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fixed rotation and translation issues for mesh and hull collision shapes

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This commit is contained in:
nicola.candussi
2008-09-22 18:07:39 +00:00
parent a5da7347db
commit 965ef932e9
4 changed files with 68 additions and 41 deletions
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44
Extras/MayaPlugin/bt_convex_hull_shape.h
View File

@@ -37,6 +37,12 @@ public:
if(m_vertices.empty() || m_indices.empty()) return;
glPushMatrix();
glTranslatef(m_center[0], m_center[1], m_center[2]);
float angle;
vec3f axis;
q_to_axis_angle(m_rotation, axis, angle);
glRotatef(rad2deg(angle), axis[0], axis[1], axis[2]);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
if(draw_style & collision_shape_t::kDSSolid) {
@@ -50,6 +56,7 @@ public:
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glPopMatrix();
}
virtual void set_scale(vec3f const& s) {
@@ -94,17 +101,27 @@ protected:
m_vertices[i] = prod(Qinv, vertices[i] - m_center);
}
set_shape(new btConvexHullShape((float const*)&(m_vertices[0]), num_vertices, sizeof(vec3f)));
m_ch_shape.reset(new btConvexHullShape((float const*)&(m_vertices[0]), num_vertices, sizeof(vec3f)));
btCompoundShape *compound_shape = new btCompoundShape;
compound_shape->addChildShape(btTransform(btQuaternion(m_rotation[1],
m_rotation[2],
m_rotation[3],
m_rotation[0]),
btVector3(m_center[0],
m_center[1],
m_center[2])),
m_ch_shape.get());
set_shape(compound_shape);
}
void update()
{
btConvexHullShape *cu_shape = static_cast<btConvexHullShape*>(shape());
btConvexHullShape *ch_shape = static_cast<btConvexHullShape*>(shape());
//apply the scaling
btVector3 const& scale = cu_shape->getLocalScaling();
btPoint3 const* points = cu_shape->getPoints();
for(int i = 0; i < cu_shape->getNumPoints(); ++i) {
btVector3 const& scale = m_ch_shape->getLocalScaling();
btPoint3 const* points = m_ch_shape->getPoints();
for(int i = 0; i < m_ch_shape->getNumPoints(); ++i) {
m_vertices[i] = vec3f(scale.x() * points[i].x(), scale.y() * points[i].y(), scale.z() * points[i].z());
}
m_volume = ::volume(&(m_vertices[0]), (int*)&(m_indices[0]), m_indices.size());
@@ -123,16 +140,15 @@ protected:
}
private:
std::vector<vec3f> m_vertices;
std::vector<vec3f> m_normals;
std::vector<unsigned int> m_indices;
float m_volume;
vec3f m_center;
quatf m_rotation;
vec3f m_local_inertia;
shared_ptr<btConvexHullShape> m_ch_shape;
std::vector<vec3f> m_vertices;
std::vector<vec3f> m_normals;
std::vector<unsigned int> m_indices;
float m_volume;
vec3f m_center;
quatf m_rotation;
vec3f m_local_inertia;
};
#endif

36
Extras/MayaPlugin/bt_mesh_shape.h
View File

@@ -40,7 +40,11 @@ public:
btVector3 const& scale = shape()->getLocalScaling();
glPushMatrix();
//glTranslatef(m_center[0], m_center[1], m_center[2]);
glTranslatef(m_center[0], m_center[1], m_center[2]);
float angle;
vec3f axis;
q_to_axis_angle(m_rotation, axis, angle);
glRotatef(rad2deg(angle), axis[0], axis[1], axis[2]);
glScalef(scale.x(), scale.y(), scale.z());
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
@@ -105,10 +109,19 @@ protected:
m_tiva.reset(new btTriangleIndexVertexArray(num_indices / 3, (int*)&(m_indices[0]), 3 * sizeof(unsigned int),
num_vertices, (float*)&(m_vertices[0]), sizeof(vec3f)));
btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(m_tiva.get());
gimpactShape->setLocalScaling(btVector3(1.0f,1.0f,1.0f));
gimpactShape->updateBound();
set_shape(gimpactShape);
m_gi_shape.reset(new btGImpactMeshShape(m_tiva.get()));
m_gi_shape->setLocalScaling(btVector3(1.0f,1.0f,1.0f));
m_gi_shape->updateBound();
btCompoundShape *compound_shape = new btCompoundShape;
compound_shape->addChildShape(btTransform(btQuaternion(m_rotation[1],
m_rotation[2],
m_rotation[3],
m_rotation[0]),
btVector3(m_center[0],
m_center[1],
m_center[2])),
m_gi_shape.get());
set_shape(compound_shape);
//std::cout << "construtor: " << m_center << std::endl;
@@ -117,10 +130,8 @@ protected:
void update()
{
btGImpactMeshShape *gi_shape = static_cast<btGImpactMeshShape*>(shape());
//apply the scaling
btVector3 const& scale = gi_shape->getLocalScaling();
btVector3 const& scale = m_gi_shape->getLocalScaling();
std::vector<vec3f> vertices(m_vertices.size());
for(int i = 0; i < vertices.size(); ++i) {
@@ -142,10 +153,11 @@ protected:
}
private:
std::vector<vec3f> m_vertices;
std::vector<vec3f> m_normals;
std::vector<unsigned int> m_indices;
shared_ptr<btTriangleIndexVertexArray> m_tiva;
shared_ptr<btGImpactMeshShape> m_gi_shape;
std::vector<vec3f> m_vertices;
std::vector<vec3f> m_normals;
std::vector<unsigned int> m_indices;
shared_ptr<btTriangleIndexVertexArray> m_tiva;
float m_volume;
vec3f m_center;

25
Extras/MayaPlugin/mvl/quat.h
View File

@@ -121,22 +121,21 @@ q_from_axis_angle(vec<T1, 3> const& axis, T2 theta) {
template<typename T1, typename T2, typename T3>
inline
void
q_to_axis_angle(vec<T1, 4> const& q, vec<T2, 3>& axis, T3& theta) {
q_to_axis_angle(vec<T1, 4> const& q, vec<T2, 3>& axis, T3& theta)
{
T3 half_theta= acos(q[0]);
T3 half_theta= acos(q[0]);
if(half_theta > 10 * std::numeric_limits<T3>::epsilon()) {
T3 oost = 1 / sin(half_theta);
if(half_theta > 10 * std::numeric_limits<T3>::epsilon()) {
T3 oost = 1 / sin(half_theta);
axis[0] = oost * q[1];
axis[1] = oost * q[2];
axis[2] = oost * q[3];
theta = 2 * half_theta;
} else {
axis[0] = oost * q[1];
axis[1] = oost * q[2];
axis[2] = oost * q[3];
theta = 2 * half_theta;
} else {
axis[0] = axis[1] = axis[2] = 0;
theta = 0;
}
theta = 0;
}
}
//init quaternion from rotation matrix

4
Extras/MayaPlugin/shared_ptr.h
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@@ -190,8 +190,8 @@ protected:
}
protected:
T *m_ptr;
shared_count *m_count;
T *m_ptr;
shared_count *m_count;
};