Use more googley colors in the examples.
Add high-resolution textured sphere, and automatically convert sphere, capsule and multi-sphere shape to use this, with caching to avoid duplicates.
This commit is contained in:
Erwin Coumans
@@ -7,6 +7,7 @@
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#include "Bullet3Common/b3Scalar.h"
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#include "CollisionShape2TriangleMesh.h"
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#include "../OpenGLWindow/ShapeData.h"
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#include "../OpenGLWindow/SimpleCamera.h"
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#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
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@@ -35,6 +36,8 @@ ATTRIBUTE_ALIGNED16( class )MyDebugDrawer : public btIDebugDraw
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btAlignedObjectArray<MyDebugVec3> m_linePoints;
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btAlignedObjectArray<unsigned int> m_lineIndices;
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btVector3 m_currentLineColor;
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DefaultColors m_ourColors;
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@@ -133,14 +136,67 @@ public:
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static btVector4 sColors[4] =
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{
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btVector4(0.3,0.3,1,1),
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btVector4(0.6,0.6,1,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(60./256.,186./256.,84./256.,1),
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btVector4(244./256.,194./256.,13./256.,1),
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btVector4(219./256.,50./256.,54./256.,1),
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btVector4(72./256.,133./256.,237./256.,1),
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//btVector4(1,1,0,1),
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};
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struct MyHashShape
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{
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int m_shapeKey;
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int m_shapeType;
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btVector3 m_sphere0Pos;
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btVector3 m_sphere1Pos;
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btScalar m_radius0;
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btScalar m_radius1;
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btTransform m_childTransform;
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int m_deformFunc;
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int m_upAxis;
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btScalar m_halfHeight;
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MyHashShape()
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:m_shapeKey(0),
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m_shapeType(0),
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m_sphere0Pos(btVector3(0,0,0)),
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m_sphere1Pos(btVector3(0,0,0)),
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m_radius0(0),
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m_radius1(0),
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m_deformFunc(0),
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m_upAxis(-1),
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m_halfHeight(0)
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{
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m_childTransform.setIdentity();
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}
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bool equals(const MyHashShape& other) const
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{
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bool sameShapeType = m_shapeType==other.m_shapeType;
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bool sameSphere0= m_sphere0Pos == other.m_sphere0Pos;
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bool sameSphere1= m_sphere1Pos == other.m_sphere1Pos;
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bool sameRadius0 = m_radius0== other.m_radius0;
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bool sameRadius1 = m_radius1== other.m_radius1;
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bool sameTransform = m_childTransform== other.m_childTransform;
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bool sameUpAxis = m_upAxis == other.m_upAxis;
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bool sameHalfHeight = m_halfHeight == other.m_halfHeight;
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return sameShapeType && sameSphere0 && sameSphere1 && sameRadius0 && sameRadius1 && sameTransform && sameUpAxis && sameHalfHeight;
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}
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//to our success
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SIMD_FORCE_INLINE unsigned int getHash()const
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{
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unsigned int key = m_shapeKey;
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// Thomas Wang's hash
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key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
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return key;
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}
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};
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struct OpenGLGuiHelperInternalData
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{
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struct CommonGraphicsApp* m_glApp;
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@@ -150,12 +206,20 @@ struct OpenGLGuiHelperInternalData
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btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
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btAlignedObjectArray<float> m_depthBuffer1;
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btHashMap<MyHashShape, int> m_hashShapes;
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VisualizerFlagCallback m_visualizerFlagCallback;
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int m_checkedTexture;
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int m_checkedTextureGrey;
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OpenGLGuiHelperInternalData()
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:m_vrMode(false),
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m_vrSkipShadowPass(0),
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m_visualizerFlagCallback(0)
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m_visualizerFlagCallback(0),
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m_checkedTexture(-1),
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m_checkedTextureGrey(-1)
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{
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}
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@@ -238,6 +302,7 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
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void OpenGLGuiHelper::removeAllGraphicsInstances()
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{
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m_data->m_hashShapes.clear();
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m_data->m_glApp->m_renderer->removeAllInstances();
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}
