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more bt* to b3*

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This commit is contained in:
erwin coumans
2013-04-16 17:08:59 -07:00
parent faabffc23d
commit e646754228
116 changed files with 2466 additions and 3034 deletions
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184
demo/donttouch/GpuDemo.cpp
View File

@@ -23,7 +23,7 @@ subject to the following restrictions:
#define START_POS_Y 10
#define START_POS_Z -3
#include "LinearMath/btVector3.h"
#include "LinearMath/b3Vector3.h"
#include "GpuDemo.h"
//#include "GlutStuff.h"
@@ -41,7 +41,7 @@ subject to the following restrictions:
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btDefaultMotionState.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/b3Quickprof.h"
#include <stdio.h> //printf debugging
@@ -90,7 +90,7 @@ void GpuDemo::clientMoveAndDisplay()
btAlignedObjectArray<btVector3> vertices;
b3AlignedObjectArray<b3Vector3> vertices;
void EmptyDemo::setupScene(const ConstructionInfo& ci)
{
@@ -107,7 +107,7 @@ void SpheresDemo::setupScene(const ConstructionInfo& ci)
m_collisionShapes.push_back(sphere);
/// Create Dynamic Objects
btTransform startTransform;
b3Transform startTransform;
startTransform.setIdentity();
@@ -134,21 +134,21 @@ void SpheresDemo::setupScene(const ConstructionInfo& ci)
btCollisionShape* shape = sphere;
btScalar mass = 1;
b3Scalar mass = 1;
if (!ci.m_useConcaveMesh && k==0)
mass = k==0? 0.f : 1.f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(SCALING*btVector3(
btScalar(gapX*i + start_x),
btScalar(ci.gapY*k + start_y),
btScalar(gapZ*j + start_z)));
startTransform.setOrigin(SCALING*b3Vector3(
b3Scalar(gapX*i + start_x),
b3Scalar(ci.gapY*k + start_y),
b3Scalar(gapZ*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
@@ -164,24 +164,24 @@ void SpheresDemo::setupScene(const ConstructionInfo& ci)
}
{
btVector3 planeNormal(0,1,0);
btScalar planeConstant=0;
b3Vector3 planeNormal(0,1,0);
b3Scalar planeConstant=0;
btCollisionShape* shape = new btStaticPlaneShape(planeNormal,planeConstant);
//btBoxShape* plane = new btBoxShape(btVector3(100,1,100));
//btBoxShape* plane = new btBoxShape(b3Vector3(100,1,100));
//plane->initializePolyhedralFeatures();
//btSphereShape* shape = new btSphereShape(1000);
btScalar mass(0.);
b3Scalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
btTransform groundTransform;
b3Vector3 localInertia(0,0,0);
b3Transform groundTransform;
groundTransform.setIdentity();
groundTransform.setRotation(btQuaternion(btVector3(1,0,0),0.3));
groundTransform.setOrigin(btVector3(0,0,0));
groundTransform.setRotation(b3Quaternion(b3Vector3(1,0,0),0.3));
groundTransform.setOrigin(b3Vector3(0,0,0));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
@@ -198,18 +198,18 @@ void SpheresDemo::setupScene(const ConstructionInfo& ci)
void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
{
btCollisionShape* groundShape =0;
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
// btCollisionShape* groundShape = new btStaticPlaneShape(b3Vector3(0,1,0),50);
if (ci.m_useConcaveMesh)
{
btTriangleMesh* meshInterface = new btTriangleMesh();
btAlignedObjectArray<btVector3> concaveVertices;
concaveVertices.push_back(btVector3(0,-20,0));
concaveVertices.push_back(btVector3(80,10,80));
concaveVertices.push_back(btVector3(80,10,-80));
concaveVertices.push_back(btVector3(-80,10,-80));
concaveVertices.push_back(btVector3(-80,10,80));
b3AlignedObjectArray<b3Vector3> concaveVertices;
concaveVertices.push_back(b3Vector3(0,-20,0));
concaveVertices.push_back(b3Vector3(80,10,80));
concaveVertices.push_back(b3Vector3(80,10,-80));
concaveVertices.push_back(b3Vector3(-80,10,-80));
concaveVertices.push_back(b3Vector3(-80,10,80));
meshInterface->addTriangle(concaveVertices[0],concaveVertices[1],concaveVertices[2],true);
