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Computing bullet collision models from .3ds file


 
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Dusten Sobotta
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PostPosted: Fri Oct 31, 2008 1:49 pm    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

I'm developing a 3d engine that will eventually support exporting collision models from the lowest poly LOD node of a .3ds file for in-game development. The following functions can be used to load (or use existing data in memory) to define the collision box for a .3ds model.


btTriangleMesh* trimesh = new btTriangleMesh();

for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[j*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i+1]);
trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[(j+1)*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i]);
}
}

delete[] gVertices;

bool useQuantizedBvhTree = true;
btCollisionShape* trimeshShape = new btBvhTriangleMeshShape(trimesh,useQuantizedBvhTree);




OR




btTriangleIndexVertexArray* indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);

bool useQuantizedAabbCompression = true;
trimeshShape = new btBvhTriangleMeshShape(indexVertexArrays,useQuantizedAabbCompression);





I've looked at a lot of the osg functions, and can't seem to find a function to export the raw triangle mesh. Do a set of functions exist in osg to handle this? If not, -where- should I make my modifications to support this exportation?


Thanks in advance~

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Brian R Hill
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PostPosted: Fri Oct 31, 2008 1:57 pm    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

I'm not really sure what you are asking.

You can export any osg data using the .osg plugin.

osgDB::writeNodeFile(*your_node_or_sub_graph,"your_filename.osg")

Then open the file (your_filename.osg) in any text editor and you'll see
your mesh data as Primitives and VertexArrays in Geometrys. The primitives
will be organized/represented based on how the geometry was created in osg.
You can easily write a parser to grab the mesh data from the .osg file.


Brian


wrote: -----


To:
From: "Dusten Sobotta" <>
Sent by:
Date: 10/31/2008 09:49AM
Subject: Computing bullet collision models from .3ds files

I'm developing a 3d engine that will eventually support exporting collision
models from the lowest poly LOD node of a .3ds file for in-game
development. The following functions can be used to load (or use existing
data in memory) to define the collision box for a .3ds model.



btTriangleMesh* trimesh = new btTriangleMesh();

for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices
[j*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i+1]);
trimesh->addTriangle(gVertices[j*NUM_VERTS_X+i],gVertices[(j
+1)*NUM_VERTS_X+i+1],gVertices[(j+1)*NUM_VERTS_X+i]);
}
}

delete[] gVertices;

bool useQuantizedBvhTree = true;
btCollisionShape* trimeshShape = new btBvhTriangleMeshShape
(trimesh,useQuantizedBvhTree);





OR




btTriangleIndexVertexArray* indexVertexArrays = new
btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &gVertices[0].x(),vertStride);

bool useQuantizedAabbCompression = true;
trimeshShape = new btBvhTriangleMeshShape
(indexVertexArrays,useQuantizedAabbCompression);





I've looked at a lot of the osg functions, and can't seem to find a
function to export the raw triangle mesh. Do a set of functions exist in
osg to handle this? If not, -where- should I make my modifications to
support this exportation?


Thanks in advance~




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Paul Martz
Guest





PostPosted: Fri Oct 31, 2008 5:23 pm    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

Hi Dusten -- The short answer (probably) is that you should look at
osg::TriangleFunctor.

The longer answer:

I'm currently developing an open source library containing utilities for
integrating OSG with Bullet. Here is the code I use to create triangle
meshes. The code for ComputeTriMeshVisitor is attached.


btTriangleMeshShape* osgBullet::btTriMeshCollisionShapeFromOSG( osg::Node*
node )
{
ComputeTriMeshVisitor visitor;
node->accept( visitor );
osg::Vec3Array* vertices = visitor.getTriMesh();
if( vertices->size() < 3 )
{
osg::notify( osg::WARN ) << "osgBullet::btTriMeshCollisionShapeFromOSG,
no triangles found" << std::endl;
return( NULL );
}

btTriangleMesh* mesh = new btTriangleMesh;
for( size_t i = 0; i + 3 < vertices->size(); i += 3 )
{
osg::Vec3& p1 = ( *vertices )[ i ];
osg::Vec3& p2 = ( *vertices )[ i + 1 ];
osg::Vec3& p3 = ( *vertices )[ i + 2 ];
mesh->addTriangle( btVector3( p1.x(), p1.y(), p1.z() ),
btVector3( p2.x(), p2.y(), p2.z() ),
btVector3( p3.x(), p3.y(), p3.z() ) );
}

btBvhTriangleMeshShape* meshShape = new btBvhTriangleMeshShape( mesh, true
);
return( meshShape );
}


I hope this is helpful. I'll post more info here when I make this code
publically available.

