add support for compound hull against plane
This commit is contained in:
erwin coumans
@@ -24,19 +24,135 @@
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void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
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{
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int strideInBytes = 9*sizeof(float);
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createStaticEnvironment(ci);
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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float scaling[4] = {1,1,1,1};
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GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
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int stride2 = sizeof(GLInstanceVertex);
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btAssert(stride2 == strideInBytes);
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int index=0;
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int colIndex = -1;
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btAlignedObjectArray<GLInstanceVertex> vertexArray;
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btAlignedObjectArray<int> indexArray;
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{
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int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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btVector3 childPositions[3] = {
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btVector3(0,-2,0),
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btVector3(0,0,0),
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btVector3(0,2,0)
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};
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btAlignedObjectArray<btGpuChildShape> childShapes;
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int numChildShapes = 3;
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for (int i=0;i<numChildShapes;i++)
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{
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//for now, only support polyhedral child shapes
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btGpuChildShape child;
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child.m_shapeIndex = childColIndex;
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btVector3 pos = childPositions[i];
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btQuaternion orn(0,0,0,1);
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for (int v=0;v<4;v++)
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{
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child.m_childPosition[v] = pos[v];
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child.m_childOrientation[v] = orn[v];
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}
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childShapes.push_back(child);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(pos);
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tr.setRotation(orn);
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int baseIndex = vertexArray.size();
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for (int j=0;j<numIndices;j++)
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indexArray.push_back(cube_indices[j]+baseIndex);
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//add transformed graphics vertices and indices
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for (int v=0;v<numVertices;v++)
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{
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GLInstanceVertex vert = cubeVerts[v];
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btVector3 vertPos(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
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btVector3 newPos = tr*vertPos;
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vert.xyzw[0] = newPos[0];
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vert.xyzw[1] = newPos[1];
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vert.xyzw[2] = newPos[2];
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vert.xyzw[3] = 0.f;
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vertexArray.push_back(vert);
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}
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}
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colIndex= m_data->m_np->registerCompoundShape(&childShapes);
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}
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0],vertexArray.size(),&indexArray[0],indexArray.size());
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btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,0,1,1),
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btVector4(0,1,1,1),
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};
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int curColor = 0;
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for (int i=0;i<ci.arraySizeX;i++)
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{
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for (int j=0;j<ci.arraySizeY;j++)
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{
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for (int k=0;k<ci.arraySizeZ;k++)
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{
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float mass = 1;//j==0? 0.f : 1.f;
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btVector3 position(i*ci.gapX,10+j*ci.gapY,k*ci.gapZ);
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//btQuaternion orn(0,0,0,1);
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btQuaternion orn(btVector3(1,0,0),0.7);
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btVector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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btVector4 scaling(1,1,1,1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
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index++;
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}
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}
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}
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float camPos[4]={0,0,0};//65.5,4.5,65.5,0};
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//float camPos[4]={1,12.5,1.5,0};
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m_instancingRenderer->setCameraTargetPosition(camPos);
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m_instancingRenderer->setCameraDistance(20);
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}
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void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
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{
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int strideInBytes = 9*sizeof(float);
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int group=1;
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int mask=1;
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int index=0;
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float scaling[4] = {1,1,1,1};
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int colIndex = 0;
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{
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@@ -110,106 +226,26 @@ void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
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}
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}
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GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
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int stride2 = sizeof(GLInstanceVertex);
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btAssert(stride2 == strideInBytes);
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{
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int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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btVector3 childPositions[3] = {
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btVector3(0,-2,0),
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btVector3(0,0,0),
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btVector3(0,2,0)
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};
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btAlignedObjectArray<btGpuChildShape> childShapes;
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int numChildShapes = 3;
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for (int i=0;i<numChildShapes;i++)
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{
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//for now, only support polyhedral child shapes
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btGpuChildShape child;
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child.m_shapeIndex = childColIndex;
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btVector3 pos = childPositions[i];
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btQuaternion orn(0,0,0,1);
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for (int v=0;v<4;v++)
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{
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child.m_childPosition[v] = pos[v];
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child.m_childOrientation[v] = orn[v];
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}
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childShapes.push_back(child);
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(pos);
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tr.setRotation(orn);
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int baseIndex = vertexArray.size();
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for (int j=0;j<numIndices;j++)
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indexArray.push_back(cube_indices[j]+baseIndex);
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//add transformed graphics vertices and indices
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for (int v=0;v<numVertices;v++)
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{
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GLInstanceVertex vert = cubeVerts[v];
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btVector3 vertPos(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
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btVector3 newPos = tr*vertPos;
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vert.xyzw[0] = newPos[0];
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vert.xyzw[1] = newPos[1];
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vert.xyzw[2] = newPos[2];
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vert.xyzw[3] = 0.f;
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vertexArray.push_back(vert);
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}
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}
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colIndex= m_data->m_np->registerCompoundShape(&childShapes);
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}
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0],vertexArray.size(),&indexArray[0],indexArray.size());
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btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,0,1,1),
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btVector4(0,1,1,1),
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};
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int curColor = 0;
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for (int i=0;i<ci.arraySizeX;i++)
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{
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for (int j=0;j<ci.arraySizeY;j++)
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{
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for (int k=0;k<ci.arraySizeZ;k++)
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{
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float mass = 1;//j==0? 0.f : 1.f;
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btVector3 position(i*ci.gapX,10+j*ci.gapY,k*ci.gapZ);
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//btQuaternion orn(0,0,0,1);
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btQuaternion orn(btVector3(1,0,0),0.7);
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btVector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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btVector4 scaling(1,1,1,1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
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index++;
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}
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}
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}
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float camPos[4]={0,0,0};//65.5,4.5,65.5,0};
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//float camPos[4]={1,12.5,1.5,0};
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m_instancingRenderer->setCameraTargetPosition(camPos);
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m_instancingRenderer->setCameraDistance(20);
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}
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void GpuCompoundPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
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{
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int index=0;
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btVector3 normal(0,1,0);
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float constant=0.f;
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int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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btVector3 position(0,0,0);
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btQuaternion orn(0,0,0,1);
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// btQuaternion orn(btVector3(1,0,0),0.3);
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btVector4 color(0,0,1,1);
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btVector4 scaling(100,0.01,100,1);
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index);
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}
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