meshInterface->addTriangle(concaveVertices[0],concaveVertices[2],concaveVertices[3],true);
@@ -217,33 +217,33 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
meshInterface->addTriangle(concaveVertices[0],concaveVertices[4],concaveVertices[1],true);
#if 0
groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(btVector3(0,1,0),50);
groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(b3Vector3(0,1,0),50);
#else
btBoxShape* shape =new btBoxShape(btVector3(btScalar(250.),btScalar(10.),btScalar(250.)));
btBoxShape* shape =new btBoxShape(b3Vector3(b3Scalar(250.),b3Scalar(10.),b3Scalar(250.)));
shape->initializePolyhedralFeatures();
groundShape = shape;
#endif
} else
{
groundShape = new btBoxShape(btVector3(btScalar(250.),btScalar(50.),btScalar(250.)));
groundShape = new btBoxShape(b3Vector3(b3Scalar(250.),b3Scalar(50.),b3Scalar(250.)));
}
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
b3Transform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,0,0));
groundTransform.setOrigin(b3Vector3(0,0,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
if (ci.m_useConcaveMesh)
{
btScalar mass(0.);
b3Scalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
@@ -261,15 +261,15 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
//vertices.push_back(btVector3(0,1,0));
vertices.push_back(btVector3(1,1,1));
vertices.push_back(btVector3(1,1,-1));
vertices.push_back(btVector3(-1,1,-1));
vertices.push_back(btVector3(-1,1,1));
vertices.push_back(btVector3(1,-1,1));
vertices.push_back(btVector3(1,-1,-1));
vertices.push_back(btVector3(-1,-1,-1));
vertices.push_back(btVector3(-1,-1,1));
//vertices.push_back(b3Vector3(0,1,0));
vertices.push_back(b3Vector3(1,1,1));
vertices.push_back(b3Vector3(1,1,-1));
vertices.push_back(b3Vector3(-1,1,-1));
vertices.push_back(b3Vector3(-1,1,1));
vertices.push_back(b3Vector3(1,-1,1));
vertices.push_back(b3Vector3(1,-1,-1));
vertices.push_back(b3Vector3(-1,-1,-1));
vertices.push_back(b3Vector3(-1,-1,1));
#if 0
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
@@ -280,13 +280,13 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
colShape->initializePolyhedralFeatures();
compoundShape = new btCompoundShape();
btTransform tr;
b3Transform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-1,0));
tr.setOrigin(b3Vector3(0,-1,0));
compoundShape->addChildShape(tr,colShape);
tr.setOrigin(btVector3(0,0,2));
tr.setOrigin(b3Vector3(0,0,2));
compoundShape->addChildShape(tr,colShape);
tr.setOrigin(btVector3(2,0,0));
tr.setOrigin(b3Vector3(2,0,0));
compoundShape->addChildShape(tr,colShape);
}
btCollisionShape* colShape = compoundShape;
@@ -294,18 +294,18 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
btPolyhedralConvexShape* boxShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
btPolyhedralConvexShape* boxShape = new btBoxShape(b3Vector3(SCALING*1,SCALING*1,SCALING*1));
boxShape->initializePolyhedralFeatures();
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//btCollisionShape* colShape = new btSphereShape(b3Scalar(1.));
m_collisionShapes.push_back(colShape);
m_collisionShapes.push_back(boxShape);
/// Create Dynamic Objects
btTransform startTransform;
b3Transform startTransform;
startTransform.setIdentity();
@@ -334,21 +334,21 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
btCollisionShape* shape = colShape;
btScalar mass = 1;
b3Scalar mass = 1;
if (!ci.m_useConcaveMesh && k==0)
mass = k==0? 0.f : 1.f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(SCALING*btVector3(
btScalar(startX+gapX*i + start_x),
btScalar(20+ci.gapY*k + start_y),
btScalar(startZ+gapZ*j + start_z)));
startTransform.setOrigin(SCALING*b3Vector3(
b3Scalar(startX+gapX*i + start_x),
b3Scalar(20+ci.gapY*k + start_y),
b3Scalar(startZ+gapZ*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
@@ -369,18 +369,18 @@ void GpuCompoundDemo::setupScene(const ConstructionInfo& ci)
