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extend Wavefront obj loader to recognize objects (for compound shape creation)

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add reproduction of a bug in compound versus concave trimesh
This commit is contained in:
erwin coumans
2013-04-12 10:25:11 -07:00
parent 467a68293b
commit ec0d2ed523
13 changed files with 386 additions and 21 deletions
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6
demo/gpudemo/GpuDemo.h
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@@ -38,9 +38,9 @@ public:
:useOpenCL(true),
preferredOpenCLPlatformIndex(-1),
preferredOpenCLDeviceIndex(-1),
arraySizeX(10),
arraySizeY(30),
arraySizeZ(10),
arraySizeX(1),
arraySizeY(2),
arraySizeZ(1),
m_useConcaveMesh(false),
gapX(14.3),
gapY(14.0),

11
demo/gpudemo/main_opengl3core.cpp
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@@ -65,15 +65,20 @@ btAlignedObjectArray<const char*> demoNames;
int selectedDemo = 0;
GpuDemo::CreateFunc* allDemos[]=
{
ConcaveCompound2Scene::MyCreateFunc,
ConcaveCompoundScene::MyCreateFunc,
GpuCompoundPlaneScene::MyCreateFunc,
GpuBoxPlaneScene::MyCreateFunc,
GpuConvexPlaneScene::MyCreateFunc,
GpuCompoundScene::MyCreateFunc,
GpuCompoundPlaneScene::MyCreateFunc,
GpuConvexScene::MyCreateFunc,
ConcaveCompoundScene::MyCreateFunc,
ConcaveSphereScene::MyCreateFunc,

