans);
m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans);
//the contactpoint is still projected back using the original inverted worldtrans
btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape();
m_compoundColObj->internalSetTemporaryCollisionShape( childShape );
if (!m_childCollisionAlgorithms[index])
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
}
//revert back transform
m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape);
m_compoundColObj->setWorldTransform( orgTrans );
m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans);
}
}
void Process(const btDbvtNode* leaf)
{
int index = int(leaf->data);
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
btCollisionShape* childShape = compoundShape->getChildShape(index);
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
btTransform orgTrans = m_compoundColObj->getWorldTransform();
btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
}
ProcessChildShape(childShape,index);
}
};
void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
@@ -61,37 +170,69 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
//then use each overlapping node AABB against Tree0
//and vise versa.
btDbvt* tree = compoundShape->getDynamicAabbTree();
//use a dynamic aabb tree to cull potential child-overlaps
btCompoundLeafCallback callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
if (tree)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->getWorldTransform();
btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform();
btVector3 localAabbMin,localAabbMax;
btTransform otherInCompoundSpace;
otherInCompoundSpace = colObj->getWorldTransform().inverse() * otherObj->getWorldTransform();
otherObj->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
//process all children, that overlap with the given AABB bounds
tree->collideTV(tree->m_root,bounds,callback);
} else
{
//iterate over all children, perform an AABB check inside ProcessChildShape
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
callback.ProcessChildShape(compoundShape->getChildShape(i),i);
}
}
{
//iterate over all children, perform an AABB check inside ProcessChildShape
int numChildren = m_childCollisionAlgorithms.size();
int i;
btManifoldArray manifoldArray;
for (i=0;i<numChildren;i++)
{
if (m_childCollisionAlgorithms[i])
{
btCollisionShape* childShape = compoundShape->getChildShape(i);
//if not longer overlapping, remove the algorithm
btTransform orgTrans = colObj->getWorldTransform();
btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
m_childCollisionAlgorithms[i] = 0;
}
}
}
const btTransform& childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( newChildWorldTrans);
colObj->setInterpolationWorldTransform(newChildWorldTrans);
//the contactpoint is still projected back using the original inverted worldtrans
btCollisionShape* tmpShape = colObj->getCollisionShape();
colObj->internalSetTemporaryCollisionShape( childShape );
m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
//revert back
colObj->internalSetTemporaryCollisionShape( tmpShape);
colObj->setWorldTransform( orgTrans );
colObj->setInterpolationWorldTransform(orgInterpolationTrans);
}
}

4
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
View File

@@ -28,12 +28,14 @@ class btDispatcher;
class btDispatcher;
/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
/// Place holder, not fully implemented yet
class btCompoundCollisionAlgorithm : public btCollisionAlgorithm
{
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
bool m_isSwapped;
class btPersistentManifold* m_sharedManifold;
bool m_ownsManifold;
public:
btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);

15
src/BulletCollision/CollisionShapes/btBoxShape.cpp
View File

@@ -21,20 +21,7 @@ subject to the following restrictions:
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
aabbMin = center - extent;
aabbMax = center + extent;
btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
}