void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
{
btCollisionShape* groundShape =0;
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
// btCollisionShape* groundShape = new btStaticPlaneShape(b3Vector3(0,1,0),50);
if (ci.m_useConcaveMesh)
{
btTriangleMesh* meshInterface = new btTriangleMesh();
btAlignedObjectArray<btVector3> concaveVertices;
concaveVertices.push_back(btVector3(0,-20,0));
concaveVertices.push_back(btVector3(80,10,80));
concaveVertices.push_back(btVector3(80,10,-80));
concaveVertices.push_back(btVector3(-80,10,-80));
concaveVertices.push_back(btVector3(-80,10,80));
b3AlignedObjectArray<b3Vector3> concaveVertices;
concaveVertices.push_back(b3Vector3(0,-20,0));
concaveVertices.push_back(b3Vector3(80,10,80));
concaveVertices.push_back(b3Vector3(80,10,-80));
concaveVertices.push_back(b3Vector3(-80,10,-80));
concaveVertices.push_back(b3Vector3(-80,10,80));
meshInterface->addTriangle(concaveVertices[0],concaveVertices[1],concaveVertices[2],true);
meshInterface->addTriangle(concaveVertices[0],concaveVertices[2],concaveVertices[3],true);
@@ -388,33 +388,33 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
meshInterface->addTriangle(concaveVertices[0],concaveVertices[4],concaveVertices[1],true);
#if 0
groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(btVector3(0,1,0),50);
groundShape = new btBvhTriangleMeshShape(meshInterface,true);//btStaticPlaneShape(b3Vector3(0,1,0),50);
#else
btBoxShape* shape =new btBoxShape(btVector3(btScalar(250.),btScalar(10.),btScalar(250.)));
btBoxShape* shape =new btBoxShape(b3Vector3(b3Scalar(250.),b3Scalar(10.),b3Scalar(250.)));
shape->initializePolyhedralFeatures();
groundShape = shape;
#endif
} else
{
groundShape = new btBoxShape(btVector3(btScalar(250.),btScalar(50.),btScalar(250.)));
groundShape = new btBoxShape(b3Vector3(b3Scalar(250.),b3Scalar(50.),b3Scalar(250.)));
}
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
b3Transform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,0,0));
groundTransform.setOrigin(b3Vector3(0,0,0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
if (ci.m_useConcaveMesh)
{
btScalar mass(0.);
b3Scalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
@@ -432,15 +432,15 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
//vertices.push_back(btVector3(0,1,0));
vertices.push_back(btVector3(1,1,1));
vertices.push_back(btVector3(1,1,-1));
vertices.push_back(btVector3(-1,1,-1));
vertices.push_back(btVector3(-1,1,1));
vertices.push_back(btVector3(1,-1,1));
vertices.push_back(btVector3(1,-1,-1));
vertices.push_back(btVector3(-1,-1,-1));
vertices.push_back(btVector3(-1,-1,1));
//vertices.push_back(b3Vector3(0,1,0));
vertices.push_back(b3Vector3(1,1,1));
vertices.push_back(b3Vector3(1,1,-1));
vertices.push_back(b3Vector3(-1,1,-1));
vertices.push_back(b3Vector3(-1,1,1));
vertices.push_back(b3Vector3(1,-1,1));
vertices.push_back(b3Vector3(1,-1,-1));
vertices.push_back(b3Vector3(-1,-1,-1));
vertices.push_back(b3Vector3(-1,-1,1));
#if 1
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
@@ -451,13 +451,13 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
btPolyhedralConvexShape* colShape = new btConvexHullShape(&vertices[0].getX(),vertices.size());
colShape->initializePolyhedralFeatures();
compoundShape = new btCompoundShape();
btTransform tr;
b3Transform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-1,0));
tr.setOrigin(b3Vector3(0,-1,0));
compoundShape->addChildShape(tr,colShape);
tr.setOrigin(btVector3(0,0,2));
tr.setOrigin(b3Vector3(0,0,2));
compoundShape->addChildShape(tr,colShape);
tr.setOrigin(btVector3(2,0,0));
tr.setOrigin(b3Vector3(2,0,0));
compoundShape->addChildShape(tr,colShape);
}
btCollisionShape* colShape = compoundShape;
@@ -465,18 +465,18 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
btPolyhedralConvexShape* boxShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
