i made razi global, I dont increment yaw & pitch(line 433,434). I increment razi instead(435).
Is this the right way to achieve panning? any other better way? I am noob to bullet. How can i easily achive panning without distortion?
i get a panning effect but the objects look distorted(blown out of proportion) when close to camera. I have attached a video herewith. https://www.youtube.com/watch?v=GPMakdL ... e=youtu.be
Code: Select all
#include "GL_Simplex1to4.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btConvexHullComputer.h"
#define TaruVtxCount 43
static btScalar TaruVtx[] = {
1.08664f,-1.99237f,0.0f,
0.768369f,-1.99237f,-0.768369f,
1.28852f,1.34412e-007f,-1.28852f,
1.82224f,1.90735e-007f,0.0f,
0.0f,-1.99237f,-1.08664f,
0.0f,0.0f,-1.82224f,
0.0f,-1.99237f,-1.08664f,
-0.768369f,-1.99237f,-0.768369f,
-1.28852f,1.34412e-007f,-1.28852f,
0.0f,0.0f,-1.82224f,
-1.08664f,-1.99237f,1.82086e-007f,
-1.82224f,1.90735e-007f,1.59305e-007f,
-0.768369f,-1.99237f,0.76837f,
-1.28852f,2.47058e-007f,1.28852f,
1.42495e-007f,-1.99237f,1.08664f,
2.38958e-007f,2.70388e-007f,1.82224f,
0.768369f,-1.99237f,0.768369f,
1.28852f,2.47058e-007f,1.28852f,
0.768369f,1.99237f,-0.768369f,
1.08664f,1.99237f,0.0f,
0.0f,1.99237f,-1.08664f,
-0.768369f,1.99237f,-0.768369f,
0.0f,1.99237f,-1.08664f,
-1.08664f,1.99237f,0.0f,
-0.768369f,1.99237f,0.768369f,
1.42495e-007f,1.99237f,1.08664f,
0.768369f,1.99237f,0.768369f,
1.42495e-007f,-1.99237f,1.08664f,
-0.768369f,-1.99237f,0.76837f,
-1.08664f,-1.99237f,1.82086e-007f,
-0.768369f,-1.99237f,-0.768369f,
0.0f,-1.99237f,-1.08664f,
0.768369f,-1.99237f,-0.768369f,
1.08664f,-1.99237f,0.0f,
0.768369f,-1.99237f,0.768369f,
0.768369f,1.99237f,-0.768369f,
0.0f,1.99237f,-1.08664f,
-0.768369f,1.99237f,-0.768369f,
-1.08664f,1.99237f,0.0f,
-0.768369f,1.99237f,0.768369f,
1.42495e-007f,1.99237f,1.08664f,
0.768369f,1.99237f,0.768369f,
1.08664f,1.99237f,0.0f,
};
#define USE_GJK
#ifndef USE_GJK
#include "btBulletCollisionCommon.h"
#endif //USE_GJK
#include "GL_ShapeDrawer.h"
#ifdef WIN32 //needed for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include "GlutStuff.h"
float yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
const int numObjects = 2;
//const int numObjects = 3;
btScalar razi = 0;
GL_Simplex1to4 simplex;
btConvexShape* shapePtr[maxNumObjects];
btTransform tr[numObjects];
int screenWidth = 640.f;
int screenHeight = 480.f;
void clientResetScene()
{
// tr[0].setOrigin(btVector3(0.0f,3.f,7.f));
// tr[1].setOrigin(btVector3(0.0f,9.f,2.f));
tr[0].setOrigin(btVector3(0.0f,0.f,0.f));
tr[1].setOrigin(btVector3(5.0f,5.f,5.f));
}
int debugMode = btIDebugDraw::DBG_DrawWireframe;
GL_ShapeDrawer shapeDrawer;
int m_glutScreenWidth=0;
int m_glutScreenHeight=0;
float m_frustumZNear = 1.f;
float m_frustumZFar = 10000.f;
bool m_ortho = false;
int myglutmain(int argc, char **argv,int width,int height,const char* title);
void updateCamera() {
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
btScalar rele = 0;
// btScalar razi = 0;
btVector3 m_cameraUp(1,0,0);
btScalar m_cameraDistance = 10.0f;
btVector3 m_cameraPosition;
btVector3 m_cameraTargetPosition = (tr[0].getOrigin()+tr[1].getOrigin())*0.5;
btQuaternion rot(m_cameraUp,razi);
int m_forwardAxis = 1;
btVector3 eyePos(0,0,0);
eyePos[m_forwardAxis] = -m_cameraDistance;
btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
if (forward.length2() < SIMD_EPSILON)
{
forward.setValue(1.f,0.f,0.f);
}
btVector3 right = m_cameraUp.cross(forward);
btQuaternion roll(right,-rele);
eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
m_cameraPosition[0] = eyePos.getX();
m_cameraPosition[1] = eyePos.getY();
