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- Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices. Should be faster and smaller then original version (quantized aabb check is done in integer space)

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Original aabb nodes are 44 bytes (with full floating point precision and additional part index)
- added meter-unit scaling support in ColladaConverter.cpp
This commit is contained in:
ejcoumans
2007-02-25 06:11:23 +00:00
parent 7efef8e394
commit e610598d33
10 changed files with 571 additions and 184 deletions
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66
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -17,6 +17,7 @@ subject to the following restrictions:
//#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
//#define USER_DEFINED_FRICTION_MODEL 1
#define USE_CUSTOM_NEAR_CALLBACK 1
//#define CENTER_OF_MASS_SHIFT 1
//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files from Extras/quickstep
@@ -46,6 +47,8 @@ float gCollisionMargin = 0.05f;
#include "GlutStuff.h"
btTransform comOffset;
btVector3 comOffsetVec(0,2,0);
extern float eye[3];
extern int glutScreenWidth;
@@ -55,7 +58,7 @@ const int maxProxies = 32766;
const int maxOverlap = 65535;
bool createConstraint = true;//false;
bool useCompound = false;//true;//false;
bool useCompound = false;
@@ -91,6 +94,7 @@ btCollisionShape* shapePtr[numShapes] =
#endif
new btCylinderShape (btVector3(CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin)),
//new btSphereShape (CUBE_HALF_EXTENTS),
//new btCapsuleShape(0.5*CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin),
//new btCylinderShape (btVector3(1-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin,1-gCollisionMargin)),
//new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
@@ -245,6 +249,48 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
renderme();
//render the graphics objects, with center of mass shift
updateCamera();
#ifdef CENTER_OF_MASS_SHIFT
btScalar m[16];
if (m_dynamicsWorld)
{
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
btTransform offsetTrans = myMotionState->m_graphicsWorldTrans;
btVector3 worldShift = offsetTrans.getBasis() * comOffsetVec;
offsetTrans.setOrigin(offsetTrans.getOrigin() + worldShift);
offsetTrans.getOpenGLMatrix(m);
btVector3 wireColor(1.f,1.0f,1.f); //wants deactivation
btSphereShape sphereTmp(CUBE_HALF_EXTENTS);
GL_ShapeDrawer::drawOpenGL(m,&sphereTmp,wireColor,0);
}
}
}
#endif //CENTER_OF_MASS_SHIFT
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
@@ -363,13 +409,19 @@ void CcdPhysicsDemo::initPhysics()
btCompoundShape* compoundShape = new btCompoundShape();
btCollisionShape* oldShape = shapePtr[1];
shapePtr[1] = compoundShape;
btVector3 sphereOffset(0,0,2);
btTransform ident;
ident.setIdentity();
ident.setOrigin(btVector3(0,0,0));
compoundShape->addChildShape(ident,oldShape);//
ident.setOrigin(btVector3(0,0,2));
compoundShape->addChildShape(ident,new btSphereShape(0.9));//
comOffset.setIdentity();
#ifdef CENTER_OF_MASS_SHIFT
comOffset.setOrigin(comOffsetVec);
compoundShape->addChildShape(comOffset,oldShape);
#else
compoundShape->addChildShape(tr,oldShape);
tr.setOrigin(sphereOffset);
compoundShape->addChildShape(tr,new btSphereShape(0.9));
#endif
}
for (i=0;i<gNumObjects;i++)

