Bullet btBvhTriangleMeshShape Not Colliding - c++

I'm attempting to create a btBvhTriangleMeshShape out of a large mesh in my application and use it as a Rigid Body. This Rigid Body will make up the 'ground plane' which is static and never moves. The problem is everything falls straight through like it's not even there. Here's the current source:
btTriangleMesh* tMesh = new btTriangleMesh();
irr::scene::IMeshBuffer* MB = WorldNode1->getMesh()->getMeshBuffer(1);
irr::video::S3DVertex* Vertices = (irr::video::S3DVertex*)MB->getVertices();
irr::u16* Indices = MB->getIndices();
for (irr::u32 i = 0; i < MB->getIndexCount(); i+=3)
{
irr::core::vector3df Tri1Pos = Vertices[Indices[i]].Pos;
irr::core::vector3df Tri2Pos = Vertices[Indices[i+1]].Pos;
irr::core::vector3df Tri3Pos = Vertices[Indices[i+2]].Pos;
tMesh->addTriangle(btVector3(Tri1Pos.X, Tri1Pos.Y, Tri1Pos.Z), btVector3(Tri2Pos.X, Tri2Pos.Y, Tri2Pos.Z), btVector3(Tri3Pos.X, Tri3Pos.Y, Tri3Pos.Z));
}
btCollisionShape* groundShape = new btBvhTriangleMeshShape(tMesh, false);
btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, -1, 0)));
PH->CreateRigidBody(0, groundMotionState, groundShape);
PH->CreateRigidBody() is just a helper function to quickly create rigid bodies, I know this function works properly since other objects use it and collide just fine.
Any insight into the issue here would be greatly appreciated. Thank you all very much for your time.
EDIT:
After hooking up the debug drawer here is what it displays (this is a shot from under the mesh):
And for clarification here is an above shot:
I don't know if it's an issue with the mesh itself or with the code that iterates through the vertices to create the physics mesh

When iterating through the triangles provided via the Irrlicht Mesh Buffer I needed to iterate through ALL the mesh buffers present on the model like so:
btTriangleMesh* tMesh = new btTriangleMesh();
irr::u32 MBCount = WorldMesh1->getMeshBufferCount();
for (irr::u32 m = 0; m < MBCount; m++)
{
irr::scene::IMeshBuffer* MB = WorldNode1->getMesh()->getMeshBuffer(m);
irr::video::S3DVertex* Vertices = (irr::video::S3DVertex*)MB->getVertices();
irr::u16* Indices = MB->getIndices();
for (irr::u32 i = 0; i < MB->getIndexCount(); i += 3)
{
irr::core::vector3df Tri1Pos = Vertices[Indices[i]].Pos;
irr::core::vector3df Tri2Pos = Vertices[Indices[i + 1]].Pos;
irr::core::vector3df Tri3Pos = Vertices[Indices[i + 2]].Pos;
tMesh->addTriangle(btVector3(Tri1Pos.X, Tri1Pos.Y, Tri1Pos.Z), btVector3(Tri2Pos.X, Tri2Pos.Y, Tri2Pos.Z), btVector3(Tri3Pos.X, Tri3Pos.Y, Tri3Pos.Z));
}
}

Related

DirectX 11 - Compute Shader, copy data from the GPU to the CPU

I've just started up using Direct compute in an attempt to move a fluid simulation I have been working on, onto the GPU. I have found a very similar (if not identical) question here however seems the resolution to my problem is not the same as theirs; I do have my CopyResource the right way round for sure! As with the pasted question, I only get a buffer filled with 0's when copy back from the GPU. I really can't see the error as I don't understand how I can be reaching out of bounds limits. I'm going to apologise for the mass amount of code pasting about to occur but I want be sure I've not got any of the setup wrong.
