From bda1507ea913c7a471f454ec9b6f733a83cee327 Mon Sep 17 00:00:00 2001 From: ejcoumans Date: Wed, 14 Feb 2007 05:25:11 +0000 Subject: [PATCH] added compound shape for raytrace testing --- Demos/Raytracer/Raytracer.cpp | 124 +++++++++++++++++++++++++++++----- 1 file changed, 108 insertions(+), 16 deletions(-) diff --git a/Demos/Raytracer/Raytracer.cpp b/Demos/Raytracer/Raytracer.cpp index 8fedad867..1cca85486 100644 --- a/Demos/Raytracer/Raytracer.cpp +++ b/Demos/Raytracer/Raytracer.cpp @@ -11,6 +11,48 @@ +#define IN_TO_M_CONSTANT (0.0254f) +#define M_TO_IN_CONSTANT (39.3700787f) +#define CM_TO_IN_CONSTANT (0.393700787f) +#define LBS_TO_KG_CONSTANT (0.45359237f) + +#define FEET_TO_IN(x) (12.0f * (float)(x)) +#define IN_TO_FT(x) ((float)(x)/12.0f) +#define IN_TO_M(x) ((float)(x) * IN_TO_M_CONSTANT) +#define M_TO_IN(x) ((float)(x) * M_TO_IN_CONSTANT) +#define CM_TO_IN(x) ((float)(x) * CM_TO_IN_CONSTANT) +#define FT_TO_M(x) (IN_TO_M(FEET_TO_IN(x))) +#define LBS_TO_KG(x) ((float)(x) * LBS_TO_KG_CONSTANT) + +#define PIN_HEIGHT IN_TO_M(15.0f) +#define PIN_DIAMETER IN_TO_M(4.76f) +#define PIN_MASS LBS_TO_KG(3.5f) +#define PIN_FRICTION (BALL_FRICTION) // a guess +//#define PIN_COR (0.67f) // was 0.67 +#define PIN_COR (0.2f) + +#define BALL_DIAMETER IN_TO_M(8.55f) +#define BALL_MASS LBS_TO_KG(16.0f) +#define BALL_FRICTION (0.3f) // max is 0.32 +#define BALL_COR (0.7) +#define BALL_MAX_FRICTION (0.32f) +#define BALL_MAX_MASS (16.0f) // lbs +#define BALL_MIN_MASS (8.0f) // lbs + +#define LANE_DECK_FUDGE (IN_TO_M(6.0f)) + +#define LANE_WIDTH IN_TO_M(42.0f) +#define LANE_TOTAL_WIDTH IN_TO_M(62.88f) +#define LANE_LENGTH FT_TO_M(60.0f-LANE_DECK_FUDGE) + +#define GRAVITY_VECTOR (btVector3(0.0f,-9.81f,0.0f)) + +#define PIN_Z_DIST IN_TO_M(10.3923048f) +#define PIN_Y_DIST IN_TO_M(12.0f) + +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" + + /* Raytracer uses the Convex rayCast to visualize the Collision Shapes/Minkowski Sum. Very basic raytracer, rendering into a texture. @@ -43,7 +85,7 @@ Very basic raytracer, rendering into a texture. #include "BulletCollision/CollisionShapes/btConvexHullShape.h" #include "LinearMath/btAabbUtil2.h" #include "BulletCollision/CollisionShapes/btBoxShape.h" - +#include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/CollisionShapes/btTetrahedronShape.h" @@ -66,21 +108,23 @@ const int numObjects = 1; /// simplex contains the vertices, and some extra code to draw and debug GL_Simplex1to4 simplex; -btConvexShape* shapePtr[maxNumObjects]; +btCollisionShape* shapePtr[maxNumObjects]; btTransform transforms[maxNumObjects]; renderTexture* raytracePicture = 0; //this applies to the raytracer virtual screen/image buffer -int screenWidth = 128; +int screenWidth = 256; //float aspectRatio = (3.f/4.f); -int screenHeight = 128;//screenWidth * aspectRatio; +int screenHeight = 256;//screenWidth * aspectRatio; GLuint glTextureId; btSphereShape mySphere(1); btBoxShape myBox(btVector3(0.4f,0.4f,0.4f)); btCylinderShape myCylinder(btVector3(0.3f,0.3f,0.3f)); btConeShape