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improve friction quality, add shader-only support, improve debug drawing facilities, fix couple things

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This commit is contained in:
Irlan
2017-02-07 14:31:52 -02:00
parent d59b67c3c3
commit a346a1472d
30 changed files with 1795 additions and 20880 deletions
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87
include/bounce/collision/shapes/mesh.h
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@ -19,31 +19,10 @@
#ifndef B3_MESH_H
#define B3_MESH_H
#include <bounce/common/geometry.h>
#include <bounce/collision/trees/static_tree.h>
// A triangle in indexed form.
struct b3Triangle
{
// Does nothing for performance.
b3Triangle() { }
// Set this triangle from three vertices.
b3Triangle(u32 _v1, u32 _v2, u32 _v3)
{
v1 = _v1;
v2 = _v2;
v3 = _v3;
}
// Set this triangle from three vertices.
void Set(u32 _v1, u32 _v2, u32 _v3)
{
v1 = _v1;
v2 = _v2;
v3 = _v3;
}
// Test if this triangle contains a given vertex.
bool TestVertex(u32 v) const
{
@ -67,33 +46,15 @@ struct b3Mesh
b3Triangle* triangles;
b3StaticTree tree;
void BuildTree();
const b3Vec3& GetVertex(u32 index) const;
const b3Triangle& GetTriangle(u32 index) const;
void GetTriangleVertices(b3Vec3 out[3], u32 index) const;
b3Plane GetTrianglePlane(u32 index) const;
b3AABB3 GetTriangleAABB(u32 index) const;
u32 GetSize() const;
b3AABB3 GetTriangleAABB(u32 index) const;
void BuildTree();
};
inline void b3Mesh::BuildTree()
{
b3AABB3* aabbs = (b3AABB3*)b3Alloc(triangleCount * sizeof(b3AABB3));
u32* indices = (u32*)b3Alloc(triangleCount * sizeof(u32));
for (u32 i = 0; i < triangleCount; ++i)
{
aabbs[i] = GetTriangleAABB(i);
indices[i] = i;
}
tree.Build(indices, aabbs, triangleCount);
b3Free(indices);
b3Free(aabbs);
}
inline const b3Vec3& b3Mesh::GetVertex(u32 index) const
{
return vertices[index];
@ -104,22 +65,14 @@ inline const b3Triangle& b3Mesh::GetTriangle(u32 index) const
return triangles[index];
}
inline void b3Mesh::GetTriangleVertices(b3Vec3 out[3], u32 index) const
inline u32 b3Mesh::GetSize() const
{
const b3Triangle* triangle = triangles + index;
u32 i1 = triangle->v1;
u32 i2 = triangle->v2;
u32 i3 = triangle->v3;
out[0] = vertices[i1];
out[1] = vertices[i2];
out[2] = vertices[i3];
}
inline b3Plane b3Mesh::GetTrianglePlane(u32 index) const
{
b3Vec3 vs[3];
GetTriangleVertices(vs, index);
return b3Plane(vs[0], vs[1], vs[2]);
u32 size = 0;
size += sizeof(b3Mesh);
size += sizeof(b3Vec3) * vertexCount;
size += sizeof(b3Triangle) * triangleCount;
size += tree.GetSize();
return size;
}
inline b3AABB3 b3Mesh::GetTriangleAABB(u32 index) const
@ -133,18 +86,20 @@ inline b3AABB3 b3Mesh::GetTriangleAABB(u32 index) const
b3AABB3 aabb;
aabb.m_lower = b3Min(b3Min(vertices[i1], vertices[i2]), vertices[i3]);
aabb.m_upper = b3Max(b3Max(vertices[i1], vertices[i2]), vertices[i3]);
return aabb;
}
inline u32 b3Mesh::GetSize() const
inline void b3Mesh::BuildTree()
{
u32 size = 0;
size += sizeof(b3Mesh);
size += sizeof(b3Vec3) * vertexCount;
size += sizeof(b3Triangle) * triangleCount;
size += tree.GetSize();
return size;
b3AABB3* aabbs = (b3AABB3*)b3Alloc(triangleCount * sizeof(b3AABB3));
for (u32 i = 0; i < triangleCount; ++i)
{
aabbs[i] = GetTriangleAABB(i);
}
tree.Build(aabbs, triangleCount);
b3Free(aabbs);
}
#endif

5
include/bounce/collision/trees/static_tree.h
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@ -33,9 +33,8 @@ public:
b3StaticTree();
~b3StaticTree();
// Build this tree from a list of AABBs and the list
// of indices to the AABBs.
void Build(u32* indices, const b3AABB3* aabbs, u32 count);
// Build this tree from a list of AABBs.
void Build(const b3AABB3* aabbs, u32 count);
// Get the AABB of a given proxy.
const b3AABB3& GetAABB(u32 proxyId) const;