btPolyhedralConvexShape* boxShape = new btBoxShape(b3Vector3(SCALING*1,SCALING*1,SCALING*1));
boxShape->initializePolyhedralFeatures();
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
//btCollisionShape* colShape = new btSphereShape(b3Scalar(1.));
m_collisionShapes.push_back(colShape);
m_collisionShapes.push_back(boxShape);
/// Create Dynamic Objects
btTransform startTransform;
b3Transform startTransform;
startTransform.setIdentity();
@@ -505,21 +505,21 @@ void GpuBoxDemo::setupScene(const ConstructionInfo& ci)
btCollisionShape* shape = colShape;
btScalar mass = 1;
b3Scalar mass = 1;
if (!ci.m_useConcaveMesh && k==0)
mass = k==0? 0.f : 1.f;
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
b3Vector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
startTransform.setOrigin(SCALING*btVector3(
btScalar(startX+gapX*i + start_x),
btScalar(ci.gapY*(k+0.5) + start_y),
btScalar(startZ+gapZ*j + start_z)));
startTransform.setOrigin(SCALING*b3Vector3(
b3Scalar(startX+gapX*i + start_x),
b3Scalar(ci.gapY*(k+0.5) + start_y),
b3Scalar(startZ+gapZ*j + start_z)));
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
@@ -541,7 +541,7 @@ void GpuDemo::initPhysics(const ConstructionInfo& ci)
// setTexturing(true);
//setShadows(false);
// setCameraDistance(btScalar(SCALING*250.));
// setCameraDistance(b3Scalar(SCALING*250.));
///collision configuration contains default setup for memory, collision setup
if (ci.useOpenCL)
@@ -553,7 +553,7 @@ void GpuDemo::initPhysics(const ConstructionInfo& ci)
}
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setGravity(b3Vector3(0,-10,0));
///create a few basic rigid bodies

4
demo/donttouch/GpuDemo.h
View File

@@ -16,7 +16,7 @@ subject to the following restrictions:
#define GPU_DEMO_H
#include "BulletCommon/btAlignedObjectArray.h"
#include "BulletCommon/b3AlignedObjectArray.h"
class btBroadphaseInterface;
@@ -41,7 +41,7 @@ protected:
btDynamicsWorld* m_dynamicsWorld;
//keep the collision shapes, for deletion/cleanup
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
b3AlignedObjectArray<btCollisionShape*> m_collisionShapes;
float getDeltaTimeInSeconds()
{

76
demo/donttouch/OpenGL3CoreRenderer.cpp
View File

@@ -4,7 +4,7 @@
#include "OpenGLWindow/ShapeData.h"
//#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
//#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCommon/btQuickprof.h"
#include "BulletCommon/b3Quickprof.h"
/*#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
@@ -64,20 +64,20 @@ struct GraphicsShape
GraphicsShape* createGraphicsShapeFromConvexHull(const btConvexPolyhedron* utilPtr)
{
btAlignedObjectArray<GraphicsVertex>* vertices = new btAlignedObjectArray<GraphicsVertex>;
b3AlignedObjectArray<GraphicsVertex>* vertices = new b3AlignedObjectArray<GraphicsVertex>;
{
int numVertices = utilPtr->m_vertices.size();
int numIndices = 0;
btAlignedObjectArray<int>* indicesPtr = new btAlignedObjectArray<int>;
b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
for (int f=0;f<utilPtr->m_faces.size();f++)
{
const btFace& face = utilPtr->m_faces[f];
btVector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (face.m_indices.size()>2)
{
GraphicsVertex vtx;
const btVector3& orgVertex = utilPtr->m_vertices[face.m_indices[0]];
const b3Vector3& orgVertex = utilPtr->m_vertices[face.m_indices[0]];
vtx.xyzw[0] = orgVertex[0];vtx.xyzw[1] = orgVertex[1];vtx.xyzw[2] = orgVertex[2];vtx.xyzw[3] = 0.f;
vtx.normal[0] = normal[0];vtx.normal[1] = normal[1];vtx.normal[2] = normal[2];
vtx.uv[0] = 0.5f;vtx.uv[1] = 0.5f;
@@ -89,7 +89,7 @@ GraphicsShape* createGraphicsShapeFromConvexHull(const btConvexPolyhedron* utilP
indicesPtr->push_back(newvtxindex0);
{
GraphicsVertex vtx;
const btVector3& orgVertex = utilPtr->m_vertices[face.m_indices[j]];
const b3Vector3& orgVertex = utilPtr->m_vertices[face.m_indices[j]];