m_cameraPosition[2] = eyePos.getZ();
m_cameraPosition += m_cameraTargetPosition;
if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
return;
btScalar aspect;
btVector3 extents;
if (m_glutScreenWidth > m_glutScreenHeight)
{
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
extents.setValue(aspect * 1.0f, 1.0f,0);
} else
{
aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
extents.setValue(1.0f, aspect*1.0f,0);
}
if (m_ortho)
{
// reset matrix
glLoadIdentity();
extents *= m_cameraDistance;
btVector3 lower = m_cameraTargetPosition - extents;
btVector3 upper = m_cameraTargetPosition + extents;
//gluOrtho2D(lower.x, upper.x, lower.y, upper.y);
glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
//glTranslatef(100,210,0);
} else
{
if (m_glutScreenWidth > m_glutScreenHeight)
{
// glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0);
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
} else
{
// glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0);
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
}
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
}
}
int main(int argc,char** argv)
{
clientResetScene();
btMatrix3x3 basisA;
basisA.setIdentity();
btMatrix3x3 basisB;
basisB.setIdentity();
tr[0].setBasis(basisA);
tr[1].setBasis(basisB);
btVector3 points0[3]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1)};
btVector3 points1[5]={btVector3(1,0,0),btVector3(0,1,0),btVector3(0,0,1),btVector3(0,0,-1),btVector3(-1,-1,0)};
// btConvexHullShape hullA(&points0[0].getX(),3);
btConvexHullShape hullB(TaruVtx,TaruVtxCount,3*sizeof(btScalar));
btConvexHullShape hullC(&points1[0].getX(),5);
shapePtr[0] = &hullC;
shapePtr[1] = &hullB;
// shapePtr[2] = &hullC;
btTransform tr;
tr.setIdentity();
return myglutmain(argc, argv,screenWidth,screenHeight,"Convex Hull Distance Demo");
}
static btVoronoiSimplexSolver sGjkSimplexSolver;
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
#include <stdio.h>
void clientDisplay(void) {
updateCamera();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
GL_ShapeDrawer::drawCoordSystem();
ATTRIBUTE_ALIGNED16(btScalar) m[16];
int i;
#ifdef USE_GJK
btGjkEpaPenetrationDepthSolver epa;
btGjkPairDetector convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,&epa);
btVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
convexConvex.setCachedSeperatingAxis(seperatingAxis);
btPointCollector gjkOutput;
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = tr[0];
input.m_transformB = tr[1];
convexConvex.getClosestPoints(input ,gjkOutput,0);
if (gjkOutput.m_hasResult)
{
btVector3 endPt = gjkOutput.m_pointInWorld +
gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z());
glVertex3d(endPt.x(),endPt.y(),endPt.z());
glEnd();
}
#else //USE_GJK
struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback
{
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(cp.m_positionWorldOnA.getX(),cp.m_positionWorldOnA.getY(),cp.m_positionWorldOnA.getZ());
glVertex3d(cp.m_positionWorldOnB.getX(),cp.m_positionWorldOnB.getY(),cp.m_positionWorldOnB.getZ());
glEnd();
return 1.f;
}
};
btDefaultCollisionConfiguration collisionConfiguration;
btCollisionDispatcher dispatcher(&collisionConfiguration);
btDbvtBroadphase pairCache;
btCollisionWorld world (&dispatcher,&pairCache,&collisionConfiguration);
world.getDispatchInfo().m_convexMaxDistanceUseCPT = true;
MyContactResultCallback result;
btCollisionObject obA;
obA.setCollisionShape(shapePtr[0]);
obA.setWorldTransform(tr[0]);
btCollisionObject obB;
obB.setCollisionShape(shapePtr[1]);
obB.setWorldTransform(tr[1]);
world.contactPairTest(&obA,&obB,result);