14
include/bounce/common/draw.h
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@ -62,16 +62,22 @@ public :
void AppendFlags(u32 flags);
// Draw a point.
virtual void DrawPoint(const b3Vec3& point, const b3Color& color) = 0;
virtual void DrawPoint(const b3Vec3& p, float32 size, const b3Color& color) = 0;
// Draw a line segment.
virtual void DrawSegment(const b3Vec3& a, const b3Vec3& b, const b3Color& color) = 0;
virtual void DrawSegment(const b3Vec3& p1, const b3Vec3& p2, const b3Color& color) = 0;
// Draw a triangle with vertices ordered CCW.
virtual void DrawTriangle(const b3Vec3& p1, const b3Vec3& p2, const b3Vec3& p3, const b3Color& color) = 0;
// Draw a solid triangle with vertices ordered CCW.
virtual void DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const b3Vec3& p2, const b3Vec3& p3, const b3Color& color) = 0;
// Draw a polygon with vertices ordered CCW.
virtual void DrawPolygon(const b3Vec3* vertices, u32 count, const b3Color& color) = 0;
// Draw a solid polygon with vertices ordered CCW.
virtual void DrawSolidPolygon(const b3Vec3* vertices, u32 count, const b3Color& color) = 0;
virtual void DrawSolidPolygon(const b3Vec3& normal, const b3Vec3* vertices, u32 count, const b3Color& color) = 0;
// Draw a circle with center, normal, and radius.
virtual void DrawCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color) = 0;

11
include/bounce/dynamics/contacts/contact_solver.h
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@ -62,9 +62,16 @@ struct b3VelocityConstraintPoint
{
b3Vec3 rA;
b3Vec3 rB;
b3Vec3 normal;
float32 normalMass;
float32 normalImpulse;
b3Vec3 tangent1;
b3Vec3 tangent2;
b3Mat22 tangentMass;
b3Vec2 tangentImpulse;
float32 velocityBias;
};
@ -80,9 +87,7 @@ struct b3VelocityConstraintManifold
b3Vec2 tangentImpulse;
float32 motorImpulse;
float32 motorMass;
//float32 maxTangentImpulse;
//float32 area;
b3VelocityConstraintPoint* points;
u32 pointCount;
};

4
include/bounce/dynamics/contacts/manifold.h
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@ -33,6 +33,7 @@ struct b3ManifoldPoint
b3Vec3 localPoint; // local point on the first shape
b3Vec3 localPoint2; // local point on the other shape
float32 normalImpulse; // normal impulse
b3Vec2 tangentImpulse; // tangent impulses
u8 persisting; // indicates that the point is persisting
};
@ -65,8 +66,9 @@ struct b3WorldManifoldPoint
const b3Transform& xfA, float32 radiusA,
const b3Transform& xfB, float32 radiusB);
b3Vec3 normal;
b3Vec3 point;
b3Vec3 normal;
b3Vec2 tangents[2];
float32 separation;
};

34
include/testbed/framework/debug_draw.h
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@ -25,7 +25,8 @@
struct DrawPoints;
struct DrawLines;
struct DrawTriangles;
struct DrawShapes;
struct DrawWire;
struct DrawSolid;
class Camera
{
@ -66,13 +67,17 @@ public:
DebugDraw();
~DebugDraw();
void DrawPoint(const b3Vec3& point, const b3Color& color);
void DrawPoint(const b3Vec3& p, float32 size, const b3Color& color);
void DrawSegment(const b3Vec3& a, const b3Vec3& b, const b3Color& color);
void DrawSegment(const b3Vec3& p1, const b3Vec3& p2, const b3Color& color);
void DrawTriangle(const b3Vec3& p1, const b3Vec3& p2, const b3Vec3& p3, const b3Color& color);
void DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const b3Vec3& p2, const b3Vec3& p3, const b3Color& color);
void DrawPolygon(const b3Vec3* vertices, u32 count, const b3Color& color);
void DrawSolidPolygon(const b3Vec3* vertices, u32 count, const b3Color& color);
void DrawSolidPolygon(const b3Vec3& normal, const b3Vec3* vertices, u32 count, const b3Color& color);
void DrawCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
@ -86,15 +91,30 @@ public:
void DrawTransform(const b3Transform& xf);
//
void DrawString(const char* string, const b3Color& color, ...);
void Submit();
void Submit(const b3World& world);
void DrawSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf);
void DrawCapsule(const b3CapsuleShape* s, const b3Color& c, const b3Transform& xf);
void DrawHull(const b3HullShape* s, const b3Color& c, const b3Transform& xf);
void DrawMesh(const b3MeshShape* s, const b3Color& c, const b3Transform& xf);
void DrawShape(const b3Shape* s, const b3Color& c, const b3Transform& xf);
void Draw(const b3World& world);
void Draw();
private:
friend struct DrawShapes;
DrawPoints* m_points;
DrawLines* m_lines;
DrawTriangles* m_triangles;
DrawShapes* m_shapes;
DrawWire* m_wire;
DrawSolid* m_solid;
};
#endif