myCone(1,1); +btCompoundShape compound; + btMinkowskiSumShape myMink(&myCylinder,&myBox); GLDebugDrawer debugDrawer; @@ -128,21 +172,51 @@ void Raytracer::initPhysics() }; //btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES); - btVector3 sphereOffset(0,0,0); + + btVector3 sphereOffset1(0,0,0); btScalar sphereRadius = 2.f; btVector3 nonUniformScaling(0.5,2,0.5); - btMultiSphereShape* nonuniformScaledSphere = new btMultiSphereShape(inertiaHalfExtents,&sphereOffset,&sphereRadius,1); + btMultiSphereShape* nonuniformScaledSphere = new btMultiSphereShape(inertiaHalfExtents,&sphereOffset1,&sphereRadius,1); nonuniformScaledSphere->setLocalScaling(nonUniformScaling); nonuniformScaledSphere->setMargin(0.04); btConvexHullShape* convexHullShape = new btConvexHullShape(&positions[0].getX(),3); - + //attempt to approximate a bowling pin //choose shape - shapePtr[0] = &myCone;//&myBox;//nonuniformScaledSphere;//&myCone; + shapePtr[0] = &myCone;//&compound;//&myCone;//&myBox;//nonuniformScaledSphere;//&myCone; + // shapePtr[0] = &myCone;//&myBox;//nonuniformScaledSphere;//&myCone; + shapePtr[1] =&simplex; shapePtr[2] =convexHullShape; shapePtr[3] =&myMink;//myBox;//multiSphereShape + btVector3 sphereOffset(0,PIN_HEIGHT/4.0f,0); + + // create pin collision shape + btCollisionShape* cyl = new btCylinderShape(btVector3(PIN_DIAMETER/4.0f, PIN_HEIGHT/4.0f, PIN_DIAMETER/4.0f)); + cyl->setMargin(IN_TO_M(0.000025f)); + btVector3 spherepositions[3] = {btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0), +btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)+sphereOffset, +btVector3(0,-PIN_HEIGHT/2.f +(PIN_DIAMETER/2.0f)+IN_TO_M(1.25f),0)-sphereOffset}; + btScalar radii[3] = {(PIN_DIAMETER/2.0f),(PIN_DIAMETER/4.0f),(PIN_DIAMETER/4.0f)}; + btCollisionShape* sph = new btMultiSphereShape(inertiaHalfExtents,spherepositions,radii,3); + + btTransform ident; + ident.setIdentity(); + ident.setOrigin(btVector3(0.f,-PIN_HEIGHT/4.f,0.f)); + compound.addChildShape(ident,cyl); + ident.setIdentity(); + //ident.setOrigin(btVector3(0.0f, -PIN_HEIGHT/2.0f + PIN_DIAMETER/2.0f + IN_TO_M(3.5f), 0.0f)); + compound.addChildShape(ident,sph); + + btVector3 spherepositions2[2] = {btVector3(0,+PIN_HEIGHT/2.f -(PIN_DIAMETER/4.0f),0), + btVector3(0,0,0)}; + btScalar radii2[2] = {(PIN_DIAMETER/4.0f),(PIN_DIAMETER/6.0f)}; + + btCollisionShape* sph2 = new btMultiSphereShape(inertiaHalfExtents,spherepositions2,radii2,2); + compound.addChildShape(ident,sph2); + + compound.setMargin(0.001); simplex.setMargin(0.3f); @@ -176,7 +250,7 @@ void Raytracer::displayCallback() if (i < 2) { orn.setEuler(yaw,pitch,roll); - transforms[i].setRotation(orn); + //transforms[i].setRotation(orn); } } myMink.setTransformA(btTransform(transforms[0].getRotation())); @@ -266,10 +340,15 @@ void Raytracer::displayCallback() } - btConvexCast::CastResult rayResult; +// btConvexCast::CastResult rayResult; btTransform rayToTrans; rayToTrans.setIdentity(); btVector3 rayTo; + btTransform colObjWorldTransform; + colObjWorldTransform.setIdentity(); + + + for (x=0;x