Output Buffer, UAV and System Buffer set up
outputDesc.Usage = D3D11_USAGE_DEFAULT;
outputDesc.BindFlags = D3D11_BIND_UNORDERED_ACCESS;
outputDesc.ByteWidth = sizeof(BoundaryConditions) * numElements;
outputDesc.CPUAccessFlags = 0;
outputDesc.StructureByteStride = sizeof(BoundaryConditions);
outputDesc.MiscFlags = D3D11_RESOURCE_MISC_BUFFER_STRUCTURED;
result =_device->CreateBuffer(&outputDesc, 0, &m_outputBuffer);
outputDesc.Usage = D3D11_USAGE_STAGING;
outputDesc.BindFlags = 0;
outputDesc.CPUAccessFlags = D3D11_CPU_ACCESS_READ;
result = _device->CreateBuffer(&outputDesc, 0, &m_outputresult);
D3D11_UNORDERED_ACCESS_VIEW_DESC uavDesc;
uavDesc.Format = DXGI_FORMAT_UNKNOWN;
uavDesc.ViewDimension = D3D11_UAV_DIMENSION_BUFFER;
uavDesc.Buffer.FirstElement = 0;
uavDesc.Buffer.Flags = 0;
uavDesc.Buffer.NumElements = numElements;
result =_device->CreateUnorderedAccessView(m_outputBuffer, &uavDesc, &m_BoundaryConditionsUAV);
Running the Shader in my frame loop
HRESULT result;
D3D11_MAPPED_SUBRESOURCE mappedResource;
_deviceContext->CSSetShader(m_BoundaryConditionsCS, nullptr, 0);
_deviceContext->CSSetUnorderedAccessViews(0, 1, &m_BoundaryConditionsUAV, 0);
_deviceContext->Dispatch(1, 1, 1);
// Unbind output from compute shader
ID3D11UnorderedAccessView* nullUAV[] = { NULL };
_deviceContext->CSSetUnorderedAccessViews(0, 1, nullUAV, 0);
// Disable Compute Shader
_deviceContext->CSSetShader(nullptr, nullptr, 0);
_deviceContext->CopyResource(m_outputresult, m_outputBuffer);
D3D11_MAPPED_SUBRESOURCE mappedData;
result = _deviceContext->Map(m_outputresult, 0, D3D11_MAP_READ, 0, &mappedData);
BoundaryConditions* newbc = reinterpret_cast<BoundaryConditions*>(mappedData.pData);
for (int i = 0; i < 4; i++)
{
Debug::Instance()->Log(newbc[i].x.x);
}
_deviceContext->Unmap(m_outputresult, 0);
HLSL
struct BoundaryConditions
{
float3 x;
float3 y;
};
RWStructuredBuffer<BoundaryConditions> _boundaryConditions;
[numthreads(4, 1, 1)]
void ComputeBoundaryConditions(int3 id : SV_DispatchThreadID)
{
_boundaryConditions[id.x].x = float3(id.x,id.y,id.z);
}
I dispatch the Compute shader after I begin a frame and before I end the frame. I have played around with moving the shaders dispatch call outside of the end scene and before the present ect but nothing seems to effect the process. Can't seem to figure this one out!
Holy Smokes I fixed the error! I was creating the compute shader to a different ID3D11ComputeShader pointer! D: Works like a charm! Pheew Sorry and thanks Adam!

Draw multiple objects in D3D12

I am tinkering with DirectX 12 and have hit a wall while trying to draw a "checker board." I have search the net quite a bit, so any help/pointers will be appreciated.
In D3D11 the working code is as follows.
auto context = m_deviceResources->GetD3DDeviceContext();
for (int i = -10; i < 10; i++)
{
for (int j = -10; j < 10; j++)
{
// perform translation
XMStoreFloat4x4(&m_constantBufferData.model, XMMatrixTranspose(XMMatrixTranslation(i, j, 0.0f)));
context->UpdateSubresource(
m_constantBuffer.Get(),
0,
NULL,
&m_constantBufferData,
0,
0
);
// shaders, etc...
// draw the square
context->DrawIndexed(
m_indexCount,
0,
0
);
}
}
In D3D12, I have tried doing the same thing, but it appears to be performing the translation globally, as all square are in the same location.
bool Sample3DSceneRenderer::Render()
{
if (!m_loadingComplete)
{
return false;
}
DX::ThrowIfFailed(m_deviceResources->GetCommandAllocator()->Reset());
DX::ThrowIfFailed(m_commandList->Reset(m_deviceResources->GetCommandAllocator(), m_pipelineState.Get()));
PIXBeginEvent(m_commandList.Get(), 0, L"Draw the objects");
{
m_commandList->SetGraphicsRootSignature(m_rootSignature.Get());
ID3D12DescriptorHeap* ppHeaps[] = { m_cbvHeap.Get() };
m_commandList->SetDescriptorHeaps(_countof(ppHeaps), ppHeaps);
CD3DX12_GPU_DESCRIPTOR_HANDLE gpuHandle(m_cbvHeap->GetGPUDescriptorHandleForHeapStart(), m_deviceResources->GetCurrentFrameIndex(), m_cbvDescriptorSize);
m_commandList->SetGraphicsRootDescriptorTable(0, gpuHandle);
D3D12_VIEWPORT viewport = m_deviceResources->GetScreenViewport();
m_commandList->RSSetViewports(1, &viewport);
m_commandList->RSSetScissorRects(1, &m_scissorRect);
CD3DX12_RESOURCE_BARRIER renderTargetResourceBarrier =
