1e13454511
Will also add Erin Catto's local implicit version from the GDC 2015 tutorial Added demo for btGeneric6DofSpring2Constraint, thanks to Gabor Puhr Add gfxBridge.autogenerateGraphicsObjects method for Bullet 2 demos in new framework (need to implement all Bullet 2 collision shape types...) Use 1,1,1 for local scaling in btStaticPlaneShape
432 lines
11 KiB
C++
432 lines
11 KiB
C++
#include "Bullet2RigidBodyDemo.h"
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#include "btBulletDynamicsCommon.h"
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#include "OpenGLWindow/CommonGraphicsApp.h"
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#include "OpenGLWindow/CommonRenderInterface.h"
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#include "Bullet3Common/b3Scalar.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
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#include "MyDebugDrawer.h"
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#include "OpenGLWindow/GLInstanceGraphicsShape.h"
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static btVector4 sColors[4] =
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{
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btVector4(0.3,0.3,1,1),
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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//btVector4(1,1,0,1),
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};
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struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
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{
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CommonGraphicsApp* m_glApp;
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MyDebugDrawer* m_debugDraw;
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int m_curColor;
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MyGraphicsPhysicsBridge(CommonGraphicsApp* glApp)
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:m_glApp(glApp), m_debugDraw(0), m_curColor(0)
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{
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}
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virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
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{
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createCollisionObjectGraphicsObject(body,color);
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}
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color)
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{
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btCollisionShape* shape = body->getCollisionShape();
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btTransform startTransform = body->getWorldTransform();
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int graphicsShapeId = shape->getUserIndex();
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if (graphicsShapeId>=0)
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{
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// btAssert(graphicsShapeId >= 0);
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btVector3 localScaling = shape->getLocalScaling();
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int graphicsInstanceId = m_glApp->m_renderer->registerGraphicsInstance(graphicsShapeId, startTransform.getOrigin(), startTransform.getRotation(), color, localScaling);
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body->setUserIndex(graphicsInstanceId);
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}
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}
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
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{
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int shapeId = m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
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return shapeId;
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}
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
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{
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return m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
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}
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
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{
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//todo: support all collision shape types
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switch (collisionShape->getShapeType())
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{
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case STATIC_PLANE_PROXYTYPE:
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{
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//draw a box, oriented along the plane normal
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const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
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btScalar planeConst = staticPlaneShape->getPlaneConstant();
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const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
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btVector3 planeOrigin = planeNormal * planeConst;
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btVector3 vec0,vec1;
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btPlaneSpace1(planeNormal,vec0,vec1);
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btScalar vecLen = 100.f;
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btVector3 verts[4];
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verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
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verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
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verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
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verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
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int startIndex = verticesOut.size();
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indicesOut.push_back(startIndex+0);
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indicesOut.push_back(startIndex+1);
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indicesOut.push_back(startIndex+2);
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indicesOut.push_back(startIndex+0);
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indicesOut.push_back(startIndex+2);
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indicesOut.push_back(startIndex+3);
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btVector3 triNormal = parentTransform.getBasis()*planeNormal;
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for (int i=0;i<4;i++)
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{
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GLInstanceVertex vtx;
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btVector3 pos =parentTransform*verts[i];
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vtx.xyzw[0] = pos.x();
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vtx.xyzw[1] = pos.y();
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vtx.xyzw[2] = pos.z();
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vtx.xyzw[3] = 0.f;
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vtx.normal[0] =triNormal.x();
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vtx.normal[1] =triNormal.y();
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vtx.normal[2] =triNormal.z();
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vtx.uv[0] = 0.5f;
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vtx.uv[1] = 0.5f;
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verticesOut.push_back(vtx);
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}
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break;
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}
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case TRIANGLE_MESH_SHAPE_PROXYTYPE:
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{
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btAssert(0);
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break;
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}
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default:
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{
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if (collisionShape->isConvex())
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{
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btConvexShape* convex = (btConvexShape*)collisionShape;
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{
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btShapeHull* hull = new btShapeHull(convex);
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hull->buildHull(0.0);
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{
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//int strideInBytes = 9*sizeof(float);
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//int numVertices = hull->numVertices();
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//int numIndices =hull->numIndices();
