Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -30,7 +30,6 @@ extern int gGpuArraySizeX;
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extern int gGpuArraySizeY;
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extern int gGpuArraySizeZ;
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#include "GpuRigidBodyDemo.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3RaycastInfo.h"
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@@ -38,77 +37,61 @@ extern int gGpuArraySizeZ;
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class GpuConvexScene : public GpuRigidBodyDemo
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{
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protected:
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class b3GpuRaycast* m_raycaster;
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class b3GpuRaycast* m_raycaster;
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public:
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GpuConvexScene(GUIHelperInterface* helper)
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:GpuRigidBodyDemo(helper), m_raycaster(0)
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GpuConvexScene(GUIHelperInterface* helper)
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: GpuRigidBodyDemo(helper), m_raycaster(0)
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{
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}
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virtual ~GpuConvexScene(){}
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virtual ~GpuConvexScene() {}
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virtual const char* getName()
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{
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return "Tetrahedra";
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}
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virtual void setupScene();
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virtual void destroyScene();
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virtual void destroyScene();
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virtual int createDynamicsObjects();
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virtual int createDynamicsObjects();
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virtual int createDynamicsObjects2(const float* vertices, int numVertices, const int* indices,int numIndices);
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virtual int createDynamicsObjects2(const float* vertices, int numVertices, const int* indices, int numIndices);
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virtual void createStaticEnvironment();
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};
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class GpuConvexPlaneScene : public GpuConvexScene
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{
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public:
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GpuConvexPlaneScene(GUIHelperInterface* helper)
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:GpuConvexScene(helper){}
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virtual ~GpuConvexPlaneScene(){}
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: GpuConvexScene(helper) {}
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virtual ~GpuConvexPlaneScene() {}
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virtual const char* getName()
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{
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return "ConvexOnPlane";
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}
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virtual void createStaticEnvironment();
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};
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class GpuBoxPlaneScene : public GpuConvexPlaneScene
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{
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public:
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GpuBoxPlaneScene(GUIHelperInterface* helper):GpuConvexPlaneScene(helper){}
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virtual ~GpuBoxPlaneScene(){}
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GpuBoxPlaneScene(GUIHelperInterface* helper) : GpuConvexPlaneScene(helper) {}
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virtual ~GpuBoxPlaneScene() {}
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virtual const char* getName()
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{
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return "BoxBox";
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}
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virtual int createDynamicsObjects();
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virtual int createDynamicsObjects();
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};
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class GpuTetraScene : public GpuConvexScene
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{
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protected:
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void createFromTetGenData(const char* ele, const char* node);
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void createFromTetGenData(const char* ele, const char* node);
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public:
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virtual const char* getName()
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@@ -116,126 +99,111 @@ public:
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return "TetraBreakable";
