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fix a lot of issues, add gyroscopic force integrator, add contact polygon winding, add some quaternion constraints, add more tests

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This commit is contained in:
Irlan
2017-03-24 18:49:41 -03:00
parent dd6ca355e9
commit 8defab9945
103 changed files with 3840 additions and 3355 deletions
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197
examples/testbed/framework/debug_draw.cpp
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@ -27,7 +27,21 @@
extern Camera g_camera;
extern DebugDraw* g_debugDraw;
Mat44 Camera::BuildProjectionMatrix() const
static B3_FORCE_INLINE b3Mat34 Convert34(const b3Transform& T)
{
return b3Mat34(T.rotation.x, T.rotation.y, T.rotation.z, T.position);
}
static B3_FORCE_INLINE b3Mat44 Convert44(const b3Transform& T)
{
return b3Mat44(
b3Vec4(T.rotation.x.x, T.rotation.x.y, T.rotation.x.z, 0.0f),
b3Vec4(T.rotation.y.x, T.rotation.y.y, T.rotation.y.z, 0.0f),
b3Vec4(T.rotation.z.x, T.rotation.z.y, T.rotation.z.z, 0.0f),
b3Vec4(T.position.x, T.position.y, T.position.z, 1.0f));
}
b3Mat44 Camera::BuildProjectionMatrix() const
{
float32 t = tan(0.5f * m_fovy);
float32 sy = 1.0f / t;
@ -39,11 +53,11 @@ Mat44 Camera::BuildProjectionMatrix() const
float32 sz = invRange * (m_zNear + m_zFar);
float32 tz = invRange * m_zNear * m_zFar;
Mat44 m;
m.x.Set(sx, 0.0f, 0.0f, 0.0f);
m.y.Set(0.0f, sy, 0.0f, 0.0f);
m.z.Set(0.0f, 0.0f, sz, -1.0f);
m.w.Set(0.0f, 0.0f, tz, 0.0f);
b3Mat44 m;
m.x = b3Vec4(sx, 0.0f, 0.0f, 0.0f);
m.y = b3Vec4(0.0f, sy, 0.0f, 0.0f);
m.z = b3Vec4(0.0f, 0.0f, sz, -1.0f);
m.w = b3Vec4(0.0f, 0.0f, tz, 0.0f);
return m;
}
@ -55,10 +69,10 @@ b3Transform Camera::BuildWorldTransform() const
return xf;
}
Mat44 Camera::BuildWorldMatrix() const
b3Mat44 Camera::BuildWorldMatrix() const
{
b3Transform xf = BuildWorldTransform();
return GetMat44(xf);
return Convert44(xf);
}
b3Transform Camera::BuildViewTransform() const
@ -69,10 +83,10 @@ b3Transform Camera::BuildViewTransform() const
return b3Inverse(xf);
}
Mat44 Camera::BuildViewMatrix() const
b3Mat44 Camera::BuildViewMatrix() const
{
b3Transform xf = BuildViewTransform();
return GetMat44(xf);
return Convert44(xf);
}
b3Vec2 Camera::ConvertWorldToScreen(const b3Vec3& pw) const
@ -150,11 +164,11 @@ static void PrintLog(GLuint id)
static GLuint CreateShader(const char* source, GLenum type)
{
GLuint shaderId = glCreateShader(type);
const char* sources[] = { source };
glShaderSource(shaderId, 1, sources, NULL);
glCompileShader(shaderId);
GLint status = GL_FALSE;
glGetShaderiv(shaderId, GL_COMPILE_STATUS, &status);
if (status == GL_FALSE)
@ -164,7 +178,7 @@ static GLuint CreateShader(const char* source, GLenum type)
glDeleteShader(shaderId);
return 0;
}
return shaderId;
}