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for (int t=0;t<hull->numTriangles();t++)
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{
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btVector3 triNormal;
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int index0 = hull->getIndexPointer()[t*3+0];
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int index1 = hull->getIndexPointer()[t*3+1];
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int index2 = hull->getIndexPointer()[t*3+2];
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btVector3 pos0 =parentTransform*hull->getVertexPointer()[index0];
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btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
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btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
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triNormal = (pos1-pos0).cross(pos2-pos0);
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triNormal.normalize();
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for (int v=0;v<3;v++)
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{
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int index = hull->getIndexPointer()[t*3+v];
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GLInstanceVertex vtx;
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btVector3 pos =parentTransform*hull->getVertexPointer()[index];
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vtx.xyzw[0] = pos.x();
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vtx.xyzw[1] = pos.y();
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vtx.xyzw[2] = pos.z();
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vtx.xyzw[3] = 0.f;
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vtx.normal[0] =triNormal.x();
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vtx.normal[1] =triNormal.y();
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vtx.normal[2] =triNormal.z();
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vtx.uv[0] = 0.5f;
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vtx.uv[1] = 0.5f;
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indicesOut.push_back(verticesOut.size());
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verticesOut.push_back(vtx);
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}
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}
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}
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}
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} else
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{
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if (collisionShape->isCompound())
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{
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btCompoundShape* compound = (btCompoundShape*) collisionShape;
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for (int i=0;i<compound->getNumChildShapes();i++)
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{
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btTransform childWorldTrans = parentTransform * compound->getChildTransform(i);
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createCollisionShapeGraphicsObject(compound->getChildShape(i),childWorldTrans,verticesOut,indicesOut);
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}
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} else
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{
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btAssert(0);
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}
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}
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}
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};
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}
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
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{
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//already has a graphics object?
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if (collisionShape->getUserIndex()>=0)
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return;
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btAlignedObjectArray<GLInstanceVertex> vertices;
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btAlignedObjectArray<int> indices;
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btTransform startTrans;startTrans.setIdentity();
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createCollisionShapeGraphicsObject(collisionShape,startTrans,vertices,indices);
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if (vertices.size() && indices.size())
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{
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int shapeId = m_glApp->m_renderer->registerShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size());
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collisionShape->setUserIndex(shapeId);
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}
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}
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
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{
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int numCollisionObjects = rbWorld->getNumCollisionObjects();
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for (int i = 0; i<numCollisionObjects; i++)
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{
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btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
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btVector3 pos = colObj->getWorldTransform().getOrigin();
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btQuaternion orn = colObj->getWorldTransform().getRotation();
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int index = colObj->getUserIndex();
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if (index >= 0)
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{
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m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
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}
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}
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m_glApp->m_renderer->writeTransforms();
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}
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virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
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{
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btAssert(rbWorld);
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m_debugDraw = new MyDebugDrawer(m_glApp);
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rbWorld->setDebugDrawer(m_debugDraw );
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m_debugDraw->setDebugMode(
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btIDebugDraw::DBG_DrawWireframe
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+btIDebugDraw::DBG_DrawAabb
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//btIDebugDraw::DBG_DrawContactPoints
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);
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}
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virtual struct Common2dCanvasInterface* get2dCanvasInterface()
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{
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return m_glApp->m_2dCanvasInterface;
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}
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virtual CommonParameterInterface* getParameterInterface()
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{
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return m_glApp->m_parameterInterface;
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}
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virtual void setUpAxis(int axis)
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{
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m_glApp->setUpAxis(axis);
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}
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btVector3 selectColor()
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{
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btVector4 color = sColors[m_curColor];
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m_curColor++;
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m_curColor&=3;
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return color;
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}
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virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
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{
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for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
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{
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btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
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//btRigidBody* body = btRigidBody::upcast(colObj);
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//does this also work for btMultiBody/btMultiBodyLinkCollider?
