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Code-style consistency improvement:

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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
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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314
examples/VoronoiFracture/VoronoiFractureDemo.cpp
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@@ -33,14 +33,12 @@ static int useMpr = 0;
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include <stdio.h> //printf debugging
#include <stdio.h> //printf debugging
static bool useGenericConstraint = false;
#include "btConvexConvexMprAlgorithm.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btConvexHullComputer.h"
#include "LinearMath/btQuaternion.h"
@@ -57,38 +55,35 @@ class btDefaultCollisionConfiguration;
#include "../CommonInterfaces/CommonRigidBodyBase.h"
class VoronoiFractureDemo : public CommonRigidBodyBase
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btBroadphaseInterface* m_broadphase;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btClock m_perfmTimer;
public:
public:
VoronoiFractureDemo(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper)
: CommonRigidBodyBase(helper)
{
srand((unsigned)time(NULL)); // Seed it...
srand((unsigned)time(NULL)); // Seed it...
}
virtual ~VoronoiFractureDemo()
{
btAssert(m_dynamicsWorld==0);
btAssert(m_dynamicsWorld == 0);
}
void initPhysics();
void initPhysics();
void exitPhysics();
void exitPhysics();
//virtual void renderme();
@@ -100,7 +95,7 @@ class VoronoiFractureDemo : public CommonRigidBodyBase
//virtual void displayCallback();
//virtual void clientResetScene();
//virtual void keyboardCallback(unsigned char key, int x, int y);
void attachFixedConstraints();
@@ -110,11 +105,9 @@ class VoronoiFractureDemo : public CommonRigidBodyBase
float dist = 18;
float pitch = -30;
float yaw = 129;
float targetPos[3]={-1.5,4.7,-2};
m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
float targetPos[3] = {-1.5, 4.7, -2};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
};
void VoronoiFractureDemo::attachFixedConstraints()
@@ -123,7 +116,7 @@ void VoronoiFractureDemo::attachFixedConstraints()
int numManifolds = m_dynamicsWorld->getDispatcher()->getNumManifolds();
for (int i=0;i<numManifolds;i++)
for (int i = 0; i < numManifolds; i++)
{
btPersistentManifold* manifold = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
if (!manifold->getNumContacts())
@@ -131,26 +124,26 @@ void VoronoiFractureDemo::attachFixedConstraints()
btScalar minDist = 1e30f;
int minIndex = -1;
for (int v=0;v<manifold->getNumContacts();v++)
for (int v = 0; v < manifold->getNumContacts(); v++)
{
if (minDist >manifold->getContactPoint(v).getDistance())
if (minDist > manifold->getContactPoint(v).getDistance())
{
minDist = manifold->getContactPoint(v).getDistance();
minIndex = v;
}
}
if (minDist>0.)
if (minDist > 0.)
continue;
btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0();
btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
// int tag0 = (colObj0)->getIslandTag();
// int tag1 = (colObj1)->getIslandTag();
// int tag0 = (colObj0)->getIslandTag();
// int tag1 = (colObj1)->getIslandTag();
btRigidBody* body0 = btRigidBody::upcast(colObj0);
btRigidBody* body1 = btRigidBody::upcast(colObj1);
if (bodies.findLinearSearch(body0)==bodies.size())
if (bodies.findLinearSearch(body0) == bodies.size())
bodies.push_back(body0);
if (bodies.findLinearSearch(body1)==bodies.size())
if (bodies.findLinearSearch(body1) == bodies.size())
bodies.push_back(body1);
if (body0 && body1)
@@ -160,7 +153,7 @@ void VoronoiFractureDemo::attachFixedConstraints()
if (body0->checkCollideWithOverride(body1))
{
{
btTransform trA,trB;
