RigidBodyFromObj demo repair

examples/ExampleBrowser/CMakeLists.txt

@@ -122,6 +122,10 @@ ELSE(WIN32)
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
+SET(myProjects
+	../myProjects/myTest/myTest.cpp
+	../myProjects/myTest/myTest.h
+)
 
 SET(ExtendedTutorialsSources
 	../ExtendedTutorials/Chain.cpp 
@@ -434,8 +438,9 @@ ADD_EXECUTABLE(App_ExampleBrowser
 		main.cpp
 		ExampleEntries.cpp
 		ExampleEntries.h
+		${myProjects}
 		${ExtendedTutorialsSources}
-		${BulletExampleBrowser_SRCS} 
+		${BulletExampleBrowser_SRCS}
 )
 
 FILE( MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/data" )

examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp

@@ -53,10 +53,29 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
 			break;
 		}
 		case TRIANGLE_MESH_SHAPE_PROXYTYPE:
-		{
-			btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)collisionShape;
-			btVector3 trimeshScaling = trimesh->getLocalScaling();
-			btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
+		// ** btGImpactMeshShape has not created or empty graphic shape ** //
+		case GIMPACT_SHAPE_PROXYTYPE:
+                {
+                    btStridingMeshInterface* meshInterface;
+                    btVector3 trimeshScaling;
+                    switch (collisionShape->getShapeType()) {
+                        case TRIANGLE_MESH_SHAPE_PROXYTYPE:
+                        {
+                            btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)collisionShape;
+                            trimeshScaling = trimesh->getLocalScaling();
+                            meshInterface = trimesh->getMeshInterface();
+                            break;
+                        }
+                        case GIMPACT_SHAPE_PROXYTYPE: 
+                        {
+                            btGImpactMeshShape* imesh = (btGImpactMeshShape*)collisionShape;
+                            trimeshScaling = imesh->getLocalScaling();
+                            meshInterface = imesh->getMeshInterface();
+                            break;
+                        }
+                        default:
+                            break;
+                    }
 			btAlignedObjectArray<btVector3> vertices;
 			btAlignedObjectArray<int> indices;
 

examples/ExampleBrowser/ExampleEntries.cpp

@@ -114,6 +114,10 @@
 #include "../ExtendedTutorials/MultiPendulum.h"
 #include "../Evolution/NN3DWalkers.h"
 
+
+//myProjects
+#include "../myProjects/myTest/myTest.h"
+
 struct ExampleEntry
 {
 	int m_menuLevel;
@@ -135,6 +139,9 @@ struct ExampleEntry
 
 static ExampleEntry gDefaultExamples[] =
 	{
+		ExampleEntry(0, "myProjects"),
+		ExampleEntry(1, "myTest", "just a first test. ", ET_myTestCreateFunc),
+
 		ExampleEntry(0, "API"),
 
 		ExampleEntry(1, "Basic Example", "Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),

examples/ExtendedTutorials/RigidBodyFromObj.cpp

@@ -84,8 +84,21 @@ void RigidBodyFromObjExample::initPhysics()
 	GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, "",&fileIO);
 	printf("[INFO] Obj loaded: Extracted %d verticed from obj file [%s]\n", glmesh->m_numvertices, fileName);
 
+
+	/*
+	 *	GLInstanceVertex and Renderer uses floats, not compatible data from btScalar this way if Double_Prec
+	 */
 	const GLInstanceVertex& v = glmesh->m_vertices->at(0);
-	btConvexHullShape* shape = new btConvexHullShape((const btScalar*)(&(v.xyzw[0])), glmesh->m_numvertices, sizeof(GLInstanceVertex));
+	//btConvexHullShape* shape = new btConvexHullShape((const btScalar*)(&(v.xyzw[0])), glmesh->m_numvertices, sizeof(GLInstanceVertex));
+	/* one solution is shape->addPoint in cycle */
+	btConvexHullShape* shape = new btConvexHullShape();
+    for (int i = 0; i < glmesh->m_numvertices; i++) {
+        shape->addPoint(btVector3(
+			glmesh->m_vertices->at(i).xyzw[0],
+			glmesh->m_vertices->at(i).xyzw[1],
+			glmesh->m_vertices->at(i).xyzw[2]
+		), false);
+    }
 
 	float scaling[4] = {0.1, 0.1, 0.1, 1};
 

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -81,6 +81,7 @@ struct caster2
 #include "LoadShader.h"
 
 #include "GLInstanceRendererInternalData.h"
+#include "GLInstanceGraphicsShape.h"
 