vtx.xyzw[0] = orgVertex[0];vtx.xyzw[1] = orgVertex[1];vtx.xyzw[2] = orgVertex[2];vtx.xyzw[3] = 0.f;
vtx.normal[0] = normal[0];vtx.normal[1] = normal[1];vtx.normal[2] = normal[2];
vtx.uv[0] = 0.5f;vtx.uv[1] = 0.5f;
@@ -100,7 +100,7 @@ GraphicsShape* createGraphicsShapeFromConvexHull(const btConvexPolyhedron* utilP
{
GraphicsVertex vtx;
const btVector3& orgVertex = utilPtr->m_vertices[face.m_indices[j+1]];
const b3Vector3& orgVertex = utilPtr->m_vertices[face.m_indices[j+1]];
vtx.xyzw[0] = orgVertex[0];vtx.xyzw[1] = orgVertex[1];vtx.xyzw[2] = orgVertex[2];vtx.xyzw[3] = 0.f;
vtx.normal[0] = normal[0];vtx.normal[1] = normal[1];vtx.normal[2] = normal[2];
vtx.uv[0] = 0.5f;vtx.uv[1] = 0.5f;
@@ -127,8 +127,8 @@ GraphicsShape* createGraphicsShapeFromConvexHull(const btConvexPolyhedron* utilP
GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
{
GraphicsShape* gfxShape = new GraphicsShape();
btAlignedObjectArray<GraphicsVertex>* vertexArray = new btAlignedObjectArray<GraphicsVertex>;
btAlignedObjectArray<int>* indexArray = new btAlignedObjectArray<int>;
b3AlignedObjectArray<GraphicsVertex>* vertexArray = new b3AlignedObjectArray<GraphicsVertex>;
b3AlignedObjectArray<int>* indexArray = new b3AlignedObjectArray<int>;
@@ -139,7 +139,7 @@ GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
if (compound->getChildShape(i)->isPolyhedral())
{
btPolyhedralConvexShape* convexHull = (btPolyhedralConvexShape*) compound->getChildShape(i);
btTransform tr = compound->getChildTransform(i);
b3Transform tr = compound->getChildTransform(i);
const btConvexPolyhedron* polyhedron = convexHull->getConvexPolyhedron();
GraphicsShape* childGfxShape = createGraphicsShapeFromConvexHull(polyhedron);
@@ -153,7 +153,7 @@ GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
for (int j=0;j<childGfxShape->m_numvertices;j++)
{
GraphicsVertex vtx;
btVector3 pos(orgVerts[j].xyzw[0],orgVerts[j].xyzw[1],orgVerts[j].xyzw[2]);
b3Vector3 pos(orgVerts[j].xyzw[0],orgVerts[j].xyzw[1],orgVerts[j].xyzw[2]);
pos = tr*pos;
vtx.xyzw[0] = childGfxShape->m_scaling[0]*pos.getX();
vtx.xyzw[1] = childGfxShape->m_scaling[1]*pos.getY();
@@ -163,7 +163,7 @@ GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
btVector3 normal(orgVerts[j].normal[0],orgVerts[j].normal[1],orgVerts[j].normal[2]);
b3Vector3 normal(orgVerts[j].normal[0],orgVerts[j].normal[1],orgVerts[j].normal[2]);
normal = tr.getBasis()*normal;
vtx.normal[0] = normal.getX();
vtx.normal[1] = normal.getY();
@@ -192,12 +192,12 @@ GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape* trimesh)
{
btAlignedObjectArray<GraphicsVertex>* vertices = new btAlignedObjectArray<GraphicsVertex>;
btAlignedObjectArray<int>* indicesPtr = new btAlignedObjectArray<int>;
b3AlignedObjectArray<GraphicsVertex>* vertices = new b3AlignedObjectArray<GraphicsVertex>;
b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
const b3StridingMeshInterface* meshInterface = trimesh->getMeshInterface();
btVector3 trimeshScaling(1,1,1);
b3Vector3 trimeshScaling(1,1,1);
for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
{
@@ -211,9 +211,9 @@ GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape*
PHY_ScalarType indicestype = PHY_INTEGER;
//PHY_ScalarType indexType=0;
btVector3 triangleVerts[3];
b3Vector3 triangleVerts[3];
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
btVector3 aabbMin,aabbMax;
b3Vector3 aabbMin,aabbMax;
for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
{
@@ -226,7 +226,7 @@ GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape*
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
triangleVerts[j] = b3Vector3(
graphicsbase[0]*trimeshScaling.getX(),
graphicsbase[1]*trimeshScaling.getY(),
graphicsbase[2]*trimeshScaling.getZ());
@@ -234,12 +234,12 @@ GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape*
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