btTransform trA, trB;
trA.setIdentity();
trB.setIdentity();
btVector3 contactPosWorld = manifold->getContactPoint(minIndex).m_positionWorldOnA;
@@ -168,40 +161,35 @@ void VoronoiFractureDemo::attachFixedConstraints()
globalFrame.setIdentity();
globalFrame.setOrigin(contactPosWorld);
trA = body0->getWorldTransform().inverse()*globalFrame;
trB = body1->getWorldTransform().inverse()*globalFrame;
float totalMass = 1.f/body0->getInvMass() + 1.f/body1->getInvMass();
trA = body0->getWorldTransform().inverse() * globalFrame;
trB = body1->getWorldTransform().inverse() * globalFrame;
float totalMass = 1.f / body0->getInvMass() + 1.f / body1->getInvMass();
if (useGenericConstraint)
{
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body0,*body1,trA,trB,true);
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body0, *body1, trA, trB, true);
dof6->setOverrideNumSolverIterations(30);
dof6->setBreakingImpulseThreshold(BREAKING_THRESHOLD * totalMass);
dof6->setBreakingImpulseThreshold(BREAKING_THRESHOLD*totalMass);
for (int i=0;i<6;i++)
dof6->setLimit(i,0,0);
m_dynamicsWorld->addConstraint(dof6,true);
} else
{
btFixedConstraint* fixed = new btFixedConstraint(*body0,*body1,trA,trB);
fixed->setBreakingImpulseThreshold(BREAKING_THRESHOLD*totalMass);
fixed ->setOverrideNumSolverIterations(30);
m_dynamicsWorld->addConstraint(fixed,true);
for (int i = 0; i < 6; i++)
dof6->setLimit(i, 0, 0);
m_dynamicsWorld->addConstraint(dof6, true);
}
else
{
btFixedConstraint* fixed = new btFixedConstraint(*body0, *body1, trA, trB);
fixed->setBreakingImpulseThreshold(BREAKING_THRESHOLD * totalMass);
fixed->setOverrideNumSolverIterations(30);
m_dynamicsWorld->addConstraint(fixed, true);
}
}
}
}
}
}
}
for (int i=0;i<bodies.size();i++)
for (int i = 0; i < bodies.size(); i++)
{
m_dynamicsWorld->removeRigidBody(bodies[i]);
m_dynamicsWorld->addRigidBody(bodies[i]);
@@ -227,30 +215,30 @@ void VoronoiFractureDemo::getVerticesInsidePlanes(const btAlignedObjectArray<btV
planeIndicesOut.clear();
const int numPlanes = planes.size();
int i, j, k, l;
for (i=0;i<numPlanes;i++)
for (i = 0; i < numPlanes; i++)
{
const btVector3& N1 = planes[i];
for (j=i+1;j<numPlanes;j++)
for (j = i + 1; j < numPlanes; j++)
{
const btVector3& N2 = planes[j];
btVector3 n1n2 = N1.cross(N2);
if (n1n2.length2() > btScalar(0.0001))
{
for (k=j+1;k<numPlanes;k++)
for (k = j + 1; k < numPlanes; k++)
{
const btVector3& N3 = planes[k];
btVector3 n2n3 = N2.cross(N3);
btVector3 n3n1 = N3.cross(N1);
if ((n2n3.length2() > btScalar(0.0001)) && (n3n1.length2() > btScalar(0.0001) ))
if ((n2n3.length2() > btScalar(0.0001)) && (n3n1.length2() > btScalar(0.0001)))
{
btScalar quotient = (N1.dot(n2n3));
if (btFabs(quotient) > btScalar(0.0001))
{
btVector3 potentialVertex = (n2n3 * N1[3] + n3n1 * N2[3] + n1n2 * N3[3]) * (btScalar(-1.) / quotient);
for (l=0; l<numPlanes; l++)
for (l = 0; l < numPlanes; l++)
{
const btVector3& NP = planes[l];
if (btScalar(NP.dot(potentialVertex))+btScalar(NP[3]) > btScalar(0.000001))
if (btScalar(NP.dot(potentialVertex)) + btScalar(NP[3]) > btScalar(0.000001))
break;
}
if (l == numPlanes)
@@ -269,14 +257,14 @@ void VoronoiFractureDemo::getVerticesInsidePlanes(const btAlignedObjectArray<btV
}
}
static btVector3 curVoronoiPoint;
static btVector3 curVoronoiPoint;
struct pointCmp
{
bool operator()(const btVector3& p1, const btVector3& p2) const
{
float v1 = (p1-curVoronoiPoint).length2();
float v2 = (p2-curVoronoiPoint).length2();
float v1 = (p1 - curVoronoiPoint).length2();
float v2 = (p2 - curVoronoiPoint).length2();
bool result0 = v1 < v2;
//bool result1 = ((btScalar)(p1-curVoronoiPoint).length2()) < ((btScalar)(p2-curVoronoiPoint).length2());
