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added initial Collada 1.4 Physics support

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This commit is contained in:
ejcoumans
2006-06-01 03:27:01 +00:00
parent 5299170dca
commit b5d0520c58
11 changed files with 3430 additions and 2683 deletions
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712
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -21,6 +21,13 @@ subject to the following restrictions:
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/ConvexHullShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "CollisionShapes/ConvexTriangleMeshShape.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
@@ -37,8 +44,6 @@ subject to the following restrictions:
#include "GLDebugDrawer.h"
#define COLLADA_PHYSICS_TEST 1
#ifdef COLLADA_PHYSICS_TEST
//Collada Physics test
//#define NO_LIBXML //need LIBXML, because FCDocument/FCDPhysicsRigidBody.h needs FUDaeWriter, through FCDPhysicsParameter.hpp
@@ -52,7 +57,12 @@ subject to the following restrictions:
#include "FCDocument/FCDPhysicsRigidBodyInstance.h"
#include "FCDocument/FCDPhysicsRigidBody.h"
#include "FCDocument/FCDGeometryInstance.h"
#include "FCDocument/FCDGeometrySource.h"
#include "FCDocument/FCDGeometryMesh.h"
#include "FCDocument/FCDGeometryPolygons.h"
#include "FCDocument/FCDGeometry.h"
#include "FCDocument/FCDPhysicsAnalyticalGeometry.h"
@@ -63,7 +73,6 @@ subject to the following restrictions:
#endif //COLLADA_PHYSICS_TEST
@@ -74,7 +83,7 @@ subject to the following restrictions:
float deltaTime = 1.f/60.f;
float bulletSpeed = 40.f;
bool createConstraint = true;
#ifdef WIN32
#if _MSC_VER >= 1310
//only use SIMD Hull code under Win32
@@ -98,50 +107,114 @@ extern int glutScreenWidth;
extern int glutScreenHeight;
#ifdef _DEBUG
const int numObjects = 120;//22;
#else
const int numObjects = 120;
#endif
int numObjects = 0;
const int maxNumObjects = 450;
DefaultMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
int shapeIndex[maxNumObjects];
CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;
#define CUBE_HALF_EXTENTS 1
#define EXTRA_HEIGHT -20.f
//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
// SimdPoint3(50,0,0));
static const int numShapes = 4;
CollisionShape* shapePtr[numShapes] =
{
///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
new BoxShape (SimdVector3(450,10,450)),
new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
new SphereShape (CUBE_HALF_EXTENTS- 0.05f),
//new ConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),
//new BU_Simplex1to4(SimdPoint3(-1,-1,-1),SimdPoint3(1,-1,-1),SimdPoint3(-1,1,-1),SimdPoint3(0,0,1)),
//new EmptyShape(),
new BoxShape (SimdVector3(0.4,1,0.8))
};
CollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
////////////////////////////////////
#ifdef COLLADA_PHYSICS_TEST
///Very basic import
void CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
{
PHY_ShapeProps shapeProps;
shapeProps.m_do_anisotropic = false;
shapeProps.m_do_fh = false;
shapeProps.m_do_rot_fh = false;
shapeProps.m_friction_scaling[0] = 1.;
shapeProps.m_friction_scaling[1] = 1.;
shapeProps.m_friction_scaling[2] = 1.;
shapeProps.m_inertia = 1.f;
shapeProps.m_lin_drag = 0.2f;
shapeProps.m_ang_drag = 0.1f;
shapeProps.m_mass = 10.0f;
PHY_MaterialProps materialProps;
materialProps.m_friction = 10.5f;
materialProps.m_restitution = 0.0f;
CcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.5f;
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
SimdTransform tr;
tr.setIdentity();
int i = numObjects;
{
gShapePtr[i] = shape;
shapeProps.m_shape = gShapePtr[i];
shapeProps.m_shape->SetMargin(0.05f);
SimdQuaternion orn = startTransform.getRotation();
ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());
ccdObjectCi.m_MotionState = &ms[i];
ccdObjectCi.m_gravity = SimdVector3(0,0,0);
ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
if (!isDynamic)
{
shapeProps.m_mass = 0.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
}
else
{
shapeProps.m_mass = mass;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = 0;
}
SimdVector3 localInertia(0.f,0.f,0.f);
if (isDynamic)
{
gShapePtr[i]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
}
ccdObjectCi.m_localInertiaTensor = localInertia;