btScalar(graphicsbase[1]*trimeshScaling.getY()),
btScalar(graphicsbase[2]*trimeshScaling.getZ()));
triangleVerts[j] = b3Vector3( b3Scalar(graphicsbase[0]*trimeshScaling.getX()),
b3Scalar(graphicsbase[1]*trimeshScaling.getY()),
b3Scalar(graphicsbase[2]*trimeshScaling.getZ()));
}
}
btVector3 normal = (triangleVerts[2]-triangleVerts[0]).cross(triangleVerts[1]-triangleVerts[0]);
b3Vector3 normal = (triangleVerts[2]-triangleVerts[0]).cross(triangleVerts[1]-triangleVerts[0]);
normal.normalize();
GraphicsVertex vtx0,vtx1,vtx2;
@@ -299,18 +299,18 @@ GraphicsShape* createGraphicsShapeFromConcaveMesh(const btBvhTriangleMeshShape*
GraphicsShape* createGraphicsShapeFromWavefrontObj(objLoader* obj)
{
btAlignedObjectArray<GraphicsVertex>* vertices = new btAlignedObjectArray<GraphicsVertex>;
b3AlignedObjectArray<GraphicsVertex>* vertices = new b3AlignedObjectArray<GraphicsVertex>;
{
// int numVertices = obj->vertexCount;
// int numIndices = 0;
btAlignedObjectArray<int>* indicesPtr = new btAlignedObjectArray<int>;
b3AlignedObjectArray<int>* indicesPtr = new b3AlignedObjectArray<int>;
/*
for (int v=0;v<obj->vertexCount;v++)
{
vtx.xyzw[0] = obj->vertexList[v]->e[0];
vtx.xyzw[1] = obj->vertexList[v]->e[1];
vtx.xyzw[2] = obj->vertexList[v]->e[2];
btVector3 n(vtx.xyzw[0],vtx.xyzw[1],vtx.xyzw[2]);
b3Vector3 n(vtx.xyzw[0],vtx.xyzw[1],vtx.xyzw[2]);
if (n.length2()>SIMD_EPSILON)
{
n.normalize();
@@ -332,10 +332,10 @@ GraphicsShape* createGraphicsShapeFromWavefrontObj(objLoader* obj)
for (int f=0;f<obj->faceCount;f++)
{
obj_face* face = obj->faceList[f];
//btVector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
//b3Vector3 normal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
if (face->vertex_count>=3)
{
btVector3 normal(0,1,0);
b3Vector3 normal(0,1,0);
int vtxBaseIndex = vertices->size();
if (face->vertex_count<=4)
@@ -366,9 +366,9 @@ GraphicsShape* createGraphicsShapeFromWavefrontObj(objLoader* obj)
vtx2.uv[1] = obj->textureList[face->vertex_index[2]]->e[1];
btVector3 v0(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
btVector3 v1(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
btVector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
b3Vector3 v0(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
b3Vector3 v1(vtx1.xyzw[0],vtx1.xyzw[1],vtx1.xyzw[2]);
b3Vector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
normal = (v1-v0).cross(v2-v0);
normal.normalize();
@@ -446,13 +446,13 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
{
btCollisionObject* colObj = colObjArray[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
b3Vector3 pos = colObj->getWorldTransform().getOrigin();
b3Quaternion orn = colObj->getWorldTransform().getRotation();
float position[4] = {pos.getX(),pos.getY(),pos.getZ(),0.f};
float orientation[4] = {orn.getX(),orn.getY(),orn.getZ(),orn.getW()};
float color[4] = {0,0,0,1};
btVector3 localScaling = colObj->getCollisionShape()->getLocalScaling();
b3Vector3 localScaling = colObj->getCollisionShape()->getLocalScaling();
if (colObj->isStaticOrKinematicObject())
@@ -476,7 +476,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
prevGraphicsShapeIndex = renderer.registerShape(&gfxShape->m_vertices[0],gfxShape->m_numvertices,gfxShape->m_indices,gfxShape->m_numIndices);
prevShape = colObj->getCollisionShape();
const btVector3& scaling = prevShape->getLocalScaling();
const b3Vector3& scaling = prevShape->getLocalScaling();
localScaling[0] = scaling.getX();localScaling[1] = scaling.getY();localScaling[2] = scaling.getZ();
} else
{
@@ -486,7 +486,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
GraphicsShape* gfxShape = createGraphicsShapeFromConcaveMesh(trimesh);
prevGraphicsShapeIndex = renderer.registerShape(&gfxShape->m_vertices[0],gfxShape->m_numvertices,gfxShape->m_indices,gfxShape->m_numIndices);
prevShape = colObj->getCollisionShape();