58
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -67,9 +67,11 @@ domMatrix_Array emptyMatrixArray;
domNodeRef m_colladadomNodes[COLLADA_CONVERTER_MAX_NUM_OBJECTS];
///This code is actually wrong: the order of transformations is lost, so we need to rewrite this!
btTransform GetbtTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
domRotate_Array& rotateArray,
domTranslate_Array& translateArray
domTranslate_Array& translateArray,
float meterScaling
)
{
@@ -83,7 +85,7 @@ btTransform GetbtTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
domMatrixRef matrixRef = matrixArray[i];
domFloat4x4 fl16 = matrixRef->getValue();
btVector3 origin(fl16.get(3),fl16.get(7),fl16.get(11));
startTransform.setOrigin(origin);
startTransform.setOrigin(origin*meterScaling);
btMatrix3x3 basis(fl16.get(0),fl16.get(1),fl16.get(2),
fl16.get(4),fl16.get(5),fl16.get(6),
fl16.get(8),fl16.get(9),fl16.get(10));
@@ -103,7 +105,8 @@ btTransform GetbtTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
{
domTranslateRef translateRef = translateArray[i];
domFloat3 fl3 = translateRef->getValue();
startTransform.getOrigin() += btVector3(fl3.get(0),fl3.get(1),fl3.get(2));
btVector3 orgTrans(fl3.get(0),fl3.get(1),fl3.get(2));
startTransform.getOrigin() += orgTrans*meterScaling;
}
return startTransform;
}
@@ -116,7 +119,8 @@ ColladaConverter::ColladaConverter()
:m_collada(0),
m_dom(0),
m_filename(0),
m_numObjects(0)
m_numObjects(0),
m_unitMeterScaling(1.f)
{
//Collada-m_dom
m_collada = new DAE;
@@ -179,6 +183,15 @@ bool ColladaConverter::convert()
//succesfully loaded file, now convert data
if (m_dom->getAsset() && m_dom->getAsset()->getUnit())
{
domAsset::domUnitRef unit = m_dom->getAsset()->getUnit();
domFloat meter = unit->getMeter();
printf("asset unit meter=%f\n",meter);
m_unitMeterScaling = meter;
}
if ( m_dom->getAsset() && m_dom->getAsset()->getUp_axis() )
{
domAsset::domUp_axis * up = m_dom->getAsset()->getUp_axis();
@@ -593,7 +606,8 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
(
emptyMatrixArray,
attachRefBody->getRotate_array(),
attachRefBody->getTranslate_array());
attachRefBody->getTranslate_array(),
m_unitMeterScaling);
}
btTransform attachFrameOther;
@@ -605,7 +619,8 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
(
emptyMatrixArray,
attachBody1->getRotate_array(),
attachBody1->getTranslate_array()
attachBody1->getTranslate_array(),
m_unitMeterScaling
);
}
@@ -718,7 +733,8 @@ void ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
startTransform = GetbtTransformFromCOLLADA_DOM(
node->getMatrix_array(),
node->getRotate_array(),
node->getTranslate_array()
node->getTranslate_array(),
m_unitMeterScaling
);
unsigned int i;
@@ -994,7 +1010,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
{
const domFloat4 planeEq = planeRef->getEquation()->getValue();
btVector3 planeNormal(planeEq.get(0),planeEq.get(1),planeEq.get(2));
btScalar planeConstant = planeEq.get(3);
btScalar planeConstant = planeEq.get(3)*m_unitMeterScaling;
rbOutput.m_colShape = new btStaticPlaneShape(planeNormal,planeConstant);
}
@@ -1005,25 +1021,25 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domBoxRef boxRef = shapeRef->getBox();
domBox::domHalf_extentsRef domHalfExtentsRef = boxRef->getHalf_extents();
domFloat3& halfExtents = domHalfExtentsRef->getValue();
float x = halfExtents.get(0);
float y = halfExtents.get(1);
float z = halfExtents.get(2);
float x = halfExtents.get(0)*m_unitMeterScaling;
float y = halfExtents.get(1)*m_unitMeterScaling;
float z = halfExtents.get(2)*m_unitMeterScaling;
rbOutput.m_colShape = new btBoxShape(btVector3(x,y,z));
}
if (shapeRef->getSphere())
{
domSphereRef sphereRef = shapeRef->getSphere();
domSphere::domRadiusRef radiusRef = sphereRef->getRadius();
domFloat radius = radiusRef->getValue();
domFloat radius = radiusRef->getValue()*m_unitMeterScaling;
rbOutput.m_colShape = new btSphereShape(radius);
}
if (shapeRef->getCylinder())
{
domCylinderRef cylinderRef = shapeRef->getCylinder();
domFloat height = cylinderRef->getHeight()->getValue();
domFloat height = cylinderRef->getHeight()->getValue()*m_unitMeterScaling;
domFloat2 radius2 = cylinderRef->getRadius()->getValue();
domFloat radius0 = radius2.get(0);
domFloat radius0 = radius2.get(0)*m_unitMeterScaling;
//Cylinder around the local Y axis
rbOutput.m_colShape = new btCylinderShape(btVector3(radius0,height,radius0));
@@ -1117,7 +1133,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domFloat fl1 = listFloats.get(index0+1);
domFloat fl2 = listFloats.get(index0+2);
k+=meshPart.m_triangleIndexStride;
verts[i].setValue(fl0,fl1,fl2);
verts[i].setValue(fl0*m_unitMeterScaling,fl1*m_unitMeterScaling,fl2*m_unitMeterScaling);
}
trimesh->addTriangle(verts[0],verts[1],verts[2]);
}
@@ -1143,7 +1159,8 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
} else
{
printf("static concave triangle <mesh> added\n");
rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
bool useQuantizedAabbCompression = false;
rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh,useQuantizedAabbCompression);
//rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
//rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
@@ -1182,7 +1199,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domFloat fl0 = listFloats.get(vertIndex);
domFloat fl1 = listFloats.get(vertIndex+1);
domFloat fl2 = listFloats.get(vertIndex+2);
convexHull->addPoint(btPoint3(fl0,fl1,fl2));
convexHull->addPoint(btPoint3(fl0,fl1,fl2) * m_unitMeterScaling);
}
}
}
@@ -1280,7 +1297,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2));
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2) * m_unitMeterScaling);
}
}
@@ -1328,7 +1345,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2));
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2)*m_unitMeterScaling);
}
}
@@ -1383,7 +1400,8 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
localTransform = GetbtTransformFromCOLLADA_DOM(
emptyMatrixArray,
shapeRef->getRotate_array(),
shapeRef->getTranslate_array()
shapeRef->getTranslate_array(),
m_unitMeterScaling
);
}

1
Demos/ColladaDemo/ColladaConverter.h
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@@ -41,6 +41,7 @@ protected:
class DAE* m_collada;
class domCOLLADA* m_dom;
const char* m_filename;
float m_unitMeterScaling;
int m_numObjects;
btRigidBody* m_rigidBodies[COLLADA_CONVERTER_MAX_NUM_OBJECTS];

4
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -149,7 +149,8 @@ void ConcaveDemo::initPhysics()
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays);
bool useQuantizedAabbCompression = true;
btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
// btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
@@ -159,6 +160,7 @@ void ConcaveDemo::initPhysics()
btOverlappingPairCache* pairCache = new btAxisSweep3(worldMin,worldMax);
btConstraintSolver* constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver);
m_dynamicsWorld->setDebugDrawer(&debugDrawer);
float mass = 0.f;
btTransform startTransform;

3
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -185,7 +185,8 @@ const float TRIANGLE_SIZE=20.f;
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);
groundShape = new btBvhTriangleMeshShape(indexVertexArrays);
bool useQuantizedAabbCompression = true;
groundShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);
#endif //