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@@ -249,6 +314,45 @@ void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
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};
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}
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int OpenGLGuiHelper::createCheckeredTexture(int red,int green, int blue)
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{
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int texWidth=1024;
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int texHeight=1024;
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btAlignedObjectArray<unsigned char> texels;
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texels.resize(texWidth*texHeight*3);
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for (int i=0;i<texWidth*texHeight*3;i++)
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texels[i]=255;
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for (int i=0;i<texWidth;i++)
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{
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for (int j=0;j<texHeight;j++)
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{
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int a = i<texWidth/2? 1 : 0;
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int b = j<texWidth/2? 1 : 0;
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if (a==b)
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{
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texels[(i+j*texWidth)*3+0] = red;
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texels[(i+j*texWidth)*3+1] = green;
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texels[(i+j*texWidth)*3+2] = blue;
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// texels[(i+j*texWidth)*4+3] = 255;
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}
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/*else
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{
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texels[i*3+0+j*texWidth] = 255;
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texels[i*3+1+j*texWidth] = 255;
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texels[i*3+2+j*texWidth] = 255;
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}
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*/
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}
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}
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int texId = registerTexture(&texels[0],texWidth,texHeight);
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return texId;
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}
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void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
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{
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@@ -256,10 +360,472 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
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if (collisionShape->getUserIndex()>=0)
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return;
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btAlignedObjectArray<GLInstanceVertex> gfxVertices;
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if (m_data->m_checkedTexture<0)
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{
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m_data->m_checkedTexture = createCheckeredTexture(192,192,255);
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}
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if (m_data->m_checkedTextureGrey<0)
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{
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m_data->m_checkedTextureGrey = createCheckeredTexture(192,192,192);
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}
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btAlignedObjectArray<GLInstanceVertex> gfxVertices;
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btAlignedObjectArray<int> indices;
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int strideInBytes = 9*sizeof(float);
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//if (collisionShape->getShapeType()==BOX_SHAPE_PROXYTYPE)
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{
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}
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if (collisionShape->getShapeType()==MULTI_SPHERE_SHAPE_PROXYTYPE)
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{
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btMultiSphereShape* ms = (btMultiSphereShape*) collisionShape;
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if (ms->getSphereCount()==2)
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{
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btAlignedObjectArray<float> transformedVertices;
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int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
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transformedVertices.resize(numVertices*9);
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btVector3 sphere0Pos = ms->getSpherePosition(0);
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btVector3 sphere1Pos = ms->getSpherePosition(1);
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btVector3 fromTo = sphere1Pos-sphere0Pos;
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MyHashShape shape;
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shape.m_sphere0Pos = sphere0Pos;
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shape.m_sphere1Pos = sphere1Pos;
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shape.m_radius0 = 2.*ms->getSphereRadius(0);
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shape.m_radius1 = 2.*ms->getSphereRadius(1);
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shape.m_deformFunc = 1;//vert.dot(fromTo)
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int graphicsShapeIndex = -1;
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int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
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if (graphicsShapeIndexPtr)
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{
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//cache hit
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graphicsShapeIndex = *graphicsShapeIndexPtr;
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} else
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{
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//cache miss
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for (int i=0;i<numVertices;i++)
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{
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btVector3 vert;
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vert.setValue(textured_detailed_sphere_vertices[i*9+0],
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textured_detailed_sphere_vertices[i*9+1],
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textured_detailed_sphere_vertices[i*9+2]);
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btVector3 trVer(0,0,0);
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if (vert.dot(fromTo)>0)
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{
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btScalar radiusScale = 2.*ms->getSphereRadius(1);
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trVer = radiusScale*vert;
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trVer+=sphere1Pos;
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} else
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{
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btScalar radiusScale = 2.*ms->getSphereRadius(0);
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trVer = radiusScale*vert;
