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ConcavePhysicsDemo.cpp

/*
 * Copyright (c) 2005 Erwin Coumans <www.erwincoumans.com>
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.
 */

#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "MyMotionState.h"
//#include "GL_LineSegmentShape.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/Simplex1to4Shape.h"
#include "Dynamics/RigidBody.h"
#include "ConstraintSolver/SimpleConstraintSolver.h"
#include "ConstraintSolver/OdeConstraintSolver.h"
#include "CollisionDispatch/ToiContactDispatcher.h"
#include "BroadphaseCollision/SimpleBroadphase.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"

#include "IDebugDraw.h"
//#include "GLDebugDrawer.h"

#include "PHY_Pro.h"


#include <GL/glut.h>
#include "GL_ShapeDrawer.h"

#include "GlutStuff.h"
      

const int numObjects = 80;

const int maxNumObjects = 100;
MyMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
int   shapeIndex[maxNumObjects];
CcdPhysicsEnvironment* physicsEnvironmentPtr = 0;

TriangleMesh meshData; 
StridingMeshInterface* ptr;


//GL_LineSegmentShape shapeE(SimdPoint3(-50,0,0),
//                                     SimdPoint3(50,0,0));
CollisionShape* shapePtr[5] = 
{
      new BoxShape (SimdVector3(100,10,100)),
      new BoxShape (SimdVector3(2,2,2)),
      new BU_Simplex1to4(SimdPoint3(-2,-2,-2),SimdPoint3(2,-2,-2),SimdPoint3(-2,2,-2),SimdPoint3(0,0,2)),


      new BoxShape (SimdVector3(1,3,1)),
#ifdef DEBUG_MESH
      new TriangleMeshShape(&meshData),
#else
      NULL,
#endif
      //(&meshData)

};

static const int NUM_VERTICES = 5;
static const int NUM_TRIANGLES=4;

SimdVector3 gVertices[NUM_VERTICES];
int   gIndices[NUM_TRIANGLES*3];

int main(int argc,char** argv)
{

      setCameraDistance(30.f);

#define TRISIZE 10.f
#ifdef DEBUG_MESH
      SimdVector3 vert0(-TRISIZE ,0,TRISIZE );
      SimdVector3 vert1(TRISIZE ,10,TRISIZE );
      SimdVector3 vert2(TRISIZE ,0,-TRISIZE );
      meshData.AddTriangle(vert0,vert1,vert2);
      SimdVector3 vert3(-TRISIZE ,0,TRISIZE );
      SimdVector3 vert4(TRISIZE ,0,-TRISIZE );
      SimdVector3 vert5(-TRISIZE ,0,-TRISIZE );
      meshData.AddTriangle(vert3,vert4,vert5);
#else
#ifdef ODE_MESH
      SimdVector3 Size = SimdVector3(15.f,15.f,12.5f);
      
  gVertices[0][0] = -Size[0];
  gVertices[0][1] = Size[2];
  gVertices[0][2] = -Size[1];
  
  gVertices[1][0] = Size[0];
  gVertices[1][1] = Size[2];
  gVertices[1][2] = -Size[1];
  
  gVertices[2][0] = Size[0];
  gVertices[2][1] = Size[2];
  gVertices[2][2] = Size[1];  

  gVertices[3][0] = -Size[0];
  gVertices[3][1] = Size[2];
  gVertices[3][2] = Size[1];
  
  gVertices[4][0] = 0;
  gVertices[4][1] = 0;
  gVertices[4][2] = 0;
  
  gIndices[0] = 0;
  gIndices[1] = 1;
  gIndices[2] = 4;
  
  gIndices[3] = 1;
  gIndices[4] = 2;
  gIndices[5] = 4;
  
  gIndices[6] = 2;
  gIndices[7] = 3;
  gIndices[8] = 4;
  
  gIndices[9] = 3;
  gIndices[10] = 0;
  gIndices[11] = 4;

  int vertStride = sizeof(SimdVector3);
  int indexStride = 3*sizeof(int);

      TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(NUM_TRIANGLES,
            gIndices,
            indexStride,
            NUM_VERTICES,(float*) &gVertices[0].x(),vertStride);

      //shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
      shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
#else

      int vertStride = sizeof(SimdVector3);
      int indexStride = 3*sizeof(int);

      const int NUM_VERTS_X = 50;
      const int NUM_VERTS_Y = 50;
      const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
      
      const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);

      SimdVector3*      gVertices = new SimdVector3[totalVerts];
      int*  gIndices = new int[totalTriangles*3];

      for (int i=0;i<NUM_VERTS_X;i++)
      {
            for (int j=0;j<NUM_VERTS_Y;j++)
            {
                  gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*10.f,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*10.f);
            }
      }

      int index=0;
      for (int i=0;i<NUM_VERTS_X-1;i++)
      {
            for (int j=0;j<NUM_VERTS_Y-1;j++)
            {
                  gIndices[index++] = j*NUM_VERTS_X+i;
                  gIndices[index++] = j*NUM_VERTS_X+i+1;
                  gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;

                  gIndices[index++] = j*NUM_VERTS_X+i;
                  gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
                  gIndices[index++] = (j+1)*NUM_VERTS_X+i;
            }
      }
      