Paul Martz
Skew Matrix Software LLC
http://www.skew-matrix.com
+1 303 859 9466



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Dusten Sobotta
Guest





PostPosted: Fri Oct 31, 2008 6:44 pm    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

Thanks a lot; this has been incredibly useful. What is the eta for the first release of your library? I've also solved a few problems with integrating osg + bullet, and might be able to contribute a few things if you're up to it.

On Fri, Oct 31, 2008 at 12:20 PM, Paul Martz < (
Only registered users can see emails on this board!
Get registred or enter the forums!
)> wrote:
Quote:
Hi Dusten -- The short answer (probably) is that you should look at
osg::TriangleFunctor.

The longer answer:

I'm currently developing an open source library containing utilities for
integrating OSG with Bullet. Here is the code I use to create triangle
meshes. The code for ComputeTriMeshVisitor is attached.


btTriangleMeshShape* osgBullet::btTriMeshCollisionShapeFromOSG( osg::Node*
node )
{
ComputeTriMeshVisitor visitor;
node->accept( visitor );
osg::Vec3Array* vertices = visitor.getTriMesh();
if( vertices->size() < 3 )
{
osg::notify( osg::WARN ) << "osgBullet::btTriMeshCollisionShapeFromOSG,
no triangles found" << std::endl;
return( NULL );
}

btTriangleMesh* mesh = new btTriangleMesh;
for( size_t i = 0; i + 3 < vertices->size(); i += 3 )
{
osg::Vec3& p1 = ( *vertices )[ i ];
osg::Vec3& p2 = ( *vertices )[ i + 1 ];
osg::Vec3& p3 = ( *vertices )[ i + 2 ];
mesh->addTriangle( btVector3( p1.x(), p1.y(), p1.z() ),
btVector3( p2.x(), p2.y(), p2.z() ),
btVector3( p3.x(), p3.y(), p3.z() ) );
}

btBvhTriangleMeshShape* meshShape = new btBvhTriangleMeshShape( mesh, true
);
return( meshShape );
}


I hope this is helpful. I'll post more info here when I make this code
publically available.

Paul Martz
Skew Matrix Software LLC
http://www.skew-matrix.com
+1 303 859 9466

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Paul Martz
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PostPosted: Fri Oct 31, 2008 7:12 pm    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

I'm hoping to set up a wiki and public svn over the next few weeks. The library is fairly bare-bones at this point, and therefore subject to radical sudden changes. I'll continue to develop and enhance it into the future. Contributions from a community will be welcome.
-Paul


Quote:
From: [mailto:] On Behalf Of Dusten Sobotta
Sent: Friday, October 31, 2008 12:45 PM
To: OpenSceneGraph Users
Subject: Re: Computing bullet collision models from .3ds files



Thanks a lot; this has been incredibly useful. What is the eta for the first release of your library? I've also solved a few problems with integrating osg + bullet, and might be able to contribute a few things if you're up to it.

On Fri, Oct 31, 2008 at 12:20 PM, Paul Martz < (
Only registered users can see emails on this board!
Get registred or enter the forums!
)> wrote:
Quote:
Hi Dusten -- The short answer (probably) is that you should look at
osg::TriangleFunctor.

The longer answer:

I'm currently developing an open source library containing utilities for
integrating OSG with Bullet. Here is the code I use to create triangle
meshes. The code for ComputeTriMeshVisitor is attached.


