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added InternalEdgeDemo and fixes for btInternalEdgeUtility

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This commit is contained in:
erwin.coumans
2010-01-30 03:48:57 +00:00
parent 8616ea07d8
commit e311597a7b
13 changed files with 903 additions and 53 deletions
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15
Demos/CMakeLists.txt
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@@ -1,4 +1,17 @@
SUBDIRS( OpenGL BasicDemo Benchmarks Box2dDemo CollisionInterfaceDemo ConcaveDemo ConstraintDemo ConvexDecompositionDemo GimpactTestDemo GenericJointDemo SerializeDemo )
SUBDIRS(
OpenGL
BasicDemo
Benchmarks
Box2dDemo
CollisionInterfaceDemo
ConcaveDemo
ConstraintDemo
ConvexDecompositionDemo
InternalEdgeDemo
GimpactTestDemo
GenericJointDemo
SerializeDemo
)
#todo: re-enable the rest of the demos again

15
Demos/CollisionInterfaceDemo/CMakeLists.txt
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@@ -25,6 +25,21 @@ IF (USE_GLUT)
main.cpp
)
IF (WIN32)
IF (CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppCollisionInterfaceDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
)
ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppCollisionInterfaceDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
ELSE (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL

3
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
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@@ -36,12 +36,9 @@ const int numObjects = 2;
GL_Simplex1to4 simplex;
btCollisionObject objects[maxNumObjects];
btCollisionWorld* collisionWorld = 0;
int screenWidth = 640;
int screenHeight = 480;
GLDebugDrawer debugDrawer;

4
Demos/CollisionInterfaceDemo/main.cpp
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@@ -3,6 +3,10 @@
#include "GlutStuff.h"
#include "btBulletDynamicsCommon.h"
int screenWidth = 640;
int screenHeight = 480;
int main(int argc,char** argv)
{
CollisionInterfaceDemo* collisionInterfaceDemo = new CollisionInterfaceDemo();

28
Demos/ConcaveDemo/CMakeLists.txt
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@@ -22,20 +22,20 @@ IF (USE_GLUT)
ConcavePhysicsDemo.cpp
main.cpp
)
IF (WIN32)
IF (CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppConcaveDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
)
ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppConcaveDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF(CMAKE_CL_64)
IF (WIN32)
IF (CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppConcaveDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
)
ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppConcaveDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
ELSE (USE_GLUT)

60
Demos/InternalEdgeDemo/CMakeLists.txt Normal file
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@@ -0,0 +1,60 @@
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
# For every executable you have with a main method you should have an add_executable line below.
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
# You shouldn't have to modify anything below this line
########################################################
IF (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppInternalEdgeDemo
InternalEdgeDemo.cpp
InternalEdgeDemo.h
main.cpp
)
IF (WIN32)
IF (CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET InternalEdgeDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
)
ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET InternalEdgeDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
ELSE (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppInternalEdgeDemo
WIN32
../OpenGL/Win32AppMain.cpp
InternalEdgeDemo.cpp
InternalEdgeDemo.h
Win32InternalEdgeDemo.cpp
)
ENDIF (USE_GLUT)