CD3DX12_RESOURCE_BARRIER::Transition(m_deviceResources->GetRenderTarget(), D3D12_RESOURCE_STATE_PRESENT, D3D12_RESOURCE_STATE_RENDER_TARGET);
m_commandList->ResourceBarrier(1, &renderTargetResourceBarrier);
D3D12_CPU_DESCRIPTOR_HANDLE renderTargetView = m_deviceResources->GetRenderTargetView();
D3D12_CPU_DESCRIPTOR_HANDLE depthStencilView = m_deviceResources->GetDepthStencilView();
m_commandList->ClearRenderTargetView(renderTargetView, m_colors.Get_background(), 0, nullptr);
m_commandList->ClearDepthStencilView(depthStencilView, D3D12_CLEAR_FLAG_DEPTH, 1.0f, 0, 0, nullptr);
m_commandList->OMSetRenderTargets(1, &renderTargetView, false, &depthStencilView);
m_commandList->IASetPrimitiveTopology(D3D_PRIMITIVE_TOPOLOGY_TRIANGLELIST);
m_commandList->IASetVertexBuffers(0, 1, &m_vertexBufferView);
m_commandList->IASetIndexBuffer(&m_indexBufferView);
for (float i = -10.0f; i < 10.0f; i++)
{
for (float j = -10.0f; j < 10.0f; j++)
{
// as far as I know, this is how I should perform the translation
XMStoreFloat4x4(&m_constantBufferData.model, XMMatrixTranspose(XMMatrixTranslation(i, j, 0.0f)));
UINT8* destination = m_mappedConstantBuffer + (m_deviceResources->GetCurrentFrameIndex() * c_alignedConstantBufferSize);
memcpy(destination, &m_constantBufferData, sizeof(m_constantBufferData));
m_commandList->DrawIndexedInstanced(6, 1, 0, 0, 0);
}
}
CD3DX12_RESOURCE_BARRIER presentResourceBarrier =
CD3DX12_RESOURCE_BARRIER::Transition(m_deviceResources->GetRenderTarget(), D3D12_RESOURCE_STATE_RENDER_TARGET, D3D12_RESOURCE_STATE_PRESENT);
m_commandList->ResourceBarrier(1, &presentResourceBarrier);
}
PIXEndEvent(m_commandList.Get());
DX::ThrowIfFailed(m_commandList->Close());
ID3D12CommandList* ppCommandLists[] = { m_commandList.Get() };
m_deviceResources->GetCommandQueue()->ExecuteCommandLists(_countof(ppCommandLists), ppCommandLists);
return true;
}
Thank you,
Chelsey
You're just writing your translation matrix to the same piece of memory for every copy of the model. Since the GPU hasn't even begun drawing the first model by the time you've finished writing the translation matrix for the last one, the only place any of these models are going to draw is at the place of the last translation matrix written.
You need to write each matrix to a separate, distinct location in memory and ensure they're not overwritten by anything else until the GPU has finished drawing the models.
The act of calling DrawIndexedInstanced does not immediately instruct the GPU to draw anything, it merely adds a command to a command list to draw the object at some time in the future. If you're not familiar with the asynchronous nature of Graphics APIs and GPU execution you should probably read up a bit more on how it works.

Need help optimizing C++ [closed]

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I have programmed a simple top-down car driving game that resembles the first GTA, on the GameBoyAdvance. I have used only vector graphics for doing so, and the GBA doesn't handle it very well; basically with 5 pedestrian instances it lags.
I don't have much experience in optimizing code, so I would like to know if there are some tweaks I could make to my code in order to make it run faster, not depending on the fact that it runs on a GBA.
The collision testing I use is SAT (separating axis theorem) as I've found it to be the easisest one for collision check with vector graphics; the game is very simple itself.
Here is the code:
/*
GTA Vector City
Author: Alberto Taiuti
Version: 2.0
*/
#include "Global.h"
#include <string.h>
#include <cstdio>
#include "font.h"
#include "CVector2D.h"
#include "CCar.h"
#include "CPed.h"
#include <vector>
#include <memory>
/* GLOBAL VARIABLES */
void CheckCollisionsRect(CRect *test_a, CRect *test_b);
std::vector<CVector2D> PrepVectors(CRect *shape);
CVector2D GetMinMaxShape(std::vector<CVector2D> vect_shape, CVector2D axis);
void CheckCollisionRectVSPoint(CRect *test_a, CVector2D *point);
/* MAIN */
// The entry point for the game
int main()
{
// Frame counter
uint32_t frames = 0;
// Previous & current buttons states
static uint16_t prev_buttons = 0, cur_buttons = 0;
// Put the display into bitmap mode 3, and enable background 2.
REG_DISPCNT = MODE4 | BG2_ENABLE;
// Set up the palette.