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}
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virtual int createDynamicsObjects();
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virtual int createDynamicsObjects();
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};
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b3Vector4 colors[4] =
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{
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b3MakeVector4(1,0,0,1),
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b3MakeVector4(0,1,0,1),
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b3MakeVector4(0,1,1,1),
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b3MakeVector4(1,1,0,1),
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{
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b3MakeVector4(1, 0, 0, 1),
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b3MakeVector4(0, 1, 0, 1),
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b3MakeVector4(0, 1, 1, 1),
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b3MakeVector4(1, 1, 0, 1),
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};
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void GpuConvexScene::setupScene()
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{
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m_raycaster = new b3GpuRaycast(m_clData->m_clContext, m_clData->m_clDevice, m_clData->m_clQueue);
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m_raycaster = new b3GpuRaycast(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue);
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int index=0;
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int index = 0;
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createStaticEnvironment();
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index+=createDynamicsObjects();
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index += createDynamicsObjects();
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m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
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float camPos[4]={0,0,0,0};//ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
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float camPos[4] = {0, 0, 0, 0}; //ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
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//float camPos[4]={1,12.5,1.5,0};
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPos[0],camPos[1],camPos[2]);
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPos[0], camPos[1], camPos[2]);
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraDistance(150);
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//m_instancingRenderer->setCameraYaw(85);
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraYaw(225);
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m_guiHelper->getRenderInterface()->getActiveCamera()->setCameraPitch(-30);
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m_guiHelper->getRenderInterface()->updateCamera(1);//>updateCamera();
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m_guiHelper->getRenderInterface()->updateCamera(1); //>updateCamera();
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char msg[1024];
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int numInstances = index;
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sprintf(msg,"Num objects = %d",numInstances);
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sprintf(msg, "Num objects = %d", numInstances);
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b3Printf(msg);
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//if (ci.m_gui)
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// ci.m_gui->setStatusBarMessage(msg,true);
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}
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void GpuConvexScene::destroyScene()
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void GpuConvexScene::destroyScene()
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{
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delete m_raycaster;
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m_raycaster = 0;
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}
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int GpuConvexScene::createDynamicsObjects()
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int GpuConvexScene::createDynamicsObjects()
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{
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int strideInBytes = 9*sizeof(float);
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int strideInBytes = 9 * sizeof(float);
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/*int numVertices = sizeof(barrel_vertices)/strideInBytes;
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int numIndices = sizeof(barrel_indices)/sizeof(int);
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return createDynamicsObjects2(ci,barrel_vertices,numVertices,barrel_indices,numIndices);
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*/
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int numVertices = sizeof(tetra_vertices)/strideInBytes;
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int numIndices = sizeof(tetra_indices)/sizeof(int);
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return createDynamicsObjects2(tetra_vertices,numVertices,tetra_indices,numIndices);
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int numVertices = sizeof(tetra_vertices) / strideInBytes;
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int numIndices = sizeof(tetra_indices) / sizeof(int);