 //GLSL shader strings, embedded using build3/stringify
 #include "Shaders/pointSpriteVS.h"
@@ -397,6 +398,12 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
 	m_data->m_instance_quaternion_ptr.resize(m_data->m_maxNumObjectCapacity * 4);
 	m_data->m_instance_colors_ptr.resize(m_data->m_maxNumObjectCapacity * 4);
 	m_data->m_instance_scale_ptr.resize(m_data->m_maxNumObjectCapacity * 4);
+
+	GLInstanceVertex* calc_pos = new GLInstanceVertex();
+	pos_xyzw = reinterpret_cast<float *>(calc_pos->xyzw) - reinterpret_cast<float *>(calc_pos);
+	pos_normal = reinterpret_cast<float *>(calc_pos->normal) - reinterpret_cast<float *>(calc_pos);
+	pos_uv = reinterpret_cast<float *>(calc_pos->uv) - reinterpret_cast<float *>(calc_pos);
+	delete calc_pos;
 }
 
 void GLInstancingRenderer::removeAllInstances()
@@ -1147,7 +1154,7 @@ void GLInstancingRenderer::updateShape(int shapeIndex, const float* vertices, in
 		return;
 
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	int vertexStrideInBytes = 9 * sizeof(float);
+	int vertexStrideInBytes = sizeof(GLInstanceVertex); // 9 * sizeof(float);
 	int sz = numvertices * vertexStrideInBytes;
 #if 0
 	char* dest=  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
@@ -1186,7 +1193,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 	gfxObj->m_numIndices = numIndices;
 	gfxObj->m_numVertices = numvertices;
 
-	int vertexStrideInBytes = 9 * sizeof(float);
+	int vertexStrideInBytes = sizeof(GLInstanceVertex); // 9 * sizeof(float);
 	int sz = numvertices * vertexStrideInBytes;
 	int totalUsed = vertexStrideInBytes * gfxObj->m_vertexArrayOffset + sz;
 	b3Assert(totalUsed < m_data->m_maxShapeCapacityInBytes);
@@ -2478,25 +2485,25 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 
 				glBindVertexArray(gfxObj->m_cube_vao);
 
-				int vertexStride = 9 * sizeof(float);
+				int vertexStride = sizeof(GLInstanceVertex); // 9 * sizeof(float);
 				PointerCaster vertex;
-				vertex.m_baseIndex = gfxObj->m_vertexArrayOffset * vertexStride;
+				vertex.m_baseIndex = gfxObj->m_vertexArrayOffset * vertexStride + pos_xyzw*sizeof(float);
 
 				//vertex position
-				glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9 * sizeof(float), vertex.m_pointer);
+				glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, vertexStride, vertex.m_pointer);
 				//instance_position
 				glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)(transparentInstances[i].m_instanceId * 4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes));
 				//instance_quaternion
 				glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)(transparentInstances[i].m_instanceId * 4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE));
 
 				PointerCaster uv;
-				uv.m_baseIndex = 7 * sizeof(float) + vertex.m_baseIndex;
+				uv.m_baseIndex = gfxObj->m_vertexArrayOffset * vertexStride + pos_uv*sizeof(float);
 
 				PointerCaster normal;
-				normal.m_baseIndex = 4 * sizeof(float) + vertex.m_baseIndex;
+				normal.m_baseIndex = gfxObj->m_vertexArrayOffset * vertexStride + pos_normal*sizeof(float);
 
-				glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, 9 * sizeof(float), uv.m_pointer);
-				glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 9 * sizeof(float), normal.m_pointer);
+				glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, vertexStride, uv.m_pointer);
+				glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, vertexStride, normal.m_pointer);
 				//instance_color
 				glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)(transparentInstances[i].m_instanceId * 4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE + ORIENTATION_BUFFER_SIZE));
 				//instance_scale

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -32,6 +32,9 @@ class GLInstancingRenderer : public CommonRenderInterface
 	int m_screenWidth;
 	int m_screenHeight;
 
+	// distance in GLInstanceVertex struct ( in floats ) 
+	int pos_xyzw, pos_normal, pos_uv;
+
 	int m_upAxis;
 
 	int m_planeReflectionShapeIndex;

examples/myProjects/myTest/myTest.cpp

@@ -0,0 +1,25 @@
+#include "myTest.h"
+
+#include "../../CommonInterfaces/CommonRigidBodyBase.h"
+
+struct myTest: public CommonRigidBodyBase
+{
+	int m_options;
+
+	myTest(struct GUIHelperInterface* helper, int options)
+		: CommonRigidBodyBase(helper),
+		  m_options(options)
+	{
+	}
+	virtual ~myTest() {}
+	virtual void initPhysics() {}
+	virtual void renderScene() {}
+	void resetCamera() {}
+};
+
+CommonExampleInterface* ET_myTestCreateFunc(CommonExampleOptions& options)
+{
+	return new myTest(options.m_guiHelper, options.m_option);
+}
+
+B3_STANDALONE_EXAMPLE(ET_myTestCreateFunc)

examples/myProjects/myTest/myTest.h

@@ -0,0 +1,6 @@
+#ifndef ET_MYTEST_H
+#define ET_MYTEST_H
+
+class CommonExampleInterface* ET_myTestCreateFunc(struct CommonExampleOptions& options);
+
+#endif