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some work on compound collision shapes (not finished yet)

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This commit is contained in:
ejcoumans
2006-07-24 05:22:56 +00:00
parent 60ce7413fe
commit fdaa3a7abc
8 changed files with 464 additions and 253 deletions
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412
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -34,6 +34,7 @@ subject to the following restrictions:
#include "CollisionShapes/ConeShape.h"
#include "CollisionShapes/CylinderShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "CollisionShapes/CompoundShape.h"
#include "CollisionShapes/ConvexTriangleMeshShape.h"
@@ -105,225 +106,242 @@ public:
void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const SimdVector3& color,int debugMode)
{
glPushMatrix();
glLoadMatrixf(m);
glMultMatrixf(m);
//DrawCoordSystem();
glPushMatrix();
glEnable(GL_COLOR_MATERIAL);
glColor3f(color.x(),color.y(), color.z());
glRasterPos3f(0.0, 0.0, 0.0);
bool useWireframeFallback = true;
if (!(debugMode & IDebugDraw::DBG_DrawWireframe))
if (shape->GetShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
switch (shape->GetShapeType())
const CompoundShape* compoundShape = static_cast<const CompoundShape*>(shape);
for (int i=0;i<compoundShape->GetNumChildShapes();i++)
{
case BOX_SHAPE_PROXYTYPE:
{
const BoxShape* boxShape = static_cast<const BoxShape*>(shape);
SimdVector3 halfExtent = boxShape->GetHalfExtents();
glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
glutSolidCube(1.0);
useWireframeFallback = false;
break;
}
case TRIANGLE_SHAPE_PROXYTYPE:
case TETRAHEDRAL_SHAPE_PROXYTYPE:
{
const BU_Simplex1to4* tetra = static_cast<const BU_Simplex1to4*>(shape);
//todo:
useWireframeFallback = false;
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
break;
case SPHERE_SHAPE_PROXYTYPE:
{
const SphereShape* sphereShape = static_cast<const SphereShape*>(shape);
float radius = sphereShape->GetMargin();//radius doesn't include the margin, so draw with margin
glutSolidSphere(radius,10,10);
useWireframeFallback = false;
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONE_SHAPE_PROXYTYPE:
{
const ConeShape* coneShape = static_cast<const ConeShape*>(shape);
float radius = coneShape->GetRadius();//+coneShape->GetMargin();
float height = coneShape->GetHeight();//+coneShape->GetMargin();
//glRotatef(-90.0, 1.0, 0.0, 0.0);
glTranslatef(0.0, 0.0, -0.5*height);
glutSolidCone(radius,height,10,10);
useWireframeFallback = false;
break;
SimdTransform childTrans = compoundShape->GetChildTransform(i);
const CollisionShape* colShape = compoundShape->GetChildShape(i);
float childMat[16];
childTrans.getOpenGLMatrix(childMat);
DrawOpenGL(childMat,colShape,color,debugMode);
}
}
case CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
{
useWireframeFallback = false;
break;
}
return;
} else
{
//DrawCoordSystem();
glPushMatrix();
glEnable(GL_COLOR_MATERIAL);
glColor3f(color.x(),color.y(), color.z());
case CONVEX_SHAPE_PROXYTYPE:
case CYLINDER_SHAPE_PROXYTYPE:
glRasterPos3f(0.0, 0.0, 0.0);
bool useWireframeFallback = true;
if (!(debugMode & IDebugDraw::DBG_DrawWireframe))
{
switch (shape->GetShapeType())
{
const CylinderShape* cylinder = static_cast<const CylinderShape*>(shape);
int upAxis = cylinder->GetUpAxis();
GLUquadricObj *quadObj = gluNewQuadric();
glPushMatrix();
switch (upAxis)
case BOX_SHAPE_PROXYTYPE:
{
case 0:
glRotatef(-90.0, 0.0, 1.0, 0.0);