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return createDynamicsObjects2(tetra_vertices, numVertices, tetra_indices, numIndices);
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}
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int GpuBoxPlaneScene::createDynamicsObjects()
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int GpuBoxPlaneScene::createDynamicsObjects()
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{
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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return createDynamicsObjects2(cube_vertices_textured,numVertices,cube_indices,numIndices);
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int strideInBytes = 9 * sizeof(float);
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int numVertices = sizeof(cube_vertices) / strideInBytes;
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int numIndices = sizeof(cube_indices) / sizeof(int);
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return createDynamicsObjects2(cube_vertices_textured, numVertices, cube_indices, numIndices);
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}
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int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertices, const int* indices, int numIndices)
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int GpuConvexScene::createDynamicsObjects2(const float* vertices, int numVertices, const int* indices, int numIndices)
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{
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int strideInBytes = 9*sizeof(float);
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int textureIndex = -1;
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int strideInBytes = 9 * sizeof(float);
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int textureIndex = -1;
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if (0)
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{
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int width,height,n;
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int width, height, n;
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const char* filename = "data/cube.png";
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const unsigned char* image=0;
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const char* prefix[]={"./","../","../../","../../../","../../../../"};
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int numprefix = sizeof(prefix)/sizeof(const char*);
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for (int i=0;!image && i<numprefix;i++)
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const unsigned char* image = 0;
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const char* prefix[] = {"./", "../", "../../", "../../../", "../../../../"};
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int numprefix = sizeof(prefix) / sizeof(const char*);
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for (int i = 0; !image && i < numprefix; i++)
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{
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char relativeFileName[1024];
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sprintf(relativeFileName,"%s%s",prefix[i],filename);
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image = loadImage(relativeFileName,width,height,n);
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sprintf(relativeFileName, "%s%s", prefix[i], filename);
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image = loadImage(relativeFileName, width, height, n);
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}
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b3Assert(image);
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if (image)
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{
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textureIndex = m_instancingRenderer->registerTexture(image,width,height);
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textureIndex = m_instancingRenderer->registerTexture(image, width, height);
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}
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}
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int shapeId = m_guiHelper->getRenderInterface()->registerShape(&vertices[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
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int shapeId = m_guiHelper->getRenderInterface()->registerShape(&vertices[0], numVertices, indices, numIndices, B3_GL_TRIANGLES, textureIndex);
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//int group=1;
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//int mask=1;
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int index=0;
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int index = 0;
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{
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int curColor = 0;
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float scaling[4] = {1,1,1,1};
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float scaling[4] = {1, 1, 1, 1};
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int prevBody = -1;
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//int insta = 0;
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@@ -244,63 +212,59 @@ int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
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{
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b3AlignedObjectArray<b3Vector3> verts;
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unsigned char* vts = (unsigned char*) vertices;