249
demo/gpudemo/rigidbody/ConcaveScene.cpp
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@@ -160,11 +160,13 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci)
objLoader* objData = new objLoader();
//char* fileName = "data/slopedPlane100.obj";
//char* fileName = "data/plane100.obj";
char* fileName = "data/plane100.obj";
//char* fileName = "data/teddy.obj";//"plane.obj";
// char* fileName = "data/sponza_closed.obj";//"plane.obj";
//char* fileName = "data/leoTest1.obj";
char* fileName = "data/samurai_monastry.obj";
//char* fileName = "data/samurai_monastry.obj";
// char* fileName = "data/teddy2_VHACD_CHs.obj";
btVector3 shift(0,0,0);//0,230,80);//150,-100,-120);
btVector4 scaling(4,4,4,1);
@@ -242,13 +244,39 @@ void ConcaveScene::createConcaveMesh(const ConstructionInfo& ci)
}
}
delete objData;
}
void ConcaveScene::setupScene(const ConstructionInfo& ci)
{
createConcaveMesh(ci);
if (1)
{
createConcaveMesh(ci);
} else
{
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
int index=0;
{
btVector4 scaling(400,0.001,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
btVector3 position(0,-2,0);
btQuaternion orn(0,0,0,1);
btVector4 color(0,0,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index);
}
}
createDynamicObjects(ci);
@@ -256,7 +284,7 @@ void ConcaveScene::setupScene(const ConstructionInfo& ci)
//float camPos[4]={1,12.5,1.5,0};
m_instancingRenderer->setCameraPitch(45);
m_instancingRenderer->setCameraTargetPosition(camPos);
m_instancingRenderer->setCameraDistance(370);
m_instancingRenderer->setCameraDistance(25);
}
@@ -327,6 +355,221 @@ void ConcaveCompoundScene::setupScene(const ConstructionInfo& ci)
}
void ConcaveCompound2Scene::createDynamicObjects(const ConstructionInfo& ci)
{
objLoader* objData = new objLoader();
//char* fileName = "data/teddy2_VHACD_CHs.obj";
char* fileName = "data/cube_offset.obj";
btVector3 shift(0,0,0);//0,230,80);//150,-100,-120);
btVector4 scaling(1,1,1,1);
FILE* f = 0;
char relativeFileName[1024];
{
const char* prefix[]={"./","../","../../","../../../","../../../../"};
int numPrefixes = sizeof(prefix)/sizeof(char*);
for (int i=0;i<numPrefixes;i++)
{
sprintf(relativeFileName,"%s%s",prefix[i],fileName);
f = fopen(relativeFileName,"r");
if (f)
{
fclose(f);
break;
}
}
}
if (f)
fclose(f);
else
return;
objData->load(relativeFileName);
if (objData->objectCount>0)
{
int strideInBytes = 9*sizeof(float);
btAlignedObjectArray<GLInstanceVertex> vertexArray;
btAlignedObjectArray<int> indexArray;
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
int index=0;
int colIndex = 0;
btAlignedObjectArray<GLInstanceVertex> vertices;
int stride2 = sizeof(GLInstanceVertex);
btAssert(stride2 == strideInBytes);
{
btAlignedObjectArray<btGpuChildShape> childShapes;
int numChildShapes = objData->objectCount;
for (int i=0;i<numChildShapes;i++)
// int i=4;
{
obj_object* object = objData->objectList[i];
int numVertices = i==numChildShapes-1? objData->vertexCount-object->vertex_offset : objData->objectList[i+1]->vertex_offset - object->vertex_offset;
int numFaces = i==numChildShapes-1? objData->faceCount - object->face_offset : objData->objectList[i+1]->face_offset-object->face_offset;
//for now, only support polyhedral child shapes
btGpuChildShape child;
btVector3 pos(0,0,0);
btQuaternion orn(0,0,0,1);
for (int v=0;v<4;v++)
{
child.m_childPosition[v] = pos[v];
child.m_childOrientation[v] = orn[v];
}
btTransform tr;
tr.setIdentity();
tr.setOrigin(pos);
tr.setRotation(orn);
int baseIndex = vertexArray.size();
for (int f=0;f<numFaces;f++)
{
obj_face* face = objData->faceList[object->face_offset+f];
if (face->vertex_count==3)
{
for (int i=0;i<3;i++)
{
indexArray.push_back(face->vertex_index[i]);//-object->vertex_offset);
}
} else
{
btAssert(0);
}
}
btVector3 center(0,0,0);
btAlignedObjectArray<GLInstanceVertex> tmpVertices;
//add transformed graphics vertices and indices
btVector3 myScaling(1,1,1);//50,50,50);//300,300,300);
for (int v=0;v<numVertices;v++)
{
GLInstanceVertex vert;
obj_vector* orgVert = objData->vertexList[object->vertex_offset+v];
vert.uv[0] = 0.5f;
vert.uv[1] = 0.5f;
vert.normal[0]=0.f;
vert.normal[1]=1.f;
vert.normal[2]=0.f;
btVector3 vertPos;
vertPos[0] = orgVert->e[0]*myScaling[0];
vertPos[1] = orgVert->e[1]*myScaling[1];
vertPos[2] = orgVert->e[2]*myScaling[2];
vertPos[3] =0.f;
center+=vertPos;
}
center/=numVertices;
for (int v=0;v<numVertices;v++)
{
GLInstanceVertex vert;
obj_vector* orgVert = objData->vertexList[object->vertex_offset+v];
vert.uv[0] = 0.5f;
vert.uv[1] = 0.5f;
vert.normal[0]=0.f;
vert.normal[1]=1.f;
vert.normal[2]=0.f;
btVector3 vertPos;
vertPos[0] = orgVert->e[0]*myScaling[0];
vertPos[1] = orgVert->e[1]*myScaling[1];
vertPos[2] = orgVert->e[2]*myScaling[2];
vertPos[3] =0.f;
// vertPos-=center;
vert.xyzw[0] = vertPos[0];
vert.xyzw[1] = vertPos[1];
vert.xyzw[2] = vertPos[2];
tmpVertices.push_back(vert);
btVector3 newPos = tr*vertPos;
vert.xyzw[0] = newPos[0];
vert.xyzw[1] = newPos[1];
vert.xyzw[2] = newPos[2];
vert.xyzw[3] = 0.f;
vertexArray.push_back(vert);
}
int childColIndex = m_data->m_np->registerConvexHullShape(&tmpVertices[0].xyzw[0],strideInBytes,numVertices, scaling);
child.m_shapeIndex = childColIndex;
childShapes.push_back(child);
colIndex = childColIndex;
}
//colIndex= m_data->m_np->registerCompoundShape(&childShapes);
}
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0],vertexArray.size(),&indexArray[0],indexArray.size());
btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,0,1,1),
btVector4(0,1,1,1),
};
int curColor = 0;
for (int i=0;i<ci.arraySizeX;i++)
{
for (int j=0;j<ci.arraySizeY;j++)
{
for (int k=0;k<ci.arraySizeZ;k++)
{
float mass = 1;//j==0? 0.f : 1.f;
//btVector3 position(i*10*ci.gapX,j*ci.gapY,k*10*ci.gapZ);
btVector3 position(i*10*ci.gapX,1+j*ci.gapY,k*10*ci.gapZ);
// btQuaternion orn(0,0,0,1);
btQuaternion orn(btVector3(0,0,1),1.3);
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
btVector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
index++;
}
}
}
}
delete objData;
}
void ConcaveCompoundScene::createDynamicObjects(const ConstructionInfo& ci)
{

21
demo/gpudemo/rigidbody/ConcaveScene.h
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@@ -77,4 +77,25 @@ public:
};
class ConcaveCompound2Scene : public ConcaveCompoundScene
{
public:
ConcaveCompound2Scene(){}
virtual ~ConcaveCompound2Scene(){}
virtual const char* getName()
{
return "GRBConcave2Compound";
}
static GpuDemo* MyCreateFunc()
{
GpuDemo* demo = new ConcaveCompound2Scene;
return demo;
}
virtual void createDynamicObjects(const ConstructionInfo& ci);
};
#endif //CONCAVE_SCENE_H