@ -225,7 +239,7 @@ struct DrawPoints
m_sizeAttribute = 2;
glGenBuffers(3, m_vboIds);
glGenVertexArrays(1, &m_vaoId);
glBindVertexArray(m_vaoId);
@ -282,14 +296,14 @@ struct DrawPoints
glUseProgram(m_programId);
Mat44 m1 = g_camera.BuildViewMatrix();
Mat44 m2 = g_camera.BuildProjectionMatrix();
Mat44 m = m2 * m1;
b3Mat44 m1 = g_camera.BuildViewMatrix();
b3Mat44 m2 = g_camera.BuildProjectionMatrix();
b3Mat44 m = m2 * m1;
glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
glBindVertexArray(m_vaoId);
glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
glBufferSubData(GL_ARRAY_BUFFER, 0, m_count * sizeof(b3Vec3), m_vertices);
@ -321,13 +335,13 @@ struct DrawPoints
b3Color m_colors[e_vertexCapacity];
float32 m_sizes[e_vertexCapacity];
u32 m_count;
GLuint m_programId;
GLuint m_projectionUniform;
GLuint m_vertexAttribute;
GLuint m_colorAttribute;
GLuint m_sizeAttribute;
GLuint m_vboIds[3];
GLuint m_vaoId;
};
@ -361,8 +375,8 @@ struct DrawLines
m_projectionUniform = glGetUniformLocation(m_programId, "projectionMatrix");
m_vertexAttribute = 0;
m_colorAttribute = 1;
glGenVertexArrays(1, &m_vaoId);
glGenVertexArrays(1, &m_vaoId);
glGenBuffers(2, m_vboIds);
glBindVertexArray(m_vaoId);
@ -376,7 +390,7 @@ struct DrawLines
glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[1]);
glVertexAttribPointer(m_colorAttribute, 4, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
glBufferData(GL_ARRAY_BUFFER, e_vertexCapacity * sizeof(b3Color), m_colors, GL_DYNAMIC_DRAW);
AssertGL();
glBindVertexArray(0);
@ -413,9 +427,9 @@ struct DrawLines
glUseProgram(m_programId);
Mat44 m1 = g_camera.BuildViewMatrix();
Mat44 m2 = g_camera.BuildProjectionMatrix();
Mat44 m = m2 * m1;
b3Mat44 m1 = g_camera.BuildViewMatrix();
b3Mat44 m2 = g_camera.BuildProjectionMatrix();
b3Mat44 m = m2 * m1;
glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
glBindVertexArray(m_vaoId);
@ -427,7 +441,7 @@ struct DrawLines
glBufferSubData(GL_ARRAY_BUFFER, 0, m_count * sizeof(b3Color), m_colors);
glDrawArrays(GL_LINES, 0, m_count);
AssertGL();
glBindVertexArray(0);
@ -450,7 +464,7 @@ struct DrawLines
GLuint m_projectionUniform;
GLuint m_vertexAttribute;
GLuint m_colorAttribute;
GLuint m_vboIds[2];
GLuint m_vaoId;
};
@ -470,7 +484,7 @@ struct DrawTriangles
"{\n"
" vec3 La = vec3(0.5f, 0.5f, 0.5f);\n"
" vec3 Ld = vec3(0.5f, 0.5f, 0.5f);\n"
" vec3 L = vec3(0.0f, 0.0f, 1.0f);\n"
" vec3 L = vec3(0.0f, 0.3f, 0.7f);\n"
" vec3 Ma = v_color.xyz;\n"
" vec3 Md = v_color.xyz;\n"
" vec3 a = La * Ma;\n"
@ -498,7 +512,7 @@ struct DrawTriangles
glGenBuffers(3, m_vboIds);
glBindVertexArray(m_vaoId);
glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[0]);
glBufferData(GL_ARRAY_BUFFER, e_vertexCapacity * sizeof(b3Vec3), m_vertices, GL_DYNAMIC_DRAW);
glVertexAttribPointer(m_vertexAttribute, 3, GL_FLOAT, GL_FALSE, 0, BUFFER_OFFSET(0));