btTriangleMeshShape* osgBullet::btTriMeshCollisionShapeFromOSG( osg::Node*
node )
{
ComputeTriMeshVisitor visitor;
node->accept( visitor );
osg::Vec3Array* vertices = visitor.getTriMesh();
if( vertices->size() < 3 )
{
osg::notify( osg::WARN ) << "osgBullet::btTriMeshCollisionShapeFromOSG,
no triangles found" << std::endl;
return( NULL );
}

btTriangleMesh* mesh = new btTriangleMesh;
for( size_t i = 0; i + 3 < vertices->size(); i += 3 )
{
osg::Vec3& p1 = ( *vertices )[ i ];
osg::Vec3& p2 = ( *vertices )[ i + 1 ];
osg::Vec3& p3 = ( *vertices )[ i + 2 ];
mesh->addTriangle( btVector3( p1.x(), p1.y(), p1.z() ),
btVector3( p2.x(), p2.y(), p2.z() ),
btVector3( p3.x(), p3.y(), p3.z() ) );
}

btBvhTriangleMeshShape* meshShape = new btBvhTriangleMeshShape( mesh, true
);
return( meshShape );
}


I hope this is helpful. I'll post more info here when I make this code
publically available.

Paul Martz
Skew Matrix Software LLC
http://www.skew-matrix.com
+1 303 859 9466

_______________________________________________
osg-users mailing list
(
Only registered users can see emails on this board!
Get registred or enter the forums!
)
http://lists.openscenegraph.org/listinfo.cgi/osg-users-openscenegraph.org





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Ulrich Hertlein
Guest





PostPosted: Sat Nov 01, 2008 3:02 am    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

Hi Paul, hi Dusten,

On 1/11/08 5:44 AM, Dusten Sobotta wrote:
Quote:
Thanks a lot; this has been incredibly useful. What is the eta for the
first release of your library? I've also solved a few problems with
integrating osg + bullet, and might be able to contribute a few things
if you're up to it.

On Fri, Oct 31, 2008 at 12:20 PM, Paul Martz <
<mailto:>> wrote:
...
I'm currently developing an open source library containing utilities for
integrating OSG with Bullet. Here is the code I use to create triangle
meshes. The code for ComputeTriMeshVisitor is attached.

I'd also be interested in helping out with a proper osg/Bullet integration, having done a
half-hearted (it did what I needed) attempt two years ago.

Cheers,
/ulrich


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Janusz
Guest





PostPosted: Mon Nov 03, 2008 11:28 pm    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

Paul, Dusten:

Are you trying to include the soft body animation (deforming surface
(triangle) mesh constructed according to the tetrahedral element
deformation) that is avaialble in bullet or are you just focusing on
building triangle/collision meshes for rigid bodies ?

I work along similar lines but it is osg + physx Smile

Regards,
Janusz

Ulrich Hertlein pisze:
Quote:
Hi Paul, hi Dusten,

On 1/11/08 5:44 AM, Dusten Sobotta wrote:
Quote:
Thanks a lot; this has been incredibly useful. What is the eta for the
first release of your library? I've also solved a few problems with
integrating osg + bullet, and might be able to contribute a few things
if you're up to it.

On Fri, Oct 31, 2008 at 12:20 PM, Paul Martz <
<mailto:>> wrote:
...
I'm currently developing an open source library containing
utilities for
integrating OSG with Bullet. Here is the code I use to create
triangle
meshes. The code for ComputeTriMeshVisitor is attached.

I'd also be interested in helping out with a proper osg/Bullet
integration, having done a half-hearted (it did what I needed) attempt
two years ago.

Cheers,
/ulrich





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Dusten Sobotta
Guest





PostPosted: Tue Nov 04, 2008 12:30 am    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

I'm currently only dealing with rigid bodies at this point, however will introduce soft bodies at some point for extra effects once my engine is done. I'm still implementing some core features like a scripting system and built-in level editor, so it will be some time before I get around to the extras. Nevertheless, assuming my architecture isn't drastically different, I'll be sure to contribute any major enhancements I've made to Paul's library when that time comes.

On Mon, Nov 3, 2008 at 5:20 PM, Janusz <> wrote:
Quote:
Paul, Dusten:

Are you trying to include the soft body animation (deforming surface (triangle) mesh constructed according to the tetrahedral element deformation) that is avaialble in bullet or are you just focusing on building triangle/collision meshes for rigid bodies ?

I work along similar lines but it is osg + physx Smile

Regards,
Janusz

Ulrich Hertlein pisze:

Quote:
Hi Paul, hi Dusten,

On 1/11/08 5:44 AM, Dusten Sobotta wrote:
Quote:
Thanks a lot; this has been incredibly useful. What is the eta for the
first release of your library? I've also solved a few problems with
integrating osg + bullet, and might be able to contribute a few things
if you're up to it.