ccdObjectCi.m_collisionShape = gShapePtr[i];
physObjects[i]= new CcdPhysicsController( ccdObjectCi);
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
physObjects[i]->GetRigidBody()->m_ccdSquareMotionTreshold = 0.f;
//Experimental: better estimation of CCD Time of Impact:
//physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;
physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
}
numObjects++;
}
bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
@@ -181,6 +254,7 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
//Create a controller per rigid-body
physicsEnvironmentPtr->setGravity(inputNode->GetGravity().x,inputNode->GetGravity().y,inputNode->GetGravity().z);
//FRMeshPhysicsController* controller = new FRMeshPhysicsController(inputNode->GetGravity(), inputNode->GetTimestep());
FCDPhysicsRigidBodyInstance* rbInstance = (FCDPhysicsRigidBodyInstance*)(*itE);
@@ -209,11 +283,27 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
//FRTScaleList scaleTransforms;
SimdTransform accumulatedWorldTransform;
accumulatedWorldTransform.setIdentity();
uint32 numTransforms = targetNode->GetTransformCount();
for (uint32 i=0; i<numTransforms; i++)
{
//targetNode->GetTransforms()[i]);
FMMatrix44 mat = (targetNode->GetTransforms()[i])->ToMatrix();
SimdVector3 pos(mat.GetTranslation().x,mat.GetTranslation().y,mat.GetTranslation().z);
SimdMatrix3x3 rotMat(
mat.m[0][0],mat.m[0][1],mat.m[0][2],
mat.m[1][0],mat.m[1][1],mat.m[1][2],
mat.m[2][0],mat.m[2][1],mat.m[2][2]);
rotMat = rotMat.transpose();
SimdTransform trans(rotMat,pos);
//TODO: check pre or post multiply
accumulatedWorldTransform = accumulatedWorldTransform * trans;
}
//Then affect all of its geometry instances.
@@ -263,6 +353,20 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
FCDPhysicsRigidBody* rigidBody = rbInstance->FlattenRigidBody();
FCDPhysicsMaterial* mat = rigidBody->GetPhysicsMaterial();
FCDPhysicsShapeList shapes = rigidBody->GetPhysicsShapeList();
CollisionShape* collisionShape = 0;
FCDPhysicsParameter<bool>* dyn = (FCDPhysicsParameter<bool>*)rigidBody->FindParameterByReference(DAE_DYNAMIC_ELEMENT);
bool isDynamic = true;
if (dyn)
{
isDynamic = *dyn->GetValue();
printf("isDynamic %i\n",isDynamic);
}
for (uint32 i=0; i<shapes.size(); i++)
{
FCDPhysicsShape* OldShape = shapes[i];
@@ -273,12 +377,183 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
if (OldShape->GetGeometryInstance())
{
printf("mesh/convex geometry\n");
FCDGeometry* geoTemp = (FCDGeometry*)(OldShape->GetGeometryInstance()->GetEntity());
const FCDGeometryMesh* colladaMesh = geoTemp->GetMesh();
FCDGeometryMesh* colladaMesh = geoTemp->GetMesh();
if (colladaMesh)
{
if (1)
{
bool useConvexHull = false;
//useConvexHull uses just the points. works, but there is no rendering at the moment
//for convex hull shapes
if (useConvexHull)
{
int count = colladaMesh->GetVertexSourceCount();
for (int i=0;i<count;i++)
{
const FCDGeometrySource* geomSource = colladaMesh->GetVertexSource(i);
if (geomSource->GetSourceType()==FUDaeGeometryInput::POSITION)
{
int numPoints = geomSource->GetSourceData().size()/3;
SimdPoint3* points = new SimdPoint3[numPoints];
for (int p=0;p<numPoints;p++)
{
points[p].setValue(geomSource->GetSourceData()[p*3],
geomSource->GetSourceData()[p*3+1],
geomSource->GetSourceData()[p*3+2]);
}
collisionShape = new ConvexHullShape(points,numPoints);
delete points;
break;
}
}
}
else
{
TriangleMesh* trimesh = new TriangleMesh();
int polyCount = colladaMesh->GetPolygonsCount();
for (uint32 j=0; j<polyCount; j++)
{
FCDGeometryPolygons* poly = colladaMesh->GetPolygons(j);
poly->Triangulate();
int numfaces = poly->GetFaceCount();
int numfacevertex = poly->GetFaceVertexCount();
std::vector<UInt32List> dataIndices;
//for (FCDGeometryPolygonsInputList::iterator itI = poly->idxOwners.begin(); itI != idxOwners.end(); ++itI)
//{
// UInt32List* indices = &(*itI)->indices;
// dataIndices.push_back(*indices);
//}
FCDGeometryPolygonsInput* inputs = poly->FindInput(FUDaeGeometryInput::POSITION);
int startIndex = 0;
for (int p=0;p<numfaces;p++)
{
int numfacevertices = poly->GetFaceVertexCounts()[p];
switch (numfacevertices)
{
case 3:
{
//float value = inputs->source->GetSourceData()[index];