const btVector3& scaling = prevShape->getLocalScaling();
const b3Vector3& scaling = prevShape->getLocalScaling();
localScaling[0] = scaling.getX();localScaling[1] = scaling.getY();localScaling[2] = scaling.getZ();
} else
{
@@ -498,7 +498,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
{
prevGraphicsShapeIndex = renderer.registerShape(&gfxShape->m_vertices[0],gfxShape->m_numvertices,gfxShape->m_indices,gfxShape->m_numIndices);
prevShape = colObj->getCollisionShape();
const btVector3& scaling = prevShape->getLocalScaling();
const b3Vector3& scaling = prevShape->getLocalScaling();
localScaling[0] = scaling.getX();localScaling[1] = scaling.getY();localScaling[2] = scaling.getZ();
} else
{
@@ -509,7 +509,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
if (colObj->getCollisionShape()->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
{
btSphereShape* sphere = (btSphereShape*) colObj->getCollisionShape();
btScalar radius = sphere->getRadius();
b3Scalar radius = sphere->getRadius();
//btConvexHullShape* spherePoly = new btConvexHullShape(
//const btConvexPolyhedron* pol = polyShape->getConvexPolyhedron();
@@ -589,7 +589,7 @@ void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOn
}
}
prevShape = sphere;
const btVector3& scaling = prevShape->getLocalScaling();
const b3Vector3& scaling = prevShape->getLocalScaling();
//assume uniform scaling, using X component
float sphereScale = radius*scaling.getX();
localScaling[0] = sphereScale;

44
demo/donttouch/btGpuDynamicsWorld.cpp
View File

@@ -9,7 +9,7 @@
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/b3Quickprof.h"
#ifdef _WIN32
@@ -43,7 +43,7 @@ void btGpuDynamicsWorld::exitOpenCL()
int btGpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
int btGpuDynamicsWorld::stepSimulation( b3Scalar timeStep,int maxSubSteps, b3Scalar fixedTimeStep)
{
#ifndef BT_NO_PROFILE
// CProfileManager::Reset();
@@ -73,10 +73,10 @@ int btGpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btSc
BT_PROFILE("scatter transforms into rigidbody (CPU)");
for (int i=0;i<this->m_collisionObjects.size();i++)
{
btVector3 pos;
btQuaternion orn;
b3Vector3 pos;
b3Quaternion orn;
m_gpuPhysics->getObjectTransformFromCpu(&pos[0],&orn[0],i);
btTransform newTrans;
b3Transform newTrans;
newTrans.setOrigin(pos);
newTrans.setRotation(orn);
this->m_collisionObjects[i]->setWorldTransform(newTrans);
@@ -94,7 +94,7 @@ int btGpuDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btSc
}
void btGpuDynamicsWorld::setGravity(const btVector3& gravity)
void btGpuDynamicsWorld::setGravity(const b3Vector3& gravity)
{
}
@@ -110,8 +110,8 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
btPolyhedralConvexShape* convex = (btPolyhedralConvexShape*)colShape;
int numVertices=convex->getNumVertices();
int strideInBytes=sizeof(btVector3);
btAlignedObjectArray<btVector3> tmpVertices;
int strideInBytes=sizeof(b3Vector3);
b3AlignedObjectArray<b3Vector3> tmpVertices;
tmpVertices.resize(numVertices);
for (int i=0;i<numVertices;i++)
convex->getVertex(i,tmpVertices[i]);
@@ -128,10 +128,10 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) colShape;
b3StridingMeshInterface* meshInterface = trimesh->getMeshInterface();
btAlignedObjectArray<btVector3> vertices;
btAlignedObjectArray<int> indices;
b3AlignedObjectArray<b3Vector3> vertices;
b3AlignedObjectArray<int> indices;
btVector3 trimeshScaling(1,1,1);
b3Vector3 trimeshScaling(1,1,1);
for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
{
@@ -145,9 +145,9 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
PHY_ScalarType indicestype = PHY_INTEGER;
//PHY_ScalarType indexType=0;
btVector3 triangleVerts[3];
b3Vector3 triangleVerts[3];
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
btVector3 aabbMin,aabbMax;
b3Vector3 aabbMin,aabbMax;
for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
{