On Fri, Oct 31, 2008 at 12:20 PM, Paul Martz < (
Only registered users can see emails on this board!
Get registred or enter the forums!
)
<mailto: (
Only registered users can see emails on this board!
Get registred or enter the forums!
)>> wrote:
...
I'm currently developing an open source library containing utilities for
integrating OSG with Bullet. Here is the code I use to create triangle
meshes. The code for ComputeTriMeshVisitor is attached.

I'd also be interested in helping out with a proper osg/Bullet integration, having done a half-hearted (it did what I needed) attempt two years ago.

Cheers,
/ulrich
_______________________________________________
osg-users mailing list
(
Only registered users can see emails on this board!
Get registred or enter the forums!
)
http://lists.openscenegraph.org/listinfo.cgi/osg-users-openscenegraph.org


_______________________________________________
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Get registred or enter the forums!
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Paul Martz
Guest





PostPosted: Tue Nov 04, 2008 12:33 am    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

Quote:
Are you trying to include the soft body animation (deforming surface
(triangle) mesh constructed according to the tetrahedral element
deformation) that is avaialble in bullet or are you just
focusing on building triangle/collision meshes for rigid bodies ?

I work along similar lines but it is osg + physx Smile

So far my work has not had a soft body requirement, just rigid bodies. The
soft body stuff is pretty cool, though, and it'd be interesting to add
support for it. If it can be done in OpenGL, it should be possible in OSG as
well.
-Paul



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Robert Osfield
Guest





PostPosted: Tue Nov 04, 2008 9:33 am    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

Hi Guys,

It's good to see a number of different users popping with discussion
of their own work on integrating physics with the OSG. I would be
great to have an OSG NodeKit for doing physics, but I'm very wary of
tying to one specific engine as each engine has it's own strengths and
weakness, and I also don't want to steer people away from making
particular physics engine choices including closed source ones - such
as Vortex, users should be able to integrate the best tool for they
job they can afford.

So I'd like to punt the possibility of having some kind of base
osgPhyics API that makes it easier to bolt on different physics
engines onto the OSG. This would require spotting the commonality
between the different engines and distilling this, for instance the
osgViewer library does this trick to a certain extent with the
different GraphicsWindow implementations. You also don't want to hide
too much of the implementation advanced phyics engine tuning will
probably require users to grapple with the lower level physics engines
settings. While abstracting completely is impracticable it'd be good
to provide the template for the concrete implementations, and also
make it easier for applications to move between different physic
engines at the backend.

Is such a lib possible or practical? It'll be more wore initially
than just an osgODE, osgBullet or osgVortex library but longer term it
could reduce the cost of maintenance of all these different
variations. The first step in this direction would be to see the
code of various physic engine + OSG integration with a view to
spotting the commonality between them.

Thoughts?
Robert.


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Max Pfingsthorn
Guest





PostPosted: Tue Nov 04, 2008 9:57 am    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

Hi,

there is the Physics Abstraction Library
(http://www.adrianboeing.com/pal/index.html ,
http://pal.sourceforge.net). I'm not sure to what extend that is
useful, but it seems to be rather popular. It already abstracts ODE,
Bullet, and other, even commercial, engines. Possibly worth a look.

I actually plan to use OSG (or Ogre3D, the jury is still out) with PAL
for a robotics simulator, which might become the successor of USARSim
(http://usarsim.sourceforge.net). Some more direct integration between
OSG and some physics abstraction (PAL or homegrown) would be great!

Cheers,
max

On Tue, Nov 4, 2008 at 10:27 AM, Robert Osfield
<> wrote:
Quote:
Hi Guys,

It's good to see a number of different users popping with discussion
of their own work on integrating physics with the OSG. I would be
great to have an OSG NodeKit for doing physics, but I'm very wary of
tying to one specific engine as each engine has it's own strengths and
weakness, and I also don't want to steer people away from making
particular physics engine choices including closed source ones - such
as Vortex, users should be able to integrate the best tool for they
job they can afford.