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for (int i=0;i<numVertices;i++)
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unsigned char* vts = (unsigned char*)vertices;
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for (int i = 0; i < numVertices; i++)
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{
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float* vertex = (float*) &vts[i*strideInBytes];
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verts.push_back(b3MakeVector3(vertex[0]*scaling[0],vertex[1]*scaling[1],vertex[2]*scaling[2]));
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float* vertex = (float*)&vts[i * strideInBytes];
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verts.push_back(b3MakeVector3(vertex[0] * scaling[0], vertex[1] * scaling[1], vertex[2] * scaling[2]));
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}
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bool merge = true;
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if (numVertices)
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{
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utilPtr->initializePolyhedralFeatures(&verts[0],verts.size(),merge);
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utilPtr->initializePolyhedralFeatures(&verts[0], verts.size(), merge);
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}
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}
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int colIndex=-1;
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int colIndex = -1;
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if (gUseInstancedCollisionShapes)
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colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
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//int colIndex = m_data->m_np->registerSphereShape(1);
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for (int i=0;i<gGpuArraySizeX;i++)
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for (int i = 0; i < gGpuArraySizeX; i++)
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{
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//printf("%d of %d\n", i, ci.arraySizeX);
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for (int j=0;j<gGpuArraySizeY;j++)
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for (int j = 0; j < gGpuArraySizeY; j++)
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{
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for (int k=0;k<gGpuArraySizeZ;k++)
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for (int k = 0; k < gGpuArraySizeZ; k++)
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{
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//int colIndex = m_data->m_np->registerConvexHullShape(&vertices[0],strideInBytes,numVertices, scaling);
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if (!gUseInstancedCollisionShapes)
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colIndex = m_data->m_np->registerConvexHullShape(utilPtr);
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float mass = 1.f;
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if (j==0)//ci.arraySizeY-1)
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if (j == 0) //ci.arraySizeY-1)
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{
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//mass=0.f;
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}
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b3Vector3 position = b3MakeVector3(((j+1)&1)+i*2.2,1+j*2.,((j+1)&1)+k*2.2);
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b3Vector3 position = b3MakeVector3(((j + 1) & 1) + i * 2.2, 1 + j * 2., ((j + 1) & 1) + k * 2.2);
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//b3Vector3 position = b3MakeVector3(i*2,1+j*2,k*2);
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//b3Vector3 position=b3MakeVector3(1,0.9,1);
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b3Quaternion orn(0,0,0,1);
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b3Quaternion orn(0, 0, 0, 1);
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b3Vector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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// b3Vector4 scaling=b3MakeVector4(1,1,1,1);
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curColor &= 3;
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// b3Vector4 scaling=b3MakeVector4(1,1,1,1);
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int id;
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id= m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId, position, orn, color, scaling);
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int pid;
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pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
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pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass, position, orn, colIndex, index, false);
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if (prevBody>=0)
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if (prevBody >= 0)
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{
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//b3Point2PointConstraint* p2p = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
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// m_data->m_rigidBodyPipeline->addConstraint(p2p);//,false);
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// m_data->m_rigidBodyPipeline->addConstraint(p2p);//,false);
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}
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prevBody = pid;
