added cylinder support in ColladaDemo, rendering of Cylinder, updated .dae files.

Bullet/CollisionShapes/CylinderShape.h

@@ -66,6 +66,17 @@ public:
 		return CYLINDER_SHAPE_PROXYTYPE;
 	}
 	
+	virtual int	GetUpAxis() const
+	{
+		return 1;
+	}
+
+	//debugging
+	virtual char*	GetName()const
+	{
+		return "CylinderY";
+	}
+
 
 
 };
@@ -77,6 +88,16 @@ public:
 
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
 	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
+	virtual int	GetUpAxis() const
+	{
+		return 0;
+	}
+		//debugging
+	virtual char*	GetName()const
+	{
+		return "CylinderX";
+	}
+
 };
 
 class CylinderShapeZ : public CylinderShape
@@ -87,6 +108,16 @@ public:
 	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
 	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
 
+	virtual int	GetUpAxis() const
+	{
+		return 2;
+	}
+		//debugging
+	virtual char*	GetName()const
+	{
+		return "CylinderZ";
+	}
+
 };
 
 

Demos/ColladaDemo/ColladaDemo.cpp

@@ -19,6 +19,7 @@ subject to the following restrictions:
 //#include "GL_LineSegmentShape.h"
 #include "CollisionShapes/BoxShape.h"
 #include "CollisionShapes/SphereShape.h"
+#include "CollisionShapes/CylinderShape.h"
 #include "CollisionShapes/ConeShape.h"
 
 #include "CollisionShapes/ConvexHullShape.h"
@@ -45,7 +46,7 @@ extern int	gForwardAxis;
 
 #include "GLDebugDrawer.h"
 
-//either FCollada or Collada-dom
+//either FCollada or COLLADA_DOM
 #define USE_FCOLLADA 1
 #ifdef USE_FCOLLADA
 
@@ -681,6 +682,9 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
 
 									FCDPASCylinder* cylinder = (FCDPASCylinder*)analGeom;
 									printf("Cylinder\n");
+									//Blender exports Z cylinders
+									//collisionShape = new CylinderShapeZ(SimdVector3(cylinder->radius,cylinder->radius,cylinder->height));
+									collisionShape = new CylinderShape(SimdVector3(cylinder->radius,cylinder->height,cylinder->radius));
 
 									break;
 
@@ -718,7 +722,15 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
 									//FIXME: only using the first radius of the cylinder
 
 									FCDPASTaperedCylinder* tcylinder = (FCDPASTaperedCylinder*)analGeom;
-									printf("TaperedCylinder\n");
+									printf("TaperedCylinder, creating a cone for now\n");
+									if (!tcylinder->height)
+									{
+										printf("tapered_cylinder with height 0.0\n");
+										tcylinder->height = 1.f;
+									}
+									//either use radius1 or radius2 for now
+									collisionShape = new ConeShape(tcylinder->radius,tcylinder->height);
+
 									break;
 
 								}
@@ -1131,6 +1143,8 @@ void renderme()
 
 		float yIncr = -2.f;
 
+		SimdVector3 offset(xOffset,0,0);
+		SimdVector3 up = gCameraUp;
 		char buf[124];
 
 		glColor3f(0, 0, 0);
@@ -1164,38 +1178,53 @@ void renderme()
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 		
-		glRasterPos3f(xOffset,yStart,0);
+		SimdVector3 textPos = offset + up*yStart;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+		
 		sprintf(buf,"space to reset");
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
 		sprintf(buf,"cursor keys and z,x to navigate");
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart ;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
 		sprintf(buf,"i to toggle simulation, s single step");
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart ;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
 		sprintf(buf,"q to quit");
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart ;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
 		sprintf(buf,"d to toggle deactivation");
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart ;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
 		sprintf(buf,"a to draw temporal AABBs");
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart ;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
+
 		sprintf(buf,"h to toggle help text");
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
@@ -1204,22 +1233,31 @@ void renderme()
 
 		bool useCCD = (getDebugMode() & IDebugDraw::DBG_EnableCCD);
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart ;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
+
 		sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart ;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
 		sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart ;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
 		sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
 
-		glRasterPos3f(xOffset,yStart,0);
+		textPos = offset + up*yStart ;
+		glRasterPos3f(textPos.getX(),textPos.getY(),textPos.getZ());
+
 		sprintf(buf,"+- shooting speed = %10.2f",bulletSpeed);
 		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 		yStart += yIncr;
@@ -1232,8 +1270,6 @@ void clientMoveAndDisplay()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-
-
 	physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
 
 	renderme();

