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added basic CCD calculations for Compounds and non-convex (convex-versus-concave).

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This commit is contained in:
ejcoumans
2006-08-11 04:10:37 +00:00
parent 369fabd300
commit d931aae32f
6 changed files with 205 additions and 39 deletions
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89
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -29,6 +29,10 @@ subject to the following restrictions:
#include "CollisionShapes/CompoundShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/EmptyShape.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "Dynamics/RigidBody.h"
#include "CollisionDispatch/CollisionDispatcher.h"
@@ -94,7 +98,7 @@ bool useCompound = true;//false;
#ifdef _DEBUG
const int numObjects = 20;
const int numObjects = 50;
#else
const int numObjects = 120;
#endif
@@ -174,6 +178,65 @@ int main(int argc,char** argv)
physicsEnvironmentPtr->setDeactivationTime(2.f);
physicsEnvironmentPtr->setGravity(0,-10,0);//0,0);//-10,0);
int i;
//#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
const float TRIANGLE_SIZE=20.f;
//create a triangle-mesh ground
int vertStride = sizeof(SimdVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 50;
const int NUM_VERTS_Y = 50;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
SimdVector3* gVertices = new SimdVector3[totalVerts];
int* gIndices = new int[totalTriangles*3];
for ( i=0;i<NUM_VERTS_X;i++)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(float*) &gVertices[0].x(),vertStride);
//shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
shapePtr[0] = new BvhTriangleMeshShape(indexVertexArrays);
#endif //
PHY_ShapeProps shapeProps;
shapeProps.m_do_anisotropic = false;
@@ -197,7 +260,7 @@ int main(int argc,char** argv)
SimdTransform tr;
tr.setIdentity();
int i;
for (i=0;i<numObjects;i++)
{
if (i>0)
@@ -306,17 +369,21 @@ int main(int argc,char** argv)
}
SimdVector3 localInertia;
if (shapePtr[shapeIndex[i]]->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
SimdVector3 localInertia(0.f,0.f,0.f);
if (shapeIndex[i])
{
//take inertia from first shape
shapePtr[1]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
} else
{
shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,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]];
@@ -326,7 +393,7 @@ int main(int argc,char** argv)
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;
physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS;
physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);