SetPaletteBG(BLACK, RGB(0, 0, 0)); // black
SetPaletteBG(WHITE, RGB(31, 31, 31)); // white
SetPaletteBG(GREY, RGB(15, 15, 15)); // grey
SetPaletteBG(RED, RGB(31, 0, 0)); // red
SetPaletteBG(GREEN, RGB(0, 31, 0)); // green
SetPaletteBG(BLUE, RGB(0, 0, 31)); // blue
// Create car instance
CCar *car = new CCar(50,50);
// Create a building
/*CRect *test_b = new CRect(100.0f, 100.0f, 30, 30);
CRect *test_c = new CRect(120.0f, 120.0f, 30, 30);
CRect *test_d = new CRect(30.0f, 30.0f, 30, 30);*/
// Pedestrian instances
int ped_number = 10; // Number of pedestrians
std::vector<CPed*> peds; // Ped. entities container (made of smart pointers)
typedef std::vector<CPed*>::iterator p_itor; // Iterator
for(int i = 1; i <= ped_number; i++)
{
peds.push_back(new CPed(i, RED, 2.0f));
}
// Check whether the game is over
bool end = false;
// Main loop
while (!end)
{
// Flip the screen
FlipBuffers();
//Clear the screen
ClearScreen8(BLACK);
// Update frame counter
frames ++;
// Get the current state of the buttons.
cur_buttons = REG_KEYINPUT;
// Handle Input
car->HandleInput(prev_buttons, cur_buttons);
// Logic
car->Update();
for(int i = 0; i < ped_number; i++)
{
peds[i]->Update();
}
for(int i = 0; i < ped_number; i++)
{
CheckCollisionRectVSPoint(car->shape, peds[i]->pos);
}
/*CheckCollisionsRect(car->shape, test_b);
CheckCollisionsRect(car->shape, test_c);
CheckCollisionsRect(car->shape, test_d);
CheckCollisionRectVSPoint(car->shape, test_ped->pos);*/
// Render
car->Draw();
for(int i = 0; i < ped_number; i++)
{
peds[i]->Draw();
}
/*test_b->DrawFrame8(GREEN);
test_c->DrawFrame8(WHITE);
test_d->DrawFrame8(RED);
test_ped->Draw();*/
prev_buttons = cur_buttons;
// VSync
WaitVSync();
}
// Free memory
delete car;
//delete test_b; delete test_c; delete test_d;
//delete test_ped;
for(p_itor itor = peds.begin(); itor != peds.end(); itor ++)// Delete pedestrians
{
peds.erase(itor);
}
return 0;
}
void CheckCollisionsRect(CRect *test_a, CRect *test_b)
{
// If the two shapes are close enough, check for collision, otherways skip and save calculations to the CPU
//if((pow((test_a->points[0]->x - test_b->points[0]->x), 2) + pow((test_a->points[0]->y - test_b->points[0]->y), 2)) < 25.0f)
{
// Prepare the normals for both shapes
std::vector<CVector2D> normals_a = test_a->GetNormalsAsArray();
std::vector<CVector2D> normals_b = test_b->GetNormalsAsArray();
// Create two containers for holding the various vectors used for collision check
std::vector<CVector2D> vect_test_a = PrepVectors(test_a);
std::vector<CVector2D> vect_test_b = PrepVectors(test_b);
// Get the min and max vectors for each shape for each projection (needed for SAT)
CVector2D result_P1 = GetMinMaxShape(vect_test_a, normals_a[1]); //
CVector2D result_P2 = GetMinMaxShape(vect_test_b, normals_a[1]); //
// If the two objects are not colliding
if(result_P1.y < result_P2.x || result_P2.y < result_P1.x)
{
return;
}
CVector2D result_Q1 = GetMinMaxShape(vect_test_a, normals_a[0]); // First axis couple
CVector2D result_Q2 = GetMinMaxShape(vect_test_b, normals_a[0]); //
if(result_Q1.y < result_Q2.x || result_Q2.y < result_Q1.x)
{
return;
}
CVector2D result_R1 = GetMinMaxShape(vect_test_a, normals_b[1]); //
CVector2D result_R2 = GetMinMaxShape(vect_test_b, normals_b[1]); //
if(result_R1.y < result_R2.x || result_R2.y < result_R1.x)
{
return;
}
CVector2D result_S1 = GetMinMaxShape(vect_test_a, normals_b[0]); // Second axis couple
CVector2D result_S2 = GetMinMaxShape(vect_test_b, normals_b[0]); //
if(result_S1.y < result_S2.x || result_S2.y < result_S1.x)
{
return;
}
// Do something
PlotPixel8(200, 10, WHITE);
PlotPixel8(200, 11, WHITE);
PlotPixel8(200, 12, WHITE);
}
}
// Check for collision between an OOBB and a point
void CheckCollisionRectVSPoint(CRect *test_a, CVector2D *point)
{
// Prepare the normals for the shape
std::vector<CVector2D> normals_a = test_a->GetNormalsAsArray();
// Create a container for holding the various vectors used for collision check
std::vector<CVector2D> vect_test_a = PrepVectors(test_a);
// Get projections for the OOBB (needed for SAT)
CVector2D result_P1 = GetMinMaxShape(vect_test_a, normals_a[1]);
float result_point = point->DotProduct(normals_a[1]);