//apparently result0 is not always result1, because extended precision used in registered is different from precision when values are stored in memory
@@ -284,7 +272,8 @@ struct pointCmp
}
};
void VoronoiFractureDemo::voronoiBBShatter(const btAlignedObjectArray<btVector3>& points, const btVector3& bbmin, const btVector3& bbmax, const btQuaternion& bbq, const btVector3& bbt, btScalar matDensity) {
void VoronoiFractureDemo::voronoiBBShatter(const btAlignedObjectArray<btVector3>& points, const btVector3& bbmin, const btVector3& bbmax, const btQuaternion& bbq, const btVector3& bbt, btScalar matDensity)
{
// points define voronoi cells in world space (avoid duplicates)
// bbmin & bbmax = bounding box min and max in local space
// bbq & bbt = bounding box quaternion rotation and translation
@@ -308,21 +297,29 @@ void VoronoiFractureDemo::voronoiBBShatter(const btAlignedObjectArray<btVector3>
int i, j, k;
int numpoints = points.size();
for (i=0; i < numpoints ;i++) {
for (i = 0; i < numpoints; i++)
{
curVoronoiPoint = points[i];
btVector3 icp = quatRotate(bbiq, curVoronoiPoint - bbt);
rbb = icp - bbmax;
nrbb = bbmin - icp;
planes.resize(6);
planes[0] = bbvx; planes[0][3] = rbb.x();
planes[1] = bbvy; planes[1][3] = rbb.y();
planes[2] = bbvz; planes[2][3] = rbb.z();
planes[3] = -bbvx; planes[3][3] = nrbb.x();
planes[4] = -bbvy; planes[4][3] = nrbb.y();
planes[5] = -bbvz; planes[5][3] = nrbb.z();
planes[0] = bbvx;
planes[0][3] = rbb.x();
planes[1] = bbvy;
planes[1][3] = rbb.y();
planes[2] = bbvz;
planes[2][3] = rbb.z();
planes[3] = -bbvx;
planes[3][3] = nrbb.x();
planes[4] = -bbvy;
planes[4][3] = nrbb.y();
planes[5] = -bbvz;
planes[5][3] = nrbb.z();
maxDistance = SIMD_INFINITY;
sortedVoronoiPoints.heapSort(pointCmp());
for (j=1; j < numpoints; j++) {
for (j = 1; j < numpoints; j++)
{
normal = sortedVoronoiPoints[j] - curVoronoiPoint;
nlength = normal.length();
if (nlength > maxDistance)
@@ -334,9 +331,11 @@ void VoronoiFractureDemo::voronoiBBShatter(const btAlignedObjectArray<btVector3>
if (vertices.size() == 0)
break;
numplaneIndices = planeIndices.size();
if (numplaneIndices != planes.size()) {
if (numplaneIndices != planes.size())
{
planeIndicesIter = planeIndices.begin();
for (k=0; k < numplaneIndices; k++) {
for (k = 0; k < numplaneIndices; k++)
{
if (k != *planeIndicesIter)
planes[k] = planes[*planeIndicesIter];
planeIndicesIter++;
@@ -344,7 +343,8 @@ void VoronoiFractureDemo::voronoiBBShatter(const btAlignedObjectArray<btVector3>
planes.resize(numplaneIndices);
}
maxDistance = vertices[0].length();
for (k=1; k < vertices.size(); k++) {
for (k = 1; k < vertices.size(); k++)
{
distance = vertices[k].length();
if (maxDistance < distance)
maxDistance = distance;
@@ -355,22 +355,24 @@ void VoronoiFractureDemo::voronoiBBShatter(const btAlignedObjectArray<btVector3>
continue;
// Clean-up voronoi convex shard vertices and generate edges & faces
convexHC->compute(&vertices[0].getX(), sizeof(btVector3), vertices.size(),CONVEX_MARGIN,0.0);
convexHC->compute(&vertices[0].getX(), sizeof(btVector3), vertices.size(), CONVEX_MARGIN, 0.0);
// At this point we have a complete 3D voronoi shard mesh contained in convexHC
// Calculate volume and center of mass (Stan Melax volume integration)
int numFaces = convexHC->faces.size();
int v0, v1, v2; // Triangle vertices
int v0, v1, v2; // Triangle vertices
btScalar volume = btScalar(0.);
btVector3 com(0., 0., 0.);
for (j=0; j < numFaces; j++) {
for (j = 0; j < numFaces; j++)
{
const btConvexHullComputer::Edge* edge = &convexHC->edges[convexHC->faces[j]];
v0 = edge->getSourceVertex();
v1 = edge->getTargetVertex();
edge = edge->getNextEdgeOfFace();
v2 = edge->getTargetVertex();
while (v2 != v0) {
while (v2 != v0)
{
// Counter-clockwise triangulated voronoi shard mesh faces (v0-v1-v2) and edges here...