565
Demos/InternalEdgeDemo/InternalEdgeDemo.cpp Normal file
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@@ -0,0 +1,565 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//#define SHIFT_INDICES 1
#define SWAP_WINDING 1
//#define ROTATE_GROUND 1
bool enable=true;
#if defined (SHIFT_INDICES) && !defined (SWAP_WINDING)
//#define TEST_INCONSISTENT_WINDING
#endif
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "InternalEdgeDemo.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "GLDebugDrawer.h"
GLDebugDrawer gDebugDrawer;
static btVector3* gVertices=0;
static int* gIndices=0;
static btBvhTriangleMeshShape* trimeshShape =0;
static btRigidBody* staticBody = 0;
static float waveheight = 0.f;
const float TRIANGLE_SIZE=20.f;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(float friction0,float friction1)
{
return 0.f;
btScalar friction = friction0 * friction1;
const btScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
{
return restitution0 * restitution1;
}
///////////////////////////////////////////////////////////////
static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
{
if (enable)
{
btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1);
}
float friction0 = colObj0->getFriction();
float friction1 = colObj1->getFriction();
float restitution0 = colObj0->getRestitution();
float restitution1 = colObj1->getRestitution();
if (colObj0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
friction0 = 1.0;//partId0,index0
restitution0 = 0.f;
}
if (colObj1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
if (index1&1)
{
friction1 = 1.0f;//partId1,index1
} else
{
friction1 = 0.f;
}
restitution1 = 0.f;
}
cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
extern ContactAddedCallback gContactAddedCallback;
const int NUM_VERTS_X = 2;
const int NUM_VERTS_Y = 2;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
void InternalEdgeDemo::setVertexPositions(float waveheight, float offset)
{
int i;
int j;
for ( i=0;i<NUM_VERTS_X;i++)
{
for (j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
//0.f,
waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
}
void InternalEdgeDemo::keyboardCallback(unsigned char key, int x, int y)
{
if (key=='n')
{
enable = !enable;
}
if (key == 'g')
{
m_animatedMesh = !m_animatedMesh;
if (m_animatedMesh)
{
staticBody->setCollisionFlags( staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
staticBody->setActivationState(DISABLE_DEACTIVATION);
} else
{
staticBody->setCollisionFlags( staticBody->getCollisionFlags() & ~btCollisionObject::CF_KINEMATIC_OBJECT);
staticBody->forceActivationState(ACTIVE_TAG);
}
}
DemoApplication::keyboardCallback(key,x,y);
}
void InternalEdgeDemo::initPhysics()
{
setTexturing(true);
setShadows(false);//true);
#define TRISIZE 10.f
gContactAddedCallback = CustomMaterialCombinerCallback;
#define USE_TRIMESH_SHAPE 1
#ifdef USE_TRIMESH_SHAPE
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
gVertices = new btVector3[totalVerts];
gIndices = new int[totalTriangles*3];
int i;
setVertexPositions(waveheight,0.f);
//gVertices[1].setY(21.1);
//gVertices[1].setY(121.1);
gVertices[1].setY(.1);
#ifdef ROTATE_GROUND
//gVertices[1].setY(-1.1);
#else
//gVertices[1].setY(0.1);
//gVertices[1].setY(-0.1);
//gVertices[1].setY(-20.1);
//gVertices[1].setY(-20);
#endif
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
#ifdef SWAP_WINDING
#ifdef SHIFT_INDICES
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#else
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
#endif //SHIFT_INDICES
#else //SWAP_WINDING
#ifdef SHIFT_INDICES
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
#ifdef TEST_INCONSISTENT_WINDING
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#else //TEST_INCONSISTENT_WINDING
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
#endif //TEST_INCONSISTENT_WINDING
#else //SHIFT_INDICES
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;
#endif //SHIFT_INDICES
#endif //SWAP_WINDING
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
//comment out the next line to read the BVH from disk (first run the demo once to create the BVH)
#define SERIALIZE_TO_DISK 1
#ifdef SERIALIZE_TO_DISK
btVector3 aabbMin(-1000,-1000,-1000),aabbMax(1000,1000,1000);
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,aabbMin,aabbMax);
m_collisionShapes.push_back(trimeshShape);
///we can serialize the BVH data
void* buffer = 0;
int numBytes = trimeshShape->getOptimizedBvh()->calculateSerializeBufferSize();
buffer = btAlignedAlloc(numBytes,16);
bool swapEndian = false;
trimeshShape->getOptimizedBvh()->serialize(buffer,numBytes,swapEndian);
FILE* file = fopen("bvh.bin","wb");
fwrite(buffer,1,numBytes,file);
fclose(file);
btAlignedFree(buffer);
#else
trimeshShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression,false);
char* fileName = "bvh.bin";
FILE* file = fopen(fileName,"rb");
int size=0;
btOptimizedBvh* bvh = 0;
if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET)) { /* File operations denied? ok, just close and return failure */
printf("Error: cannot get filesize from %s\n", fileName);
exit(0);
} else
{
fseek(file, 0, SEEK_SET);
int buffersize = size+btOptimizedBvh::getAlignmentSerializationPadding();
void* buffer = btAlignedAlloc(buffersize,16);
int read = fread(buffer,1,size,file);
fclose(file);
bool swapEndian = false;
bvh = btOptimizedBvh::deSerializeInPlace(buffer,buffersize,swapEndian);
}
trimeshShape->setOptimizedBvh(bvh);
#endif
btCollisionShape* groundShape = trimeshShape;
btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap();
btGenerateInternalEdgeInfo(trimeshShape,triangleInfoMap);
#else
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_collisionShapes.push_back(groundShape);
#endif //USE_TRIMESH_SHAPE
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_collisionConfiguration->setConvexConvexMultipointIterations(10,5);
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = 1e30f;
m_dynamicsWorld->getSolverInfo().m_maxErrorReduction = 1e30;
m_dynamicsWorld->getSolverInfo().m_erp =1.f;
m_dynamicsWorld->getSolverInfo().m_erp2 = 1.f;
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
float mass = 0.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
//colShape->setMargin(0.f);
colShape->setMargin(0.1f);
m_collisionShapes.push_back(colShape);
{
for (int i=0;i<1;i++)
{
startTransform.setOrigin(btVector3(-10+i*3,1+i*0.1,-1.3));
btRigidBody* body = localCreateRigidBody(100, startTransform,colShape);
body->setLinearVelocity(btVector3(0,0,-1));
}
}
startTransform.setIdentity();
#ifdef ROTATE_GROUND
btQuaternion orn(btVector3(0,0,1),SIMD_PI);
startTransform.setOrigin(btVector3(-20,0,0));
startTransform.setRotation(orn);
#endif //ROTATE_GROUND
staticBody = localCreateRigidBody(mass, startTransform,groundShape);
//staticBody->setContactProcessingThreshold(-0.031f);
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);//STATIC_OBJECT);
//enable custom material callback
staticBody->setCollisionFlags(staticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btSetDebugDrawer(&gDebugDrawer);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
}
void InternalEdgeDemo::clientResetScene()
{
DemoApplication::clientResetScene();
for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
{
btCollisionObject* colobj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colobj);
if (body && body->getInvMass() != 0.f)
{
body->setLinearVelocity(btVector3(0,0,-1));
}
}
}
void InternalEdgeDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
if (m_animatedMesh)
{
static float offset=0.f;
offset+=0.01f;
// setVertexPositions(waveheight,offset);
#if 0 ///not currently supported, we need to update the btInternalTriangleInfoMap
int i;
int j;
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
{
for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
{
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
0.f,
//waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
}
}
trimeshShape->partialRefitTree(aabbMin,aabbMax);
#else
btVector3 aabbMin,aabbMax;
trimeshShape->getMeshInterface()->calculateAabbBruteForce(aabbMin,aabbMax);
trimeshShape->refitTree(aabbMin,aabbMax);
#endif
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
}
//m_dynamicsWorld->stepSimulation(dt);
///enable one of the following to debug (render debug lines each frame)
//m_dynamicsWorld->stepSimulation(1./800.,0);
m_dynamicsWorld->stepSimulation(1./60.,100,1./800.);
//m_dynamicsWorld->stepSimulation(1./60.,0);
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
renderme();
glFlush();
glutSwapBuffers();
}
void InternalEdgeDemo::displayCallback(void) {
clientMoveAndDisplay();
/*
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
glFlush();
glutSwapBuffers();
*/
}
void InternalEdgeDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
//delete dynamics world
delete m_dynamicsWorld;
if (m_indexVertexArrays)
delete m_indexVertexArrays;
//delete solver
delete m_solver;
//delete broadphase
delete m_broadphase;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
}