// If the two objects are not colliding on this axis
if(result_P1.y < result_point || result_point < result_P1.x)
{
return;
}
CVector2D result_Q1 = GetMinMaxShape(vect_test_a, normals_a[0]);
result_point = point->DotProduct(normals_a[0]);
// If the two objects are not colliding on this axis
if(result_Q1.y < result_point || result_point < result_Q1.x)
{
return;
}
// Do something
PlotPixel8(200, 10, WHITE);
PlotPixel8(200, 11, WHITE);
PlotPixel8(200, 12, WHITE);
}
// Returns a container with projection vectors for a given shape
std::vector<CVector2D> PrepVectors(CRect *shape)
{
std::vector<CVector2D> vect;
// Create vectors for projection and load them into the arrays
for( uint16_t i=0; i < 5; i++)
{
// Get global position of vectors and then add them to the array
vect.push_back(shape->GetVectorGlobal(i));
}
return vect;
}
CVector2D GetMinMaxShape(std::vector<CVector2D> vect_shape, CVector2D axis)
{
// Set initial minimum and maximum for shape's projection vectors
float min_proj = vect_shape[1].DotProduct(axis);
float max_proj = vect_shape[1].DotProduct(axis);
// Calculate max and min projection vectors by iterating along all of the corners
for(uint16_t i = 2; i < vect_shape.size(); i ++)
{
float current_proj = vect_shape[i].DotProduct(axis);
// Select minimum projection on axis
if(current_proj < min_proj) // If current projection is smaller than the minimum one
min_proj = current_proj;
// Select maximum projection on axis
if(current_proj > max_proj) // If current projection is greater than the minimum one
max_proj = current_proj;
}
return (CVector2D(min_proj, max_proj)); // Return a vector2D as it is a handy way for returning a couple of values
}
Many thanks in advance to everyone and sorry for the messy code!
I gave it a really quick reading so I may have overlooked something. Well, there are obvious tips for improving performance such as passing vectors to functions by reference. Using prefix incrementation instead of postfix is also a good habit. These two rules are definitely nothing like 'premature optimization the, root of ...'. Do not delete pedestrians one by one but use std::vector::clear(). And If you claim you use smart pointers, you shoud, because it seems you have memory leak because you did not delete the pedestrian pointers. And use const keyword whereever possible. Once you make the obvious correction, and the speed is still not satisfactory, then you need to use profiler.
And read something about optimization, here for example: http://www.agner.org/optimize/optimizing_cpp.pdf
One thing leaps out at me (apart from the continuous passing of vectors by value rather than reference, which will be incredibly costly!)
In you collision detection, you're seeing if the car hits each pedestrian
for(int i = 0; i < ped_number; i++)
{
CheckCollisionRectVSPoint(car->shape, peds[i]->pos);
}
Then, in the collision detector, you're repeating a lot of the same processing on the car shape every time:-
// Prepare the normals for both shapes
std::vector<CVector2D> normals_a = test_a->GetNormalsAsArray();
// Create two containers for holding the various vectors used for collision check
std::vector<CVector2D> vect_test_a = PrepVectors(test_a);
.. etc...
You should rework that loop to create the normals etc for the car just once, and then reuse the results for each check against a pedestrian.

Mesh animation at directX

in my game project Im using the MD5 model files, but I feel I'm doing something wrong...
At every frame I update almost 30~40 animated meshes, (updating each joint and their respectives vertices) but doing like this im using always 25% of the CPU speed and my FPS always stay at 70~80 (when I should have 200~300).
I know that maybe I should use instancing but i dont know how to do this with animated meshes.
And even if I would use, as far as I know, this only works with the same meshes, but I need something around 30 different meshes for scene (and these would be repeated using instancing).
What I do every frame is, make the new skeleton for every animated mesh, put every joint at the new position (if the joint needs update) and update all vertices that should be updated.
