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ejcoumans
188
Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp
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188
Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///
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/// Convex Hull Distance Demo shows distance calculation between two convex hulls of points.
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/// GJK with the VoronoiSimplexSolver is used.
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///
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#include "GL_Simplex1to4.h"
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#include "SimdQuaternion.h"
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#include "SimdTransform.h"
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#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
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#include "CollisionShapes/ConvexHullShape.h"
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#include "NarrowPhaseCollision/GjkPairDetector.h"
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#include "NarrowPhaseCollision/PointCollector.h"
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#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
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#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
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#include "GL_ShapeDrawer.h"
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#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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#endif
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#include <GL/glut.h>
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#include "GlutStuff.h"
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float yaw=0.f,pitch=0.f,roll=0.f;
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const int maxNumObjects = 4;
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const int numObjects = 2;
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GL_Simplex1to4 simplex;
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PolyhedralConvexShape* shapePtr[maxNumObjects];
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SimdTransform tr[numObjects];
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int screenWidth = 640.f;
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int screenHeight = 480.f;
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int main(int argc,char** argv)
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{
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clientResetScene();
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SimdMatrix3x3 basisA;
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basisA.setIdentity();
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SimdMatrix3x3 basisB;
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basisB.setIdentity();
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tr[0].setBasis(basisA);
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tr[1].setBasis(basisB);
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SimdPoint3 points0[3]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1)};
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SimdPoint3 points1[5]={SimdPoint3(1,0,0),SimdPoint3(0,1,0),SimdPoint3(0,0,1),SimdPoint3(0,0,-1),SimdPoint3(-1,-1,0)};
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ConvexHullShape hullA(points0,3);
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ConvexHullShape hullB(points1,5);
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shapePtr[0] = &hullA;
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shapePtr[1] = &hullB;
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SimdTransform tr;
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tr.setIdentity();
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return glutmain(argc, argv,screenWidth,screenHeight,"Convex Hull Distance Demo");
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}
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//to be implemented by the demo
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void clientMoveAndDisplay()
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{
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clientDisplay();
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}
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static VoronoiSimplexSolver sGjkSimplexSolver;
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SimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
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void clientDisplay(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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//GL_ShapeDrawer::DrawCoordSystem();
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float m[16];
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int i;
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GjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);
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SimdVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
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convexConvex.SetCachedSeperatingAxis(seperatingAxis);
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PointCollector gjkOutput;
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GjkPairDetector::ClosestPointInput input;
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input.m_transformA = tr[0];
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input.m_transformB = tr[1];
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convexConvex.GetClosestPoints(input ,gjkOutput,0);
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if (gjkOutput.m_hasResult)
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{
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SimdVector3 endPt = gjkOutput.m_pointInWorld +
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gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
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glBegin(GL_LINES);
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glColor3f(1, 0, 0);
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glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z());
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glVertex3d(endPt.x(),endPt.y(),endPt.z());
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glEnd();
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}
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for (i=0;i<numObjects;i++)
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{
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tr[i].getOpenGLMatrix( m );
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GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());
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}
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simplex.SetSimplexSolver(&sGjkSimplexSolver);
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SimdPoint3 ybuf[4],pbuf[4],qbuf[4];
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int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
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simplex.Reset();
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for (i=0;i<numpoints;i++)
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simplex.AddVertex(ybuf[i]);
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SimdTransform ident;
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ident.setIdentity();
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ident.getOpenGLMatrix(m);
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GL_ShapeDrawer::DrawOpenGL(m,&simplex,SimdVector3(1,1,1),getDebugMode());
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SimdQuaternion orn;
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orn.setEuler(yaw,pitch,roll);
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tr[0].setRotation(orn);
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tr[1].setRotation(orn);
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pitch += 0.005f;
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yaw += 0.01f;
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glFlush();
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glutSwapBuffers();
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}
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void clientResetScene()
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{
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tr[0].setOrigin(SimdVector3(0.0f,3.f,7.f));
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tr[1].setOrigin(SimdVector3(0.0f,9.f,2.f));
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}
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void clientKeyboard(unsigned char key, int x, int y)
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{
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defaultKeyboard(key, x, y);
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}
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void clientMouseFunc(int button, int state, int x, int y)
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{
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}
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void clientMotionFunc(int x,int y)
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{
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}
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