int offset = poly->GetFaceVertexOffset(p);
int index;
index = inputs->indices[offset];
SimdVector3 vertex0(
inputs->source->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]);
index = inputs->indices[offset+1];
SimdVector3 vertex1(
inputs->source->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]);
index = inputs->indices[offset+2];
SimdVector3 vertex2(
inputs->source->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]);
trimesh->AddTriangle(vertex0,vertex1,vertex2);
break;
}
case 4:
{
int offset = poly->GetFaceVertexOffset(p);
int index;
index = inputs->indices[offset];
SimdVector3 vertex0(
inputs->source->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]);
index = inputs->indices[offset+1];
SimdVector3 vertex1(
inputs->source->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]);
index = inputs->indices[offset+2];
SimdVector3 vertex2(
inputs->source->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]);
index = inputs->indices[offset+3];
SimdVector3 vertex3(
inputs->source->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]);
trimesh->AddTriangle(vertex0,vertex1,vertex2);
trimesh->AddTriangle(vertex0,vertex2,vertex3);
break;
}
default:
{
}
}
}
if (colladaMesh->m_convex || isDynamic)
{
collisionShape = new ConvexTriangleMeshShape(trimesh);
} else
{
collisionShape = new TriangleMeshShape(trimesh);
}
}
}
} else
{
//should be static triangle mesh!
//FRMesh* cMesh = ToFREntityGeometry(geoTemp);
//BakeScalingIntoMesh(cMesh, scaleTransforms);
@@ -310,6 +585,8 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
*/
}
}
}
@@ -340,6 +617,8 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
{
FCDPASBox* box = (FCDPASBox*)analGeom;
printf("Box\n");
collisionShape = new BoxShape(SimdVector3(box->halfExtents.x,box->halfExtents.y,box->halfExtents.z));
break;
@@ -350,7 +629,7 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
{
FCDPASPlane* plane = (FCDPASPlane*)analGeom;
printf("Plane\n");
break;
}
@@ -360,7 +639,8 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
{
FCDPASSphere* sphere = (FCDPASSphere*)analGeom;
collisionShape = new SphereShape(sphere->radius);
printf("Sphere\n");
break;
}
@@ -372,7 +652,7 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
//FIXME: only using the first radius of the cylinder
FCDPASCylinder* cylinder = (FCDPASCylinder*)analGeom;
printf("Cylinder\n");
break;
@@ -385,7 +665,7 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
//FIXME: only using the first radius of the capsule
FCDPASCapsule* capsule = (FCDPASCapsule*)analGeom;
printf("Capsule\n");
break;
@@ -398,7 +678,7 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
//FIXME: only using the first radius of the capsule
FCDPASTaperedCapsule* tcapsule = (FCDPASTaperedCapsule*)analGeom;
printf("TaperedCapsule\n");
break;
}
@@ -410,7 +690,7 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
//FIXME: only using the first radius of the cylinder
FCDPASTaperedCylinder* tcylinder = (FCDPASTaperedCylinder*)analGeom;
printf("TaperedCylinder\n");
break;
}
@@ -430,27 +710,23 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
}
FCDPhysicsParameter<bool>* dyn = (FCDPhysicsParameter<bool>*)rigidBody->FindParameterByReference(DAE_DYNAMIC_ELEMENT);
if (dyn)
{
bool* mydyn = dyn->GetValue();
printf("mydyn %i\n",*mydyn);
}
FCDPhysicsParameter<float>* mass = (FCDPhysicsParameter<float>*)rigidBody->FindParameterByReference(DAE_MASS_ELEMENT);
float mymass = 1.f;
if (mass)
{
float* mymass = mass->GetValue();
printf("RB mass:%f\n",*mymass);
mymass = *mass->GetValue();
printf("RB mass:%f\n",mymass);
}
FCDPhysicsParameter<FMVector3>* inertia = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_INERTIA_ELEMENT);
if (inertia)
{
inertia->GetValue();
inertia->GetValue();//this should be calculated from shape
}
FCDPhysicsParameter<FMVector3>* velocity = (FCDPhysicsParameter<FMVector3>*)rigidBody->FindParameterByReference(DAE_VELOCITY_ELEMENT);
@@ -467,6 +743,18 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
angularVelocity->GetValue();
}
static int once = true;
if (collisionShape)
{
once = false;
printf("create Physics Object\n");
//void CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