86
Demos/InternalEdgeDemo/InternalEdgeDemo.h Normal file
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@@ -0,0 +1,86 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONCAVE_DEMO_H
#define CONCAVE_DEMO_H
#include "GlutDemoApplication.h"
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
class btCollisionDispatcher;
class btConstraintSolver;
struct btCollisionAlgorithmCreateFunc;
class btDefaultCollisionConfiguration;
class btTriangleIndexVertexArray;
///InternalEdgeDemo shows usage of static concave triangle meshes
///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
class InternalEdgeDemo : public GlutDemoApplication
{
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btTriangleIndexVertexArray* m_indexVertexArrays;
btBroadphaseInterface* m_broadphase;
btCollisionDispatcher* m_dispatcher;
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
bool m_animatedMesh;
public:
InternalEdgeDemo() : m_animatedMesh(true)
{
}
void initPhysics();
void exitPhysics();
virtual ~InternalEdgeDemo()
{
exitPhysics();
}
virtual void clientResetScene();
virtual void clientMoveAndDisplay();
virtual void displayCallback();
//to show refit works
void setVertexPositions(float waveheight, float offset);
virtual void keyboardCallback(unsigned char key, int x, int y);
static DemoApplication* Create()
{
InternalEdgeDemo* demo = new InternalEdgeDemo();
demo->myinit();
demo->initPhysics();
return demo;
};
};
#endif //CONCAVE_DEMO_H