My video card is ok, here is the update code:
bool AnimationModelClass::UpdateMD5Model(float deltaTime, int animation)
{
MD5Model.m_animations[animation].currAnimTime += deltaTime; // Update the current animation time
if(MD5Model.m_animations[animation].currAnimTime > MD5Model.m_animations[animation].totalAnimTime)
MD5Model.m_animations[animation].currAnimTime = 0.0f;
// Which frame are we on
float currentFrame = MD5Model.m_animations[animation].currAnimTime * MD5Model.m_animations[animation].frameRate;
int frame0 = floorf( currentFrame );
int frame1 = frame0 + 1;
// Make sure we don't go over the number of frames
if(frame0 == MD5Model.m_animations[animation].numFrames-1)
frame1 = 0;
float interpolation = currentFrame - frame0; // Get the remainder (in time) between frame0 and frame1 to use as interpolation factor
std::vector<Joint> interpolatedSkeleton; // Create a frame skeleton to store the interpolated skeletons in
// Compute the interpolated skeleton
for( int i = 0; i < MD5Model.m_animations[animation].numJoints; i++)
{
Joint tempJoint;
Joint joint0 = MD5Model.m_animations[animation].frameSkeleton[frame0][i]; // Get the i'th joint of frame0's skeleton
Joint joint1 = MD5Model.m_animations[animation].frameSkeleton[frame1][i]; // Get the i'th joint of frame1's skeleton
tempJoint.parentID = joint0.parentID; // Set the tempJoints parent id
// Turn the two quaternions into XMVECTORs for easy computations
D3DXQUATERNION joint0Orient = D3DXQUATERNION(joint0.orientation.x, joint0.orientation.y, joint0.orientation.z, joint0.orientation.w);
D3DXQUATERNION joint1Orient = D3DXQUATERNION(joint1.orientation.x, joint1.orientation.y, joint1.orientation.z, joint1.orientation.w);
// Interpolate positions
tempJoint.pos.x = joint0.pos.x + (interpolation * (joint1.pos.x - joint0.pos.x));
tempJoint.pos.y = joint0.pos.y + (interpolation * (joint1.pos.y - joint0.pos.y));
tempJoint.pos.z = joint0.pos.z + (interpolation * (joint1.pos.z - joint0.pos.z));
// Interpolate orientations using spherical interpolation (Slerp)
D3DXQUATERNION qtemp;
D3DXQuaternionSlerp(&qtemp, &joint0Orient, &joint1Orient, interpolation);
tempJoint.orientation.x = qtemp.x;
tempJoint.orientation.y = qtemp.y;
tempJoint.orientation.z = qtemp.z;
tempJoint.orientation.w = qtemp.w;
// Push the joint back into our interpolated skeleton
interpolatedSkeleton.push_back(tempJoint);
}
for ( int k = 0; k < MD5Model.numSubsets; k++)
{
for ( int i = 0; i < MD5Model.m_subsets[k].numVertices; ++i )
{
Vertex tempVert = MD5Model.m_subsets[k].m_vertices[i];
// Make sure the vertex's pos is cleared first
tempVert.x = 0;
tempVert.y = 0;
tempVert.z = 0;
// Clear vertices normal
tempVert.nx = 0;
tempVert.ny = 0;
tempVert.nz = 0;
// Sum up the joints and weights information to get vertex's position and normal
for ( int j = 0; j < tempVert.WeightCount; ++j )
{
Weight tempWeight = MD5Model.m_subsets[k].m_weights[tempVert.StartWeight + j];
Joint tempJoint = interpolatedSkeleton[tempWeight.jointID];
// Convert joint orientation and weight pos to vectors for easier computation
D3DXQUATERNION tempJointOrientation = D3DXQUATERNION(tempJoint.orientation.x, tempJoint.orientation.y, tempJoint.orientation.z, tempJoint.orientation.w);
D3DXQUATERNION tempWeightPos = D3DXQUATERNION(tempWeight.pos.x, tempWeight.pos.y, tempWeight.pos.z, 0.0f);
// We will need to use the conjugate of the joint orientation quaternion
D3DXQUATERNION tempJointOrientationConjugate;
D3DXQuaternionInverse(&tempJointOrientationConjugate, &tempJointOrientation);
// Calculate vertex position (in joint space, eg. rotate the point around (0,0,0)) for this weight using the joint orientation quaternion and its conjugate
// We can rotate a point using a quaternion with the equation "rotatedPoint = quaternion * point * quaternionConjugate"
D3DXVECTOR3 rotatedPoint;
D3DXQUATERNION qqtemp;
D3DXQuaternionMultiply(&qqtemp, &tempJointOrientation, &tempWeightPos);
D3DXQuaternionMultiply(&qqtemp, &qqtemp, &tempJointOrientationConjugate);
rotatedPoint.x = qqtemp.x;
rotatedPoint.y = qqtemp.y;
