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

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Thanks a lot to Francisco León Nájera for the contribution!
This commit is contained in:
ejcoumans
2006-11-12 06:15:19 +00:00
parent 86c27a7c9d
commit a9172d8684
47 changed files with 14930 additions and 5 deletions
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103
Demos/OpenGL/GL_ShapeDrawer.cpp
View File

@@ -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)
{

3
Demos/OpenGL/GL_ShapeDrawer.h
View File

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