So I'd like to punt the possibility of having some kind of base
osgPhyics API that makes it easier to bolt on different physics
engines onto the OSG. This would require spotting the commonality
between the different engines and distilling this, for instance the
osgViewer library does this trick to a certain extent with the
different GraphicsWindow implementations. You also don't want to hide
too much of the implementation advanced phyics engine tuning will
probably require users to grapple with the lower level physics engines
settings. While abstracting completely is impracticable it'd be good
to provide the template for the concrete implementations, and also
make it easier for applications to move between different physic
engines at the backend.

Is such a lib possible or practical? It'll be more wore initially
than just an osgODE, osgBullet or osgVortex library but longer term it
could reduce the cost of maintenance of all these different
variations. The first step in this direction would be to see the
code of various physic engine + OSG integration with a view to
spotting the commonality between them.

Thoughts?
Robert.




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Dusten Sobotta
Guest





PostPosted: Tue Nov 04, 2008 1:28 pm    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

The integration of PAL with OSG would in my opinion, be a waste of resources. PAL isn't maintained well, and doesn't support all of the features of the engines that it contains. In addition, documentation is -really- scarce for it. I do agree with Robert though, that any additions made to OSG source should be generic to any particular engine; however I'm not opposed to contributing to a library that specializes in a particular engine beyond the scope of those changes.

On Tue, Nov 4, 2008 at 3:57 AM, Max Pfingsthorn < (
Only registered users can see emails on this board!
Get registred or enter the forums!
)> wrote:
Quote:
Hi,

there is the Physics Abstraction Library
(http://www.adrianboeing.com/pal/index.html ,
http://pal.sourceforge.net). I'm not sure to what extend that is
useful, but it seems to be rather popular. It already abstracts ODE,
Bullet, and other, even commercial, engines. Possibly worth a look.

I actually plan to use OSG (or Ogre3D, the jury is still out) with PAL
for a robotics simulator, which might become the successor of USARSim
(http://usarsim.sourceforge.net). Some more direct integration between
OSG and some physics abstraction (PAL or homegrown) would be great!

Cheers,
max


On Tue, Nov 4, 2008 at 10:27 AM, Robert Osfield
< (
Only registered users can see emails on this board!
Get registred or enter the forums!
)> wrote:
Quote:
Hi Guys,

It's good to see a number of different users popping with discussion
of their own work on integrating physics with the OSG. I would be
great to have an OSG NodeKit for doing physics, but I'm very wary of
tying to one specific engine as each engine has it's own strengths and
weakness, and I also don't want to steer people away from making
particular physics engine choices including closed source ones - such
as Vortex, users should be able to integrate the best tool for they
job they can afford.

So I'd like to punt the possibility of having some kind of base
osgPhyics API that makes it easier to bolt on different physics
engines onto the OSG. This would require spotting the commonality
between the different engines and distilling this, for instance the
osgViewer library does this trick to a certain extent with the
different GraphicsWindow implementations. You also don't want to hide
too much of the implementation advanced phyics engine tuning will
probably require users to grapple with the lower level physics engines
settings. While abstracting completely is impracticable it'd be good
to provide the template for the concrete implementations, and also
make it easier for applications to move between different physic
engines at the backend.

Is such a lib possible or practical? It'll be more wore initially
than just an osgODE, osgBullet or osgVortex library but longer term it
could reduce the cost of maintenance of all these different
variations. The first step in this direction would be to see the
code of various physic engine + OSG integration with a view to
spotting the commonality between them.

Thoughts?
Robert.
_______________________________________________
osg-users mailing list
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Only registered users can see emails on this board!
Get registred or enter the forums!
)
http://lists.openscenegraph.org/listinfo.cgi/osg-users-openscenegraph.org

_______________________________________________
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Robert Osfield
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PostPosted: Tue Nov 04, 2008 1:37 pm    Post subject:
Computing bullet collision models from .3ds file
Reply with quote

On Tue, Nov 4, 2008 at 1:28 PM, Dusten Sobotta <> wrote:
Quote:
The integration of PAL with OSG would in my opinion, be a waste of
resources. PAL isn't maintained well, and doesn't support all of the
features of the engines that it contains. In addition, documentation is
-really- scarce for it. I do agree with Robert though, that any additions
made to OSG source should be generic to any particular engine; however I'm
not opposed to contributing to a library that specializes in a particular
engine beyond the scope of those changes.

PAL might serve as great resource for learning about doing the
abstraction work for an osgPhysics.

Robert.


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