eff4fe8ec8
boxbox reports contact point in B, rather then average point box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin' integrated changed for ODE quickstep solver replaced inline with SIMD_FORCE_INLINE some minor optimizations in the btSequentialImpulseConstraintSolver added cone drawing (for X,Y,Z cones)
598 lines
16 KiB
C++
598 lines
16 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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#endif
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//think different
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#if defined(__APPLE__) && !defined (VMDMESA)
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#endif
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#include "GlutStuff.h"
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#include "GL_ShapeDrawer.h"
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#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
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#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btConeShape.h"
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#include "BulletCollision/CollisionShapes/btCylinderShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
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#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
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#include "LinearMath/btIDebugDraw.h"
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//for debugmodes
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#include "BMF_Api.h"
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#include <stdio.h> //printf debugging
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//#define USE_DISPLAY_LISTS 1
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#ifdef USE_DISPLAY_LISTS
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#include <map>
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using namespace std;
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//Set for storing Display list per trimesh
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struct TRIMESH_KEY
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{
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btCollisionShape* m_shape;
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GLuint m_dlist;//OpenGL display list
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};
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typedef map<unsigned long,TRIMESH_KEY> TRIMESH_KEY_MAP;
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typedef pair<unsigned long,TRIMESH_KEY> TRIMESH_KEY_PAIR;
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TRIMESH_KEY_MAP g_display_lists;
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class GlDisplaylistDrawcallback : public btTriangleCallback
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{
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public:
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virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
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{
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btVector3 diff1 = triangle[1] - triangle[0];
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btVector3 diff2 = triangle[2] - triangle[0];
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btVector3 normal = diff1.cross(diff2);
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normal.normalize();
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glBegin(GL_TRIANGLES);
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glColor3f(0, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glColor3f(0, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glEnd();
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/*glBegin(GL_LINES);
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glColor3f(1, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(1, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(1, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();*/
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}
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};
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GLuint OGL_get_displaylist_for_shape(btCollisionShape * shape)
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{
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TRIMESH_KEY_MAP::iterator map_iter;
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unsigned long key = (unsigned long)shape;
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map_iter = g_display_lists.find(key);
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if(map_iter!=g_display_lists.end())
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{
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return map_iter->second.m_dlist;
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}
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return 0;
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}
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void OGL_displaylist_clean()
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{
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TRIMESH_KEY_MAP::iterator map_iter,map_itend;
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map_iter = g_display_lists.begin();
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while(map_iter!=map_itend)
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{
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glDeleteLists(map_iter->second.m_dlist,1);
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map_iter++;
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}
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g_display_lists.clear();
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}
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void OGL_displaylist_register_shape(btCollisionShape * shape)
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{
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btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
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btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
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GlDisplaylistDrawcallback drawCallback;
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TRIMESH_KEY dlist;
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dlist.m_dlist = glGenLists(1);
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dlist.m_shape = shape;
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unsigned long key = (unsigned long)shape;
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g_display_lists.insert(TRIMESH_KEY_PAIR(key,dlist));
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glNewList(dlist.m_dlist,GL_COMPILE);
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glEnable(GL_CULL_FACE);
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glCullFace(GL_BACK);
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if (shape->isConcave())
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{
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btConcaveShape* concaveMesh = (btConcaveShape*) shape;
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//todo pass camera, for some culling
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concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
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}
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glDisable(GL_CULL_FACE);
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glEndList();
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}
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#endif //USE_DISPLAY_LISTS
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void GL_ShapeDrawer::drawCoordSystem() {
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glBegin(GL_LINES);
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glColor3f(1, 0, 0);
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glVertex3d(0, 0, 0);
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glVertex3d(1, 0, 0);
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glColor3f(0, 1, 0);
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glVertex3d(0, 0, 0);
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glVertex3d(0, 1, 0);
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glColor3f(0, 0, 1);
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glVertex3d(0, 0, 0);
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glVertex3d(0, 0, 1);
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glEnd();
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}
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class GlDrawcallback : public btTriangleCallback
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{
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public:
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bool m_wireframe;
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GlDrawcallback()
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:m_wireframe(false)
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{
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}
