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Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp to compile again

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Allow to use convexProcessingThreshold as maximum distance for convex-convex computation (useful for closest distance/point computation)
This commit is contained in:
erwin.coumans
2010-08-25 01:28:46 +00:00
parent 32714313a8
commit 958c705a02
5 changed files with 322 additions and 34 deletions
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260
Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp
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@@ -24,12 +24,20 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletDynamics/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "LinearMath/btIDebugDraw.h"
//#define USE_GJK
#ifndef USE_GJK
#include "btBulletCollisionCommon.h"
#endif //USE_GJK
#include "GL_ShapeDrawer.h"
#ifdef WIN32 //needed for glut.h
#include <windows.h>
@@ -51,12 +59,119 @@ const int numObjects = 2;
GL_Simplex1to4 simplex;
btPolyhedralConvexShape* shapePtr[maxNumObjects];
btConvexShape* shapePtr[maxNumObjects];
btTransform tr[numObjects];
int screenWidth = 640.f;
int screenHeight = 480.f;
void clientResetScene()
{
tr[0].setOrigin(btVector3(0.0f,3.f,7.f));
tr[1].setOrigin(btVector3(0.0f,9.f,2.f));
}
int debugMode = 0;//btIDebugDraw::DBG_DrawWireframe;
GL_ShapeDrawer shapeDrawer;
int m_glutScreenWidth=0;
int m_glutScreenHeight=0;
float m_frustumZNear = 1.f;
float m_frustumZFar = 10000.f;
bool m_ortho = false;
int myglutmain(int argc, char **argv,int width,int height,const char* title);
void updateCamera() {
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
btScalar rele = 0;
btScalar razi = 0;
btVector3 m_cameraUp(0,1,0);
btScalar m_cameraDistance = 10.f;
btVector3 m_cameraPosition;
btVector3 m_cameraTargetPosition = (tr[0].getOrigin()+tr[1].getOrigin())*0.5;
btQuaternion rot(m_cameraUp,razi);
int m_forwardAxis = 2;
btVector3 eyePos(0,0,0);
eyePos[m_forwardAxis] = -m_cameraDistance;
btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
if (forward.length2() < SIMD_EPSILON)
{
forward.setValue(1.f,0.f,0.f);
}
btVector3 right = m_cameraUp.cross(forward);
btQuaternion roll(right,-rele);
eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
m_cameraPosition[0] = eyePos.getX();
m_cameraPosition[1] = eyePos.getY();
m_cameraPosition[2] = eyePos.getZ();
m_cameraPosition += m_cameraTargetPosition;
if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
return;
btScalar aspect;
btVector3 extents;
if (m_glutScreenWidth > m_glutScreenHeight)
{
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
extents.setValue(aspect * 1.0f, 1.0f,0);
} else
{
aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
extents.setValue(1.0f, aspect*1.f,0);
}
if (m_ortho)
{
// reset matrix
glLoadIdentity();
extents *= m_cameraDistance;
btVector3 lower = m_cameraTargetPosition - extents;
btVector3 upper = m_cameraTargetPosition + extents;
//gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
//glTranslatef(100,210,0);
} else
{
if (m_glutScreenWidth > m_glutScreenHeight)
{
// glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
} else
{
// glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0);
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
}
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());
}
}
int main(int argc,char** argv)
{
@@ -71,13 +186,14 @@ int main(int argc,char** argv)
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
btPoint3 points0[3]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1)};
btPoint3 points1[5]={btPoint3(1,0,0),btPoint3(0,1,0),btPoint3(0,0,1),btPoint3(0,0,-1),btPoint3(-1,-1,0)};
btVector3 points0[3]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1)};
btVector3 points1[5]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1),btVector3(0,0,-1),btVector3(-1,-1,0)};
btConvexHullShape hullA(points0,3);
btConvexHullShape hullB(points1,5);
btConvexHullShape hullA(&points0[0].getX(),3);
btConvexHullShape hullB(&points1[0].getX(),5);
btCylinderShape cylinder(btVector3(0.3,1,1));
shapePtr[0] = &hullA;
shapePtr[0] = &cylinder;//hullA;
shapePtr[1] = &hullB;
@@ -85,15 +201,7 @@ int main(int argc,char** argv)
tr.setIdentity();
