bullet3/demo/gpudemo/rigidbody/GpuConvexScene.cpp

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

#include "OpenGLWindow/GLInstancingRenderer.h"
#include "BulletCommon/btQuaternion.h"
#include "OpenGLWindow/btgWindowInterface.h"
#include "gpu_broadphase/host/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "basic_initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "parallel_primitives/host/btLauncherCL.h"
#include "gpu_rigidbody/host/b3GpuRigidBodyPipeline.h"
#include "gpu_rigidbody/host/b3GpuNarrowPhase.h"
#include "gpu_rigidbody/host/b3Config.h"
#include "GpuRigidBodyDemoInternalData.h"
#include "../gwenUserInterface.h"


void GpuConvexScene::setupScene(const ConstructionInfo& ci)
{

	int index=0;
	createStaticEnvironment(ci);

	index+=createDynamicsObjects(ci);

	
	float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
	//float camPos[4]={1,12.5,1.5,0};
	m_instancingRenderer->setCameraTargetPosition(camPos);
	m_instancingRenderer->setCameraDistance(40);


	char msg[1024];
	int numInstances = index;
	sprintf(msg,"Num objects = %d",numInstances);
	ci.m_gui->setStatusBarMessage(msg,true);
}

int	GpuConvexScene::createDynamicsObjects(const ConstructionInfo& ci)
{
	int strideInBytes = 9*sizeof(float);
	int numVertices = sizeof(barrel_vertices)/strideInBytes;
	int numIndices = sizeof(barrel_indices)/sizeof(int);
	return createDynamicsObjects2(ci,barrel_vertices,numVertices,barrel_indices,numIndices);
}

int	GpuBoxPlaneScene::createDynamicsObjects(const ConstructionInfo& ci)
{
	int strideInBytes = 9*sizeof(float);
	int numVertices = sizeof(cube_vertices)/strideInBytes;
	int numIndices = sizeof(cube_indices)/sizeof(int);
	return createDynamicsObjects2(ci,cube_vertices,numVertices,cube_indices,numIndices);
}


int	GpuConvexScene::createDynamicsObjects2(const ConstructionInfo& ci, const float* vertices, int numVertices, const int* indices, int numIndices)
{
	int strideInBytes = 9*sizeof(float);

	int shapeId = ci.m_instancingRenderer->registerShape(&vertices[0],numVertices,indices,numIndices);
	int group=1;
	int mask=1;
	int index=0;
	

	
	

	{
		btVector4 colors[4] = 
	{
		btVector4(1,0,0,1),
		btVector4(0,1,0,1),
		btVector4(0,1,1,1),
		btVector4(1,1,0,1),
	};
		
		int curColor = 0;
		float scaling[4] = {1,1,1,1};
		int colIndex = m_data->m_np->registerConvexHullShape(&vertices[0],strideInBytes,numVertices, scaling);
		//int colIndex = m_data->m_np->registerSphereShape(1);
		for (int i=0;i<ci.arraySizeX;i++)
		{
			for (int j=0;j<ci.arraySizeY;j++)
			{
				for (int k=0;k<ci.arraySizeZ;k++)
				{
					float mass = 1.f;

					btVector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
					//btVector3 position(i*2.2,1+j*2.,k*2.2);
					
					btQuaternion orn(0,0,0,1);
				
					btVector4 color = colors[curColor];
					curColor++;
					curColor&=3;
					btVector4 scaling(1,1,1,1);
					int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
					int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index);
				
					index++;
				}
			}
		}
	}
	return index;
}


void GpuConvexScene::createStaticEnvironment(const ConstructionInfo& ci)
{
	int strideInBytes = 9*sizeof(float);
	int numVertices = sizeof(cube_vertices)/strideInBytes;
	int numIndices = sizeof(cube_indices)/sizeof(int);
	int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
	int group=1;
	int mask=1;
	int index=0;
	

	{
		btVector4 scaling(400,1,400,1);
		int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
		btVector3 position(0,0,0);
		btQuaternion orn(0,0,0,1);
				
		btVector4 color(0,0,1,1);
		
		int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
		int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index);
	
	}
}

void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
{
	int index=0;
	btVector3 normal(0,1,0);
	float constant=0.f;
	int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
	btVector3 position(0,0,0);
	btQuaternion orn(0,0,0,1);
	//		btQuaternion orn(btVector3(1,0,0),0.3);
	btVector4 color(0,0,1,1);
	btVector4 scaling(100,0.001,100,1);
	int strideInBytes = 9*sizeof(float);
	int numVertices = sizeof(cube_vertices)/strideInBytes;
	int numIndices = sizeof(cube_indices)/sizeof(int);
	int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
	
	
	int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
	int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index);

}