btScalar vol = convexHC->vertices[v0].triple(convexHC->vertices[v1], convexHC->vertices[v2]);
volume += vol;
@@ -385,7 +387,7 @@ void VoronoiFractureDemo::voronoiBBShatter(const btAlignedObjectArray<btVector3>
// Shift all vertices relative to center of mass
int numVerts = convexHC->vertices.size();
for (j=0; j < numVerts; j++)
for (j = 0; j < numVerts; j++)
{
convexHC->vertices[j] -= com;
}
@@ -397,26 +399,26 @@ void VoronoiFractureDemo::voronoiBBShatter(const btAlignedObjectArray<btVector3>
// Create Bullet Physics rigid body shards
btCollisionShape* shardShape = new btConvexHullShape(&(convexHC->vertices[0].getX()), convexHC->vertices.size());
shardShape->setMargin(CONVEX_MARGIN); // for this demo; note convexHC has optional margin parameter for this
shardShape->setMargin(CONVEX_MARGIN); // for this demo; note convexHC has optional margin parameter for this
m_collisionShapes.push_back(shardShape);
btTransform shardTransform;
shardTransform.setIdentity();
shardTransform.setOrigin(curVoronoiPoint + com); // Shard's adjusted location
shardTransform.setOrigin(curVoronoiPoint + com); // Shard's adjusted location
btDefaultMotionState* shardMotionState = new btDefaultMotionState(shardTransform);
btScalar shardMass(volume * matDensity);
btVector3 shardInertia(0.,0.,0.);
btVector3 shardInertia(0., 0., 0.);
shardShape->calculateLocalInertia(shardMass, shardInertia);
btRigidBody::btRigidBodyConstructionInfo shardRBInfo(shardMass, shardMotionState, shardShape, shardInertia);
btRigidBody* shardBody = new btRigidBody(shardRBInfo);
m_dynamicsWorld->addRigidBody(shardBody);
cellnum ++;
cellnum++;
}
printf("Generated %d voronoi btRigidBody shards\n", cellnum);
}
void VoronoiFractureDemo::voronoiConvexHullShatter(const btAlignedObjectArray<btVector3>& points, const btAlignedObjectArray<btVector3>& verts, const btQuaternion& bbq, const btVector3& bbt, btScalar matDensity) {
void VoronoiFractureDemo::voronoiConvexHullShatter(const btAlignedObjectArray<btVector3>& points, const btAlignedObjectArray<btVector3>& verts, const btQuaternion& bbq, const btVector3& bbt, btScalar matDensity)
{
// points define voronoi cells in world space (avoid duplicates)
// verts = source (convex hull) mesh vertices in local space
// bbq & bbt = source (convex hull) mesh quaternion rotation and translation
@@ -438,36 +440,41 @@ void VoronoiFractureDemo::voronoiConvexHullShatter(const btAlignedObjectArray<bt
// Convert verts to world space and get convexPlanes
int numverts = verts.size();
chverts.resize(verts.size());
for (i=0; i < numverts ;i++) {
for (i = 0; i < numverts; i++)
{
chverts[i] = quatRotate(bbq, verts[i]) + bbt;
}
//btGeometryUtil::getPlaneEquationsFromVertices(chverts, convexPlanes);
// Using convexHullComputer faster than getPlaneEquationsFromVertices for large meshes...