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@@ -313,62 +277,56 @@ int GpuConvexScene::createDynamicsObjects2( const float* vertices, int numVertic
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return index;
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}
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void GpuConvexScene::createStaticEnvironment()
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{
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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int strideInBytes = 9 * sizeof(float);
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int numVertices = sizeof(cube_vertices) / strideInBytes;
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int numIndices = sizeof(cube_indices) / sizeof(int);
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0], numVertices, cube_indices, numIndices);
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//int group=1;
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//int mask=1;
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int index=0;
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int index = 0;
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{
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b3Vector4 scaling=b3MakeVector4(400,400,400,1);
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int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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b3Vector3 position=b3MakeVector3(0,-400,0);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 scaling = b3MakeVector4(400, 400, 400, 1);
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int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0], strideInBytes, numVertices, scaling);
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b3Vector3 position = b3MakeVector3(0, -400, 0);
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b3Quaternion orn(0, 0, 0, 1);
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b3Vector4 color=b3MakeVector4(0,0,1,1);
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b3Vector4 color = b3MakeVector4(0, 0, 1, 1);
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int id;
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id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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id = m_instancingRenderer->registerGraphicsInstance(shapeId, position, orn, color, scaling);
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int pid;
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pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
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pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f, position, orn, colIndex, index, false);
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}
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}
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void GpuConvexPlaneScene::createStaticEnvironment()
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{
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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int strideInBytes = 9 * sizeof(float);
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int numVertices = sizeof(cube_vertices) / strideInBytes;
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int numIndices = sizeof(cube_indices) / sizeof(int);
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = m_guiHelper->getRenderInterface()->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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// int group=1;
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// int mask=1;
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int index=0;
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int shapeId = m_guiHelper->getRenderInterface()->registerShape(&cube_vertices[0], numVertices, cube_indices, numIndices);
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// int group=1;
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// int mask=1;
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int index = 0;
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{
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b3Vector4 scaling=b3MakeVector4(400,400,400,1);
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int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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b3Vector3 position=b3MakeVector3(0,-400,0);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 scaling = b3MakeVector4(400, 400, 400, 1);
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int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0], strideInBytes, numVertices, scaling);
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b3Vector3 position = b3MakeVector3(0, -400, 0);
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b3Quaternion orn(0, 0, 0, 1);
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b3Vector4 color=b3MakeVector4(0,0,1,1);
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b3Vector4 color = b3MakeVector4(0, 0, 1, 1);
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int id;
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id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
|
||||
id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId, position, orn, color, scaling);
|
||||
int pid;
|
||||
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
|
||||
|
||||
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f, position, orn, colIndex, index, false);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
@@ -408,25 +366,19 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
|
||||