CreatePhysicsObject(isDynamic, mymass, accumulatedWorldTransform,collisionShape);
}
//controller->SetGlobalPose(n->CalculateWorldTransformation());//??
//SAFE_DELETE(rigidBody);
@@ -482,7 +770,6 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
#endif //COLLADA_PHYSICS_TEST
////////////////////////////////////
@@ -494,8 +781,26 @@ GLDebugDrawer debugDrawer;
int main(int argc,char** argv)
{
#ifdef COLLADA_PHYSICS_TEST
char* filename = "analyticalGeomPhysicsTest.dae";//ColladaPhysics.dae";
///Setup a Physics Simulation Environment
CollisionDispatcher* dispatcher = new CollisionDispatcher();
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
//BroadphaseInterface* broadphase = new SimpleBroadphase();
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
physicsEnvironmentPtr->setDeactivationTime(2.f);
physicsEnvironmentPtr->setGravity(0,-10,0);
physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
/// Import Collada 1.4 Physics objects
//char* filename = "analyticalGeomPhysicsTest.dae";//ColladaPhysics.dae";
//char* filename = "colladaphysics_spherebox.dae";
char* filename = "friction.dae";
FCDocument* document = new FCDocument();
FUStatus status = document->LoadFromFile(filename);
bool success = status.IsSuccessful();
@@ -511,215 +816,13 @@ int main(int argc,char** argv)
{
printf("ConvertColladaPhysicsToBulletPhysics failed\n");
}
}
#endif //COLLADA_PHYSICS_TEST
CollisionDispatcher* dispatcher = new CollisionDispatcher();
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
BroadphaseInterface* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax);
//BroadphaseInterface* broadphase = new SimpleBroadphase();
physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
physicsEnvironmentPtr->setDeactivationTime(2.f);
physicsEnvironmentPtr->setGravity(0,-10,0);
PHY_ShapeProps shapeProps;
shapeProps.m_do_anisotropic = false;
shapeProps.m_do_fh = false;
shapeProps.m_do_rot_fh = false;
shapeProps.m_friction_scaling[0] = 1.;
shapeProps.m_friction_scaling[1] = 1.;
shapeProps.m_friction_scaling[2] = 1.;
shapeProps.m_inertia = 1.f;
shapeProps.m_lin_drag = 0.2f;
shapeProps.m_ang_drag = 0.1f;
shapeProps.m_mass = 10.0f;
PHY_MaterialProps materialProps;
materialProps.m_friction = 10.5f;
materialProps.m_restitution = 0.0f;
CcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.5f;
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
SimdTransform tr;
tr.setIdentity();
int i;
for (i=0;i<numObjects;i++)
{
if (i>0)
{
shapeIndex[i] = 1;//sphere
}
else
shapeIndex[i] = 0;
}
for (i=0;i<numObjects;i++)
{
shapeProps.m_shape = shapePtr[shapeIndex[i]];
shapeProps.m_shape->SetMargin(0.05f);
bool isDyna = i>0;
//if (i==1)
// isDyna=false;
if (0)//i==1)
{
SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
}
if (i>0)
{
switch (i)
{
case 1:
{
ms[i].setWorldPosition(0,10,0);
//for testing, rotate the ground cube so the stack has to recover a bit
break;
}
case 2:
{
ms[i].setWorldPosition(0,8,2);
break;
}
default:
ms[i].setWorldPosition(0,i*CUBE_HALF_EXTENTS*2 - CUBE_HALF_EXTENTS,0);
}
float quatIma0,quatIma1,quatIma2,quatReal;
SimdQuaternion quat;
SimdVector3 axis(0,0,1);
SimdScalar angle=0.5f;
quat.setRotation(axis,angle);
ms[i].setWorldOrientation(quat.getX(),quat.getY(),quat.getZ(),quat[3]);
} else
{
ms[i].setWorldPosition(0,-10+EXTRA_HEIGHT,0);
}
ccdObjectCi.m_MotionState = &ms[i];
ccdObjectCi.m_gravity = SimdVector3(0,0,0);
ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
if (!isDyna)
{
shapeProps.m_mass = 0.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
}
else
{
shapeProps.m_mass = 1.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = 0;
}
SimdVector3 localInertia;
if (shapePtr[shapeIndex[i]]->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
{
//take inertia from first shape
shapePtr[1]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
} else
{
shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
}
ccdObjectCi.m_localInertiaTensor = localInertia;
ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];
physObjects[i]= new CcdPhysicsController( ccdObjectCi);
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
physObjects[i]->GetRigidBody()->m_ccdSquareMotionTreshold = CUBE_HALF_EXTENTS;
//Experimental: better estimation of CCD Time of Impact:
//physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;
physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
if (i==1)
{
//physObjects[i]->SetAngularVelocity(0,0,-2,true);
}
physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
}
//create a constraint
if (createConstraint)
{
//physObjects[i]->SetAngularVelocity(0,0,-2,true);
int constraintId;
float pivotX=CUBE_HALF_EXTENTS,
pivotY=-CUBE_HALF_EXTENTS,
pivotZ=CUBE_HALF_EXTENTS;
float axisX=1,axisY=0,axisZ=0;
HingeConstraint* hinge = 0;
SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
SimdVector3 axisInA(0,1,0);
SimdVector3 axisInB(0,-1,0);
RigidBody* rb0 = physObjects[1]->GetRigidBody();
RigidBody* rb1 = physObjects[2]->GetRigidBody();
hinge = new HingeConstraint(
*rb0,
*rb1,pivotInA,pivotInB,axisInA,axisInB);
physicsEnvironmentPtr->m_constraints.push_back(hinge);
hinge->SetUserConstraintId(100);
hinge->SetUserConstraintType(PHY_LINEHINGE_CONSTRAINT);
}
clientResetScene();
setCameraDistance(26.f);
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://www.continuousphysics.com/Bullet/phpBB2/");
return glutmain(argc, argv,640,480,"Bullet Collada Physics Viewer. http://www.continuousphysics.com/Bullet/phpBB2/");
}
//to be implemented by the demo
@@ -727,20 +830,7 @@ void renderme()
{
debugDrawer.SetDebugMode(getDebugMode());
//render the hinge axis
if (createConstraint)
{
SimdVector3 color(1,0,0);
SimdVector3 dirLocal(0,1,0);
SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
SimdVector3 from = physObjects[1]->GetRigidBody()->getCenterOfMassTransform()(pivotInA);
SimdVector3 fromB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform()(pivotInB);
SimdVector3 dirWorldA = physObjects[1]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
SimdVector3 dirWorldB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
debugDrawer.DrawLine(from,from+dirWorldA,color);
debugDrawer.DrawLine(fromB,fromB+dirWorldB,color);
}
float m[16];
int i;
@@ -770,42 +860,6 @@ void renderme()
physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
#ifdef USE_HULL
//some testing code for SAT
if (isSatEnabled)
{
for (int s=0;s<numShapes;s++)
{
CollisionShape* shape = shapePtr[s];
if (shape->IsPolyhedral())
{
PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(shape);
if (!polyhedron->m_optionalHull)
{
//first convert vertices in 'Point3' format
int numPoints = polyhedron->GetNumVertices();
Point3* points = new Point3[numPoints+1];
//first 4 points should not be co-planar, so add central point to satisfy MakeHull
points[0] = Point3(0.f,0.f,0.f);
SimdVector3 vertex;
for (int p=0;p<numPoints;p++)
{
polyhedron->GetVertex(p,vertex);
points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
}
Hull* hull = Hull::MakeHull(numPoints+1,points);
polyhedron->m_optionalHull = hull;
}
}
}
}
#endif //USE_HULL
for (i=0;i<numObjects;i++)
{
@@ -865,7 +919,7 @@ void renderme()
{
if (physObjects[i]->GetRigidBody()->GetCollisionShape()->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
{
physObjects[i]->GetRigidBody()->SetCollisionShape(shapePtr[1]);
physObjects[i]->GetRigidBody()->SetCollisionShape(gShapePtr[1]);
//remove the persistent collision pairs that were created based on the previous shape
@@ -1030,51 +1084,17 @@ void clientDisplay(void) {
void clientResetScene()
{
int i;
for (i=0;i<numObjects;i++)
{
if (i>0)
{
if ((getDebugMode() & IDebugDraw::DBG_NoHelpText))
{
if (physObjects[i]->GetRigidBody()->GetCollisionShape()->GetShapeType() == BOX_SHAPE_PROXYTYPE)
{
physObjects[i]->GetRigidBody()->SetCollisionShape(shapePtr[2]);
} else
{
physObjects[i]->GetRigidBody()->SetCollisionShape(shapePtr[1]);
}
BroadphaseProxy* bpproxy = physObjects[i]->GetRigidBody()->m_broadphaseHandle;
physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);
}
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
if (col>3)
{
col=11;
row2 |=1;
}
physObjects[i]->setPosition(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
physObjects[i]->setOrientation(0,0,0,1);
physObjects[i]->SetLinearVelocity(0,0,0,false);
physObjects[i]->SetAngularVelocity(0,0,0,false);
}
}
//delete and reload, or keep transforms ready?
}
void shootBox(const SimdVector3& destination)
{
//no objects to shoot
if (!numObjects)
return;
int i = numObjects-1;