convexHC->compute(&chverts[0].getX(), sizeof(btVector3), numverts, 0.0, 0.0);
int numFaces = convexHC->faces.size();
int v0, v1, v2; // vertices
for (i=0; i < numFaces; i++) {
int v0, v1, v2; // vertices
for (i = 0; i < numFaces; i++)
{
const btConvexHullComputer::Edge* edge = &convexHC->edges[convexHC->faces[i]];
v0 = edge->getSourceVertex();
v1 = edge->getTargetVertex();
edge = edge->getNextEdgeOfFace();
v2 = edge->getTargetVertex();
plane = (convexHC->vertices[v1]-convexHC->vertices[v0]).cross(convexHC->vertices[v2]-convexHC->vertices[v0]).normalize();
plane = (convexHC->vertices[v1] - convexHC->vertices[v0]).cross(convexHC->vertices[v2] - convexHC->vertices[v0]).normalize();
plane[3] = -plane.dot(convexHC->vertices[v0]);
convexPlanes.push_back(plane);
}
const int numconvexPlanes = convexPlanes.size();
int numpoints = points.size();
for (i=0; i < numpoints ;i++) {
for (i = 0; i < numpoints; i++)
{
curVoronoiPoint = points[i];
planes.copyFromArray(convexPlanes);
for (j=0; j < numconvexPlanes ;j++) {
for (j = 0; j < numconvexPlanes; j++)
{
planes[j][3] += planes[j].dot(curVoronoiPoint);
}
maxDistance = SIMD_INFINITY;
sortedVoronoiPoints.heapSort(pointCmp());
for (j=1; j < numpoints; j++) {
for (j = 1; j < numpoints; j++)
{
normal = sortedVoronoiPoints[j] - curVoronoiPoint;
nlength = normal.length();
if (nlength > maxDistance)
@@ -479,9 +486,11 @@ void VoronoiFractureDemo::voronoiConvexHullShatter(const btAlignedObjectArray<bt
if (vertices.size() == 0)
break;
numplaneIndices = planeIndices.size();
if (numplaneIndices != planes.size()) {
if (numplaneIndices != planes.size())
{
planeIndicesIter = planeIndices.begin();
for (k=0; k < numplaneIndices; k++) {
for (k = 0; k < numplaneIndices; k++)
{
if (k != *planeIndicesIter)
planes[k] = planes[*planeIndicesIter];
planeIndicesIter++;
@@ -489,7 +498,8 @@ void VoronoiFractureDemo::voronoiConvexHullShatter(const btAlignedObjectArray<bt
planes.resize(numplaneIndices);
}
maxDistance = vertices[0].length();
for (k=1; k < vertices.size(); k++) {
for (k = 1; k < vertices.size(); k++)
{
distance = vertices[k].length();
if (maxDistance < distance)
maxDistance = distance;
@@ -500,7 +510,7 @@ void VoronoiFractureDemo::voronoiConvexHullShatter(const btAlignedObjectArray<bt
continue;
// Clean-up voronoi convex shard vertices and generate edges & faces
convexHC->compute(&vertices[0].getX(), sizeof(btVector3), vertices.size(),0.0,0.0);
convexHC->compute(&vertices[0].getX(), sizeof(btVector3), vertices.size(), 0.0, 0.0);
// At this point we have a complete 3D voronoi shard mesh contained in convexHC
@@ -508,13 +518,15 @@ void VoronoiFractureDemo::voronoiConvexHullShatter(const btAlignedObjectArray<bt
numFaces = convexHC->faces.size();
btScalar volume = btScalar(0.);
btVector3 com(0., 0., 0.);
for (j=0; j < numFaces; j++) {
for (j = 0; j < numFaces; j++)
{
const btConvexHullComputer::Edge* edge = &convexHC->edges[convexHC->faces[j]];
v0 = edge->getSourceVertex();
v1 = edge->getTargetVertex();
edge = edge->getNextEdgeOfFace();
v2 = edge->getTargetVertex();
while (v2 != v0) {
while (v2 != v0)
{
// Counter-clockwise triangulated voronoi shard mesh faces (v0-v1-v2) and edges here...