@ -518,7 +532,7 @@ struct DrawTriangles
glBindVertexArray(0);
glBindBuffer(GL_ARRAY_BUFFER, 0);
m_count = 0;
}
@ -551,9 +565,9 @@ struct DrawTriangles
glUseProgram(m_programId);
Mat44 m1 = g_camera.BuildViewMatrix();
Mat44 m2 = g_camera.BuildProjectionMatrix();
Mat44 m = m2 * m1;
b3Mat44 m1 = g_camera.BuildViewMatrix();
b3Mat44 m2 = g_camera.BuildProjectionMatrix();
b3Mat44 m = m2 * m1;
glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
@ -567,7 +581,7 @@ struct DrawTriangles
glBindBuffer(GL_ARRAY_BUFFER, m_vboIds[2]);
glBufferSubData(GL_ARRAY_BUFFER, 0, m_count * sizeof(b3Vec3), m_normals);
glDrawArrays(GL_TRIANGLES, 0, m_count);
AssertGL();
@ -578,7 +592,7 @@ struct DrawTriangles
m_count = 0;
}
enum
{
e_vertexCapacity = 3 * 512
@ -724,13 +738,13 @@ struct DrawWire
{
glUseProgram(m_programId);
Mat44 m1 = GetMat44(xf);
b3Mat44 m1 = Convert44(xf);
m1.x = radius * m1.x;
m1.y = radius * m1.y;
m1.z = radius * m1.z;
Mat44 m2 = g_camera.BuildViewMatrix();
Mat44 m3 = g_camera.BuildProjectionMatrix();
Mat44 m = m3 * m2 * m1;
b3Mat44 m2 = g_camera.BuildViewMatrix();
b3Mat44 m3 = g_camera.BuildProjectionMatrix();
b3Mat44 m = m3 * m2 * m1;
glUniformMatrix4fv(m_projectionUniform, 1, GL_FALSE, &m.x.x);
@ -759,8 +773,8 @@ struct DrawSolidSphere
{
enum
{
e_rings = 12,
e_sectors = 12,
e_rings = 18,
e_sectors = 18,
e_vertexCount = e_rings * e_sectors,
e_indexCount = (e_rings - 1) * (e_sectors - 1) * 6,
e_faceCount = e_indexCount / 3
@ -773,18 +787,31 @@ struct DrawSolidSphere
b3Vec3 vs[e_vertexCount];
b3Vec3 ns[e_vertexCount];
u32 vc = 0;
for (u32 r = 0; r < e_rings; r++)
{
for (u32 s = 0; s < e_sectors; s++)
{
float32 y = sin(-0.5f * B3_PI + B3_PI * r * R);
float32 x = cos(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
float32 z = sin(2.0f * B3_PI * s * S) * sin(B3_PI * r * R);
float32 a1 = 2.0f * B3_PI * float32(s) * S;
float32 c1 = cos(a1);
float32 s1 = sin(a1);
vs[vc].Set(x, y, z);
ns[vc].Set(x, y, z);
float32 a2 = -0.5f * B3_PI + B3_PI * float32(r) * R;
float32 s2 = sin(a2);
float32 a3 = B3_PI * float32(r) * R;
float32 s3 = sin(a3);
float32 x = c1 * s3;
float32 y = s2;
float32 z = s1 * s3;
b3Vec3 v(x, y, z);
v.Normalize();
vs[vc] = v;
ns[vc] = v;
++vc;
}
}
@ -843,7 +870,7 @@ struct DrawSolidCylinder
{
enum
{
e_segments = 24,
e_segments = 64,
e_vertexCount = e_segments * 6,
};
@ -851,12 +878,12 @@ struct DrawSolidCylinder
{
b3Vec3 vs[e_vertexCount];
b3Vec3 ns[e_vertexCount];
u32 vc = 0;
for (u32 i = 0; i < e_segments; ++i)
{
float32 t0 = 2.0f * B3_PI * (float32)i / (float32)e_segments;
float32 t1 = 2.0f * B3_PI * (float32)(i + 1) / (float32)e_segments;
float32 t0 = 2.0f * B3_PI * float32(i) / float32(e_segments);
float32 t1 = 2.0f * B3_PI * float32(i + 1) / float32(e_segments);
float32 c0 = cos(t0);
float32 s0 = sin(t0);