|
||||
struct TetraBunny
|
||||
struct TetraBunny
|
||||
{
|
||||
#include "bunny.inl"
|
||||
};
|
||||
|
||||
struct TetraCube
|
||||
struct TetraCube
|
||||
{
|
||||
#include "cube.inl"
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
static int nextLine(const char* buffer)
|
||||
{
|
||||
int numBytesRead=0;
|
||||
int numBytesRead = 0;
|
||||
|
||||
while (*buffer != '\n')
|
||||
{
|
||||
@@ -434,8 +386,7 @@ static int nextLine(const char* buffer)
|
||||
numBytesRead++;
|
||||
}
|
||||
|
||||
|
||||
if (buffer[0]==0x0a)
|
||||
if (buffer[0] == 0x0a)
|
||||
{
|
||||
buffer++;
|
||||
numBytesRead++;
|
||||
@@ -444,141 +395,130 @@ static int nextLine(const char* buffer)
|
||||
}
|
||||
|
||||
static float mytetra_vertices[] =
|
||||
{
|
||||
-1.f, 0, -1.f, 0.5f, 0, 1,0, 0,0,
|
||||
-1.f, 0, 1.f, 0.5f, 0, 1,0, 1,0,
|
||||
1.f, 0, 1.f, 0.5f, 0, 1,0, 1,1,
|
||||
1.f, 0, -1.f, 0.5f, 0, 1,0, 0,1
|
||||
};
|
||||
{
|
||||
-1.f, 0, -1.f, 0.5f, 0, 1, 0, 0, 0,
|
||||
-1.f, 0, 1.f, 0.5f, 0, 1, 0, 1, 0,
|
||||
1.f, 0, 1.f, 0.5f, 0, 1, 0, 1, 1,
|
||||
1.f, 0, -1.f, 0.5f, 0, 1, 0, 0, 1};
|
||||
|
||||
static int mytetra_indices[]=
|
||||
{
|
||||
0,1,2,
|
||||
3,1,2,3,2,0,
|
||||
3,0,1
|
||||
};
|
||||
static int mytetra_indices[] =
|
||||
{
|
||||
0, 1, 2,
|
||||
3, 1, 2, 3, 2, 0,
|
||||
3, 0, 1};
|
||||
|
||||
|
||||
/* Create from TetGen .ele, .face, .node data */
|
||||
/* Create from TetGen .ele, .face, .node data */
|
||||
void GpuTetraScene::createFromTetGenData(const char* ele,
|
||||
const char* node)
|
||||
const char* node)
|
||||
{
|
||||
b3Scalar scaling(10);
|
||||
|
||||
b3AlignedObjectArray<b3Vector3> pos;
|
||||
int nnode=0;
|
||||
int ndims=0;
|
||||
int nattrb=0;
|
||||
int hasbounds=0;
|
||||
int result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
|
||||
result = sscanf(node,"%d %d %d %d",&nnode,&ndims,&nattrb,&hasbounds);
|
||||
b3AlignedObjectArray<b3Vector3> pos;
|
||||
int nnode = 0;
|
||||
int ndims = 0;
|
||||
int nattrb = 0;
|
||||
int hasbounds = 0;
|
||||
int result = sscanf(node, "%d %d %d %d", &nnode, &ndims, &nattrb, &hasbounds);
|
||||
result = sscanf(node, "%d %d %d %d", &nnode, &ndims, &nattrb, &hasbounds);
|
||||
node += nextLine(node);
|
||||
|
||||
//b3AlignedObjectArray<b3Vector3> rigidBodyPositions;
|
||||
//b3AlignedObjectArray<int> rigidBodyIds;
|
||||
|
||||
pos.resize(nnode);
|
||||
for(int i=0;i<pos.size();++i)
|
||||
for (int i = 0; i < pos.size(); ++i)
|
||||
{
|
||||
int index=0;
|
||||
int index = 0;
|
||||
//int bound=0;
|
||||
float x,y,z;
|
||||
sscanf(node,"%d %f %f %f",&index,&x,&y,&z);
|
||||
float x, y, z;
|
||||
sscanf(node, "%d %f %f %f", &index, &x, &y, &z);
|
||||
|
||||
// sn>>index;
|
||||
// sn>>x;sn>>y;sn>>z;
|
||||
node += nextLine(node);
|
||||
|
||||
//for(int j=0;j<nattrb;++j)
|
||||
//for(int j=0;j<nattrb;++j)
|
||||
// sn>>a;
|
||||
|
||||
//if(hasbounds)
|
||||
//if(hasbounds)
|
||||
// sn>>bound;
|
||||
|
||||
pos[index].setX(b3Scalar(x)*scaling);
|
||||
pos[index].setY(b3Scalar(y)*scaling);
|
||||
pos[index].setZ(b3Scalar(z)*scaling);
|
||||
pos[index].setX(b3Scalar(x) * scaling);
|
||||
pos[index].setY(b3Scalar(y) * scaling);
|
||||
pos[index].setZ(b3Scalar(z) * scaling);
|
||||
}
|
||||
|
||||
|
||||
if(ele&&ele[0])
|
||||
if (ele && ele[0])
|
||||
{
|
||||
int ntetra=0;
|
||||
int ncorner=0;
|
||||
int neattrb=0;
|
||||
sscanf(ele,"%d %d %d",&ntetra,&ncorner,&neattrb);
|
||||
int ntetra = 0;
|
||||
int ncorner = 0;
|
||||
int neattrb = 0;
|
||||
sscanf(ele, "%d %d %d", &ntetra, &ncorner, &neattrb);
|
||||
ele += nextLine(ele);
|
||||
|
||||
//se>>ntetra;se>>ncorner;se>>neattrb;
|
||||
for(int i=0;i<ntetra;++i)
|
||||
for (int i = 0; i < ntetra; ++i)
|
||||
{
|
||||
int index=0;
|
||||
int ni[4];
|
||||
int index = 0;
|
||||
int ni[4];
|
||||
|
||||
//se>>index;
|
||||
//se>>ni[0];se>>ni[1];se>>ni[2];se>>ni[3];
|
||||
sscanf(ele,"%d %d %d %d %d",&index,&ni[0],&ni[1],&ni[2],&ni[3]);
|
||||
ele+=nextLine(ele);
|
||||
sscanf(ele, "%d %d %d %d %d", &index, &ni[0], &ni[1], &ni[2], &ni[3]);
|
||||
ele += nextLine(ele);
|
||||
|
||||
b3Vector3 average=b3MakeVector3(0,0,0);
|
||||
b3Vector3 average = b3MakeVector3(0, 0, 0);
|
||||
|
||||
for (int v=0;v<4;v++)
|
||||
for (int v = 0; v < 4; v++)
|
||||
{
|
||||
average+=pos[ni[v]];
|
||||
average += pos[ni[v]];
|
||||
}
|
||||
average/=4;
|
||||
average /= 4;
|
||||
|
||||
for (int v=0;v<4;v++)
|
||||
for (int v = 0; v < 4; v++)
|
||||
{
|
||||
b3Vector3 shiftedPos = pos[ni[v]]-average;
|
||||
mytetra_vertices[0+v*9] = shiftedPos.getX();
|
||||
mytetra_vertices[1+v*9] = shiftedPos.getY();
|
||||
mytetra_vertices[2+v*9] = shiftedPos.getZ();
|
||||
b3Vector3 shiftedPos = pos[ni[v]] - average;
|
||||
mytetra_vertices[0 + v * 9] = shiftedPos.getX();
|
||||
mytetra_vertices[1 + v * 9] = shiftedPos.getY();
|
||||
mytetra_vertices[2 + v * 9] = shiftedPos.getZ();
|
||||
}
|
||||
//todo: subtract average
|
||||
|
||||
int strideInBytes = 9*sizeof(float);
|
||||
int numVertices = sizeof(mytetra_vertices)/strideInBytes;
|
||||
int numIndices = sizeof(mytetra_indices)/sizeof(int);
|
||||
int shapeId = m_instancingRenderer->registerShape(&mytetra_vertices[0],numVertices,mytetra_indices,numIndices);
|
||||
// int group=1;
|
||||
// int mask=1;
|
||||
|
||||
|
||||
int strideInBytes = 9 * sizeof(float);
|
||||
int numVertices = sizeof(mytetra_vertices) / strideInBytes;
|
||||
int numIndices = sizeof(mytetra_indices) / sizeof(int);
|
||||
int shapeId = m_instancingRenderer->registerShape(&mytetra_vertices[0], numVertices, mytetra_indices, numIndices);
|
||||
// int group=1;
|
||||
// int mask=1;
|
||||
|
||||
{
|
||||
b3Vector4 scaling=b3MakeVector4(1,1,1,1);
|
||||