glTranslatef(0.0, 0.0, -1.0);
const BoxShape* boxShape = static_cast<const BoxShape*>(shape);
SimdVector3 halfExtent = boxShape->GetHalfExtents();
glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
glutSolidCube(1.0);
useWireframeFallback = false;
break;
case 1:
glRotatef(-90.0, 1.0, 0.0, 0.0);
glTranslatef(0.0, 0.0, -1.0);
}
case TRIANGLE_SHAPE_PROXYTYPE:
case TETRAHEDRAL_SHAPE_PROXYTYPE:
{
const BU_Simplex1to4* tetra = static_cast<const BU_Simplex1to4*>(shape);
//todo:
useWireframeFallback = false;
break;
case 2:
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
break;
case SPHERE_SHAPE_PROXYTYPE:
{
const SphereShape* sphereShape = static_cast<const SphereShape*>(shape);
float radius = sphereShape->GetMargin();//radius doesn't include the margin, so draw with margin
glutSolidSphere(radius,10,10);
useWireframeFallback = false;
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONE_SHAPE_PROXYTYPE:
{
const ConeShape* coneShape = static_cast<const ConeShape*>(shape);
float radius = coneShape->GetRadius();//+coneShape->GetMargin();
float height = coneShape->GetHeight();//+coneShape->GetMargin();
//glRotatef(-90.0, 1.0, 0.0, 0.0);
glTranslatef(0.0, 0.0, -0.5*height);
glutSolidCone(radius,height,10,10);
useWireframeFallback = false;
break;
}
case CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
{
useWireframeFallback = false;
break;
}
case CONVEX_SHAPE_PROXYTYPE:
case CYLINDER_SHAPE_PROXYTYPE:
{
const CylinderShape* cylinder = static_cast<const CylinderShape*>(shape);
int upAxis = cylinder->GetUpAxis();
glTranslatef(0.0, 0.0, -1.0);
break;
default:
GLUquadricObj *quadObj = gluNewQuadric();
glPushMatrix();
switch (upAxis)
{
assert(0);
case 0:
glRotatef(-90.0, 0.0, 1.0, 0.0);
glTranslatef(0.0, 0.0, -1.0);
break;
case 1:
glRotatef(-90.0, 1.0, 0.0, 0.0);
glTranslatef(0.0, 0.0, -1.0);
break;
case 2:
glTranslatef(0.0, 0.0, -1.0);
break;
default:
{
assert(0);
}
}
//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
float radius = cylinder->GetHalfExtents().getX();
float height = 2.f*cylinder->GetHalfExtents().getY();
gluCylinder(quadObj, radius, radius, height, 15, 10);
glPopMatrix();
glEndList();
break;
}
default:
{
}
};
}
if (useWireframeFallback)
{
/// for polyhedral shapes
if (shape->IsPolyhedral())
{
PolyhedralConvexShape* polyshape = (PolyhedralConvexShape*) shape;
glBegin(GL_LINES);
int i;
for (i=0;i<polyshape->GetNumEdges();i++)
{
SimdPoint3 a,b;
polyshape->GetEdge(i,a,b);
glVertex3f(a.getX(),a.getY(),a.getZ());
glVertex3f(b.getX(),b.getY(),b.getZ());
}
glEnd();
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
{
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->GetExtraDebugInfo());
glColor3f(1.f, 1.f, 1.f);
for (i=0;i<polyshape->GetNumVertices();i++)
{
SimdPoint3 vtx;
polyshape->GetVertex(i,vtx);
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
char buf[12];
sprintf(buf," %d",i);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
for (i=0;i<polyshape->GetNumPlanes();i++)
{
SimdVector3 normal;
SimdPoint3 vtx;
polyshape->GetPlane(normal,vtx,i);
SimdScalar d = vtx.dot(normal);
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
char buf[12];
sprintf(buf," plane %d",i);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
}
//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
float radius = cylinder->GetHalfExtents().getX();
float height = 2.f*cylinder->GetHalfExtents().getY();
gluCylinder(quadObj, radius, radius, height, 15, 10);
glPopMatrix();
glEndList();
break;
}
default:
{
}
};
}
if (useWireframeFallback)
{
/// for polyhedral shapes
if (shape->IsPolyhedral())
{
PolyhedralConvexShape* polyshape = (PolyhedralConvexShape*) shape;
glBegin(GL_LINES);
int i;
for (i=0;i<polyshape->GetNumEdges();i++)
{
SimdPoint3 a,b;
polyshape->GetEdge(i,a,b);
glVertex3f(a.getX(),a.getY(),a.getZ());
glVertex3f(b.getX(),b.getY(),b.getZ());
}
glEnd();
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
{
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->GetExtraDebugInfo());
glColor3f(1.f, 1.f, 1.f);
for (i=0;i<polyshape->GetNumVertices();i++)
{
SimdPoint3 vtx;
polyshape->GetVertex(i,vtx);
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
char buf[12];
sprintf(buf," %d",i);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
for (i=0;i<polyshape->GetNumPlanes();i++)
{
SimdVector3 normal;
SimdPoint3 vtx;
polyshape->GetPlane(normal,vtx,i);
SimdScalar d = vtx.dot(normal);
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
char buf[12];
sprintf(buf," plane %d",i);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
}
}
}
if (shape->GetShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
TriangleMeshShape* concaveMesh = (TriangleMeshShape*) shape;
//SimdVector3 aabbMax(1e30f,1e30f,1e30f);
//SimdVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
if (shape->GetShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
TriangleMeshShape* concaveMesh = (TriangleMeshShape*) shape;
//SimdVector3 aabbMax(1e30f,1e30f,1e30f);
//SimdVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
extern float eye[3];
SimdVector3 aabbMax(eye[0]+100,eye[1]+100,eye[2]+100);//1e30f,1e30f,1e30f);
SimdVector3 aabbMin(eye[0]-100,eye[1]-100,eye[2]-100);//1e30f,1e30f,1e30f);
GlDrawcallback drawCallback;
concaveMesh->ProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
}
if (shape->GetShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
{
ConvexTriangleMeshShape* convexMesh = (ConvexTriangleMeshShape*) shape;
extern float eye[3];
SimdVector3 aabbMax(eye[0]+100,eye[1]+100,eye[2]+100);
SimdVector3 aabbMin(eye[0]-100,eye[1]-100,eye[2]-100);
TriangleGlDrawcallback drawCallback;
convexMesh->GetStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
}
extern float eye[3];
SimdVector3 aabbMax(eye[0]+100,eye[1]+100,eye[2]+100);//1e30f,1e30f,1e30f);
SimdVector3 aabbMin(eye[0]-100,eye[1]-100,eye[2]-100);//1e30f,1e30f,1e30f);
GlDrawcallback drawCallback;
concaveMesh->ProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
glDisable(GL_DEPTH_BUFFER_BIT);
if (debugMode==IDebugDraw::DBG_DrawText)
{
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetName());
}
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
{
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
}
glEnable(GL_DEPTH_BUFFER_BIT);
glPopMatrix();
}
if (shape->GetShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
{
ConvexTriangleMeshShape* convexMesh = (ConvexTriangleMeshShape*) shape;
extern float eye[3];
SimdVector3 aabbMax(eye[0]+100,eye[1]+100,eye[2]+100);
SimdVector3 aabbMin(eye[0]-100,eye[1]-100,eye[2]-100);
TriangleGlDrawcallback drawCallback;
convexMesh->GetStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
}
glDisable(GL_DEPTH_BUFFER_BIT);
if (debugMode==IDebugDraw::DBG_DrawText)
{
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetName());
}
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
{
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
}
glEnable(GL_DEPTH_BUFFER_BIT);
glPopMatrix();
glPopMatrix();
}