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trVer+=sphere0Pos;
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}
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transformedVertices[i*9+0] = trVer[0];
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transformedVertices[i*9+1] = trVer[1];
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transformedVertices[i*9+2] = trVer[2];
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transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
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transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
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transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
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transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
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transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
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transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
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}
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int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
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graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
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m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
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}
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collisionShape->setUserIndex(graphicsShapeIndex);
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return;
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}
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}
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if (collisionShape->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
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{
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btSphereShape* sphereShape = (btSphereShape*) collisionShape;
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btScalar radius = sphereShape->getRadius();
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btScalar sphereSize = 2.*radius;
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btVector3 radiusScale(sphereSize,sphereSize,sphereSize);
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btAlignedObjectArray<float> transformedVertices;
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MyHashShape shape;
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shape.m_radius0 = sphereSize;
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shape.m_deformFunc = 0;////no deform
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int graphicsShapeIndex = -1;
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int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
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if (graphicsShapeIndexPtr)
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{
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graphicsShapeIndex = *graphicsShapeIndexPtr;
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} else
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{
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int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
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transformedVertices.resize(numVertices*9);
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for (int i=0;i<numVertices;i++)
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{
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btVector3 vert;
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vert.setValue(textured_detailed_sphere_vertices[i*9+0],
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textured_detailed_sphere_vertices[i*9+1],
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textured_detailed_sphere_vertices[i*9+2]);
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btVector3 trVer = radiusScale*vert;
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transformedVertices[i*9+0] = trVer[0];
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transformedVertices[i*9+1] = trVer[1];
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transformedVertices[i*9+2] = trVer[2];
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transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
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transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
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transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
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transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
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transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
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transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
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}
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int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
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graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
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m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
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}
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collisionShape->setUserIndex(graphicsShapeIndex);
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return;
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}
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if (collisionShape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
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{
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btCompoundShape* compound = (btCompoundShape*)collisionShape;
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if (compound->getNumChildShapes()==1)
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{
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if (compound->getChildShape(0)->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
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{
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btSphereShape* sphereShape = (btSphereShape*) compound->getChildShape(0);
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btScalar radius = sphereShape->getRadius();
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btScalar sphereSize = 2.*radius;
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btVector3 radiusScale(sphereSize,sphereSize,sphereSize);
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MyHashShape shape;
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shape.m_radius0 = sphereSize;
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shape.m_deformFunc = 0;//no deform
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shape.m_childTransform = compound->getChildTransform(0);
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int graphicsShapeIndex = -1;
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int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
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if (graphicsShapeIndexPtr)
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{
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graphicsShapeIndex = *graphicsShapeIndexPtr;
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}
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else
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{
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btAlignedObjectArray<float> transformedVertices;
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int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
