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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++)