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virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
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{
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(void)triangleIndex;
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(void)partId;
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if (m_wireframe)
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{
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glBegin(GL_LINES);
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glColor3f(1, 0, 0);
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 1, 0);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 0, 1);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();
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} else
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{
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glBegin(GL_TRIANGLES);
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glColor3f(1, 0, 0);
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glColor3f(0, 1, 0);
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 0, 1);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glEnd();
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}
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}
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};
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class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
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{
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public:
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virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
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{
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(void)triangleIndex;
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(void)partId;
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glBegin(GL_TRIANGLES);//LINES);
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glColor3f(1, 0, 0);
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 1, 0);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 0, 1);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();
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}
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};
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void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
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{
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glPushMatrix();
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switch (upAxis)
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{
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case 0:
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glRotatef(-90.0, 0.0, 1.0, 0.0);
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glTranslatef(0.0, 0.0, -halfHeight);
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break;
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case 1:
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glRotatef(-90.0, 1.0, 0.0, 0.0);
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glTranslatef(0.0, 0.0, -halfHeight);
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break;
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case 2:
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glTranslatef(0.0, 0.0, -halfHeight);
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break;
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default:
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{
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assert(0);
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}
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}
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GLUquadricObj *quadObj = gluNewQuadric();
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//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
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//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
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//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
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gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
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gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
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gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
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glPopMatrix();
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gluDeleteQuadric(quadObj);
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}
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void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode)
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{
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glPushMatrix();
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btglMultMatrix(m);
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if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
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{
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const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
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const btConvexShape* convexShape = scalingShape->getChildShape();
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float scalingFactor = (float)scalingShape->getUniformScalingFactor();
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{
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btScalar tmpScaling[4][4]={scalingFactor,0,0,0,
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0,scalingFactor,0,0,
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0,0,scalingFactor,0,
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0,0,0,1};
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drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode);
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}
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glPopMatrix();
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return;
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}
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if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
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{
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
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for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
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{
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btTransform childTrans = compoundShape->getChildTransform(i);
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const btCollisionShape* colShape = compoundShape->getChildShape(i);
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btScalar childMat[16];
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childTrans.getOpenGLMatrix(childMat);
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drawOpenGL(childMat,colShape,color,debugMode);
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}
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} else
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{
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//drawCoordSystem();
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//glPushMatrix();
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glEnable(GL_COLOR_MATERIAL);
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glColor3f(color.x(),color.y(), color.z());
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bool useWireframeFallback = true;
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if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
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{
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switch (shape->getShapeType())
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{
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case BOX_SHAPE_PROXYTYPE:
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{
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const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
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btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
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glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
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glutSolidCube(1.0);
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useWireframeFallback = false;
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break;
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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case TETRAHEDRAL_SHAPE_PROXYTYPE:
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{
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//todo:
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// useWireframeFallback = false;
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break;
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}