4
Demos/OpenGL/GlutStuff.cpp
View File

@@ -90,7 +90,7 @@ bool stepping= true;
bool singleStep = false;
static bool idle = false;
static bool idle = true;
void toggleIdle() {
@@ -347,7 +347,7 @@ int glutmain(int argc, char **argv,int width,int height,const char* title) {
glutSpecialFunc(mySpecial);
glutReshapeFunc(myReshape);
//createMenu();
glutIdleFunc(clientMoveAndDisplay);
glutIdleFunc(0);//clientMoveAndDisplay);
glutMouseFunc(clientMouseFunc);
glutMotionFunc(clientMotionFunc);
glutDisplayFunc( clientDisplay );

30
Extras/FCollada/FCDocument/FCDGeometry.cpp
View File

@@ -91,6 +91,36 @@ FUStatus FCDGeometry::LoadFromXML(xmlNode* geometryNode)
status.AppendStatus(s->LoadFromXML(child));
break;
}
else if (IsEquivalent(child->name, DAE_CONVEX_MESH_ELEMENT))
{
//several cases can exist here...
//wait for fixed version of FCollada?
//assume <convex_hull_of> and do instantiate?
// Create a new mesh
FCDGeometryMesh* m = CreateMesh();
m->m_convex = true;
FUUri url = ReadNodeUrl(child,"convex_hull_of");
if (!url.prefix.empty())
{
FCDGeometry* entity = GetDocument()->FindGeometry(url.prefix);
if (entity)
{
printf("found convex_mesh%s\n",url.prefix);
//quick hack
this->mesh = entity->GetMesh();
mesh->m_convex = true;
}
}
//status.AppendStatus(m->LoadFromXML(child));
break;
}
else
{
return status.Fail(FS("Unknown child in <geometry> with id: ") + TO_FSTRING(GetDaeId()), child->line);

1
Extras/FCollada/FCDocument/FCDGeometryMesh.cpp
View File

@@ -23,6 +23,7 @@ using namespace FUDaeWriter;
FCDGeometryMesh::FCDGeometryMesh(FCDocument* document, FCDGeometry* _parent) : FCDObject(document, "FCDGeometryMesh")
{
m_convex = false;
parent = _parent;
faceVertexCount = faceCount = holeCount = 0;
isDoubleSided = true;

2
Extras/FCollada/FCDocument/FCDGeometryMesh.h
View File

@@ -204,6 +204,8 @@ public:
@param parentNode The COLLADA XML parent node in which to insert the geometric mesh.
@return The created \<mesh\> element XML tree node. */
xmlNode* WriteToXML(xmlNode* parentNode) const;
bool m_convex;
};
#endif // _FCD_GEOMETRY_MESH_H_

10
analyticalGeomPhysicsTest.dae
View File

@@ -366,11 +366,6 @@ dereferenceXRefs=0;cameraXFov=0;cameraYFov=1</comments>
<half_extents>0.500000 0.500000 0.736465</half_extents>
</box>
</shape>
<shape>
<box>
<half_extents>0.500000 0.500000 0.500000</half_extents>
</box>
</shape>
</technique_common>
</rigid_body>
<rigid_body sid="nxRigidBody2-RB">
@@ -382,11 +377,6 @@ dereferenceXRefs=0;cameraXFov=0;cameraYFov=1</comments>
<radius>1.000000</radius>
</sphere>
</shape>
<shape>
<sphere>
<radius>1.000000</radius>
</sphere>
</shape>
</technique_common>
</rigid_body>
<rigid_body sid="nxRigidBody3-RB">