@@ -160,7 +160,7 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
triangleVerts[j] = b3Vector3(
graphicsbase[0]*trimeshScaling.getX(),
graphicsbase[1]*trimeshScaling.getY(),
graphicsbase[2]*trimeshScaling.getZ());
@@ -168,9 +168,9 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
btScalar(graphicsbase[1]*trimeshScaling.getY()),
btScalar(graphicsbase[2]*trimeshScaling.getZ()));
triangleVerts[j] = b3Vector3( b3Scalar(graphicsbase[0]*trimeshScaling.getX()),
b3Scalar(graphicsbase[1]*trimeshScaling.getY()),
b3Scalar(graphicsbase[2]*trimeshScaling.getZ()));
}
}
vertices.push_back(triangleVerts[0]);
@@ -207,7 +207,7 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
{
btCompoundShape* compound = (btCompoundShape*) colShape;
btAlignedObjectArray<btGpuChildShape> childShapes;
b3AlignedObjectArray<btGpuChildShape> childShapes;
for (int i=0;i<compound->getNumChildShapes();i++)
{
@@ -215,8 +215,8 @@ int btGpuDynamicsWorld::findOrRegisterCollisionShape(const btCollisionShape* col
btAssert(compound->getChildShape(i)->isPolyhedral());
btGpuChildShape child;
child.m_shapeIndex = findOrRegisterCollisionShape(compound->getChildShape(i));
btVector3 pos = compound->getChildTransform(i).getOrigin();
btQuaternion orn = compound->getChildTransform(i).getRotation();
b3Vector3 pos = compound->getChildTransform(i).getOrigin();
b3Quaternion orn = compound->getChildTransform(i).getRotation();
for (int v=0;v<4;v++)
{
child.m_childPosition[v] = pos[v];
@@ -283,8 +283,8 @@ void btGpuDynamicsWorld::addRigidBody(btRigidBody* body)
{
int gpuShapeIndex= m_uniqueShapeMapping[index];
float mass = body->getInvMass() ? 1.f/body->getInvMass() : 0.f;
btVector3 pos = body->getWorldTransform().getOrigin();
btQuaternion orn = body->getWorldTransform().getRotation();
b3Vector3 pos = body->getWorldTransform().getOrigin();
b3Quaternion orn = body->getWorldTransform().getRotation();
m_gpuPhysics->registerPhysicsInstance(mass,&pos.getX(),&orn.getX(),gpuShapeIndex,m_collisionObjects.size());

20
demo/donttouch/btGpuDynamicsWorld.h
View File

@@ -1,25 +1,25 @@
#ifndef BT_GPU_DYNAMICS_WORLD_H
#define BT_GPU_DYNAMICS_WORLD_H
class btVector3;
class b3Vector3;
class btRigidBody;
class btCollisionObject;
struct btGpuInternalData;//use this struct to avoid 'leaking' all OpenCL headers into clients code base
class CLPhysicsDemo;
#include "BulletCommon/btAlignedObjectArray.h"
#include "BulletCommon/b3AlignedObjectArray.h"
//#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
class btGpuDynamicsWorld //: public btDynamicsWorld
{
btAlignedObjectArray<const class btCollisionShape*> m_uniqueShapes;
btAlignedObjectArray<int> m_uniqueShapeMapping;
b3AlignedObjectArray<const class btCollisionShape*> m_uniqueShapes;
b3AlignedObjectArray<int> m_uniqueShapeMapping;
CLPhysicsDemo* m_gpuPhysics;
btVector3 m_gravity;
b3Vector3 m_gravity;
bool m_once;
bool initOpenCL(int preferredDeviceIndex, int preferredPlatformIndex, bool useInterop);
@@ -33,7 +33,7 @@ public:
virtual ~btGpuDynamicsWorld();
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
virtual int stepSimulation( b3Scalar timeStep,int maxSubSteps=1, b3Scalar fixedTimeStep=b3Scalar(1.)/b3Scalar(60.));
virtual void synchronizeMotionStates()
{
@@ -42,7 +42,7 @@ public:
void debugDrawWorld() {}
void setGravity(const btVector3& gravity);
void setGravity(const b3Vector3& gravity);
void addRigidBody(btRigidBody* body);
@@ -50,9 +50,9 @@ public:
btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray();
b3AlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray();
const btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray() const;
const b3AlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray() const;
virtual void addAction(btActionInterface* action)
{
@@ -65,7 +65,7 @@ public:
}
btVector3 getGravity () const
b3Vector3 getGravity () const
{
return m_gravity;
}