int colIndex = m_data->m_np->registerConvexHullShape(&mytetra_vertices[0],strideInBytes,numVertices, scaling);
|
||||
b3Vector3 position=b3MakeVector3(0,150,0);
|
||||
// position+=average;//*1.2;//*2;
|
||||
position+=average*1.2;//*2;
|
||||
b3Vector4 scaling = b3MakeVector4(1, 1, 1, 1);
|
||||
int colIndex = m_data->m_np->registerConvexHullShape(&mytetra_vertices[0], strideInBytes, numVertices, scaling);
|
||||
b3Vector3 position = b3MakeVector3(0, 150, 0);
|
||||
// position+=average;//*1.2;//*2;
|
||||
position += average * 1.2; //*2;
|
||||
//rigidBodyPositions.push_back(position);
|
||||
b3Quaternion orn(0,0,0,1);
|
||||
b3Quaternion orn(0, 0, 0, 1);
|
||||
|
||||
static int curColor=0;
|
||||
static int curColor = 0;
|
||||
b3Vector4 color = colors[curColor++];
|
||||
curColor&=3;
|
||||
|
||||
int id;
|
||||
id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
|
||||
int pid;
|
||||
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f,position,orn,colIndex,0,false);
|
||||
//rigidBodyIds.push_back(pid);
|
||||
curColor &= 3;
|
||||
|
||||
int id;
|
||||
id = m_instancingRenderer->registerGraphicsInstance(shapeId, position, orn, color, scaling);
|
||||
int pid;
|
||||
pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(1.f, position, orn, colIndex, 0, false);
|
||||
//rigidBodyIds.push_back(pid);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//for(int j=0;j<neattrb;++j)
|
||||
//for(int j=0;j<neattrb;++j)
|
||||
// se>>a;
|
||||
//psb->appendTetra(ni[0],ni[1],ni[2],ni[3]);
|
||||
|
||||
}
|
||||
// printf("Nodes: %u\r\n",psb->m_nodes.size());
|
||||
// printf("Links: %u\r\n",psb->m_links.size());
|
||||
// printf("Faces: %u\r\n",psb->m_faces.size());
|
||||
// printf("Tetras: %u\r\n",psb->m_tetras.size());
|
||||
|
||||
}
|
||||
|
||||
m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
|
||||
@@ -589,72 +529,68 @@ void GpuTetraScene::createFromTetGenData(const char* ele,
|
||||
|
||||
int numPairs = m_data->m_bp->getNumOverlap();
|
||||
cl_mem pairs = m_data->m_bp->getOverlappingPairBuffer();
|
||||
b3OpenCLArray<b3Int2> clPairs(m_clData->m_clContext,m_clData->m_clQueue);
|
||||
clPairs.setFromOpenCLBuffer(pairs,numPairs);
|
||||
b3OpenCLArray<b3Int2> clPairs(m_clData->m_clContext, m_clData->m_clQueue);
|
||||
clPairs.setFromOpenCLBuffer(pairs, numPairs);
|
||||
b3AlignedObjectArray<b3Int2> allPairs;
|
||||
clPairs.copyToHost(allPairs);
|
||||
|
||||
for (int p=0;p<allPairs.size();p++)
|
||||
for (int p = 0; p < allPairs.size(); p++)
|
||||
{
|
||||
b3Vector3 posA,posB;
|
||||
b3Quaternion ornA,ornB;
|
||||
b3Vector3 posA, posB;
|
||||
b3Quaternion ornA, ornB;
|
||||
int bodyIndexA = allPairs[p].x;
|
||||
int bodyIndexB = allPairs[p].y;
|
||||
|
||||
m_data->m_np->getObjectTransformFromCpu(posA,ornA,bodyIndexA);
|
||||
m_data->m_np->getObjectTransformFromCpu(posB,ornB,bodyIndexB);
|
||||
|
||||
b3Vector3 pivotWorld = (posA+posB)*0.5f;
|
||||
b3Transform transA,transB;
|
||||
m_data->m_np->getObjectTransformFromCpu(posA, ornA, bodyIndexA);
|
||||
m_data->m_np->getObjectTransformFromCpu(posB, ornB, bodyIndexB);
|
||||
|
||||
b3Vector3 pivotWorld = (posA + posB) * 0.5f;
|
||||
b3Transform transA, transB;
|
||||
transA.setIdentity();
|
||||
transA.setOrigin(posA);
|
||||
transA.setRotation(ornA);
|
||||
transB.setIdentity();
|
||||
transB.setOrigin(posB);
|
||||
transB.setRotation(ornB);
|
||||
b3Vector3 pivotInA = transA.inverse()*pivotWorld;
|
||||
b3Vector3 pivotInB = transB.inverse()*pivotWorld;
|
||||
b3Vector3 pivotInA = transA.inverse() * pivotWorld;
|
||||
b3Vector3 pivotInB = transB.inverse() * pivotWorld;
|
||||
|
||||
b3Transform frameInA,frameInB;
|
||||
b3Transform frameInA, frameInB;
|
||||
frameInA.setIdentity();
|
||||
frameInB.setIdentity();
|
||||
frameInA.setOrigin(pivotInA);
|
||||
frameInB.setOrigin(pivotInB);
|
||||
b3Quaternion relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
|
||||
|
||||
b3Quaternion relTargetAB = frameInA.getRotation() * frameInB.getRotation().inverse();
|
||||
|
||||
//c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB);
|
||||
float breakingThreshold = 45;//37.f;
|
||||
float breakingThreshold = 45; //37.f;
|
||||
//c->setBreakingImpulseThreshold(37.1);
|
||||
bool useGPU = true;
|
||||
if (useGPU)
|
||||
{
|
||||
int cid;
|
||||
cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA,bodyIndexB,pivotInA,pivotInB,relTargetAB,breakingThreshold);
|
||||
} else
|
||||
cid = m_data->m_rigidBodyPipeline->createFixedConstraint(bodyIndexA, bodyIndexB, pivotInA, pivotInB, relTargetAB, breakingThreshold);
|
||||
}
|
||||
else
|
||||
{
|
||||
b3FixedConstraint* c = new b3FixedConstraint(bodyIndexA,bodyIndexB,frameInA,frameInB);
|
||||
b3FixedConstraint* c = new b3FixedConstraint(bodyIndexA, bodyIndexB, frameInA, frameInB);
|
||||
c->setBreakingImpulseThreshold(breakingThreshold);
|
||||
m_data->m_rigidBodyPipeline->addConstraint(c);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
printf("numPairs = %d\n",numPairs);
|
||||
|
||||
printf("numPairs = %d\n", numPairs);
|
||||
}
|
||||
|
||||
|
||||
int GpuTetraScene::createDynamicsObjects()
|
||||
int GpuTetraScene::createDynamicsObjects()
|
||||
{
|
||||
|
||||
//createFromTetGenData(TetraCube::getElements(),TetraCube::getNodes());
|
||||
createFromTetGenData(TetraBunny::getElements(),TetraBunny::getNodes());
|
||||
createFromTetGenData(TetraBunny::getElements(), TetraBunny::getNodes());
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
class CommonExampleInterface* OpenCLBoxBoxCreateFunc(struct CommonExampleOptions& options)
|
||||
class CommonExampleInterface* OpenCLBoxBoxCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new GpuBoxPlaneScene(options.m_guiHelper);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user