273 lines
8.1 KiB
C++
273 lines
8.1 KiB
C++
#include "GpuCompoundScene.h"
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#include "GpuRigidBodyDemo.h"
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#include "OpenGLWindow/ShapeData.h"
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#include "OpenGLWindow/GLInstancingRenderer.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "OpenGLWindow/b3gWindowInterface.h"
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#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
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#include "../GpuDemoInternalData.h"
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#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
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#include "OpenGLWindow/OpenGLInclude.h"
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#include "OpenGLWindow/GLInstanceRendererInternalData.h"
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#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
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#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
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#include "GpuRigidBodyDemoInternalData.h"
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#include "Bullet3Common/b3Transform.h"
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#include "OpenGLWindow/GLInstanceGraphicsShape.h"
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#define NUM_COMPOUND_CHILDREN_X 4
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#define NUM_COMPOUND_CHILDREN_Y 4
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#define NUM_COMPOUND_CHILDREN_Z 4
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void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
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{
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createStaticEnvironment(ci);
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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float scaling[4] = {1,1,1,1};
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GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
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int stride2 = sizeof(GLInstanceVertex);
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b3Assert(stride2 == strideInBytes);
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int index=0;
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int colIndex = -1;
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b3AlignedObjectArray<GLInstanceVertex> vertexArray;
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b3AlignedObjectArray<int> indexArray;
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{
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int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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/* b3Vector3 childPositions[3] = {
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b3Vector3(0,-2,0),
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b3Vector3(0,0,0),
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b3Vector3(0,0,2)
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};
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*/
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b3AlignedObjectArray<b3GpuChildShape> childShapes;
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for (int x=0;x<NUM_COMPOUND_CHILDREN_X;x++)
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for (int y=0;y<NUM_COMPOUND_CHILDREN_Y;y++)
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for (int z=0;z<NUM_COMPOUND_CHILDREN_Z;z++)
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{
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int blax = x!=0 ?1 : 0;
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int blay = y!=0 ?1 : 0;
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int blaz = z!=0 ?1 : 0;
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int bla=blax+blay+blaz;
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if (bla!=1)
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continue;
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//for now, only support polyhedral child shapes
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b3GpuChildShape child;
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child.m_shapeIndex = childColIndex;
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b3Vector3 pos=b3MakeVector3((x-NUM_COMPOUND_CHILDREN_X/2.f)*2,(y-NUM_COMPOUND_CHILDREN_X/2.f)*2,(z-NUM_COMPOUND_CHILDREN_X/2.f)*2);//childPositions[i];
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b3Quaternion orn(0,0,0,1);
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for (int v=0;v<4;v++)
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{
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child.m_childPosition[v] = pos[v];
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child.m_childOrientation[v] = orn[v];
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}
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childShapes.push_back(child);
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b3Transform tr;
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tr.setIdentity();
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tr.setOrigin(pos);
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tr.setRotation(orn);
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int baseIndex = vertexArray.size();
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for (int j=0;j<numIndices;j++)
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indexArray.push_back(cube_indices[j]+baseIndex);
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//add transformed graphics vertices and indices
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for (int v=0;v<numVertices;v++)
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{
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GLInstanceVertex vert = cubeVerts[v];
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b3Vector3 vertPos=b3MakeVector3(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
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b3Vector3 newPos = tr*vertPos;
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vert.xyzw[0] = newPos[0];
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vert.xyzw[1] = newPos[1];
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vert.xyzw[2] = newPos[2];
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vert.xyzw[3] = 0.f;
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vertexArray.push_back(vert);
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}
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}
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colIndex= m_data->m_np->registerCompoundShape(&childShapes);
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}
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0],vertexArray.size(),&indexArray[0],indexArray.size());
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b3Vector4 colors[4] =
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{
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b3MakeVector4(1,0,0,1),
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b3MakeVector4(0,1,0,1),
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b3MakeVector4(0,0,1,1),
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b3MakeVector4(0,1,1,1),
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};
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int curColor = 0;
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for (int i=0;i<ci.arraySizeX;i++)
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{
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for (int j=0;j<ci.arraySizeY;j++)
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{
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for (int k=0;k<ci.arraySizeZ;k++)
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{
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float mass = 1;//j==0? 0.f : 1.f;
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b3Vector3 position=b3MakeVector3((i-ci.arraySizeX/2.)*ci.gapX,35+j*3*ci.gapY,(k-ci.arraySizeZ/2.f)*ci.gapZ);
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//b3Quaternion orn(0,0,0,1);
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b3Quaternion orn(b3MakeVector3(1,0,0),0.7);
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b3Vector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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b3Vector4 scaling=b3MakeVector4(1,1,1,1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
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index++;
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}
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}
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}
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m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
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float camPos[4]={0,0,0};//65.5,4.5,65.5,0};
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//float camPos[4]={1,12.5,1.5,0};
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m_instancingRenderer->setCameraTargetPosition(camPos);
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m_instancingRenderer->setCameraDistance(320);
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}
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void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
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{
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int strideInBytes = 9*sizeof(float);
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//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int group=1;
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int mask=1;
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int index=0;
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int colIndex = 0;
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{
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if (1)
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{
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float radius = 41;
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int prevGraphicsShapeIndex = -1;
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{
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if (radius>=100)
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{
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int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
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int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
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prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices);
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} else
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{
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bool usePointSprites = false;
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if (usePointSprites)
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{
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int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
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int numIndices = sizeof(point_sphere_indices)/sizeof(int);
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prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
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} else
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{
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if (radius>=10)
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{
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int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
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int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
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prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices);
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} else
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{
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int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
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int numIndices = sizeof(low_sphere_indices)/sizeof(int);
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prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices);
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}
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}
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}
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}
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b3Vector4 colors[4] =
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{
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b3MakeVector4(1,0,0,1),
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b3MakeVector4(0,1,0,1),
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b3MakeVector4(0,1,1,1),
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b3MakeVector4(1,1,0,1),
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};
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int curColor = 1;
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//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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int colIndex = m_data->m_np->registerSphereShape(radius);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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float mass = 0.f;
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//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
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b3Vector3 position=b3MakeVector3(0,-41,0);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color = colors[curColor];
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curColor++;
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curColor&=3;
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b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
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index++;
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}
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}
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}
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void GpuCompoundPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
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{
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int index=0;
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b3Vector3 normal=b3MakeVector3(0,1,0);
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float constant=0.f;
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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b3Vector4 scaling=b3MakeVector4(400,1.,400,1);
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//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
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b3Vector3 position=b3MakeVector3(0,0,0);
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b3Quaternion orn(0,0,0,1);
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// b3Quaternion orn(b3Vector3(1,0,0),0.3);
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b3Vector4 color=b3MakeVector4(0,0,1,1);
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int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
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} |