eeb78b8d45
move btShapeHull and btConvexHull into its own library in Extras/ConvexHull (it allocates memory using mem/delete and refactoring into using btAlignedAlloc/Free takes too much time) fix heightfield / btOptimizedBvh for quantization, so that raycast can use quantized aabb (clamp up for maxima and down for minima) work-in-progress (update projectfiles etc)
162 lines
4.7 KiB
C++
162 lines
4.7 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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/*
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LinearConvexCastDemo implements an efficient continuous collision detection algorithm.
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Both linear and angular velocities are supported. Gjk or Simplex based methods.
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Motion using Exponential Map.
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Comparison with Screwing Motion.
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Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
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*/
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///Low level demo, doesn't include btBulletCollisionCommon.h
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#include "LinearMath/btQuaternion.h"
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#include "LinearMath/btTransform.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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#include "GL_ShapeDrawer.h"
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#include "LinearConvexCastDemo.h"
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#include "GlutStuff.h"
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static btVoronoiSimplexSolver sVoronoiSimplexSolver;
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btSimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;
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static float yaw=0.f,pitch=0.f,roll=0.f;
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static const int maxNumObjects = 4;
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static const int numObjects = 2;
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static btPolyhedralConvexShape* shapePtr[maxNumObjects];
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static btTransform tr[numObjects];
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void LinearConvexCastDemo::initPhysics()
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{
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setCameraDistance(10.f);
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tr[0].setIdentity();
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tr[0].setOrigin( btVector3( 0.0f, 5.5f, 0.0f ) );
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tr[1].setIdentity();
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tr[1].setOrigin( btVector3( 0.0f, 0.0f, 0.0f ) );
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// Pyramide
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float r = 1.0f;
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float h = 2.0f;
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btConvexHullShape* shapeA = new btConvexHullShape;
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shapeA->addPoint( btVector3( 0.0f, 0.75f * h, 0.0f ) );
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shapeA->addPoint( btVector3( -r, -0.25f * h, r ) );
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shapeA->addPoint( btVector3( r, -0.25f * h, r ) );
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shapeA->addPoint( btVector3( r, -0.25f * h, -r ) );
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shapeA->addPoint( btVector3( -r, -0.25f * h, -r ) );
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// Triangle
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btConvexHullShape* shapeB = new btConvexHullShape;
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shapeB->addPoint( btVector3( 0.0f, 1.0f, 0.0f ) );
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shapeB->addPoint( btVector3( 1.0f, -1.0f, 0.0f ) );
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shapeB->addPoint( btVector3( -1.0f, -1.0f, 0.0f ) );
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shapePtr[0] = shapeA;
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shapePtr[1] = shapeB;
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shapePtr[0]->setMargin( 0.01f );
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shapePtr[1]->setMargin( 0.01f );
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}
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//to be implemented by the demo
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void LinearConvexCastDemo::clientMoveAndDisplay()
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{
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displayCallback();
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}
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LinearConvexCastDemo::~LinearConvexCastDemo()
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{
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delete shapePtr[0];
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delete shapePtr[1];
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}
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void LinearConvexCastDemo::displayCallback(void)
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{
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updateCamera();
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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GL_ShapeDrawer::drawCoordSystem();
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btTransform toA, toB;
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toA.setIdentity();
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toA.setOrigin( btVector3( 0.0f, 1.5f, 0.0f ) );
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toB.setIdentity();
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toB.setOrigin( btVector3( 0.0f, 4.0f, 0.0f ) );
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gGjkSimplexSolver.reset();
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btGjkConvexCast convexCaster(shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
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//btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
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btConvexCast::CastResult result;
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convexCaster.calcTimeOfImpact( tr[ 0 ], toA, tr[ 1 ], toB, result );
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btScalar m1[16], m2[16];
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tr[ 0 ].getOpenGLMatrix( m1 );
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tr[ 1 ].getOpenGLMatrix( m2 );
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m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() );
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m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() );
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btVector3 originA, originB;
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originA.setInterpolate3( tr[ 0 ].getOrigin(), toA.getOrigin(), result.m_fraction );
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originB.setInterpolate3( tr[ 1 ].getOrigin(), toB.getOrigin(), result.m_fraction );
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btTransform A = tr[ 0 ];
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A.setOrigin( originA );
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btTransform B = tr[ 1 ];
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B.setOrigin( originB );
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A.getOpenGLMatrix( m1 );
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B.getOpenGLMatrix( m2 );
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m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 1, 0 ), getDebugMode() );
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m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 1, 0 ), getDebugMode() );
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glFlush();
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glutSwapBuffers();
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}
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