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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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100
Demos/Raytracer/Raytracer.cpp
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@@ -19,8 +19,8 @@ Very basic raytracer, rendering into a texture.
///Low level demo, doesn't include btBulletCollisionCommon.h
#include "GL_Simplex1to4.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "GL_ShapeDrawer.h"
#include "Raytracer.h"
@@ -48,7 +48,7 @@ Very basic raytracer, rendering into a texture.
#include "RenderTexture.h"
VoronoiSimplexSolver simplexSolver;
btVoronoiSimplexSolver simplexSolver;
float yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
@@ -57,8 +57,8 @@ const int numObjects = 4;
/// simplex contains the vertices, and some extra code to draw and debug
GL_Simplex1to4 simplex;
ConvexShape* shapePtr[maxNumObjects];
SimdTransform transforms[maxNumObjects];
btConvexShape* shapePtr[maxNumObjects];
btTransform transforms[maxNumObjects];
RenderTexture* raytracePicture = 0;
@@ -66,12 +66,12 @@ int screenWidth = 128;
int screenHeight = 128;
GLuint glTextureId;
SphereShape mySphere(1);
BoxShape myBox(SimdVector3(0.4f,0.4f,0.4f));
CylinderShape myCylinder(SimdVector3(0.3f,0.3f,0.3f));
ConeShape myCone(1,1);
btSphereShape mySphere(1);
btBoxShape myBox(btVector3(0.4f,0.4f,0.4f));
btCylinderShape myCylinder(btVector3(0.3f,0.3f,0.3f));
btConeShape myCone(1,1);
MinkowskiSumShape myMink(&myCylinder,&myBox);
btMinkowskiSumShape myMink(&myCylinder,&myBox);
///
@@ -96,25 +96,25 @@ void Raytracer::initPhysics()
myCone.SetMargin(0.2f);
simplex.SetSimplexSolver(&simplexSolver);
simplex.AddVertex(SimdPoint3(-1,0,-1));
simplex.AddVertex(SimdPoint3(1,0,-1));
simplex.AddVertex(SimdPoint3(0,0,1));
simplex.AddVertex(SimdPoint3(0,1,0));
simplex.AddVertex(btPoint3(-1,0,-1));
simplex.AddVertex(btPoint3(1,0,-1));
simplex.AddVertex(btPoint3(0,0,1));
simplex.AddVertex(btPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
SimdVector3 positions[NUM_SPHERES] = {
SimdVector3(-1.2f, -0.3f, 0.f),
SimdVector3(0.8f, -0.3f, 0.f),
SimdVector3(0.5f, 0.6f, 0.f),
SimdVector3(-0.5f, 0.6f, 0.f),
SimdVector3(0.f, 0.f, 0.f)
btVector3 inertiaHalfExtents(10.f,10.f,10.f);
btVector3 positions[NUM_SPHERES] = {
btVector3(-1.2f, -0.3f, 0.f),
btVector3(0.8f, -0.3f, 0.f),
btVector3(0.5f, 0.6f, 0.f),
btVector3(-0.5f, 0.6f, 0.f),
btVector3(0.f, 0.f, 0.f)
};
// MultiSphereShape* multiSphereShape = new MultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
ConvexHullShape* convexHullShape = new ConvexHullShape(positions,3);
// btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
btConvexHullShape* convexHullShape = new btConvexHullShape(positions,3);
//choose shape
@@ -146,16 +146,16 @@ void Raytracer::displayCallback()
for (int i=0;i<numObjects;i++)
{
transforms[i].setIdentity();
SimdVector3 pos(-3.5f+i*2.5f,0.f,0.f);
btVector3 pos(-3.5f+i*2.5f,0.f,0.f);
transforms[i].setOrigin( pos );
SimdQuaternion orn;
btQuaternion orn;
if (i < 2)
{
orn.setEuler(yaw,pitch,roll);
transforms[i].setRotation(orn);
}
}
myMink.SetTransformA(SimdTransform(transforms[0].getRotation()));
myMink.SetTransformA(btTransform(transforms[0].getRotation()));
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
@@ -184,7 +184,7 @@ void Raytracer::displayCallback()
SimdVector4 rgba(1.f,0.f,0.f,0.5f);