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transformedVertices.resize(numVertices*9);
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for (int i=0;i<numVertices;i++)
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{
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btVector3 vert;
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vert.setValue(textured_detailed_sphere_vertices[i*9+0],
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textured_detailed_sphere_vertices[i*9+1],
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textured_detailed_sphere_vertices[i*9+2]);
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btVector3 trVer = compound->getChildTransform(0)*(radiusScale*vert);
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transformedVertices[i*9+0] = trVer[0];
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transformedVertices[i*9+1] = trVer[1];
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transformedVertices[i*9+2] = trVer[2];
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transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
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transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
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transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
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transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
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transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
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transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
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}
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int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
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graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
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m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
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}
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collisionShape->setUserIndex(graphicsShapeIndex);
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return;
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}
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if (compound->getChildShape(0)->getShapeType()==CAPSULE_SHAPE_PROXYTYPE)
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{
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btCapsuleShape* sphereShape = (btCapsuleShape*) compound->getChildShape(0);
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int up = sphereShape->getUpAxis();
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btScalar halfHeight = sphereShape->getHalfHeight();
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btScalar radius = sphereShape->getRadius();
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btScalar sphereSize = 2.*radius;
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btVector3 radiusScale = btVector3(sphereSize,sphereSize,sphereSize);
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MyHashShape shape;
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shape.m_radius0 = sphereSize;
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shape.m_deformFunc = 2;//no deform
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shape.m_childTransform = compound->getChildTransform(0);
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shape.m_upAxis = up;
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int graphicsShapeIndex = -1;
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int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
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if (graphicsShapeIndexPtr)
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{
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graphicsShapeIndex = *graphicsShapeIndexPtr;
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}
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else
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{
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btAlignedObjectArray<float> transformedVertices;
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int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
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transformedVertices.resize(numVertices*9);
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for (int i=0;i<numVertices;i++)
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{
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btVector3 vert;
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vert.setValue(textured_detailed_sphere_vertices[i*9+0],
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textured_detailed_sphere_vertices[i*9+1],
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textured_detailed_sphere_vertices[i*9+2]);
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btVector3 trVer = compound->getChildTransform(0)*(radiusScale*vert);
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if (trVer[up]>0)
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trVer[up]+=halfHeight;
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else
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trVer[up]-=halfHeight;
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transformedVertices[i*9+0] = trVer[0];
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transformedVertices[i*9+1] = trVer[1];
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transformedVertices[i*9+2] = trVer[2];
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transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
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transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
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transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
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transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
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transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
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transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
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}
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int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
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graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
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m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
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}
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collisionShape->setUserIndex(graphicsShapeIndex);
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return;
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}
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if (compound->getChildShape(0)->getShapeType()==MULTI_SPHERE_SHAPE_PROXYTYPE)
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{
|
||||
btMultiSphereShape* ms = (btMultiSphereShape*) compound->getChildShape(0);
|
||||
if (ms->getSphereCount()==2)
|
||||
{
|
||||
btAlignedObjectArray<float> transformedVertices;
|
||||
int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
|
||||
transformedVertices.resize(numVertices*9);
|
||||
btVector3 sphere0Pos = ms->getSpherePosition(0);
|
||||
btVector3 sphere1Pos = ms->getSpherePosition(1);
|
||||
btVector3 fromTo = sphere1Pos-sphere0Pos;
|
||||
btScalar radiusScale1 = 2.0*ms->getSphereRadius(1);
|
||||
btScalar radiusScale0 = 2.0*ms->getSphereRadius(0);
|
||||
|
||||
MyHashShape shape;
|
||||
shape.m_radius0 = radiusScale0;
|
||||
shape.m_radius1 = radiusScale1;
|
||||
shape.m_deformFunc = 4;
