#include "ConstraintsDemo.h" #include "OpenGLWindow/ShapeData.h" #include "OpenGLWindow/GLInstancingRenderer.h" #include "Bullet3Common/b3Quaternion.h" #include "OpenGLWindow/b3gWindowInterface.h" #include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h" #include "../GpuDemoInternalData.h" #include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h" #include "OpenGLWindow/OpenGLInclude.h" #include "OpenGLWindow/GLInstanceRendererInternalData.h" #include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h" #include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h" #include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h" #include "Bullet3OpenCL/RigidBody/b3Config.h" #include "../rigidbody/GpuRigidBodyDemoInternalData.h" #include "../gwenUserInterface.h" #include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h" #include "Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h" #include "Bullet3Dynamics/ConstraintSolver/b3FixedConstraint.h" #include "OpenGLWindow/GLPrimitiveRenderer.h" #include "Bullet3OpenCL/Raycast/b3GpuRaycast.h" #include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h" #include "OpenGLWindow/GLRenderToTexture.h" void GpuConstraintsDemo::setupScene(const ConstructionInfo& ci) { m_primRenderer = ci.m_primRenderer; m_raycaster = new b3GpuRaycast(m_clData->m_clContext,m_clData->m_clDevice,m_clData->m_clQueue); int index=0; createStaticEnvironment(ci); index+=createDynamicsObjects(ci); m_data->m_rigidBodyPipeline->writeAllInstancesToGpu(); m_data->m_rigidBodyPipeline->setGravity(b3Vector3(4,-10,0)); float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0}; //float camPos[4]={1,12.5,1.5,0}; m_instancingRenderer->setCameraTargetPosition(camPos); m_instancingRenderer->setCameraDistance(100); m_instancingRenderer->updateCamera(); char msg[1024]; int numInstances = index; sprintf(msg,"Num objects = %d",numInstances); if (ci.m_gui) ci.m_gui->setStatusBarMessage(msg,true); } void GpuConstraintsDemo::destroyScene() { delete m_raycaster; m_raycaster = 0; } int GpuConstraintsDemo::createDynamicsObjects(const ConstructionInfo& ci) { /* int strideInBytes = 9*sizeof(float); int numVertices = sizeof(barrel_vertices)/strideInBytes; int numIndices = sizeof(barrel_indices)/sizeof(int); return createDynamicsObjects2(ci,barrel_vertices,numVertices,barrel_indices,numIndices); */ int strideInBytes = 9*sizeof(float); int numVertices = sizeof(cube_vertices)/strideInBytes; int numIndices = sizeof(cube_indices)/sizeof(int); return createDynamicsObjects2(ci,cube_vertices,numVertices,cube_indices,numIndices); } int GpuConstraintsDemo::createDynamicsObjects2(const ConstructionInfo& ci, const float* vertices, int numVertices, const int* indices, int numIndices) { int strideInBytes = 9*sizeof(float); int shapeId = ci.m_instancingRenderer->registerShape(&vertices[0],numVertices,indices,numIndices); int group=1; int mask=1; int index=0; { b3Vector4 colors[4] = { b3Vector4(1,0,0,1), b3Vector4(0,1,0,1), b3Vector4(0,1,1,1), b3Vector4(1,1,0,1), }; int curColor = 0; float scaling[4] = {1,1,1,1}; int insta = 0; b3ConvexUtility* utilPtr = new b3ConvexUtility(); { b3AlignedObjectArray verts; unsigned char* vts = (unsigned char*) vertices; for (int i=0;iinitializePolyhedralFeatures(&verts[0],verts.size(),merge); } } int colIndex=-1; if (ci.m_useInstancedCollisionShapes) colIndex = m_data->m_np->registerConvexHullShape(utilPtr); int constraintType=0; for (int i=0;im_np->registerConvexHullShape(&vertices[0],strideInBytes,numVertices, scaling); if (!ci.m_useInstancedCollisionShapes) colIndex = m_data->m_np->registerConvexHullShape(utilPtr); float mass = 1.f; if (j==0)//ci.arraySizeY-1) { //mass=0.f; } //b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2); b3Vector3 position((-ci.arraySizeX/2*ci.gapX)+i*ci.gapX,1+j*2.,(-ci.arraySizeZ/2*ci.gapZ)+k*ci.gapZ); b3Quaternion orn(0,0,0,1); b3Vector4 color = colors[curColor]; curColor++; curColor&=3; b3Vector4 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,false); b3TypedConstraint* c = 0; if (prevBody>=0) { switch (constraintType) { case 0: c = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0)); break; case 1: { b3Transform frameInA,frameInB; frameInA.setIdentity(); frameInB.setIdentity(); frameInA.setOrigin(b3Vector3(0,-1.1,0)); frameInB.setOrigin(b3Vector3(0,1.1,0)); c = new b3FixedConstraint(pid,prevBody,frameInA,frameInB); //c->setBreakingImpulseThreshold(37.1); break; } case 2: { b3Transform frameInA,frameInB; frameInA.setIdentity(); frameInB.setIdentity(); frameInA.setOrigin(b3Vector3(0,-1.1,0)); frameInB.setOrigin(b3Vector3(0,1.1,0)); b3Generic6DofConstraint* dof6 = new b3Generic6DofConstraint(pid,prevBody,frameInA,frameInB,false,m_data->m_np->getBodiesCpu()); for (int i=0;i<6;i++) dof6->setLimit(i,0,0); c=dof6; break; } default: { b3Assert(0); } }; if (c) { m_data->m_rigidBodyPipeline->addConstraint(c);//,false); } } prevBody = pid; index++; } } } delete utilPtr; } return index; } void GpuConstraintsDemo::createStaticEnvironment(const ConstructionInfo& ci) { 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 shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices); int group=1; int mask=1; int index=0; { b3Vector4 scaling(400,400,400,1); int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling); b3Vector3 position(0,-405,0); b3Quaternion orn(0,0,0,1); b3Vector4 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,false); } }