btScalar vol = convexHC->vertices[v0].triple(convexHC->vertices[v1], convexHC->vertices[v2]);
volume += vol;
@@ -529,7 +541,7 @@ void VoronoiFractureDemo::voronoiConvexHullShatter(const btAlignedObjectArray<bt
// Shift all vertices relative to center of mass
int numVerts = convexHC->vertices.size();
for (j=0; j < numVerts; j++)
for (j = 0; j < numVerts; j++)
{
convexHC->vertices[j] -= com;
}
@@ -541,21 +553,20 @@ void VoronoiFractureDemo::voronoiConvexHullShatter(const btAlignedObjectArray<bt
// Create Bullet Physics rigid body shards
btCollisionShape* shardShape = new btConvexHullShape(&(convexHC->vertices[0].getX()), convexHC->vertices.size());
shardShape->setMargin(CONVEX_MARGIN); // for this demo; note convexHC has optional margin parameter for this
shardShape->setMargin(CONVEX_MARGIN); // for this demo; note convexHC has optional margin parameter for this
m_collisionShapes.push_back(shardShape);
btTransform shardTransform;
shardTransform.setIdentity();
shardTransform.setOrigin(curVoronoiPoint + com); // Shard's adjusted location
shardTransform.setOrigin(curVoronoiPoint + com); // Shard's adjusted location
btDefaultMotionState* shardMotionState = new btDefaultMotionState(shardTransform);
btScalar shardMass(volume * matDensity);
btVector3 shardInertia(0.,0.,0.);
btVector3 shardInertia(0., 0., 0.);
shardShape->calculateLocalInertia(shardMass, shardInertia);
btRigidBody::btRigidBodyConstructionInfo shardRBInfo(shardMass, shardMotionState, shardShape, shardInertia);
btRigidBody* shardBody = new btRigidBody(shardRBInfo);
m_dynamicsWorld->addRigidBody(shardBody);
cellnum ++;
cellnum++;
}
printf("Generated %d voronoi btRigidBody shards\n", cellnum);
}
@@ -620,7 +631,7 @@ void VoronoiFractureDemo::renderme()
}
*/
void VoronoiFractureDemo::initPhysics()
void VoronoiFractureDemo::initPhysics()
{
m_guiHelper->setUpAxis(1);
@@ -628,15 +639,13 @@ void VoronoiFractureDemo::initPhysics()
useGenericConstraint = !useGenericConstraint;
printf("useGenericConstraint = %d\n", useGenericConstraint);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
useMpr = 1 - useMpr;
if (useMpr)
@@ -651,30 +660,29 @@ void VoronoiFractureDemo::initPhysics()
{
printf("using default (GJK+EPA) convex-convex collision detection\n");
}
m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
groundTransform.setOrigin(btVector3(0, -50, 0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
@@ -683,13 +691,13 @@ void VoronoiFractureDemo::initPhysics()
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
btVector3 localInertia(0, 0, 0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
groundShape->calculateLocalInertia(mass, localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
@@ -697,19 +705,19 @@ void VoronoiFractureDemo::initPhysics()
}
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.),btScalar(8.),btScalar(1.)));
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(8.), btScalar(1.)));
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
btVector3 localInertia(0, 0, 0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
groundTransform.setOrigin(btVector3(0,0,0));
groundShape->calculateLocalInertia(mass, localInertia);
groundTransform.setOrigin(btVector3(0, 0, 0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
@@ -719,36 +727,37 @@ void VoronoiFractureDemo::initPhysics()
// ==> Voronoi Shatter Basic Demo: Random Cuboid
// Random size cuboid (defined by bounding box max and min)
btVector3 bbmax(btScalar(rand() / btScalar(RAND_MAX)) * 12. +0.5, btScalar(rand() / btScalar(RAND_MAX)) * 1. +0.5, btScalar(rand() / btScalar(RAND_MAX)) * 1. +0.5);
btVector3 bbmax(btScalar(rand() / btScalar(RAND_MAX)) * 12. + 0.5, btScalar(rand() / btScalar(RAND_MAX)) * 1. + 0.5, btScalar(rand() / btScalar(RAND_MAX)) * 1. + 0.5);