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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break;
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case SPHERE_SHAPE_PROXYTYPE:
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{
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const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
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float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
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glutSolidSphere(radius,10,10);
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useWireframeFallback = false;
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break;
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
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float radius = capsuleShape->getRadius();
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float halfHeight = capsuleShape->getHalfHeight();
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int upAxis = 1;
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drawCylinder(radius,halfHeight,upAxis);
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glPushMatrix();
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glTranslatef(0.0, -halfHeight,0.0);
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glutSolidSphere(radius,10,10);
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glTranslatef(0.0, 2*halfHeight,0.0);
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glutSolidSphere(radius,10,10);
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glPopMatrix();
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useWireframeFallback = false;
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break;
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}
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case MULTI_SPHERE_SHAPE_PROXYTYPE:
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{
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break;
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}
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case CONE_SHAPE_PROXYTYPE:
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{
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const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
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int upIndex = coneShape->getConeUpIndex();
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float radius = coneShape->getRadius();//+coneShape->getMargin();
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float height = coneShape->getHeight();//+coneShape->getMargin();
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switch (upIndex)
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{
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case 0:
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glRotatef(90.0, 0.0, 1.0, 0.0);
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break;
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case 1:
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glRotatef(-90.0, 1.0, 0.0, 0.0);
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break;
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case 2:
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break;
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default:
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{
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}
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};
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glTranslatef(0.0, 0.0, -0.5*height);
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glutSolidCone(radius,height,10,10);
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useWireframeFallback = false;
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break;
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}
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case CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
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{
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useWireframeFallback = false;
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break;
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}
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case CONVEX_SHAPE_PROXYTYPE:
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
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int upAxis = cylinder->getUpAxis();
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float radius = cylinder->getRadius();
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float halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
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drawCylinder(radius,halfHeight,upAxis);
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break;
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}
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default:
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{
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}
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};
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}
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if (useWireframeFallback)
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{
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/// for polyhedral shapes
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if (shape->isPolyhedral())
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{
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btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
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glBegin(GL_LINES);
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int i;
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for (i=0;i<polyshape->getNumEdges();i++)
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{
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btPoint3 a,b;
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polyshape->getEdge(i,a,b);
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glVertex3f(a.getX(),a.getY(),a.getZ());
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glVertex3f(b.getX(),b.getY(),b.getZ());
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}
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glEnd();
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if (debugMode==btIDebugDraw::DBG_DrawFeaturesText)
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{
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glRasterPos3f(0.0, 0.0, 0.0);
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//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
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glColor3f(1.f, 1.f, 1.f);
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for (i=0;i<polyshape->getNumVertices();i++)
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{
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btPoint3 vtx;
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polyshape->getVertex(i,vtx);
|
|
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
|
|
char buf[12];
|
|
sprintf(buf," %d",i);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
}
|
|
|
|
for (i=0;i<polyshape->getNumPlanes();i++)
|
|
{
|
|
btVector3 normal;
|
|
btPoint3 vtx;
|
|
polyshape->getPlane(normal,vtx,i);
|
|
btScalar d = vtx.dot(normal);
|
|
|
|
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
|
|
char buf[12];
|
|
sprintf(buf," plane %d",i);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
}
|
|
|
|
|
|
#ifdef USE_DISPLAY_LISTS
|
|
|
|
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
|
|
{
|
|
GLuint dlist = OGL_get_displaylist_for_shape((btCollisionShape * )shape);
|
|
if (dlist)
|
|
{
|
|
glCallList(dlist);
|
|
}
|
|
else
|
|
{
|
|
#else
|
|
if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
|
|
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
|
|
//btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
|
//btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
|
|
|
//todo pass camera, for some culling
|
|
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
|
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
|
|
|
|
GlDrawcallback drawCallback;
|
|
drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
|
|
|
|
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
|
|
|
|
}
|
|
#endif
|
|
|
|
#ifdef USE_DISPLAY_LISTS
|
|
}
|
|
}
|
|
#endif
|
|
|
|
if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
|
|
|
|
//todo: pass camera for some culling
|
|
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
|
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
|
|
TriangleGlDrawcallback drawCallback;
|
|
convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
|
|
|
|
}
|
|
|
|
|
|
glDisable(GL_DEPTH_BUFFER_BIT);
|
|
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
|
|
if (debugMode&btIDebugDraw::DBG_DrawText)
|
|
{
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getName());
|
|
}
|
|
|
|
if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
|
|
{
|
|
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
|
|
}
|
|
glEnable(GL_DEPTH_BUFFER_BIT);
|
|
|
|
// glPopMatrix();
|
|
}
|
|
glPopMatrix();
|
|
|
|
}
|