btVector4 rgba(1.f,0.f,0.f,0.5f);
float top = 1.f;
float bottom = -1.f;
@@ -195,15 +195,15 @@ void Raytracer::displayCallback()
float fov = 2.0 * atanf (tanFov);
SimdVector3 rayFrom = getCameraPosition();
SimdVector3 rayForward = getCameraTargetPosition()-getCameraPosition();
btVector3 rayFrom = getCameraPosition();
btVector3 rayForward = getCameraTargetPosition()-getCameraPosition();
rayForward.normalize();
float farPlane = 600.f;
rayForward*= farPlane;
SimdVector3 rightOffset;
SimdVector3 vertical(0.f,1.f,0.f);
SimdVector3 hor;
btVector3 rightOffset;
btVector3 vertical(0.f,1.f,0.f);
btVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
@@ -214,20 +214,20 @@ void Raytracer::displayCallback()
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
SimdVector3 rayToCenter = rayFrom + rayForward;
btVector3 rayToCenter = rayFrom + rayForward;
SimdVector3 dHor = hor * 1.f/float(screenWidth);
SimdVector3 dVert = vertical * 1.f/float(screenHeight);
btVector3 dHor = hor * 1.f/float(screenWidth);
btVector3 dVert = vertical * 1.f/float(screenHeight);
SimdTransform rayFromTrans;
btTransform rayFromTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(rayFrom);
SimdTransform rayFromLocal;
SimdTransform rayToLocal;
btTransform rayFromLocal;
btTransform rayToLocal;
SphereShape pointShape(0.0f);
btSphereShape pointShape(0.0f);
///clear texture
@@ -235,16 +235,16 @@ void Raytracer::displayCallback()
{
for (int y=0;y<screenHeight;y++)
{
SimdVector4 rgba(0.f,0.f,0.f,0.f);
btVector4 rgba(0.f,0.f,0.f,0.f);
raytracePicture->SetPixel(x,y,rgba);
}
}
ConvexCast::CastResult rayResult;
SimdTransform rayToTrans;
btConvexCast::CastResult rayResult;
btTransform rayToTrans;
rayToTrans.setIdentity();
SimdVector3 rayTo;
btVector3 rayTo;
for (int x=0;x<screenWidth;x++)
{
for (int y=0;y<screenHeight;y++)
@@ -259,11 +259,11 @@ void Raytracer::displayCallback()
// rayToLocal = transforms[s].inverse()* rayToTrans;
//choose the continuous collision detection method
SubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
// BU_Simplex1to4 ptShape(SimdVector3(0,0,0));//algebraic needs features, doesnt use 'supporting vertex'
// btBU_Simplex1to4 ptShape(btVector3(0,0,0));//algebraic needs features, doesnt use 'supporting vertex'
// BU_CollisionPair convexCaster(&ptShape,shapePtr[0]);
@@ -276,21 +276,21 @@ void Raytracer::displayCallback()
//float fog = 1.f - 0.1f * rayResult.m_fraction;
rayResult.m_normal.normalize();
SimdVector3 worldNormal;
btVector3 worldNormal;
worldNormal = transforms[s].getBasis() *rayResult.m_normal;
float light = worldNormal.dot(SimdVector3(0.4f,-1.f,-0.4f));
float light = worldNormal.dot(btVector3(0.4f,-1.f,-0.4f));
if (light < 0.2f)
light = 0.2f;
if (light > 1.f)
light = 1.f;
rgba = SimdVector4(light,light,light,1.f);
rgba = btVector4(light,light,light,1.f);
raytracePicture->SetPixel(x,y,rgba);
} else
{
//clear is already done
//rgba = SimdVector4(0.f,0.f,0.f,0.f);
//rgba = btVector4(0.f,0.f,0.f,0.f);
//raytracePicture->SetPixel(x,y,rgba);
}
@@ -386,7 +386,7 @@ void Raytracer::displayCallback()
transA.getOpenGLMatrix( m );
/// draw the simplex
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1));
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],btVector3(1,1,1));
/// calculate closest point from simplex to the origin, and draw this vector
simplex.CalcClosest(m);