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -145,6 +145,8 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 				const ConeShape* coneShape = static_cast<const ConeShape*>(shape);
 				float radius = coneShape->GetRadius();//+coneShape->GetMargin();
 				float height = coneShape->GetHeight();//+coneShape->GetMargin();
+				//glRotatef(-90.0, 1.0, 0.0, 0.0);
+				glTranslatef(0.0, 0.0, -0.5*height);
 				glutSolidCone(radius,height,10,10);
 				useWireframeFallback = false;
 				break;
@@ -159,6 +161,45 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 		case CONVEX_SHAPE_PROXYTYPE:
 		case CYLINDER_SHAPE_PROXYTYPE:
 			{
+				const CylinderShape* cylinder = static_cast<const CylinderShape*>(shape);
+				int upAxis = cylinder->GetUpAxis();
+				
+				GLUquadricObj *quadObj = gluNewQuadric();
+				
+				glPushMatrix();
+				switch (upAxis)
+				{
+				case 0:
+					glRotatef(-90.0, 0.0, 1.0, 0.0);
+					glTranslatef(0.0, 0.0, -1.0);
+					break;
+				case 1:
+					glRotatef(-90.0, 1.0, 0.0, 0.0);
+					glTranslatef(0.0, 0.0, -1.0);
+					break;
+				case 2:
+					
+					glTranslatef(0.0, 0.0, -1.0);
+					break;
+				default:
+					{
+						assert(0);
+					}
+
+				}
+				
+				//The gluCylinder subroutine draws a cylinder that is oriented along the z axis. 
+				//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height. 
+				//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
+				
+				gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
+				gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
+				float radius = cylinder->GetHalfExtents().getX();
+				float height = 2.f*cylinder->GetHalfExtents().getY();
+				gluCylinder(quadObj, radius, radius, height, 15, 10);
+				glPopMatrix();
+				glEndList();
+
 				break;
 			}
 		default:

jenga.dae

@@ -3,13 +3,13 @@
 	<asset>
 		<contributor>
 			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
-			<authoring_tool>Blender v:241 - Illusoft Collada Exporter v:0.2.45</authoring_tool>
+			<authoring_tool>Blender v:241 - Illusoft Collada Exporter v:0.2.56</authoring_tool>
 			<comments></comments>
 			<copyright></copyright>
 			<source_data>file://c:/blender/physics_demos-2.42-preview24/jenga_physics_test.blend</source_data>
 		</contributor>
-		<created>2006-06-02T17:45:13.891000</created>
+		<created>2006-06-06T14:18:41.437000</created>
-		<modified>2006-06-02T17:45:13.891000</modified>
+		<modified>2006-06-06T14:18:41.452000</modified>
 		<unit meter="0.01" name="centimeter"/>
 		<up_axis>Z_UP</up_axis>
 	</asset>
@@ -29,7 +29,7 @@
 	<library_effects>
 		<effect id="Material-fx" name="Material-fx">
 			<profile_COMMON>
-				<technique>
+				<technique sid="">
 					<phong>
 						<emission>
 							<color>0.0 0.0 0.0 1.0</color>
@@ -3605,6 +3605,7 @@
 				<rotate>0.0 0.0 1.0 0.0</rotate>
 				<rotate>0.0 1.0 0.0 0.0</rotate>
 					<rotate>1.0 0.0 0.0 -36.81686</rotate>
+					<rotate>1.0 0.0 0.0 90.0</rotate>
 				<instance_geometry url="#Cylinder_004-Geometry"/>
 			</node>
 			<node id="Cylinder_003" name="Cylinder_003">
@@ -3612,6 +3613,7 @@
 				<rotate>0.0 0.0 1.0 -38.06934</rotate>
 				<rotate>0.0 1.0 0.0 0.0</rotate>
 				<rotate>1.0 0.0 0.0 0.0</rotate>
+				<rotate>1.0 0.0 0.0 90.0</rotate>
 				<instance_geometry url="#Cylinder_003-Geometry"/>
 			</node>
 			<node id="Cylinder_002" name="Cylinder_002">
@@ -3619,6 +3621,7 @@
 				<rotate>0.0 0.0 1.0 -38.06934</rotate>
 				<rotate>0.0 1.0 0.0 0.0</rotate>
 				<rotate>1.0 0.0 0.0 0.0</rotate>
+				<rotate>1.0 0.0 0.0 90.0</rotate>
 				<instance_geometry url="#Cylinder_002-Geometry"/>
 			</node>
 			<node id="Cylinder_001" name="Cylinder_001">
@@ -3626,6 +3629,7 @@
 				<rotate>0.0 0.0 1.0 -38.06934</rotate>
 				<rotate>0.0 1.0 0.0 0.0</rotate>
 				<rotate>1.0 0.0 0.0 0.0</rotate>
+				<rotate>1.0 0.0 0.0 90.0</rotate>
 				<instance_geometry url="#Cylinder_001-Geometry"/>
 			</node>
 			<node id="Cylinder" name="Cylinder">
@@ -3633,6 +3637,7 @@
 				<rotate>0.0 0.0 1.0 -23.42368</rotate>
 				<rotate>0.0 1.0 0.0 -47.70962</rotate>
 				<rotate>1.0 0.0 0.0 14.68375</rotate>
+				<rotate>1.0 0.0 0.0 90.0</rotate>
 				<instance_geometry url="#Cylinder-Geometry"/>
 			</node>
 			<node id="Cube_067" name="Cube_067">
@@ -4261,6 +4266,13 @@
 				<static_friction>0</static_friction>
 			</technique_common>
 		</physics_material>
+		<physics_material id="Cone_003-PhysicsMaterial" name="Cone_003-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0</static_friction>
+			</technique_common>
+		</physics_material>
 		<physics_material id="Cube_071-PhysicsMaterial" name="Cube_071-PhysicsMaterial">
 			<technique_common>
 				<dynamic_friction>0</dynamic_friction>
@@ -4296,6 +4308,55 @@
 				<static_friction>0</static_friction>
 			</technique_common>
 		</physics_material>
+		<physics_material id="Cone_001-PhysicsMaterial" name="Cone_001-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material id="Cone-PhysicsMaterial" name="Cone-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material id="Cylinder_004-PhysicsMaterial" name="Cylinder_004-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material id="Cylinder_003-PhysicsMaterial" name="Cylinder_003-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material id="Cylinder_002-PhysicsMaterial" name="Cylinder_002-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material id="Cylinder_001-PhysicsMaterial" name="Cylinder_001-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0</static_friction>
+			</technique_common>
+		</physics_material>
+		<physics_material id="Cylinder-PhysicsMaterial" name="Cylinder-PhysicsMaterial">
+			<technique_common>
+				<dynamic_friction>0</dynamic_friction>
+				<restitution>0</restitution>
+				<static_friction>0</static_friction>
+			</technique_common>
+		</physics_material>
 		<physics_material id="Cube_067-PhysicsMaterial" name="Cube_067-PhysicsMaterial">
 			<technique_common>
 				<dynamic_friction>0</dynamic_friction>
@@ -4732,6 +4793,22 @@
 				</technique_common>
 			</rigid_body>
 		</physics_model>
+		<physics_model id="Cone_003-PhysicsModel" name="Cone_003-PhysicsModel">
+			<rigid_body name="Cone_003-RigidBody">
+				<technique_common>
+					<instance_physics_material url="#Cone_003-PhysicsMaterial"/>
+					<shape>
+						<tapered_cylinder>
+							<radius1>1.0</radius1>
+							<radius2>0</radius2>
+							<height>1.0</height>
+						</tapered_cylinder>
+					</shape>
+					<dynamic>true</dynamic>
+					<mass>1.0</mass>
+				</technique_common>
+			</rigid_body>
+		</physics_model>
 		<physics_model id="Cube_071-PhysicsModel" name="Cube_071-PhysicsModel">
 			<rigid_body name="Cube_071-RigidBody">
 				<technique_common>
@@ -4796,6 +4873,113 @@
 				</technique_common>
 			</rigid_body>
 		</physics_model>
+		<physics_model id="Cone_001-PhysicsModel" name="Cone_001-PhysicsModel">