rotatedPoint.z = qqtemp.z;
// Now move the verices position from joint space (0,0,0) to the joints position in world space, taking the weights bias into account
tempVert.x += ( tempJoint.pos.x + rotatedPoint.x ) * tempWeight.bias;
tempVert.y += ( tempJoint.pos.y + rotatedPoint.y ) * tempWeight.bias;
tempVert.z += ( tempJoint.pos.z + rotatedPoint.z ) * tempWeight.bias;
// Compute the normals for this frames skeleton using the weight normals from before
// We can comput the normals the same way we compute the vertices position, only we don't have to translate them (just rotate)
D3DXQUATERNION tempWeightNormal = D3DXQUATERNION(tempWeight.normal.x, tempWeight.normal.y, tempWeight.normal.z, 0.0f);
D3DXQuaternionMultiply(&qqtemp, &tempJointOrientation, &tempWeightNormal);
D3DXQuaternionMultiply(&qqtemp, &qqtemp, &tempJointOrientationConjugate);
// Rotate the normal
rotatedPoint.x = qqtemp.x;
rotatedPoint.y = qqtemp.y;
rotatedPoint.z = qqtemp.z;
// Add to vertices normal and ake weight bias into account
tempVert.nx -= rotatedPoint.x * tempWeight.bias;
tempVert.ny -= rotatedPoint.y * tempWeight.bias;
tempVert.nz -= rotatedPoint.z * tempWeight.bias;
}
// Store the vertices position in the position vector instead of straight into the vertex vector
MD5Model.m_subsets[k].m_positions[i].x = tempVert.x;
MD5Model.m_subsets[k].m_positions[i].y = tempVert.y;
MD5Model.m_subsets[k].m_positions[i].z = tempVert.z;
// Store the vertices normal
MD5Model.m_subsets[k].m_vertices[i].nx = tempVert.nx;
MD5Model.m_subsets[k].m_vertices[i].ny = tempVert.ny;
MD5Model.m_subsets[k].m_vertices[i].nz = tempVert.nz;
// Create the temp D3DXVECTOR3 for normalize
D3DXVECTOR3 dtemp = D3DXVECTOR3(0,0,0);
dtemp.x = MD5Model.m_subsets[k].m_vertices[i].nx;
dtemp.y = MD5Model.m_subsets[k].m_vertices[i].ny;
dtemp.z = MD5Model.m_subsets[k].m_vertices[i].nz;
D3DXVec3Normalize(&dtemp, &dtemp);
MD5Model.m_subsets[k].m_vertices[i].nx = dtemp.x;
MD5Model.m_subsets[k].m_vertices[i].ny = dtemp.y;
MD5Model.m_subsets[k].m_vertices[i].nz = dtemp.z;
// Put the positions into the vertices for this subset
MD5Model.m_subsets[k].m_vertices[i].x = MD5Model.m_subsets[k].m_positions[i].x;
MD5Model.m_subsets[k].m_vertices[i].y = MD5Model.m_subsets[k].m_positions[i].y;
MD5Model.m_subsets[k].m_vertices[i].z = MD5Model.m_subsets[k].m_positions[i].z;
}
// Update the subsets vertex buffer
// First lock the buffer
void* mappedVertBuff;
bool result;
result = MD5Model.m_subsets[k].vertBuff->Map(D3D10_MAP_WRITE_DISCARD, 0, &mappedVertBuff);
if(FAILED(result))
{
return false;
}
// Copy the data into the vertex buffer.
memcpy(mappedVertBuff, &MD5Model.m_subsets[k].m_vertices[0], (sizeof(Vertex) * MD5Model.m_subsets[k].numVertices));
MD5Model.m_subsets[k].vertBuff->Unmap();
}
return true;
}
Maybe I can fix some things in that code but I wonder if I'm doing it right...
I wonder also if there are other better ways to do this, if other types of animations would be better (different things from .x extension).
Thanks and sorry for my bad english :D
Doing bones transformation at shaders would be a good solution? (like this)
Are all of the meshes in the viewing frustum at the same time? If not you should only be updating the animations of the objects which are on screen and which you can see. If you're updating all the meshes in the scene regardless of if the are in view or not you are wasting a lot of cycles. It sounds to me like you are not doing any frustum culling at all that is probably the best place to start.

C++ vector element is different when accessed at different times

I'm developing a 3D game using SDL and OpenGL on Ubuntu 9.04 using Eclipse CDT. I've got a class to hold the mesh data in vectors for each type. Such as Vertex, Normal, UVcoord (texture coordinates), as well as a vector of faces. Each face has 3 int vectors which hold indexes to the other data. So far my game has been working quite well at rendering at nice rates. But then again I only had less then one hundred vertexes among two objects for testing purposes.