btVector3 bbmin = -bbmax;
// Place it 10 units above ground
btVector3 bbt(0,15,0);
btVector3 bbt(0, 15, 0);
// Use an arbitrary material density for shards (should be consitent/relative with/to rest of RBs in world)
btScalar matDensity = 1;
// Using random rotation
btQuaternion bbq(btScalar(rand() / btScalar(RAND_MAX)) * 2. -1.,btScalar(rand() / btScalar(RAND_MAX)) * 2. -1.,btScalar(rand() / btScalar(RAND_MAX)) * 2. -1.,btScalar(rand() / btScalar(RAND_MAX)) * 2. -1.);
btQuaternion bbq(btScalar(rand() / btScalar(RAND_MAX)) * 2. - 1., btScalar(rand() / btScalar(RAND_MAX)) * 2. - 1., btScalar(rand() / btScalar(RAND_MAX)) * 2. - 1., btScalar(rand() / btScalar(RAND_MAX)) * 2. - 1.);
bbq.normalize();
// Generate random points for voronoi cells
btAlignedObjectArray<btVector3> points;
btVector3 point;
btVector3 diff = bbmax - bbmin;
for (int i=0; i < VORONOIPOINTS; i++) {
for (int i = 0; i < VORONOIPOINTS; i++)
{
// Place points within box area (points are in world coordinates)
point = quatRotate(bbq, btVector3(btScalar(rand() / btScalar(RAND_MAX)) * diff.x() -diff.x()/2., btScalar(rand() / btScalar(RAND_MAX)) * diff.y() -diff.y()/2., btScalar(rand() / btScalar(RAND_MAX)) * diff.z() -diff.z()/2.)) + bbt;
point = quatRotate(bbq, btVector3(btScalar(rand() / btScalar(RAND_MAX)) * diff.x() - diff.x() / 2., btScalar(rand() / btScalar(RAND_MAX)) * diff.y() - diff.y() / 2., btScalar(rand() / btScalar(RAND_MAX)) * diff.z() - diff.z() / 2.)) + bbt;
points.push_back(point);
}
m_perfmTimer.reset();
voronoiBBShatter(points, bbmin, bbmax, bbq, bbt, matDensity);
printf("Total Time: %f seconds\n", m_perfmTimer.getTimeMilliseconds()/1000.);
for (int i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
printf("Total Time: %f seconds\n", m_perfmTimer.getTimeMilliseconds() / 1000.);
for (int i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
obj->getCollisionShape()->setMargin(CONVEX_MARGIN+0.01);
obj->getCollisionShape()->setMargin(CONVEX_MARGIN + 0.01);
}
m_dynamicsWorld->performDiscreteCollisionDetection();
for (int i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
for (int i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
obj->getCollisionShape()->setMargin(CONVEX_MARGIN);
@@ -759,24 +768,22 @@ void VoronoiFractureDemo::initPhysics()
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void VoronoiFractureDemo::exitPhysics()
void VoronoiFractureDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
int i;
//remove all constraints
for (i=m_dynamicsWorld->getNumConstraints()-1;i>=0;i--)
for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
{
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
m_dynamicsWorld->removeConstraint(constraint);
delete constraint;
}
//remove the rigidbodies from the dynamics world and delete them
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
@@ -784,12 +791,12 @@ void VoronoiFractureDemo::exitPhysics()
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
for (int j = 0; j < m_collisionShapes.size(); j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
@@ -798,19 +805,18 @@ void VoronoiFractureDemo::exitPhysics()
delete m_dynamicsWorld;
m_dynamicsWorld = 0;
delete m_solver;
m_solver=0;
m_solver = 0;
delete m_broadphase;
m_broadphase=0;
m_broadphase = 0;
delete m_dispatcher;
m_dispatcher=0;
m_dispatcher = 0;
delete m_collisionConfiguration;
m_collisionConfiguration=0;
m_collisionConfiguration = 0;
}
/*
@@ -824,7 +830,7 @@ static DemoApplication* Create()
*/
CommonExampleInterface* VoronoiFractureCreateFunc(struct CommonExampleOptions& options)
CommonExampleInterface* VoronoiFractureCreateFunc(struct CommonExampleOptions& options)
{
return new VoronoiFractureDemo(options.m_guiHelper);
}