25
Demos/InternalEdgeDemo/Win32InternalEdgeDemo.cpp Normal file
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@@ -0,0 +1,25 @@
#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "InternalEdgeDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new InternalEdgeDemo.cpp();
}
#endif

19
Demos/InternalEdgeDemo/main.cpp Normal file
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@@ -0,0 +1,19 @@
#include "InternalEdgeDemo.h"
#include "GlutStuff.h"
#include "GLDebugDrawer.h"
#include "btBulletDynamicsCommon.h"
int main(int argc,char** argv)
{
InternalEdgeDemo* internalEdgeDemo = new InternalEdgeDemo();
internalEdgeDemo->initPhysics();
internalEdgeDemo->setCameraDistance(30.f);
return glutmain(argc, argv,640,480,"Internal Edge Demo",internalEdgeDemo);
}

10
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -938,6 +938,16 @@ public:
wv0 = m_worldTrans*triangle[0];
wv1 = m_worldTrans*triangle[1];
wv2 = m_worldTrans*triangle[2];
btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);
btVector3 normal = (wv1-wv0).cross(wv2-wv0);
normal.normalize();
btVector3 normalColor(1,1,0);
m_debugDrawer->drawLine(center,center+normal,normalColor);
m_debugDrawer->drawLine(wv0,wv1,m_color);
m_debugDrawer->drawLine(wv1,wv2,m_color);
m_debugDrawer->drawLine(wv2,wv0,m_color);