191
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View File

@@ -14,23 +14,29 @@ subject to the following restrictions:
*/
#include "btCompoundShape.h"
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
btCompoundShape::btCompoundShape()
:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
m_aabbTree(0),
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_dynamicAabbTree(0)
{
void* mem = btAlignedAlloc(sizeof(btDbvt),16);
m_dynamicAabbTree = new(mem) btDbvt();
btAssert(mem==m_dynamicAabbTree);
}
btCompoundShape::~btCompoundShape()
{
if (m_dynamicAabbTree)
{
m_dynamicAabbTree->~btDbvt();
btAlignedFree(m_dynamicAabbTree);
}
}
void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
@@ -60,55 +66,72 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
}
}
if (m_dynamicAabbTree)
{
const btDbvtVolume bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
int index = m_children.size()-1;
child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
}
}
void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
{
btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
if (m_dynamicAabbTree)
{
m_dynamicAabbTree->remove(m_children[childShapeIndex].m_node);
}
m_children.swap(childShapeIndex,m_children.size()-1);
m_children.pop_back();
}
void btCompoundShape::removeChildShape(btCollisionShape* shape)
{
bool done_removing;
// Find the children containing the shape specified, and remove those children.
//note: there might be multiple children using the same shape!
for(int i = m_children.size()-1; i >= 0 ; i--)
{
if(m_children[i].m_childShape == shape)
{
m_children.swap(i,m_children.size()-1);
m_children.pop_back();
//remove it from the m_dynamicAabbTree too
//m_dynamicAabbTree->remove(m_aabbProxies[i]);
//m_aabbProxies.swap(i,m_children.size()-1);
//m_aabbProxies.pop_back();
}
}
// Find the children containing the shape specified, and remove those children.
do
{
done_removing = true;
for(int i = 0; i < m_children.size(); i++)
{
if(m_children[i].m_childShape == shape)
{
m_children.remove(m_children[i]);
done_removing = false; // Do another iteration pass after removing from the vector
break;
}
}
}
while (!done_removing);
recalculateLocalAabb();
recalculateLocalAabb();
}
void btCompoundShape::recalculateLocalAabb()
{
// Recalculate the local aabb
// Brute force, it iterates over all the shapes left.
m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
// Recalculate the local aabb
// Brute force, it iterates over all the shapes left.
m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)
{
btVector3 localAabbMin,localAabbMax;
m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
for (int i=0;i<3;i++)
{
if (m_localAabbMin[i] > localAabbMin[i])
m_localAabbMin[i] = localAabbMin[i];
if (m_localAabbMax[i] < localAabbMax[i])
m_localAabbMax[i] = localAabbMax[i];
}
}
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)
{
btVector3 localAabbMin,localAabbMax;
m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
for (int i=0;i<3;i++)
{
if (m_localAabbMin[i] > localAabbMin[i])
m_localAabbMin[i] = localAabbMin[i];
if (m_localAabbMax[i] < localAabbMax[i])
m_localAabbMax[i] = localAabbMax[i];
}
}
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
@@ -120,8 +143,8 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
btPoint3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
aabbMin = center-extent;
aabbMax = center+extent;
@@ -152,56 +175,56 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const
{
int n = m_children.size();
int n = m_children.size();
btScalar totalMass = 0;
btVector3 center(0, 0, 0);
for (int k = 0; k < n; k++)
{
center += m_children[k].m_transform.getOrigin() * masses[k];
totalMass += masses[k];
}
center /= totalMass;
principal.setOrigin(center);
btScalar totalMass = 0;
btVector3 center(0, 0, 0);
for (int k = 0; k < n; k++)
{
center += m_children[k].m_transform.getOrigin() * masses[k];
totalMass += masses[k];
}
center /= totalMass;
principal.setOrigin(center);
btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
for (int k = 0; k < n; k++)
{
btVector3 i;
m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
btMatrix3x3 tensor(0, 0, 0, 0, 0, 0, 0, 0, 0);
for (int k = 0; k < n; k++)
{
btVector3 i;
m_children[k].m_childShape->calculateLocalInertia(masses[k], i);
const btTransform& t = m_children[k].m_transform;
btVector3 o = t.getOrigin() - center;
const btTransform& t = m_children[k].m_transform;
btVector3 o = t.getOrigin() - center;
//compute inertia tensor in coordinate system of compound shape
btMatrix3x3 j = t.getBasis().transpose();
j[0] *= i[0];
j[1] *= i[1];
j[2] *= i[2];
j = t.getBasis() * j;
//compute inertia tensor in coordinate system of compound shape
btMatrix3x3 j = t.getBasis().transpose();
j[0] *= i[0];
j[1] *= i[1];
j[2] *= i[2];
j = t.getBasis() * j;
//add inertia tensor
tensor[0] += j[0];
tensor[1] += j[1];
tensor[2] += j[2];
//add inertia tensor
tensor[0] += j[0];
tensor[1] += j[1];
tensor[2] += j[2];
//compute inertia tensor of pointmass at o
btScalar o2 = o.length2();
j[0].setValue(o2, 0, 0);
j[1].setValue(0, o2, 0);
j[2].setValue(0, 0, o2);
j[0] += o * -o.x();
j[1] += o * -o.y();
j[2] += o * -o.z();
//compute inertia tensor of pointmass at o
btScalar o2 = o.length2();
j[0].setValue(o2, 0, 0);
j[1].setValue(0, o2, 0);
j[2].setValue(0, 0, o2);
j[0] += o * -o.x();
j[1] += o * -o.y();
j[2] += o * -o.z();
//add inertia tensor of pointmass
tensor[0] += masses[k] * j[0];
tensor[1] += masses[k] * j[1];
tensor[2] += masses[k] * j[2];
}
//add inertia tensor of pointmass
tensor[0] += masses[k] * j[0];
tensor[1] += masses[k] * j[1];
tensor[2] += masses[k] * j[2];
}
tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
tensor.diagonalize(principal.getBasis(), btScalar(0.00001), 20);
inertia.setValue(tensor[0][0], tensor[1][1], tensor[2][2]);
}