6
colladaphysics_spherebox.dae
View File

@@ -555,7 +555,7 @@
<instance_physics_material url="#nxRigidBody4PxMaterial"/>
<shape>
<box>
<half_extends>1 1 1</half_extends>
<half_extents>1 1 1</half_extents>
</box>
</shape>
<dynamic>true</dynamic>
@@ -595,6 +595,10 @@
<instance_physics_model url="#nxRigidBody5-PX">
<instance_rigid_body target="#nxRigidBody5"/>
</instance_physics_model>
<technique_common>
<gravity>0 0 -9.810000</gravity>
</technique_common>
</physics_scene>
</library_physics_scenes>
<scene>

284
msvc/8/appColladaDemo.vcproj
View File

@@ -1,178 +1,244 @@
<?xml version="1.0" encoding = "Windows-1252"?>
<?xml version="1.0" encoding="Windows-1252"?>
<VisualStudioProject
ProjectType="Visual C++"
Version="8.00"
Name="appColladaDemo"
ProjectGUID="{D7BF5DDA-C097-9E8B-5EC1-40DE45FB46BF}"
SccProjectName=""
SccLocalPath="">
>
<Platforms>
<Platform
Name="Win32"/>
Name="Win32"
/>
</Platforms>
<ToolFiles>
</ToolFiles>
<Configurations>
<Configuration
Name="Release|Win32"
OutputDirectory="..\..\out\release8\build\appColladaDemo\"
IntermediateDirectory="..\..\out\release8\build\appColladaDemo\"
ConfigurationType="1"
UseOfMFC="0"
ATLMinimizesCRunTimeLibraryUsage="false"
CharacterSet="2"
WholeProgramOptimization="1"
UseOfMFC="0"
ATLMinimizesCRunTimeLibraryUsage="FALSE">
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
PreprocessorDefinitions="NDEBUG;_CONSOLE"
MkTypLibCompatible="true"
SuppressStartupBanner="true"
TargetEnvironment="1"
TypeLibraryName="..\..\out\release8\build\appColladaDemo\appColladaDemo.tlb"
/>
<Tool
Name="VCCLCompilerTool"
Optimization="2"
StringPooling="TRUE"
EnableFunctionLevelLinking="TRUE"
RuntimeLibrary="2"
DebugInformationFormat="3"
BufferSecurityCheck="FALSE"
PreprocessorDefinitions="NDEBUG;_CONSOLE;WIN32"
OptimizeForProcessor="1"
ExceptionHandling="0"
AdditionalOptions=" "
AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common;..\..\Extras\ConvexDecomposition;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\PhysicsInterface\CcdPhysics"
Optimization="2"
AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common;..\..\Extras\ConvexDecomposition;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Extras\FCollada;..\..\Extras\FCollada\LibXML\include"
PreprocessorDefinitions="NDEBUG;_CONSOLE;WIN32"
StringPooling="true"
ExceptionHandling="0"
RuntimeLibrary="2"
BufferSecurityCheck="false"
EnableFunctionLevelLinking="true"
TreatWChar_tAsBuiltInType="false"
PrecompiledHeaderFile="..\..\out\release8\build\appColladaDemo\appColladaDemo.pch"
AssemblerListingLocation="..\..\out\release8\build\appColladaDemo\"
ObjectFile="..\..\out\release8\build\appColladaDemo\"
ProgramDataBaseFileName="..\..\out\release8\build\appColladaDemo\ColladaDemo.pdb"
WarningLevel="3"
SuppressStartupBanner="TRUE"
Detect64BitPortabilityProblems="TRUE"
TreatWChar_tAsBuiltInType="false"
CompileAs="0"/>
<Tool
Name="VCCustomBuildTool"/>
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Name="VCLinkerTool"
LinkIncremental="1"
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EnableCOMDATFolding="2"
GenerateDebugInformation="TRUE"
IgnoreDefaultLibraryNames="LIBC,LIBCD,LIBCMT,LIBCMTD"
OutputFile="..\..\ColladaDemo.exe"
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AdditionalDependencies="glut32.lib"
IgnoreImportLibrary="TRUE"
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AdditionalLibraryDirectories="..\..\Glut"
ProgramDatabaseFile="..\..\out\release8\build\appColladaDemo\ColladaDemo.pdb"
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SuppressStartupBanner="TRUE"/>
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Name="VCMIDLTool"
PreprocessorDefinitions="NDEBUG;_CONSOLE"
MkTypLibCompatible="TRUE"
SuppressStartupBanner="TRUE"
TargetEnvironment="1"
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Name="VCPostBuildEventTool"
SuppressStartupBanner="true"
Detect64BitPortabilityProblems="true"
DebugInformationFormat="3"
CompileAs="0"
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<Tool
Name="VCPreBuildEventTool"/>
<Tool
Name="VCPreLinkEventTool"/>
Name="VCManagedResourceCompilerTool"
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<Tool
Name="VCResourceCompilerTool"
PreprocessorDefinitions="NDEBUG;_CONSOLE;PROJECTGEN_VERSION=8"
