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Added improved convex hull computation utility based on Preparata and Hong

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Thanks to Ole Kniemeyer, MAXON, See also http://code.google.com/p/bullet/issues/detail?id=275
The ConvexHullDistanceDemo uses it to visualize the convex hull of a point cloud.
This commit is contained in:
erwin.coumans
2011-03-22 00:53:17 +00:00
parent 5454652e44
commit f44cb95b2a
6 changed files with 2996 additions and 10 deletions
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127
Demos/ConvexHullDistance/ConvexHullDistanceDemo.cpp
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@@ -32,6 +32,61 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btConvexHullComputer.h"
#define TaruVtxCount 43
static float TaruVtx[] = {
1.08664f,-1.99237f,0.0f,
0.768369f,-1.99237f,-0.768369f,
1.28852f,1.34412e-007f,-1.28852f,
1.82224f,1.90735e-007f,0.0f,
0.0f,-1.99237f,-1.08664f,
0.0f,0.0f,-1.82224f,
0.0f,-1.99237f,-1.08664f,
-0.768369f,-1.99237f,-0.768369f,
-1.28852f,1.34412e-007f,-1.28852f,
0.0f,0.0f,-1.82224f,
-1.08664f,-1.99237f,1.82086e-007f,
-1.82224f,1.90735e-007f,1.59305e-007f,
-0.768369f,-1.99237f,0.76837f,
-1.28852f,2.47058e-007f,1.28852f,
1.42495e-007f,-1.99237f,1.08664f,
2.38958e-007f,2.70388e-007f,1.82224f,
0.768369f,-1.99237f,0.768369f,
1.28852f,2.47058e-007f,1.28852f,
0.768369f,1.99237f,-0.768369f,
1.08664f,1.99237f,0.0f,
0.0f,1.99237f,-1.08664f,
-0.768369f,1.99237f,-0.768369f,
0.0f,1.99237f,-1.08664f,
-1.08664f,1.99237f,0.0f,
-0.768369f,1.99237f,0.768369f,
1.42495e-007f,1.99237f,1.08664f,
0.768369f,1.99237f,0.768369f,
1.42495e-007f,-1.99237f,1.08664f,
-0.768369f,-1.99237f,0.76837f,
-1.08664f,-1.99237f,1.82086e-007f,
-0.768369f,-1.99237f,-0.768369f,
0.0f,-1.99237f,-1.08664f,
0.768369f,-1.99237f,-0.768369f,
1.08664f,-1.99237f,0.0f,
0.768369f,-1.99237f,0.768369f,
0.768369f,1.99237f,-0.768369f,
0.0f,1.99237f,-1.08664f,
-0.768369f,1.99237f,-0.768369f,
-1.08664f,1.99237f,0.0f,
-0.768369f,1.99237f,0.768369f,
1.42495e-007f,1.99237f,1.08664f,
0.768369f,1.99237f,0.768369f,
1.08664f,1.99237f,0.0f,
};
#define USE_GJK
@@ -72,7 +127,7 @@ void clientResetScene()
tr[1].setOrigin(btVector3(0.0f,9.f,2.f));
}
int debugMode = 0;//btIDebugDraw::DBG_DrawWireframe;
int debugMode = btIDebugDraw::DBG_DrawWireframe;
GL_ShapeDrawer shapeDrawer;
int m_glutScreenWidth=0;
int m_glutScreenHeight=0;
@@ -188,13 +243,12 @@ int main(int argc,char** argv)
tr[1].setBasis(basisB);
btVector3 points0[3]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1)};
btVector3 points1[5]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1),btVector3(0,0,-1),btVector3(-1,-1,0)};
//btVector3 points1[5]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1),btVector3(0,0,-1),btVector3(-1,-1,0)};
btConvexHullShape hullA(&points0[0].getX(),3);
btConvexHullShape hullB(&points1[0].getX(),5);
btCylinderShape cylinder(btVector3(0.3,1,1));
shapePtr[0] = &cylinder;//hullA;
btConvexHullShape hullB(TaruVtx,TaruVtxCount,3*sizeof(float));
shapePtr[0] = &hullA;
shapePtr[1] = &hullB;
@@ -209,6 +263,7 @@ int main(int argc,char** argv)
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
#include <stdio.h>
void clientDisplay(void) {
@@ -291,7 +346,65 @@ void clientDisplay(void) {
tr[i].getOpenGLMatrix( m );
shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),debugMode, worldMin, worldMax);
if (debugMode)
{
/// for polyhedral shapes
if (shapePtr[i]->isPolyhedral())
{
if (!shapePtr[i]->getUserPointer())
{
btConvexHullComputer* convexUtil = new btConvexHullComputer();
shapePtr[i]->setUserPointer(convexUtil);
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shapePtr[i];
btAlignedObjectArray<btVector3> vertices;
vertices.resize(polyshape->getNumVertices());
for (int i=0;i<polyshape->getNumVertices();i++)
{
polyshape->getVertex(i,vertices[i]);
}
bool useDoublePrecision = false;
convexUtil->compute(&vertices[0].getX(),sizeof(btVector3), polyshape->getNumVertices(),0,0);
}
if (shapePtr[i]->getUserPointer())
{
btConvexHullComputer* convexUtil = (btConvexHullComputer*)shapePtr[i]->getUserPointer();
//printf("num faces = %d\n",convexUtil->faces.size());
for (int j=0;j<convexUtil->faces.size();j++)
{
int face = convexUtil->faces[j];
//printf("face=%d\n",face);
const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
const btConvexHullComputer::Edge* edge = firstEdge;
do
{
int src = edge->getSourceVertex();
int targ = edge->getTargetVertex();
//printf("src=%d target = %d\n", src,targ);
btVector3 wa = tr[i] * convexUtil->vertices[src];
btVector3 wb = tr[i] * convexUtil->vertices[targ];
glBegin(GL_LINES);
glColor3f(1, 1, 1);
glVertex3f(wa.getX(),wa.getY(),wa.getZ());
glVertex3f(wb.getX(),wb.getY(),wb.getZ());
glEnd();
edge = edge->getNextEdgeOfFace();
} while (edge!=firstEdge);
}
}
}
} else
{
shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),debugMode, worldMin, worldMax);
}
}