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Added Genscher's triangle-triangle case (it was not a but)

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This commit is contained in:
ejcoumans
2006-11-22 19:42:15 +00:00
parent 633bb02daa
commit 94abde9287
1 changed files with 99 additions and 27 deletions
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92
Demos/CollisionDemo/CollisionDemo.cpp
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@@ -20,6 +20,9 @@ subject to the following restrictions:
///
#define CHECK_GENSHER_TRIANGLE_CASE 1
///This low-level internal demo does intentionally NOT use the btBulletCollisionCommon.h header
///It needs internal access
#include "GL_Simplex1to4.h"
@@ -31,6 +34,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "CollisionDemo.h"
#include "GL_ShapeDrawer.h"
@@ -59,8 +63,12 @@ int main(int argc,char** argv)
{
CollisionDemo* colDemo = new CollisionDemo();
#ifdef CHECK_GENSHER_TRIANGLE_CASE
colDemo->setCameraDistance(8.f);
#else
colDemo->setCameraDistance(18.f);
#endif //
colDemo->initPhysics();
@@ -71,7 +79,11 @@ int main(int argc,char** argv)
void CollisionDemo::initPhysics()
{
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
#ifdef CHECK_GENSHER_TRIANGLE_CASE
m_azi = 140.f;
#else
m_azi = 250.f;
#endif
m_ele = 25.f;
tr[0].setOrigin(btVector3(0.0013328250f,8.1363249f,7.0390840f));
@@ -93,15 +105,62 @@ void CollisionDemo::initPhysics()
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
#ifdef CHECK_GENSHER_TRIANGLE_CASE
tr[0].setIdentity();
tr[1].setIdentity();
#endif //CHECK_GENSHER_TRIANGLE_CASE
btVector3 boxHalfExtentsA(1.0000004768371582f,1.0000004768371582f,1.0000001192092896f);
btVector3 boxHalfExtentsB(3.2836332321166992f,3.2836332321166992f,3.2836320400238037f);
btBoxShape* boxA = new btBoxShape(boxHalfExtentsA);
btBoxShape* boxB = new btBoxShape(boxHalfExtentsB);
float p1[3], p2[3], p3[3], q1[3],q2[3], q3[3];
p1[0] = -3.9242966175;
p1[1] = -0.5582823175;
p1[2] = 2.0101921558;
p2[0] = -3.6731941700;
p2[1] = -0.5604774356;
p2[2] = 2.00301921558;
p3[0] = -3.6698703766;
p3[1] = -0.3097069263;
p3[2] = 2.0073683262;
q1[0] = -2.6317186356;
q1[1] = -1.0000005960;
q1[2] = 1.9999998808;
q2[0] = -2.6317174435;
q2[1] = 0.9999994636;
q2[2] = 1.9999998808;
q3[0] = -4.6317176819;
q3[1] = 1.0f;
q3[2] = 1.9999998808;
btTriangleShape* trishapeA = new btTriangleShape(btVector3(p1[0], p1[1], p1[2]), btVector3(p2[0], p2[1], p2[2]), btVector3(p3[0], p3[1], p3[2]));
trishapeA->setMargin(0.001f);
btTriangleShape* trishapeB = new btTriangleShape(btVector3(q1[0], q1[1], q1[2]), btVector3(q2[0], q2[1], q2[2]), btVector3(q3[0], q3[1], q3[2]));
trishapeB->setMargin(0.001f);
#ifdef CHECK_GENSHER_TRIANGLE_CASE
shapePtr[0] = trishapeA;//boxA;
shapePtr[1] = trishapeB;//boxB;
#else
shapePtr[0] = boxA;
shapePtr[1] = boxB;
#endif
}
@@ -122,18 +181,17 @@ void CollisionDemo::displayCallback(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
//GL_ShapeDrawer::drawCoordSystem();
float m[16];
int i;
btVoronoiSimplexSolver sGjkSimplexSolver;
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);
btVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
convexConvex.setCachedSeperatingAxis(seperatingAxis);
btPointCollector gjkOutput;
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = tr[0];
input.m_transformB = tr[1];
@@ -141,6 +199,10 @@ void CollisionDemo::displayCallback(void) {
if (gjkOutput.m_hasResult)
{
//VECCOPY(pa, gjkOutput.m_pointInWorld);
//VECCOPY(pb, gjkOutput.m_pointInWorld);
//VECADDFAC(pb, pb, gjkOutput.m_normalOnBInWorld, gjkOutput.m_distance);
printf("bullet: %10.10f\n", gjkOutput.m_distance); // = 0.24 => that's absolutely wrong!
btVector3 endPt = gjkOutput.m_pointInWorld +
gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
@@ -151,9 +213,18 @@ void CollisionDemo::displayCallback(void) {
//glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
//glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
glEnd();
}
//GL_ShapeDrawer::drawCoordSystem();
float m[16];
int i;
// btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);
convexConvex.getClosestPoints(input ,gjkOutput,0);
for (i=0;i<numObjects;i++)
{
@@ -180,7 +251,8 @@ void CollisionDemo::displayCallback(void) {
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
tr[0].setRotation(orn);
//let it rotate
//tr[0].setRotation(orn);
pitch += 0.005f;
yaw += 0.01f;