      TriangleIndexVertexArray* indexVertexArrays = new TriangleIndexVertexArray(totalTriangles,
            gIndices,
            indexStride,
            totalVerts,(float*) &gVertices[0].x(),vertStride);

      //shapePtr[4] = new TriangleMeshShape(indexVertexArrays);
      shapePtr[4] = new BvhTriangleMeshShape(indexVertexArrays);
#endif

      

#endif//DEBUG_MESH


//    GLDebugDrawer     debugDrawer;

      //ConstraintSolver* solver = new SimpleConstraintSolver;
      ConstraintSolver* solver = new OdeConstraintSolver;

      ToiContactDispatcher* dispatcher = new    ToiContactDispatcher(solver);
            
      BroadphaseInterface* broadphase = new SimpleBroadphase();


      physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
      

      physicsEnvironmentPtr->setGravity(0,-10,3);
      PHY_ShapeProps shapeProps;
      
      shapeProps.m_do_anisotropic = false;
      shapeProps.m_do_fh = false;
      shapeProps.m_do_rot_fh = false;
      shapeProps.m_friction_scaling[0] = 1.;
      shapeProps.m_friction_scaling[1] = 1.;
      shapeProps.m_friction_scaling[2] = 1.;

      shapeProps.m_inertia = 1.f;
      shapeProps.m_lin_drag = 0.95999998f;
      shapeProps.m_ang_drag = 0.89999998f;
      shapeProps.m_mass = 1.0f;
      
      PHY_MaterialProps materialProps;
      materialProps.m_friction = 0.f;// 50.5f;
      materialProps.m_restitution = 0.1f;

      CcdConstructionInfo ccdObjectCi;
      ccdObjectCi.m_friction = 0.f;//50.5f;

      ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
      ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;

      SimdTransform tr;
      tr.setIdentity();

      int i;
      for (i=0;i<numObjects;i++)
      {
            if (i>0)
                  shapeIndex[i] = 1;//2 = tetrahedron
            else
                  shapeIndex[i] = 4;
      }
      for (i=0;i<numObjects;i++)
      {
            shapeProps.m_shape = shapePtr[shapeIndex[i]];

            bool isDyna = i>0;
            
            if (!i)
            {
                  //SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
                  //ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
                  //ms[i].setWorldPosition(0,-10,0);
            } else
            {
                        ms[i].setWorldPosition(10,i*15-10,0);
            }
            
//either create a few stacks, to show several islands, or create 1 large stack, showing stability
            //ms[i].setWorldPosition((i*5) % 30,i*15-10,0);
            

            ccdObjectCi.m_MotionState = &ms[i];
            ccdObjectCi.m_gravity = SimdVector3(0,0,0);
            ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
            if (!isDyna)
            {
                  shapeProps.m_mass = 0.f;
                  ccdObjectCi.m_mass = shapeProps.m_mass;
            }
            else
            {
                  shapeProps.m_mass = 1.f;
                  ccdObjectCi.m_mass = shapeProps.m_mass;
            }

            
            SimdVector3 localInertia;
            if (shapeProps.m_mass>0.f)
            {
                  shapePtr[shapeIndex[i]]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
            } else
            {
                  localInertia.setValue(0.f,0.f,0.f);

            }
            ccdObjectCi.m_localInertiaTensor = localInertia;

            ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];

            ccdObjectCi.m_broadphaseHandle = 0;

            physObjects[i]= new CcdPhysicsController( ccdObjectCi);
            physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);

            if (i==0)
            {
            //    physObjects[i]->SetAngularVelocity(0,0,-2,true);
            //    physObjects[i]->GetRigidBody()->setDamping(0,0);
            }

            //for the line that represents the AABB extents
//    physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);

            
      }
      return glutmain(argc, argv,640,480,"Static Concave Mesh Demo");
}



void renderme()
{
      float m[16];
      int i;

      for (i=0;i<numObjects;i++)
      {
            SimdTransform transA;
            transA.setIdentity();
            
            float pos[3];
            float rot[4];

            ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
            ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);

            SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
            transA.setRotation(q);

            SimdPoint3 dpos;
            dpos.setValue(pos[0],pos[1],pos[2]);

            transA.setOrigin( dpos );
            transA.getOpenGLMatrix( m );
            
            SimdVector3 wireColor(0.f,0.f,1.f); //wants deactivation

            ///color differently for active, sleeping, wantsdeactivation states
            if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
            {
                  wireColor = SimdVector3 (1.f,0.f,0.f);
            }
            if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
            {
                  wireColor = SimdVector3 (0.f,1.f,0.f);
            }

            char  extraDebug[125];
            //sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
            shapePtr[shapeIndex[i]]->SetExtraDebugInfo(extraDebug);
            GL_ShapeDrawer::DrawOpenGL(m,shapePtr[shapeIndex[i]],wireColor,getDebugMode());
      }

}
void clientMoveAndDisplay()
{
       glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

      float deltaTime = 1.f/60.f;

      physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
      
      renderme();

    glFlush();
    glutSwapBuffers();

}




void clientDisplay(void) {

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

      renderme();

    glFlush();
    glutSwapBuffers();
}


void clientResetScene()
{

}

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