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createCollisionShapeGraphicsObject(colObj->getCollisionShape());
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btVector3 color= selectColor();
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createCollisionObjectGraphicsObject(colObj,color);
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}
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}
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};
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Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(CommonGraphicsApp* app, CommonPhysicsSetup* physicsSetup)
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: m_physicsSetup(physicsSetup),
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m_controlPressed(false),
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m_altPressed(false),
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m_glApp(app)
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{
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}
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void Bullet2RigidBodyDemo::initPhysics()
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{
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MyGraphicsPhysicsBridge glBridge(m_glApp);
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glBridge.setUpAxis(1);
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m_physicsSetup->initPhysics(glBridge);
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m_glApp->m_renderer->writeTransforms();
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}
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void Bullet2RigidBodyDemo::exitPhysics()
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{
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m_physicsSetup->exitPhysics();
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}
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void Bullet2RigidBodyDemo::stepSimulation(float deltaTime)
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{
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m_physicsSetup->stepSimulation(deltaTime);
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}
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void Bullet2RigidBodyDemo::renderScene()
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{
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//sync graphics -> physics world transforms
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MyGraphicsPhysicsBridge glBridge(m_glApp);
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m_physicsSetup->syncPhysicsToGraphics(glBridge);
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m_glApp->m_renderer->renderScene();
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}
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void Bullet2RigidBodyDemo::physicsDebugDraw(int debugDrawFlags)
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{
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m_physicsSetup->debugDraw(debugDrawFlags);
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}
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Bullet2RigidBodyDemo::~Bullet2RigidBodyDemo()
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{
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}
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btVector3 Bullet2RigidBodyDemo::getRayTo(int x,int y)
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{
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if (!m_glApp->m_renderer)
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{
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btAssert(0);
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return btVector3(0,0,0);
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}
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float fov = b3Scalar(2.0) * b3Atan(tanFov);
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btVector3 camPos,camTarget;
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m_glApp->m_renderer->getCameraPosition(camPos);
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m_glApp->m_renderer->getCameraTargetPosition(camTarget);
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btVector3 rayFrom = camPos;
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btVector3 rayForward = (camTarget-camPos);
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rayForward.normalize();
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float farPlane = 10000.f;
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rayForward*= farPlane;
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btVector3 rightOffset;
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btVector3 cameraUp=btVector3(0,0,0);
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cameraUp[m_glApp->getUpAxis()]=1;
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btVector3 vertical = cameraUp;
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btVector3 hor;
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hor = rayForward.cross(vertical);
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hor.normalize();
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vertical = hor.cross(rayForward);
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vertical.normalize();
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float tanfov = tanf(0.5f*fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
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b3Scalar aspect;
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float width = m_glApp->m_renderer->getScreenWidth();
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float height = m_glApp->m_renderer->getScreenHeight();
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aspect = width / height;
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hor*=aspect;
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btVector3 rayToCenter = rayFrom + rayForward;
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btVector3 dHor = hor * 1.f/width;
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btVector3 dVert = vertical * 1.f/height;
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btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += btScalar(x) * dHor;
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rayTo -= btScalar(y) * dVert;
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return rayTo;
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}
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bool Bullet2RigidBodyDemo::mouseMoveCallback(float x,float y)
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{
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btVector3 rayTo = getRayTo(x, y);
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btVector3 rayFrom;
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m_glApp->m_renderer->getCameraPosition(rayFrom);
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m_physicsSetup->movePickedBody(rayFrom,rayTo);
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return false;
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}
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bool Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, float y)
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{
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if (state==1)
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{
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if(button==0 && (!m_altPressed && !m_controlPressed))
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{
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btVector3 camPos;
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m_glApp->m_renderer->getCameraPosition(camPos);
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btVector3 rayFrom = camPos;
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btVector3 rayTo = getRayTo(x,y);
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m_physicsSetup->pickBody(rayFrom, rayTo);
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}
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} else
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{
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if (button==0)
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{
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m_physicsSetup->removePickingConstraint();
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//remove p2p
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}
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}
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//printf("button=%d, state=%d\n",button,state);
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return false;
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}
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