28
src/BulletCollision/CollisionShapes/btCompoundShape.h
View File

@@ -24,8 +24,8 @@ subject to the following restrictions:
#include "btCollisionMargin.h"
#include "LinearMath/btAlignedObjectArray.h"
class btOptimizedBvh;
//class btOptimizedBvh;
struct btDbvt;
ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
{
@@ -35,14 +35,15 @@ ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
btCollisionShape* m_childShape;
int m_childShapeType;
btScalar m_childMargin;
struct btDbvtNode* m_node;
};
SIMD_FORCE_INLINE bool operator==(const btCompoundShapeChild& c1, const btCompoundShapeChild& c2)
{
return ( c1.m_transform == c2.m_transform &&
c1.m_childShape == c2.m_childShape &&
c1.m_childShapeType == c2.m_childShapeType &&
c1.m_childMargin == c2.m_childMargin );
return ( c1.m_transform == c2.m_transform &&
c1.m_childShape == c2.m_childShape &&
c1.m_childShapeType == c2.m_childShapeType &&
c1.m_childMargin == c2.m_childMargin );
}
/// btCompoundShape allows to store multiple other btCollisionShapes
@@ -55,7 +56,8 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
btOptimizedBvh* m_aabbTree;
//btOptimizedBvh* m_aabbTree;
btDbvt* m_dynamicAabbTree;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -66,10 +68,10 @@ public:
void addChildShape(const btTransform& localTransform,btCollisionShape* shape);
/** Remove all children shapes that contain the specified shape. */
/// Remove all children shapes that contain the specified shape
virtual void removeChildShape(btCollisionShape* shape);
void removeChildShapeByIndex(int childShapeindex);
int getNumChildShapes() const
@@ -104,8 +106,8 @@ public:
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
/** Re-calculate the local Aabb. Is called at the end of removeChildShapes.
Use this yourself if you modify the children or their transforms. */
/** Re-calculate the local Aabb. Is called at the end of removeChildShapes.
Use this yourself if you modify the children or their transforms. */
virtual void recalculateLocalAabb();
virtual void setLocalScaling(const btVector3& scaling)
@@ -137,9 +139,9 @@ public:
//this is optional, but should make collision queries faster, by culling non-overlapping nodes
void createAabbTreeFromChildren();
const btOptimizedBvh* getAabbTree() const
btDbvt* getDynamicAabbTree()
{
return m_aabbTree;
return m_dynamicAabbTree;
}
///computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia

24
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
View File

@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "LinearMath/btPoint3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAabbUtil2.h"
#include "btConvexInternalShape.h"
@@ -46,28 +47,7 @@ public:
//lazy evaluation of local aabb
btAssert(m_isLocalAabbValid);
btAssert(m_localAabbMin.getX() <= m_localAabbMax.getX());
btAssert(m_localAabbMin.getY() <= m_localAabbMax.getY());
btAssert(m_localAabbMin.getZ() <= m_localAabbMax.getZ());
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
localHalfExtents+= btVector3(margin,margin,margin);
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
btPoint3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
aabbMin = center-extent;
aabbMax = center+extent;
btTransformAabb(m_localAabbMin,m_localAabbMax,margin,trans,aabbMin,aabbMax);
}

33
src/LinearMath/btAabbUtil2.h
View File

@@ -17,6 +17,7 @@ subject to the following restrictions:
#ifndef AABB_UTIL2
#define AABB_UTIL2
#include "btTransform.h"
#include "btVector3.h"
#include "btMinMax.h"
@@ -163,6 +164,38 @@ SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
}
SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut)
{
btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin);
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin),
abs_b[1].dot(halfExtentsWithMargin),
abs_b[2].dot(halfExtentsWithMargin));
aabbMinOut = center - extent;
aabbMaxOut = center + extent;
};
SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut)
{
btAssert(localAabbMin.getX() <= localAabbMax.getX());
btAssert(localAabbMin.getY() <= localAabbMax.getY());
btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
localHalfExtents+=btVector3(margin,margin,margin);
btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
btVector3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
aabbMinOut = center-extent;
aabbMaxOut = center+extent;
}
#endif