Culture="1033"
AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common;..\..\Extras\ConvexDecomposition;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\PhysicsInterface\CcdPhysics"
Culture="1033"/>
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"/>
Name="VCPreLinkEventTool"
/>
<Tool
Name="VCWebDeploymentTool"/>
Name="VCLinkerTool"
IgnoreImportLibrary="true"
AdditionalOptions=" "
AdditionalDependencies="glut32.lib"
OutputFile="..\..\ColladaDemo.exe"
LinkIncremental="1"
SuppressStartupBanner="true"
AdditionalLibraryDirectories="..\..\Glut"
IgnoreDefaultLibraryNames="LIBC,LIBCD,LIBCMT,LIBCMTD"
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ProgramDatabaseFile="..\..\out\release8\build\appColladaDemo\ColladaDemo.pdb"
SubSystem="1"
OptimizeReferences="2"
EnableCOMDATFolding="2"
TargetMachine="1"
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<Tool
Name="VCALinkTool"
/>
<Tool
Name="VCManifestTool"
/>
<Tool
Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
<Configuration
Name="Debug|Win32"
OutputDirectory="..\..\out\debug8\build\appColladaDemo\"
IntermediateDirectory="..\..\out\debug8\build\appColladaDemo\"
ConfigurationType="1"
CharacterSet="2"
UseOfMFC="0"
ATLMinimizesCRunTimeLibraryUsage="FALSE">
ATLMinimizesCRunTimeLibraryUsage="false"
CharacterSet="2"
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
PreprocessorDefinitions="_DEBUG;_CONSOLE"
MkTypLibCompatible="true"
SuppressStartupBanner="true"
TargetEnvironment="1"
TypeLibraryName="..\..\out\debug8\build\appColladaDemo\appColladaDemo.tlb"
/>
<Tool
Name="VCCLCompilerTool"
Optimization="0"
MinimalRebuild="TRUE"
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RuntimeTypeInfo="TRUE"
RuntimeLibrary="3"
PreprocessorDefinitions="_DEBUG;_CONSOLE;WIN32"
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Optimization="0"
AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common;..\..\Extras\ConvexDecomposition;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Extras\FCollada;..\..\Extras\FCollada\LibXML\include"
PreprocessorDefinitions="_DEBUG;_CONSOLE;WIN32"
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WarningLevel="3"
SuppressStartupBanner="TRUE"
Detect64BitPortabilityProblems="TRUE"
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<Tool
Name="VCCustomBuildTool"/>
<Tool
Name="VCLinkerTool"
LinkIncremental="2"
GenerateDebugInformation="TRUE"
IgnoreDefaultLibraryNames="LIBC,LIBCD,LIBCMT,LIBCMTD,MSVCRT"
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Name="VCManagedResourceCompilerTool"
/>
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Name="VCResourceCompilerTool"
PreprocessorDefinitions="_DEBUG;_CONSOLE;PROJECTGEN_VERSION=8"
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AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common;..\..\Extras\ConvexDecomposition;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\PhysicsInterface\CcdPhysics"
Culture="1033"/>
/>
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Name="VCWebServiceProxyGeneratorTool"/>
Name="VCPreLinkEventTool"
/>
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Name="VCWebDeploymentTool"/>
Name="VCLinkerTool"
IgnoreImportLibrary="true"
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AdditionalDependencies="glut32.lib"
OutputFile="..\..\ColladaDemo.exe"
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ProgramDatabaseFile="..\..\out\debug8\build\appColladaDemo\ColladaDemo.pdb"
SubSystem="1"
TargetMachine="1"
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Name="VCAppVerifierTool"
/>
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Name="VCWebDeploymentTool"
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</Configuration>
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<References>
</References>
<Files>
<Filter
Name="Source Files"
Filter="">
>
<File
RelativePath="..\..\Demos\ColladaDemo\ColladaDemo.cpp">
RelativePath="..\..\Demos\ColladaDemo\ColladaDemo.cpp"
>
</File>
</Filter>
<Filter
Name="Resource Files"
Filter="">
>
<File
RelativePath="..\..\msvc\appColladaDemo.rc">
RelativePath="..\..\msvc\appColladaDemo.rc"
>
</File>
</Filter>
</Files>

1074
msvc/8/wksbullet.sln
View File

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