124
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
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@@ -6,6 +6,11 @@
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "LinearMath/btIDebugDraw.h"
//#define DEBUG_INTERNAL_EDGE
#ifdef DEBUG_INTERNAL_EDGE
#include <stdio.h>
#endif //DEBUG_INTERNAL_EDGE
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
@@ -79,9 +84,9 @@ struct btConnectivityProcessor : public btTriangleCallback
triangle[2].getX(),triangle[2].getY(),triangle[2].getZ());
#endif
for (int j=0;j<3;j++)
for (int i=0;i<3;i++)
{
for (int i=0;i<3;i++)
for (int j=0;j<3;j++)
{
if ( (m_triangleVerticesA[i]-triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
{
@@ -128,6 +133,7 @@ struct btConnectivityProcessor : public btTriangleCallback
int sumvertsA = sharedVertsA[0]+sharedVertsA[1];
int otherIndexA = 3-sumvertsA;
btVector3 edge(m_triangleVerticesA[sharedVertsA[1]]-m_triangleVerticesA[sharedVertsA[0]]);
btTriangleShape tA(m_triangleVerticesA[0],m_triangleVerticesA[1],m_triangleVerticesA[2]);
@@ -208,12 +214,22 @@ struct btConnectivityProcessor : public btTriangleCallback
case 1:
{
btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1];
btQuaternion orn(edge,correctedAngle);
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
if (computedNormalB.dot(calculatedNormalB)<0)
btScalar bla = computedNormalB.dot(normalB);
if (bla<0)
{
computedNormalB*=-1;
info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif//DEBUG_INTERNAL_EDGE
info->m_edgeV0V1Angle = correctedAngle;
info->m_edgeV0V1Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V0V1_CONVEX;
@@ -222,12 +238,21 @@ struct btConnectivityProcessor : public btTriangleCallback
case 2:
{
btVector3 edge = m_triangleVerticesA[2]-m_triangleVerticesA[0];
btQuaternion orn(edge,correctedAngle);
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
if (computedNormalB.dot(calculatedNormalB)<0)
if (computedNormalB.dot(normalB)<0)
{
computedNormalB*=-1;
info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB;
}
info->m_edgeV2V0Angle = correctedAngle;
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif //DEBUG_INTERNAL_EDGE
info->m_edgeV2V0Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V2V0_CONVEX;
break;
@@ -235,12 +260,20 @@ struct btConnectivityProcessor : public btTriangleCallback
case 3:
{
btVector3 edge = m_triangleVerticesA[1]-m_triangleVerticesA[2];
btQuaternion orn(edge,correctedAngle);
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
if (computedNormalB.dot(calculatedNormalB)<0)
if (computedNormalB.dot(normalB)<0)
{
info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB;
info->m_edgeV1V2Angle = correctedAngle;
computedNormalB*=-1;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif //DEBUG_INTERNAL_EDGE
info->m_edgeV1V2Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V1V2_CONVEX;
@@ -371,30 +404,26 @@ bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const b
btVector3 edgeCross = edge.cross(tri_normal).normalize();
btScalar curAngle = btGetAngle(edgeCross,tri_normal,localContactNormalOnB);
if (correctedEdgeAngle<0)
{
if (curAngle < -correctedEdgeAngle)
if (curAngle < correctedEdgeAngle)
{
btScalar diffAngle = correctedEdgeAngle-curAngle;
btQuaternion rotation(edge,diffAngle );
clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
return true;
}
}
} else
if (correctedEdgeAngle>=0)
{
if (curAngle > correctedEdgeAngle)
{
if (curAngle < correctedEdgeAngle)
{
//printf("angle within valid convex range, don't clamp it!\n");
return false;
} else
{
// printf("too large angle\n");
btScalar diffAngle = correctedEdgeAngle-curAngle;
btQuaternion rotation(edge,diffAngle );
clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
//clamp it?
return true;
}
btScalar diffAngle = correctedEdgeAngle-curAngle;
btQuaternion rotation(edge,diffAngle );
clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
return true;
}
}
return false;
@@ -482,12 +511,20 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = computedNormalB;
btVector3 nB = swapFactor*computedNormalB;
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
if (backFacingNormal)
{
numConcaveEdgeHits++;
@@ -496,7 +533,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
{
numConvexEdgeHits++;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, swapFactor*info->m_edgeV0V1Angle,clampedLocalNormal);
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV0V1Angle,clampedLocalNormal);
if (isClamped)
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
@@ -553,7 +590,14 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = computedNormalB;
btVector3 nB = swapFactor*computedNormalB;
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
@@ -568,7 +612,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
numConvexEdgeHits++;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, swapFactor*info->m_edgeV1V2Angle,clampedLocalNormal);
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
if (isClamped)
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
@@ -622,7 +666,13 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = computedNormalB;
btVector3 nB = swapFactor*computedNormalB;
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
@@ -640,7 +690,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,swapFactor* info->m_edgeV2V0Angle,clampedLocalNormal);
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
if (isClamped)
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
@@ -657,6 +707,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
}
}
#ifdef DEBUG_INTERNAL_EDGE
{
btVector3 color(0,1,1);
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+cp.m_normalWorldOnB*10,color);
}
#endif //DEBUG_INTERNAL_EDGE
if (isNearEdge)
{

2
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
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@@ -75,7 +75,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
#define BT_INTERNAL_EDGE_DEBUG_DRAW
//#define BT_INTERNAL_EDGE_DEBUG_DRAW
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
void btSetDebugDrawer(btIDebugDraw* debugDrawer);