@ -868,22 +895,22 @@ struct DrawSolidCylinder
v1.x = s0;
v1.y = -0.5f;
v1.z = c0;
b3Vec3 v2;
v2.x = s1;
v2.y = -0.5f;
v2.z = c1;
b3Vec3 v3;
v3.x = s1;
v3.y = 0.5f;
v3.z = c1;
b3Vec3 v4;
v4.x = s0;
v4.y = 0.5f;
v4.z = c0;
b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
n.Normalize();
@ -966,7 +993,7 @@ struct DrawSolid
" gl_Position = projectionMatrix * vec4(v_position, 1.0f);\n"
" vec3 La = vec3(0.5f, 0.5f, 0.5f);\n"
" vec3 Ld = vec3(0.5f, 0.5f, 0.5f);\n"
" vec3 L = vec3(0.0f, 0.0f, 1.0f);\n"
" vec3 L = vec3(0.0f, 0.3f, 0.7f);\n"
" vec3 Ma = color.xyz;\n"
" vec3 Md = color.xyz;\n"
" vec3 a = La * Ma;\n"
@ -999,14 +1026,14 @@ struct DrawSolid
{
glUseProgram(m_programId);
Mat44 m1 = GetMat44(xf);
b3Mat44 m1 = Convert44(xf);
m1.x = radius * m1.x;
m1.y = height * m1.y;
m1.z = radius * m1.z;
Mat44 m2 = g_camera.BuildViewMatrix();
Mat44 m3 = g_camera.BuildProjectionMatrix();
Mat44 m = m3 * m2 * m1;
b3Mat44 m2 = g_camera.BuildViewMatrix();
b3Mat44 m3 = g_camera.BuildProjectionMatrix();
b3Mat44 m = m3 * m2 * m1;
glUniform4fv(m_colorUniform, 1, &c.r);
glUniformMatrix4fv(m_modelUniform, 1, GL_FALSE, &m1.x.x);
@ -1033,14 +1060,14 @@ struct DrawSolid
{
glUseProgram(m_programId);
Mat44 m1 = GetMat44(xf);
b3Mat44 m1 = Convert44(xf);
m1.x = radius * m1.x;
m1.y = radius * m1.y;
m1.z = radius * m1.z;
Mat44 m2 = g_camera.BuildViewMatrix();
Mat44 m3 = g_camera.BuildProjectionMatrix();
Mat44 m = m3 * m2 * m1;
b3Mat44 m2 = g_camera.BuildViewMatrix();
b3Mat44 m3 = g_camera.BuildProjectionMatrix();
b3Mat44 m = m3 * m2 * m1;
glUniform4fv(m_colorUniform, 1, &c.r);
glUniformMatrix4fv(m_modelUniform, 1, GL_FALSE, &m1.x.x);
@ -1071,7 +1098,7 @@ struct DrawSolid
GLuint m_normalAttribute;
DrawSolidSphere m_sphere;
DrawSolidCylinder m_cylinder;
DrawSolidCylinder m_cylinder;
};
DebugDraw::DebugDraw()
@ -1115,7 +1142,7 @@ void DebugDraw::DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const
m_triangles->Vertex(p1, color, normal);
m_triangles->Vertex(p2, color, normal);
m_triangles->Vertex(p3, color, normal);
b3Color edgeColor(0.0f, 0.0f, 0.0f, 1.0f);
DrawTriangle(p2, p3, p3, edgeColor);
}
@ -1126,7 +1153,7 @@ void DebugDraw::DrawPolygon(const b3Vec3* vertices, u32 count, const b3Color& co
for (u32 i = 0; i < count; ++i)
{
b3Vec3 p2 = vertices[i];
m_lines->Vertex(p1, color);
m_lines->Vertex(p2, color);
@ -1143,7 +1170,7 @@ void DebugDraw::DrawSolidPolygon(const b3Vec3& normal, const b3Vec3* vertices, u
{
b3Vec3 p2 = vertices[i];
b3Vec3 p3 = vertices[i + 1];
m_triangles->Vertex(p1, fillColor, normal);
m_triangles->Vertex(p2, fillColor, normal);
m_triangles->Vertex(p3, fillColor, normal);
@ -1171,7 +1198,7 @@ void DebugDraw::DrawCircle(const b3Vec3& normal, const b3Vec3& center, float32 r
}
n1.Normalize();
// Build a quaternion to rotate the tangent about the normal.