#endif//USE_GJK
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
for (i=0;i<numObjects;i++)
{
tr[i].getOpenGLMatrix( m );
if (debugMode)
{
/// for polyhedral shapes
if (shapePtr[i]->isPolyhedral())
{
if (!shapePtr[i]->getUserPointer())
{
btConvexHullComputer* convexUtil = new btConvexHullComputer();
shapePtr[i]->setUserPointer(convexUtil);
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shapePtr[i];
btAlignedObjectArray<btVector3> vertices;
vertices.resize(polyshape->getNumVertices());
for (int i=0;i<polyshape->getNumVertices();i++)
{
polyshape->getVertex(i,vertices[i]);
}
bool useDoublePrecision = false;
convexUtil->compute(&vertices[0].getX(),sizeof(btVector3), polyshape->getNumVertices(),0,0);
}
if (shapePtr[i]->getUserPointer())
{
btConvexHullComputer* convexUtil = (btConvexHullComputer*)shapePtr[i]->getUserPointer();
//printf("num faces = %d\n",convexUtil->faces.size());
for (int j=0;j<convexUtil->faces.size();j++)
{
int face = convexUtil->faces[j];
//printf("face=%d\n",face);
const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
const btConvexHullComputer::Edge* edge = firstEdge;
do
{
int src = edge->getSourceVertex();
int targ = edge->getTargetVertex();
//printf("src=%d target = %d\n", src,targ);
btVector3 wa = tr[i] * convexUtil->vertices[src];
btVector3 wb = tr[i] * convexUtil->vertices[targ];
glBegin(GL_LINES);
glColor3f(1, 1, 1);
glVertex3f(wa.getX(),wa.getY(),wa.getZ());
glVertex3f(wb.getX(),wb.getY(),wb.getZ());
glEnd();
edge = edge->getNextEdgeOfFace();
} while (edge!=firstEdge);
}
}
}
} else
{
shapeDrawer.drawOpenGL(m,shapePtr[i],btVector3(1,1,1),debugMode, worldMin, worldMax);
}
}
simplex.setSimplexSolver(&sGjkSimplexSolver);
btVector3 ybuf[4],pbuf[4],qbuf[4];
int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
simplex.reset();
for (i=0;i<numpoints;i++)
simplex.addVertex(ybuf[i]);
btTransform ident;
ident.setIdentity();
ident.getOpenGLMatrix(m);
shapeDrawer.drawOpenGL(m,&simplex,btVector3(1,1,1),debugMode, worldMin,worldMax);
btQuaternion orn;
orn.setEuler(yaw,pitch,roll);
tr[0].setRotation(orn);
tr[1].setRotation(orn);
// pitch += 0.005f;
// yaw += 0.01f;
razi+= 0.001f;
glFlush();
glutSwapBuffers();
}
void clientMoveAndDisplay()
{
clientDisplay();
}
static void glutReshapeCallback(int w, int h)
{
m_glutScreenWidth=w;
m_glutScreenHeight=h;
}
int myglutmain(int argc, char **argv,int width,int height,const char* title) {
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GLUT_STENCIL);
glutInitWindowPosition(0, 0);
glutInitWindowSize(width, height);
glutCreateWindow(title);
#ifdef BT_USE_FREEGLUT
glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
#endif
glutIdleFunc( clientDisplay );
glutDisplayFunc( clientDisplay );
glutReshapeFunc(glutReshapeCallback);
//enable vsync to avoid tearing on Apple (todo: for Windows)
#if defined(__APPLE__) && !defined (VMDMESA)
int swap_interval = 1;
CGLContextObj cgl_context = CGLGetCurrentContext();
CGLSetParameter(cgl_context, kCGLCPSwapInterval, &swap_interval);
#endif
GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) };
GLfloat light_diffuse[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0) };
GLfloat light_specular[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0 )};
/* light_position is NOT default value */
GLfloat light_position0[] = { btScalar(1.0), btScalar(10.0), btScalar(1.0), btScalar(0.0 )};
GLfloat light_position1[] = { btScalar(-1.0), btScalar(-10.0), btScalar(-1.0), btScalar(0.0) };
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glClearColor(btScalar(0.7),btScalar(0.7),btScalar(0.7),btScalar(0));
glutMainLoop();
return 0;
}