return glutmain(argc, argv,screenWidth,screenHeight,"Convex Hull Distance Demo");
}
//to be implemented by the demo
void clientMoveAndDisplay()
{
clientDisplay();
return myglutmain(argc, argv,screenWidth,screenHeight,"Convex Hull Distance Demo");
}
@@ -104,6 +212,9 @@ btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
void clientDisplay(void) {
updateCamera();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
@@ -111,7 +222,7 @@ void clientDisplay(void) {
float m[16];
int i;
#ifdef USE_GJK
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);
btVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
@@ -136,19 +247,55 @@ void clientDisplay(void) {
glEnd();
}
#else //USE_GJK
struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
{
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
{
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(cp.m_positionWorldOnA.getX(),cp.m_positionWorldOnA.getY(),cp.m_positionWorldOnA.getZ());
glVertex3d(cp.m_positionWorldOnB.getX(),cp.m_positionWorldOnB.getY(),cp.m_positionWorldOnB.getZ());
glEnd();
return 1.f;
}
};
btDefaultCollisionConfiguration collisionConfiguration;
btCollisionDispatcher dispatcher(&collisionConfiguration);
btDbvtBroadphase pairCache;
btCollisionWorld world (&dispatcher,&pairCache,&collisionConfiguration);
world.getDispatchInfo().m_convexMaxDistanceUseCPT = true;
MyContactResultCallback result;
btCollisionObject obA;
obA.setCollisionShape(shapePtr[0]);
obA.setWorldTransform(tr[0]);
btCollisionObject obB;
obB.setCollisionShape(shapePtr[1]);
obB.setWorldTransform(tr[1]);
world.contactPairTest(&obA,&obB,result);
#endif//USE_GJK
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
for (i=0;i<numObjects;i++)
{
tr[i].getOpenGLMatrix( m );
GL_ShapeDrawer::drawOpenGL(m,shapePtr[i],btVector3(1,1,1),getDebugMode());
shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),debugMode, worldMin, worldMax);
}
simplex.setSimplexSolver(&sGjkSimplexSolver);
btPoint3 ybuf[4],pbuf[4],qbuf[4];
btVector3 ybuf[4],pbuf[4],qbuf[4];
int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
simplex.reset();
@@ -158,7 +305,7 @@ void clientDisplay(void) {
btTransform ident;
ident.setIdentity();
ident.getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,&simplex,btVector3(1,1,1),getDebugMode());
shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),debugMode, worldMin,worldMax);
btQuaternion orn;
@@ -173,23 +320,74 @@ void clientDisplay(void) {
glutSwapBuffers();
}
void clientResetScene()
void clientMoveAndDisplay()
{
tr[0].setOrigin(btVector3(0.0f,3.f,7.f));
tr[1].setOrigin(btVector3(0.0f,9.f,2.f));
clientDisplay();
}
void clientKeyboard(unsigned char key, int x, int y)
static void glutReshapeCallback(int w, int h)
{
defaultKeyboard(key, x, y);
m_glutScreenWidth=w;
m_glutScreenHeight=h;
}
void clientMouseFunc(int button, int state, int x, int y)
{
int myglutmain(int argc, char **argv,int width,int height,const char* title) {
}
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GLUT_STENCIL);
glutInitWindowPosition(0, 0);
glutInitWindowSize(width, height);
glutCreateWindow(title);
#ifdef BT_USE_FREEGLUT
glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
#endif
void clientMotionFunc(int x,int y)
{
}
glutIdleFunc( clientDisplay );
glutDisplayFunc( clientDisplay );
glutReshapeFunc(glutReshapeCallback);
//enable vsync to avoid tearing on Apple (todo: for Windows)
#if defined(__APPLE__) && !defined (VMDMESA)
int swap_interval = 1;
CGLContextObj cgl_context = CGLGetCurrentContext();
CGLSetParameter(cgl_context, kCGLCPSwapInterval, &swap_interval);
#endif
GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) };
GLfloat light_diffuse[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0) };
GLfloat light_specular[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0 )};
/* light_position is NOT default value */
GLfloat light_position0[] = { btScalar(1.0), btScalar(10.0), btScalar(1.0), btScalar(0.0 )};
GLfloat light_position1[] = { btScalar(-1.0), btScalar(-10.0), btScalar(-1.0), btScalar(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_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);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glClearColor(btScalar(0.7),btScalar(0.7),btScalar(0.7),btScalar(0));
glutMainLoop();
return 0;
}