6
include/testbed/tests/capsule_distance.h
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@ -61,10 +61,10 @@ public:
if (b3Distance(pointA, pointB) > 0.0f)
{
g_debugDraw->DrawPoint(pointA, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawPoint(pointB, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawPoint(pointA, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(pointB, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(pointA, pointB, b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(pointA, pointB, b3Color(1.0f, 1.0f, 1.0f));
}
g_debugDraw->DrawTransform(m_xfA);

4
include/testbed/tests/cluster_test.h
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@ -63,14 +63,14 @@ public:
for (u32 i = 0; i < m_clusters.Count(); ++i)
{
g_debugDraw->DrawSegment(b3Vec3(0, 0, 0), m_clusters[i].centroid, b3Color(1, 1, 1));
g_debugDraw->DrawPoint(m_clusters[i].centroid, m_colors[i]);
g_debugDraw->DrawPoint(m_clusters[i].centroid, 4.0f, m_colors[i]);
for (u32 j = 0; j < m_observs.Count(); ++j)
{
b3Observation obs = m_observs[j];
if (obs.cluster == i)
{
g_debugDraw->DrawPoint(obs.point, m_colors[i]);
g_debugDraw->DrawPoint(obs.point, 4.0f, m_colors[i]);
}
}
}

4
include/testbed/tests/collide_test.h
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@ -51,13 +51,13 @@ public:
b3Vec3 pw = wmp->point;
b3Vec2 ps = g_camera.ConvertWorldToScreen(pw);
g_debugDraw->DrawPoint(pw, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(pw, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(pw, pw + wmp->normal, b3Color(1.0f, 1.0f, 1.0f));
}
if (wm.pointCount > 0)
{
g_debugDraw->DrawPoint(wm.center, b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(wm.center, 4.0f, b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(wm.center, wm.center + wm.normal, b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(wm.center, wm.center + wm.tangent1, b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(wm.center, wm.center + wm.tangent2, b3Color(1.0f, 1.0f, 0.0f));

8
include/testbed/tests/distance_test.h
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@ -57,18 +57,18 @@ public:
for (u32 i = 0; i < featurePair.countA; ++i)
{
u32 index = featurePair.indexA[i];
g_debugDraw->DrawPoint(m_xfA * m_proxyA.GetVertex(index), b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(m_xfA * m_proxyA.GetVertex(index), 4.0f, b3Color(1.0f, 1.0f, 0.0f));
}
for (u32 i = 0; i < featurePair.countB; ++i)
{
u32 index = featurePair.indexB[i];
g_debugDraw->DrawPoint(m_xfB * m_proxyB.GetVertex(index), b3Color(1.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(m_xfB * m_proxyB.GetVertex(index), 4.0f, b3Color(1.0f, 1.0f, 0.0f));
}
}
g_debugDraw->DrawPoint(out.pointA, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(out.pointB, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(out.pointA, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(out.pointB, 4.0f, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawSegment(out.pointA, out.pointB, b3Color(1.0f, 1.0f, 1.0f));
g_debugDraw->DrawTransform(m_xfA);

2
include/testbed/tests/ray_cast.h
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@ -214,7 +214,7 @@ public:
{
// Replace current hit
g_debugDraw->DrawSegment(p1, hit.point, b3Color(0.0f, 1.0f, 0.0f));
g_debugDraw->DrawPoint(hit.point, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawPoint(hit.point, 4.0f, b3Color(1.0f, 0.0f, 0.0f));
g_debugDraw->DrawSegment(hit.point, hit.point + hit.normal, b3Color(1.0f, 1.0f, 1.0f));
}
else

6
include/testbed/tests/test.h
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@ -36,7 +36,8 @@ struct Settings
warmStart = true;
convexCache = true;
drawCenterOfMasses = false;
drawShapes = true;
drawVerticesEdges = true;
drawFaces = true;
drawBounds = false;
drawJoints = true;
drawContactPoints = true;
@ -62,7 +63,8 @@ struct Settings
bool convexCache;
bool drawCenterOfMasses;
bool drawBounds;
bool drawShapes;
bool drawVerticesEdges;
bool drawFaces;
bool drawSolidShapes;
bool drawJoints;
bool drawContactPoints;