u32 kEdgeCount = 20;
float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
@ -1185,7 +1212,7 @@ void DebugDraw::DrawCircle(const b3Vec3& normal, const b3Vec3& center, float32 r
m_lines->Vertex(p1, color);
m_lines->Vertex(p2, color);
n1 = n2;
p1 = p2;
}
@ -1195,7 +1222,7 @@ void DebugDraw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, floa
{
b3Color fillColor(color.r, color.g, color.b, color.a);
b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
// Build a tangent vector to normal.
b3Vec3 u = b3Cross(normal, b3Vec3(1.0f, 0.0f, 0.0f));
b3Vec3 v = b3Cross(normal, b3Vec3(0.0f, 1.0f, 0.0f));
@ -1223,7 +1250,7 @@ void DebugDraw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, floa
{
b3Vec3 n2 = b3Mul(q, n1);
b3Vec3 p2 = center + radius * n2;
m_triangles->Vertex(center, fillColor, normal);
m_triangles->Vertex(p1, fillColor, normal);
m_triangles->Vertex(p2, fillColor, normal);
@ -1281,35 +1308,29 @@ void DebugDraw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
b3Vec3 vs[8];
// Face 1
vs[0] = lower;
vs[1] = b3Vec3(lower.x, upper.y, lower.z);
vs[2] = b3Vec3(upper.x, upper.y, lower.z);
vs[3] = b3Vec3(upper.x, lower.y, lower.z);
// Face 2
vs[4] = upper;
vs[5] = b3Vec3(upper.x, lower.y, upper.z);
vs[6] = b3Vec3(lower.x, lower.y, upper.z);
vs[7] = b3Vec3(lower.x, upper.y, upper.z);
// Face 1 edges
DrawSegment(vs[0], vs[1], color);
DrawSegment(vs[1], vs[2], color);
DrawSegment(vs[2], vs[3], color);
DrawSegment(vs[3], vs[0], color);
// Face 2 edges
DrawSegment(vs[4], vs[5], color);
DrawSegment(vs[5], vs[6], color);
DrawSegment(vs[6], vs[7], color);
DrawSegment(vs[7], vs[4], color);
// Face 3 edges
DrawSegment(vs[2], vs[4], color);
DrawSegment(vs[5], vs[3], color);
// Face 4 edges
DrawSegment(vs[6], vs[0], color);
DrawSegment(vs[1], vs[7], color);
}
@ -1349,9 +1370,15 @@ void DebugDraw::DrawCapsule(const b3CapsuleShape* s, const b3Color& c, const b3T
if (height > 0.0f)
{
{
b3Mat33 R;
R.y = (1.0f / height) * (c1 - c2);
R.z = b3Perp(R.y);
R.x = b3Cross(R.y, R.z);
b3Transform xfc;
xfc.rotation = xf.rotation;
xfc.position = xf * ( 0.5f * (c1 + c2) );
xfc.position = xf * (0.5f * (c1 + c2));
xfc.rotation = xf.rotation * R;
m_solid->DrawCylinder(radius, height, c, xfc);
}
@ -1409,13 +1436,13 @@ void DebugDraw::DrawMesh(const b3MeshShape* s, const b3Color& c, const b3Transfo
b3Vec3 n1 = b3Cross(p2 - p1, p3 - p1);
n1.Normalize();
m_triangles->Vertex(p1, c, n1);
m_triangles->Vertex(p2, c, n1);
m_triangles->Vertex(p3, c, n1);
b3Vec3 n2 = -n1;
m_triangles->Vertex(p1, c, n2);
m_triangles->Vertex(p3, c, n2);
m_triangles->Vertex(p2, c, n2);
@ -1481,7 +1508,7 @@ void DebugDraw::Draw(const b3World& world)
DrawShape(s, c, xf);
}
}
g_debugDraw->Submit();
}