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add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc Zylann, see https://github.com/bulletphysics/bullet3/pull/2062

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it can be disabled by setting the flag cb.m_flags |= btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator;
acceleration is disabled for z axis up.
add btHeightfieldTerrainShape example to example browser
This commit is contained in:
erwincoumans
2019-04-15 21:55:29 -07:00
parent e97a7d77af
commit f28fd91e4f
12 changed files with 1702 additions and 38 deletions
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2
examples/ExampleBrowser/CMakeLists.txt
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@@ -207,6 +207,8 @@ SET(BulletExampleBrowser_SRCS
../MultiThreadedDemo/MultiThreadedDemo.h
../MultiThreadedDemo/CommonRigidBodyMTBase.cpp
../MultiThreadedDemo/CommonRigidBodyMTBase.h
../Heightfield/HeightfieldExample.cpp
../Heightfield/HeightfieldExample.h
../BlockSolver/btBlockSolver.cpp
../BlockSolver/btBlockSolver.h
../BlockSolver/BlockSolverExample.cpp

6
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -5,6 +5,7 @@
#include "../BlockSolver/RigidBodyBoxes.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "EmptyExample.h"
#include "../Heightfield/HeightfieldExample.h"
#include "../RenderingExamples/RenderInstancingDemo.h"
#include "../RenderingExamples/CoordinateSystemDemo.h"
#include "../RenderingExamples/RaytracerSetup.h"
@@ -157,8 +158,8 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_PGS),
ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_BLOCK),
ExampleEntry(1, "Stack RigidBody SI", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack RigidBody Block", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_BLOCK),
//ExampleEntry(1, "Stack RigidBody SI", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_SI),
//ExampleEntry(1, "Stack RigidBody Block", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_BLOCK),
ExampleEntry(0, "Inverse Dynamics"),
ExampleEntry(1, "Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_LOAD_URDF),
@@ -234,6 +235,7 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Convex vs Mesh", "Benchmark the performance and stability of rigid bodies using convex hull collision shapes (btConvexHullShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 6),
ExampleEntry(1, "Raycast", "Benchmark the performance of the btCollisionWorld::rayTest. Note that currently the rays are not rendered.", BenchmarkCreateFunc, 7),
ExampleEntry(1, "Convex Pack", "Benchmark the performance of the convex hull primitive.", BenchmarkCreateFunc, 8),
ExampleEntry(1, "Heightfield", "Raycast against a btHeightfieldTerrainShape", HeightfieldExampleCreateFunc),
//#endif
ExampleEntry(0, "Importers"),

58
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -1,7 +1,7 @@
#include "OpenGLGuiHelper.h"
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "Bullet3Common/b3Scalar.h"
@@ -255,6 +255,38 @@ void OpenGLGuiHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btV
createCollisionObjectGraphicsObject(body, color);
}
class MyTriangleCollector2 : public btTriangleCallback
{
public:
btAlignedObjectArray<GLInstanceVertex>* m_pVerticesOut;
btAlignedObjectArray<int>* m_pIndicesOut;
MyTriangleCollector2()
{
m_pVerticesOut = 0;
m_pIndicesOut = 0;
}
virtual void processTriangle(btVector3* tris, int partId, int triangleIndex)
{
for (int k = 0; k < 3; k++)
{
GLInstanceVertex v;
v.xyzw[3] = 0;
v.uv[0] = v.uv[1] = 0.5f;
btVector3 normal = (tris[0] - tris[1]).cross(tris[0] - tris[2]);
normal.safeNormalize();
for (int l = 0; l < 3; l++)
{
v.xyzw[l] = tris[k][l];
v.normal[l] = normal[l];
}
m_pIndicesOut->push_back(m_pVerticesOut->size());
m_pVerticesOut->push_back(v);
}
}
};
void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color)
{
if (body->getUserIndex() < 0)
@@ -409,6 +441,30 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
//if (collisionShape->getShapeType()==BOX_SHAPE_PROXYTYPE)
{
}
if (collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
{
const btHeightfieldTerrainShape* heightField = static_cast<const btHeightfieldTerrainShape*>(collisionShape);
MyTriangleCollector2 col;
col.m_pVerticesOut = &gfxVertices;
col.m_pIndicesOut = &indices;
btVector3 aabbMin, aabbMax;
for (int k = 0; k < 3; k++)
{
aabbMin[k] = -BT_LARGE_FLOAT;
aabbMax[k] = BT_LARGE_FLOAT;
}
heightField->processAllTriangles(&col, aabbMin, aabbMax);
if (gfxVertices.size() && indices.size())
{
int shapeId = m_data->m_glApp->m_renderer->registerShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size());
collisionShape->setUserIndex(shapeId);
}
return;
}
if (collisionShape->getShapeType() == SOFTBODY_SHAPE_PROXYTYPE)
{
computeSoftBodyVertices(collisionShape, gfxVertices, indices);

1
examples/ExampleBrowser/premake4.lua
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@@ -169,6 +169,7 @@ project "App_BulletExampleBrowser"
"../Collision/Internal/*",
"../Benchmarks/*",
"../MultiThreadedDemo/*",
"../Heightfield/HeightfieldExample.*",
"../CommonInterfaces/*.h",
"../ForkLift/ForkLiftDemo.*",
"../Importers/**",