|
||||
shape.m_sphere0Pos = sphere0Pos;
|
||||
shape.m_sphere1Pos = sphere1Pos;
|
||||
shape.m_childTransform = compound->getChildTransform(0);
|
||||
|
||||
int graphicsShapeIndex = -1;
|
||||
int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
|
||||
|
||||
if (graphicsShapeIndexPtr)
|
||||
{
|
||||
graphicsShapeIndex = *graphicsShapeIndexPtr;
|
||||
}
|
||||
else
|
||||
{
|
||||
for (int i=0;i<numVertices;i++)
|
||||
{
|
||||
|
||||
btVector3 vert;
|
||||
vert.setValue(textured_detailed_sphere_vertices[i*9+0],
|
||||
textured_detailed_sphere_vertices[i*9+1],
|
||||
textured_detailed_sphere_vertices[i*9+2]);
|
||||
|
||||
btVector3 trVer(0,0,0);
|
||||
if (vert.dot(fromTo)>0)
|
||||
{
|
||||
|
||||
trVer = vert*radiusScale1;
|
||||
trVer+=sphere1Pos;
|
||||
trVer = compound->getChildTransform(0)*trVer;
|
||||
} else
|
||||
{
|
||||
trVer = vert*radiusScale0;
|
||||
trVer+=sphere0Pos;
|
||||
trVer=compound->getChildTransform(0)*trVer;
|
||||
}
|
||||
|
||||
|
||||
|
||||
transformedVertices[i*9+0] = trVer[0];
|
||||
transformedVertices[i*9+1] = trVer[1];
|
||||
transformedVertices[i*9+2] = trVer[2];
|
||||
transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
|
||||
transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
|
||||
transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
|
||||
transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
|
||||
transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
|
||||
transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
|
||||
}
|
||||
|
||||
int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
|
||||
graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
|
||||
m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
|
||||
}
|
||||
collisionShape->setUserIndex(graphicsShapeIndex);
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if (collisionShape->getShapeType()==CAPSULE_SHAPE_PROXYTYPE)
|
||||
{
|
||||
btCapsuleShape* sphereShape = (btCapsuleShape*) collisionShape;//Y up
|
||||
int up = sphereShape->getUpAxis();
|
||||
btScalar halfHeight = sphereShape->getHalfHeight();
|
||||
|
||||
btScalar radius = sphereShape->getRadius();
|
||||
btScalar sphereSize = 2.*radius;
|
||||
btVector3 radiusScale(sphereSize,sphereSize,sphereSize);
|
||||
|
||||
|
||||
MyHashShape shape;
|
||||
shape.m_radius0 = sphereSize;
|
||||
shape.m_deformFunc = 3;
|
||||
shape.m_upAxis = up;
|
||||
shape.m_halfHeight = halfHeight;
|
||||
int graphicsShapeIndex = -1;
|
||||
int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
|
||||
|
||||
if (graphicsShapeIndexPtr)
|
||||
{
|
||||
graphicsShapeIndex = *graphicsShapeIndexPtr;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
btAlignedObjectArray<float> transformedVertices;
|
||||
int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
|
||||
transformedVertices.resize(numVertices*9);
|
||||
for (int i=0;i<numVertices;i++)
|
||||
{
|
||||
|
||||
btVector3 vert;
|
||||
vert.setValue(textured_detailed_sphere_vertices[i*9+0],
|
||||
textured_detailed_sphere_vertices[i*9+1],
|
||||
textured_detailed_sphere_vertices[i*9+2]);
|
||||
|
||||
btVector3 trVer = radiusScale*vert;
|
||||
if (trVer[up]>0)
|
||||
trVer[up]+=halfHeight;
|
||||
else
|
||||
trVer[up]-=halfHeight;
|
||||
|
||||
|
||||
|
||||
transformedVertices[i*9+0] = trVer[0];
|
||||
transformedVertices[i*9+1] = trVer[1];
|
||||
transformedVertices[i*9+2] = trVer[2];
|
||||
transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
|
||||
transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
|
||||
transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
|
||||
transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
|
||||
transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
|
||||
transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
|
||||
}
|
||||
|
||||
int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
|
||||
graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
|
||||
m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
|
||||
}
|
||||
collisionShape->setUserIndex(graphicsShapeIndex);
|
||||
return;
|
||||
|
||||
}
|
||||
if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
|
||||
{
|
||||
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
|
||||
btScalar planeConst = staticPlaneShape->getPlaneConstant();
|
||||
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
|
||||
btVector3 planeOrigin = planeNormal * planeConst;
|
||||
btVector3 vec0,vec1;
|
||||
btPlaneSpace1(planeNormal,vec0,vec1);
|
||||
|
||||
btScalar vecLen = 128;
|
||||
btVector3 verts[4];
|
||||
|
||||
verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
|
||||
verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
|
||||
verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
|
||||
verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
|
||||
|
||||
int startIndex = 0;
|
||||
indices.push_back(startIndex+0);
|
||||
indices.push_back(startIndex+1);
|
||||
indices.push_back(startIndex+2);
|
||||
indices.push_back(startIndex+0);
|
||||
indices.push_back(startIndex+2);
|
||||
indices.push_back(startIndex+3);
|
||||
btTransform parentTransform;
|
||||
parentTransform.setIdentity();
|
||||
btVector3 triNormal = parentTransform.getBasis()*planeNormal;
|
||||
|
||||
gfxVertices.resize(4);
|
||||
|
||||
for (int i=0;i<4;i++)
|
||||
{
|
||||
btVector3 vtxPos;
|
||||
btVector3 pos =parentTransform*verts[i];
|
||||
|
||||
gfxVertices[i].xyzw[0] = pos[0];
|
||||
gfxVertices[i].xyzw[1] = pos[1];
|
||||
gfxVertices[i].xyzw[2] = pos[2];
|
||||
gfxVertices[i].xyzw[3] = 1;
|
||||
gfxVertices[i].normal[0] = triNormal[0];
|
||||
gfxVertices[i].normal[1] = triNormal[1];
|
||||
gfxVertices[i].normal[2] = triNormal[2];
|
||||
}
|
||||
|
||||
//verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
|
||||
//verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
|
||||
//verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
|
||||
//verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
|
||||
|
||||
gfxVertices[0].uv[0] = vecLen/2;
|
||||
gfxVertices[0].uv[1] = vecLen/2;
|
||||
gfxVertices[1].uv[0] = -vecLen/2;
|
||||
gfxVertices[1].uv[1] = vecLen/2;
|
||||
gfxVertices[2].uv[0] = -vecLen/2;
|
||||
gfxVertices[2].uv[1] = -vecLen/2;
|
||||
gfxVertices[3].uv[0] = vecLen/2;
|
||||
gfxVertices[3].uv[1] = -vecLen/2;
|
||||
|
||||
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,m_data->m_checkedTexture);
|
||||
collisionShape->setUserIndex(shapeId);
|
||||
return;
|
||||
}
|
||||
|
||||
btTransform startTrans;startTrans.setIdentity();
|
||||
//todo: create some textured objects for popular objects, like plane, cube, sphere, capsule
|
||||
|
||||
{
|
||||
btAlignedObjectArray<btVector3> vertexPositions;
|
||||
@@ -605,7 +1171,12 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
|
||||
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
|
||||
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
|
||||
|
||||
btVector3 color= sColors[colorIndex];
|
||||
btVector3 color;
|
||||
color = sColors[colorIndex];
|
||||
if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
|
||||
{
|
||||
color.setValue(1,1,1);
|
||||
}
|
||||
createCollisionObjectGraphicsObject(colObj,color);
|
||||
|
||||
}
|
||||
|
||||
@@ -90,6 +90,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
|
||||
|
||||
virtual void dumpFramesToVideo(const char* mp4FileName);
|
||||
|
||||
int createCheckeredTexture(int r,int g, int b);
|
||||
};
|
||||
|
||||
#endif //OPENGL_GUI_HELPER_H
|
||||
|
||||
@@ -192,7 +192,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
|
||||
m_shadowTexture(0),
|
||||
m_renderFrameBuffer(0)
|
||||
{
|
||||
m_lightPos=b3MakeVector3(-50,30,100);
|
||||
m_lightPos=b3MakeVector3(-50,50,50);
|
||||
|
||||
//clear to zero to make it obvious if the matrix is used uninitialized
|
||||
for (int i=0;i<16;i++)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user