bullet3/demo/gpudemo/rigidbody/GpuCompoundScene.cpp

#include "GpuCompoundScene.h"
#include "GpuRigidBodyDemo.h"
#include "BulletCommon/btQuickprof.h"
#include "OpenGLWindow/ShapeData.h"

#include "OpenGLWindow/GLInstancingRenderer.h"
#include "BulletCommon/btQuaternion.h"
#include "OpenGLWindow/btgWindowInterface.h"
#include "gpu_broadphase/host/btGpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "basic_initialize/btOpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "gpu_rigidbody/host/btGpuRigidBodyPipeline.h"
#include "gpu_rigidbody/host/btGpuNarrowPhase.h"
#include "gpu_rigidbody/host/btConfig.h"
#include "GpuRigidBodyDemoInternalData.h"
#include "BulletCommon/btTransform.h"

#include "OpenGLWindow/GLInstanceGraphicsShape.h"


#if 0
GraphicsShape* createGraphicsShapeFromCompoundShape(btCompoundShape* compound)
{
	GraphicsShape* gfxShape = new GraphicsShape();
	btAlignedObjectArray<GLInstanceVertex>* vertexArray = new btAlignedObjectArray<GLInstanceVertex>;
	btAlignedObjectArray<int>* indexArray = new btAlignedObjectArray<int>;



	//create a graphics shape for each child, combine them into a single graphics shape using their child transforms
	for (int i=0;i<compound->getNumChildShapes();i++)
	{
		btAssert(compound->getChildShape(i)->isPolyhedral());
		if (compound->getChildShape(i)->isPolyhedral())
		{
			btPolyhedralConvexShape* convexHull = (btPolyhedralConvexShape*) compound->getChildShape(i);
			btTransform tr = compound->getChildTransform(i);
			
			const btConvexPolyhedron* polyhedron = convexHull->getConvexPolyhedron();
			GraphicsShape* childGfxShape = createGraphicsShapeFromConvexHull(polyhedron);
			int baseIndex = vertexArray->size();

			for (int j=0;j<childGfxShape->m_numIndices;j++)
				indexArray->push_back(childGfxShape->m_indices[j]+baseIndex);
			
			GLInstanceVertex* orgVerts = (GLInstanceVertex*)childGfxShape->m_vertices;

			for (int j=0;j<childGfxShape->m_numvertices;j++)
			{
				GLInstanceVertex vtx;
				btVector3 pos(orgVerts[j].xyzw[0],orgVerts[j].xyzw[1],orgVerts[j].xyzw[2]);
				pos = tr*pos;
				vtx.xyzw[0] = childGfxShape->m_scaling[0]*pos.x();
				vtx.xyzw[1] = childGfxShape->m_scaling[1]*pos.y();
				vtx.xyzw[2] = childGfxShape->m_scaling[2]*pos.z();
				vtx.xyzw[3] = 10.f;
				
				vtx.uv[0] = 0.5f;
				vtx.uv[1] = 0.5f;

				btVector3 normal(orgVerts[j].normal[0],orgVerts[j].normal[1],orgVerts[j].normal[2]);
				normal = tr.getBasis()*normal;
				vtx.normal[0] = normal.x();
				vtx.normal[1] = normal.y();
				vtx.normal[2] = normal.z();
				vertexArray->push_back(vtx);
			}
		}
	}

	btPolyhedralConvexShape* convexHull = (btPolyhedralConvexShape*) compound->getChildShape(0);
	const btConvexPolyhedron* polyhedron = convexHull->getConvexPolyhedron();
	GraphicsShape* childGfxShape = createGraphicsShapeFromConvexHull(polyhedron);

	gfxShape->m_indices = &indexArray->at(0);
	gfxShape->m_numIndices = indexArray->size();
	gfxShape->m_vertices = &vertexArray->at(0).xyzw[0];
	gfxShape->m_numvertices = vertexArray->size();
	gfxShape->m_scaling[0] = 1;
	gfxShape->m_scaling[1] = 1;
	gfxShape->m_scaling[2] = 1;
	gfxShape->m_scaling[3] = 1;
	
	return gfxShape;
}
#endif



void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
{
	int strideInBytes = 9*sizeof(float);
	int numVertices = sizeof(cube_vertices)/strideInBytes;
	int numIndices = sizeof(cube_indices)/sizeof(int);

	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=10;
	float scaling[4] = {1,1,1,1};
	int colIndex = 0;

	GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
	int stride2 = sizeof(GLInstanceVertex);
	btAssert(stride2 == strideInBytes);

	{
		int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);

		btVector3 childPositions[3] = {
			btVector3(0,-2,0),
			btVector3(0,0,0),
			btVector3(0,2,0)
		};

		btAlignedObjectArray<btGpuChildShape> childShapes;
		int numChildShapes = 3;
		for (int i=0;i<numChildShapes;i++)
		{
			//for now, only support polyhedral child shapes
			btGpuChildShape child;
			child.m_shapeIndex = childColIndex;
			btVector3 pos = childPositions[i];
			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];
			}
			childShapes.push_back(child);
			btTransform tr;
			tr.setIdentity();
			tr.setOrigin(pos);
			tr.setRotation(orn);

			int baseIndex = vertexArray.size();
			for (int j=0;j<numIndices;j++)
				indexArray.push_back(cube_indices[j]+baseIndex);

			//add transformed graphics vertices and indices
			for (int v=0;v<numVertices;v++)
			{
				GLInstanceVertex vert = cubeVerts[v];
				btVector3 vertPos(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
				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);
			}

		}
		colIndex= m_data->m_np->registerCompoundShape(&childShapes);

	}

	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 = j==0? 0.f : 1.f;

				btVector3 position(i*ci.gapX,j*ci.gapY,k*ci.gapZ);
				btQuaternion orn(1,0,0,0);
				
				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++;
			}
		}
	}

	float camPos[4]={0,0,0};//65.5,4.5,65.5,0};
	//float camPos[4]={1,12.5,1.5,0};
	m_instancingRenderer->setCameraTargetPosition(camPos);
	m_instancingRenderer->setCameraDistance(20);
	
}