Added GIMPACT integration for moving concave meshes (interaction with all other Bullet collision shapes)

Thanks a lot to Francisco León Nájera for the contribution!

Demos/Jamfile

@@ -77,6 +77,7 @@ SubInclude TOP Demos BspDemo ;
 SubInclude TOP Demos VehicleDemo ;
 SubInclude TOP Demos CollisionDemo ;
 SubInclude TOP Demos CollisionInterfaceDemo ;
+#SubInclude TOP Demos MovingConcaveDemo ;
 SubInclude TOP Demos ConcaveDemo ;
 SubInclude TOP Demos ConstraintDemo ;
 SubInclude TOP Demos ContinuousConvexCollision ;

Demos/MovingConcaveDemo/ConcaveDemo.h

@@ -0,0 +1,42 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+#ifndef CONCAVE_DEMO_H
+#define CONCAVE_DEMO_H
+
+#include "DemoApplication.h"
+
+///ConcaveDemo shows usage of static concave triangle meshes
+///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
+class ConcaveDemo : public DemoApplication
+{
+	public:
+
+	void	initPhysics();
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+
+	virtual 	void renderme();
+	virtual void keyboardCallback(unsigned char key, int x, int y);
+
+	///Demo functions
+	void	shootTrimesh(const btVector3& destination);
+
+
+};
+
+#endif //CONCAVE_DEMO_H
+

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -44,6 +44,93 @@ subject to the following restrictions:
 #include "BMF_Api.h"
 #include <stdio.h> //printf debugging
 
+#ifdef USE_DISPLAY_LISTS
+
+#include <map>
+
+using namespace std;
+
+//Set for storing Display list per trimesh
+struct TRIMESH_KEY
+{
+	btCollisionShape* m_shape;
+	GLuint m_dlist;//OpenGL display list	
+};
+
+typedef map<unsigned long,TRIMESH_KEY> TRIMESH_KEY_MAP;
+
+typedef pair<unsigned long,TRIMESH_KEY> TRIMESH_KEY_PAIR;
+
+TRIMESH_KEY_MAP g_display_lists;
+
+GLuint  OGL_get_displaylist_for_shape(btCollisionShape * shape)
+{
+	TRIMESH_KEY_MAP::iterator map_iter;
+	
+	unsigned long key = (unsigned long)shape;
+	map_iter = g_display_lists.find(key);
+	if(map_iter!=g_display_lists.end())
+	{
+		return map_iter->second.m_dlist;
+	}
+
+	return 0;
+}
+
+void OGL_displaylist_clean()
+{
+	TRIMESH_KEY_MAP::iterator map_iter,map_itend;
+
+	map_iter = g_display_lists.begin();
+
+	while(map_iter!=map_itend)
+	{
+		glDeleteLists(map_iter->second.m_dlist,1);		
+		map_iter++;
+	}
+
+	g_display_lists.clear();
+}
+
+
+void OGL_displaylist_register_shape(btCollisionShape * shape)
+{
+	btVector3 aabbMax(1e30f,1e30f,1e30f);
+	btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
+	GlDrawcallback drawCallback;
+	TRIMESH_KEY dlist;
+
+	dlist.m_dlist = glGenLists(1);
+	dlist.m_shape = shape;
+
+	unsigned long key = (unsigned long)shape;
+
+	g_display_lists.insert(TRIMESH_KEY_PAIR(key,dlist));
+	
+	glNewList(dlist.m_dlist,GL_COMPILE);
+
+	glEnable(GL_CULL_FACE);
+
+	glCullFace(GL_BACK);
+
+	if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+	{
+		btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape;			
+		//todo pass camera, for some culling		
+		concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+	}
+	else if (shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+	{
+		btGIMPACTMeshShape* gimpactMesh = (btGIMPACTMeshShape*) shape;
+		gimpactMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+	}
+
+	glDisable(GL_CULL_FACE);	
+
+	glEndList();
+}
+#endif //USE_DISPLAY_LISTS
+
 void GL_ShapeDrawer::drawCoordSystem()  {
     glBegin(GL_LINES);
     glColor3f(1, 0, 0);
@@ -322,9 +409,19 @@ void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const b
 			}
 		}
 
-		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+
+#ifdef USE_DISPLAY_LISTS
+
+	if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
 		{
-			btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape;
+			GLuint dlist =   OGL_get_displaylist_for_shape((btCollisionShape * )shape);
+			glCallList(dlist);
+		}
+#else		
+	if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
+//		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+		{
+			ConcaveShape* concaveMesh = (btTriangleMeshShape*) shape;
 			//btVector3 aabbMax(1e30f,1e30f,1e30f);
 			//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
 
@@ -337,8 +434,8 @@ void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const b
 
 			concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
 
-
 		}
+#endif
 
 		if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
 		{

Demos/OpenGL/GL_ShapeDrawer.h

@@ -28,4 +28,7 @@ class GL_ShapeDrawer
 		
 };
 
+void OGL_displaylist_register_shape(btCollisionShape * shape);
+void OGL_displaylist_clean();
+
 #endif //GL_SHAPE_DRAWER_H

Demos/UserCollisionAlgorithm/UserCollisionAlgorithm.cpp

@@ -108,7 +108,7 @@ void	UserCollisionAlgorithm::initPhysics()
 		
 	btVector3 maxAabb(10000,10000,10000);
 	btOverlappingPairCache* broadphase = new btAxisSweep3(-maxAabb,maxAabb);//SimpleBroadphase();
-	dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
+	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
 	
 
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase);