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ejcoumans
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Demos/GjkConvexCastDemo/Jamfile
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Demos/GjkConvexCastDemo/Jamfile
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SubDir TOP Demos GjkConvexCastDemo ;
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BulletDemo GjkConvexCastDemo : [ Wildcard *.h *.cpp ] ;
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248
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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/*
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LinearConvexCastDemo implements an efficient continuous collision detection algorithm.
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Both linear and angular velocities are supported. Gjk or Simplex based methods.
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Motion using Exponential Map.
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Comparison with Screwing Motion.
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Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
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*/
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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/BoxShape.h"
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#include "CollisionShapes/MinkowskiSumShape.h"
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#include "NarrowPhaseCollision/GjkPairDetector.h"
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#include "NarrowPhaseCollision/GjkConvexCast.h"
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#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
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#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
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#include "NarrowPhaseCollision/BU_CollisionPair.h"
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#include "CollisionShapes/SphereShape.h"
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#include "CollisionShapes/Simplex1to4Shape.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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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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void DrawRasterizerLine(float const* , float const*, int)
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{
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}
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int main(int argc,char** argv)
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{
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setCameraDistance(30.f);
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tr[0].setOrigin(SimdVector3(0,0,0));
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tr[1].setOrigin(SimdVector3(0,10,0));
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SimdMatrix3x3 basisA;
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basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
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-0.00029313788f,0.99753088f,0.070228584f,
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-0.00089153741f,-0.070228823f,0.99753052f);
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SimdMatrix3x3 basisB;
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basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
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4.4865495e-018f,0.97979438f,0.20000751f,
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4.4410586e-017f,-0.20000751f,0.97979438f);
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tr[0].setBasis(basisA);
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tr[1].setBasis(basisB);
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SimdVector3 boxHalfExtentsA(0.2,4,4);
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SimdVector3 boxHalfExtentsB(6,6,6);
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BoxShape boxA(boxHalfExtentsA);
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/* BU_Simplex1to4 boxB;
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boxB.AddVertex(SimdPoint3(-5,0,-5));
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boxB.AddVertex(SimdPoint3(5,0,-5));
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boxB.AddVertex(SimdPoint3(0,0,5));
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boxB.AddVertex(SimdPoint3(0,5,0));
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*/
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BoxShape boxB(boxHalfExtentsB);
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shapePtr[0] = &boxA;
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shapePtr[1] = &boxB;
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shapePtr[0]->SetMargin(0.01f);
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shapePtr[1]->SetMargin(0.01f);
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// boxA.SetMargin(1.f);
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// boxB.SetMargin(1.f);
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SimdTransform tr;
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tr.setIdentity();
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return glutmain(argc, argv,screenWidth,screenHeight,"Linear Convex Cast 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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#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
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#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
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static VoronoiSimplexSolver sVoronoiSimplexSolver;
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SimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
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bool drawLine= false;
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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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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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int shapeIndex = 1;
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SimdQuaternion orn;
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orn.setEuler(yaw,pitch,roll);
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tr[shapeIndex].setRotation(orn);
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extern bool stepping;
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extern bool singleStep;
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if (stepping || singleStep)
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{
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singleStep = false;
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pitch += 0.005f;
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yaw += 0.01f;
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}
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SimdVector3 fromA(-25,11,0);
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SimdVector3 toA(15,11,0);
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SimdQuaternion ornFromA(0.f,0.f,0.f,1.f);
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SimdQuaternion ornToA(0.f,0.f,0.f,1.f);
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SimdTransform rayFromWorld(ornFromA,fromA);
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SimdTransform rayToWorld(ornToA,toA);
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tr[0] = rayFromWorld;
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if (drawLine)
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{
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glBegin(GL_LINES);
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glColor3f(0, 0, 1);
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glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
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glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
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glEnd();
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}
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//now perform a raycast on the shapes, in local (shape) space
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//choose one of the following lines
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for (i=1;i<numObjects;i++)
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{
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ContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0);
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GjkConvexCast convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
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//BU_CollisionPair (algebraic version) is currently broken, will look into this
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BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
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SubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
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gGjkSimplexSolver.reset();
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ConvexCast::CastResult rayResult;
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if (convexCaster3.calcTimeOfImpact(rayFromWorld,rayToWorld,tr[i],tr[i],rayResult))
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{
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glDisable(GL_DEPTH_TEST);
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SimdVector3 hitPoint;
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hitPoint.setInterpolate3(rayFromWorld.getOrigin(),rayToWorld.getOrigin(),rayResult.m_fraction);
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//draw the raycast result
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glBegin(GL_LINES);
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glColor3f(1, 1, 1);
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glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
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glVertex3d(hitPoint.x(),hitPoint.y(),hitPoint.z());
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glEnd();
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glEnable(GL_DEPTH_TEST);
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SimdTransform toTransWorld;
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toTransWorld = tr[0];
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toTransWorld.setOrigin(hitPoint);
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toTransWorld.getOpenGLMatrix( m );
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GL_ShapeDrawer::DrawOpenGL(m,shapePtr[0],SimdVector3(0,1,1),getDebugMode());
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}
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}
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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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}
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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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