+			<rigid_body name="Cone_001-RigidBody">
+				<technique_common>
+					<instance_physics_material url="#Cone_001-PhysicsMaterial"/>
+					<shape>
+						<tapered_cylinder>
+							<radius1>1.0</radius1>
+							<radius2>0</radius2>
+							<height>0.42013</height>
+						</tapered_cylinder>
+					</shape>
+					<dynamic>true</dynamic>
+					<mass>1.0</mass>
+				</technique_common>
+			</rigid_body>
+		</physics_model>
+		<physics_model id="Cone-PhysicsModel" name="Cone-PhysicsModel">
+			<rigid_body name="Cone-RigidBody">
+				<technique_common>
+					<instance_physics_material url="#Cone-PhysicsMaterial"/>
+					<shape>
+						<tapered_cylinder>
+							<radius1>1.0</radius1>
+							<radius2>0</radius2>
+							<height>1.0</height>
+						</tapered_cylinder>
+					</shape>
+					<dynamic>true</dynamic>
+					<mass>1.0</mass>
+				</technique_common>
+			</rigid_body>
+		</physics_model>
+		<physics_model id="Cylinder_004-PhysicsModel" name="Cylinder_004-PhysicsModel">
+			<rigid_body name="Cylinder_004-RigidBody">
+				<technique_common>
+					<instance_physics_material url="#Cylinder_004-PhysicsMaterial"/>
+					<shape>
+						<cylinder>
+							<radius>1.0</radius>
+							<height>1.0</height>
+						</cylinder>
+					</shape>
+					<dynamic>true</dynamic>
+					<mass>1.0</mass>
+				</technique_common>
+			</rigid_body>
+		</physics_model>
+		<physics_model id="Cylinder_003-PhysicsModel" name="Cylinder_003-PhysicsModel">
+			<rigid_body name="Cylinder_003-RigidBody">
+				<technique_common>
+					<instance_physics_material url="#Cylinder_003-PhysicsMaterial"/>
+					<shape>
+						<cylinder>
+							<radius>1. 1.00</radius>
+							<height>1.0</height>
+						</cylinder>
+					</shape>
+					<dynamic>true</dynamic>
+					<mass>1.0</mass>
+				</technique_common>
+			</rigid_body>
+		</physics_model>
+		<physics_model id="Cylinder_002-PhysicsModel" name="Cylinder_002-PhysicsModel">
+			<rigid_body name="Cylinder_002-RigidBody">
+				<technique_common>
+					<instance_physics_material url="#Cylinder_002-PhysicsMaterial"/>
+					<shape>
+						<cylinder>
+							<radius>1. 1.00</radius>
+							<height>1.0</height>
+						</cylinder>
+					</shape>
+					<dynamic>true</dynamic>
+					<mass>1.0</mass>
+				</technique_common>
+			</rigid_body>
+		</physics_model>
+		<physics_model id="Cylinder_001-PhysicsModel" name="Cylinder_001-PhysicsModel">
+			<rigid_body name="Cylinder_001-RigidBody">
+				<technique_common>
+					<instance_physics_material url="#Cylinder_001-PhysicsMaterial"/>
+					<shape>
+						<cylinder>
+							<radius>1. 1.00</radius>
+							<height>1.0</height>
+						</cylinder>
+					</shape>
+					<dynamic>true</dynamic>
+					<mass>1.0</mass>
+				</technique_common>
+			</rigid_body>
+		</physics_model>
+		<physics_model id="Cylinder-PhysicsModel" name="Cylinder-PhysicsModel">
+			<rigid_body name="Cylinder-RigidBody">
+				<technique_common>
+					<instance_physics_material url="#Cylinder-PhysicsMaterial"/>
+					<shape>
+						<cylinder>
+							<radius>1.0 1.0</radius>
+							<height>1.0</height>
+						</cylinder>
+					</shape>
+					<dynamic>true</dynamic>
+					<mass>1.0</mass>
+				</technique_common>
+			</rigid_body>
+		</physics_model>
 		<physics_model id="Cube_067-PhysicsModel" name="Cube_067-PhysicsModel">
 			<rigid_body name="Cube_067-RigidBody">
 				<technique_common>
@@ -5617,6 +5801,9 @@
 			<instance_physics_model url="#Font-PhysicsModel">
 				<instance_rigid_body target="#Font"/>
 			</instance_physics_model>
+			<instance_physics_model url="#Cone_003-PhysicsModel">
+				<instance_rigid_body target="#Cone_003"/>
+			</instance_physics_model>
 			<instance_physics_model url="#Cube_071-PhysicsModel">
 				<instance_rigid_body target="#Cube_071"/>
 			</instance_physics_model>
@@ -5632,6 +5819,27 @@
 			<instance_physics_model url="#Cube_068-PhysicsModel">
 				<instance_rigid_body target="#Cube_068"/>
 			</instance_physics_model>
+			<instance_physics_model url="#Cone_001-PhysicsModel">
+				<instance_rigid_body target="#Cone_001"/>
+			</instance_physics_model>
+			<instance_physics_model url="#Cone-PhysicsModel">
+				<instance_rigid_body target="#Cone"/>
+			</instance_physics_model>
+			<instance_physics_model url="#Cylinder_004-PhysicsModel">
+				<instance_rigid_body target="#Cylinder_004"/>
+			</instance_physics_model>
+			<instance_physics_model url="#Cylinder_003-PhysicsModel">
+				<instance_rigid_body target="#Cylinder_003"/>
+			</instance_physics_model>
+			<instance_physics_model url="#Cylinder_002-PhysicsModel">
+				<instance_rigid_body target="#Cylinder_002"/>
+			</instance_physics_model>
+			<instance_physics_model url="#Cylinder_001-PhysicsModel">
+				<instance_rigid_body target="#Cylinder_001"/>
+			</instance_physics_model>
+			<instance_physics_model url="#Cylinder-PhysicsModel">
+				<instance_rigid_body target="#Cylinder"/>
+			</instance_physics_model>
 			<instance_physics_model url="#Cube_067-PhysicsModel">
 				<instance_rigid_body target="#Cube_067"/>
 			</instance_physics_model>