The loop accessing this data looks like this:
void RenderFace(oFace face)
{
/*
* More Stuff
*/
oVertice gvert;
oUVcoord tvert;
oNormal nvert;
for (unsigned int fvIndex = 0; fvIndex < face.GeoVerts.size(); fvIndex++)
{
gvert = obj.TheMesh.GetVertice(face.GeoVerts[fvIndex] - 1);
tvert = obj.TheMesh.GetUVcoord(face.UV_Verts[fvIndex] - 1);
nvert = obj.TheMesh.GetNormal(face.NrmVerts[fvIndex] - 1);
glNormal3f(nvert.X, nvert.Y, nvert.Z);
glTexCoord2f(tvert.U, tvert.V);
glVertex3f(scale * gvert.X, scale * gvert.Y, scale * gvert.Z);
}
/*
* More Stuff
*/
}
There is a loop that calls the renderFace() function which includes the above for loop. The minus one is because Wavefront .obj files are 1 indexed (instead of c++ 0 index). Anyway, I discovered that once you have about 30 thousand or so faces, all those calls to glVertex3f() and the like slow the game down to about 10 FPS. That I can't allow. So I learned about vertex arrays, which require pointers to arrays. Following the example of a NeHe tutorial I continued to use my oVertice class and the others. Which just have floats x, y, z, or u, v. So I added the same function above to my OnLoad() function to build the arrays which are just "oVertice*" and similar.
Here is the code:
bool oEntity::OnLoad(std::string FileName)
{
if (!obj.OnLoad(FileName))
{
return false;
}
unsigned int flsize = obj.TheMesh.GetFaceListSize();
obj.TheMesh.VertListPointer = new oVertice[flsize];
obj.TheMesh.UVlistPointer = new oUVcoord[flsize];
obj.TheMesh.NormListPointer = new oNormal[flsize];
oFace face = obj.TheMesh.GetFace(0);
oVertice gvert;
oUVcoord tvert;
oNormal nvert;
unsigned int counter = 0;
unsigned int temp = 0;
for (unsigned int flIndex = 0; flIndex < obj.TheMesh.GetFaceListSize(); flIndex++)
{
face = obj.TheMesh.GetFace(flIndex);
for (unsigned int fvIndex = 0; fvIndex < face.GeoVerts.size(); fvIndex++)
{
temp = face.GeoVerts[fvIndex];
gvert = obj.TheMesh.GetVertice(face.GeoVerts[fvIndex] - 1);
temp = face.UV_Verts[fvIndex];
tvert = obj.TheMesh.GetUVcoord(face.UV_Verts[fvIndex] - 1);
temp = face.NrmVerts[fvIndex];
nvert = obj.TheMesh.GetNormal(face.NrmVerts[fvIndex] - 1);
obj.TheMesh.VertListPointer[counter].X = gvert.X;
obj.TheMesh.VertListPointer[counter].Y = gvert.Y;
obj.TheMesh.VertListPointer[counter].Z = gvert.Z;
obj.TheMesh.UVlistPointer[counter].U = tvert.U;
obj.TheMesh.UVlistPointer[counter].V = tvert.V;
obj.TheMesh.NormListPointer[counter].X = nvert.X;
obj.TheMesh.NormListPointer[counter].Y = nvert.Y;
obj.TheMesh.NormListPointer[counter].Z = nvert.Z;
counter++;
}
}
return true;
}
The unsigned int temp variable is for debugging purposes. Apparently I don't have a default constructor for oFace that doesn't have something to initialize with. Anyway, as you can see it's pretty much that same exact routine. Only instead of calling a gl function I add the data to three arrays.
Here's the kicker:
I'm loading a typical cube made of triangles.
When I access element 16 (0 indexed) of the UV_Verts vector from the RenderFace() function I get 12.
But when I access element 16 (0 indexed) of the same UV_Verts vector from the OnLoad() function I get something like 3045472189
I am so confused.
Does anyone know what's causing this? And if so how to resolve it?
One possible reason could be that you're creating arrays with size flsize:
obj.TheMesh.VertListPointer = new oVertice[flsize];
obj.TheMesh.UVlistPointer = new oUVcoord[flsize];
obj.TheMesh.NormListPointer = new oNormal[flsize];
but use the arrays with indices up to flsize * face.GeoVerts.size
for (...; flIndex < obj.TheMesh.GetFaceListSize(); ...) { // flsize = GetFaceListSize
for (...; fvIndex < face.GeoVerts.size(); ...) {
...
obj.TheMesh.UVlistPointer[counter].U = ...;
...
counter++;
}
}
so your array creation code should actually be more like
obj.TheMesh.VertListPointer = new oVertice[flsize * face.GeoVerts.size()];
obj.TheMesh.UVlistPointer = new oUVcoord[flsize * face.GeoVerts.size()];
obj.TheMesh.NormListPointer = new oNormal[flsize * face.GeoVerts.size()];