Merge pull request #449 from erwincoumans/master

start with Tutorial file for rigid body course, improve graphics, enable texturing, fix shaders

build3/stringifyShaders.bat

@@ -2,16 +2,16 @@
 rem @echo off
 
 
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/instancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/instancingVS.h" --stringname="instancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingVS.h" --stringname="instancingVertexShader" stringify
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/instancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/instancingPS.h" --stringname="instancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingPS.h" --stringname="instancingFragmentShader" stringify
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/pointSpriteVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/pointSpriteVS.h" --stringname="pointSpriteVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.h" --stringname="pointSpriteVertexShader" stringify
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/pointSpritePS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/pointSpritePS.h" --stringname="pointSpriteFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpritePS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpritePS.h" --stringname="pointSpriteFragmentShader" stringify
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingPS.h" --stringname="createShadowMapInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.h" --stringname="createShadowMapInstancingFragmentShader" stringify
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/linesVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/linesVS.h" --stringname="linesVertexShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/linesVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/linesVS.h" --stringname="linesVertexShader" stringify
-premake4 --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/linesPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/linesPS.h" --stringname="linesFragmentShader" stringify
+premake4 --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/linesPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/linesPS.h" --stringname="linesFragmentShader" stringify
 
 
 

data/sphere8.mtl

@@ -0,0 +1,7 @@
+newmtl acmat_0
+Kd 1 1 1
+Ka 0.2 0.2 0.2
+Ks 0.2 0.2 0.2
+Ns 16
+Tr 0
+map_Kd uvmap.png

examples/CommonInterfaces/CommonGraphicsAppInterface.h

@@ -27,6 +27,14 @@ struct DrawGridData
     }
 };
 
+enum EnumSphereLevelOfDetail
+{
+	SPHERE_LOD_POINT_SPRITE=0,
+	SPHERE_LOD_LOW,
+	SPHERE_LOD_MEDIUM,
+	SPHERE_LOD_HIGH,
+
+};
 struct CommonGraphicsApp
 {
 	class CommonWindowInterface*	m_window;
@@ -111,8 +119,9 @@ struct CommonGraphicsApp
 	virtual void swapBuffer() = 0;
 	virtual void drawText( const char* txt, int posX, int posY) = 0;
 	virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
-	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ)=0;
+	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1)=0;
-	virtual int	registerGraphicsSphereShape(float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10)=0;
+	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1) = 0;
+
 	virtual void registerGrid(int xres, int yres, float color0[4], float color1[4])=0;
 
 	void defaultMouseButtonCallback( int button, int state, float x, float y)

examples/CommonInterfaces/CommonRenderInterface.h

@@ -43,7 +43,7 @@ struct CommonRenderInterface
 	virtual void drawPoint(const double* position, const double color[4], double pointDrawSize)=0;
 	virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1)=0;
     virtual void updateShape(int shapeIndex, const float* vertices)=0;
-    
+    virtual int	registerTexture(const unsigned char* texels, int width, int height)=0;
 	virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)=0;
 	virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
 	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;

examples/CommonInterfaces/CommonRigidBodyBase.h

@@ -209,9 +209,9 @@ struct CommonRigidBodyBase : public CommonExampleInterface
 
 		btVector3 hor;
 		hor = rayForward.cross(vertical);
-		hor.normalize();
+		hor.safeNormalize();
 		vertical = hor.cross(rayForward);
-		vertical.normalize();
+		vertical.safeNormalize();
 
 		float tanfov = tanf(0.5f*fov);
 

examples/ExampleBrowser/CMakeLists.txt

@@ -27,6 +27,8 @@ SET(App_ExampleBrowser_SRCS
 	../BasicDemo/BasicExample.h
 	../ForkLift/ForkLiftDemo.cpp
 	../ForkLift/ForkLiftDemo.h
+	../Tutorial/Tutorial.cpp
+	../Tutorial/Tutorial.h
 	../GyroscopicDemo/GyroscopicSetup.cpp
 	../GyroscopicDemo/GyroscopicSetup.h
 	../Planar2D/Planar2D.cpp
@@ -41,6 +43,7 @@ SET(App_ExampleBrowser_SRCS
 	../FractureDemo/btFractureDynamicsWorld.h
 	../DynamicControlDemo/MotorDemo.cpp
 	../DynamicControlDemo/MotorDemo.h
+	
 		../RenderingExamples/CoordinateSystemDemo.cpp
 	../RenderingExamples/CoordinateSystemDemo.h
 	../RenderingExamples/RaytracerSetup.cpp
@@ -118,6 +121,9 @@ SET(App_ExampleBrowser_SRCS
   ../Constraints/ConstraintPhysicsSetup.h
   
 	
+	../ThirdPartyLibs/stb_image/stb_image.cpp
+	../ThirdPartyLibs/stb_image/stb_image.h
+
     ../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
     ../ThirdPartyLibs/tinyxml/tinystr.cpp
     ../ThirdPartyLibs/tinyxml/tinyxml.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -38,7 +38,7 @@
 #include "../SharedMemory/PhysicsClientExample.h"
 #include "../Constraints/TestHingeTorque.h"
 #include "../RenderingExamples/TimeSeriesExample.h"
-
+#include "../Tutorial/Tutorial.h"
 
 #ifdef ENABLE_LUA
 #include "../LuaDemo/LuaPhysicsSetup.h"
@@ -77,6 +77,8 @@ static ExampleEntry gDefaultExamples[]=
 {
 	
 	
+	
+	
 	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),
 
@@ -106,6 +108,10 @@ static ExampleEntry gDefaultExamples[]=
  ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
 	ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
 
+	ExampleEntry(0,"Tutorial"),
+	ExampleEntry(1,"Free Rigid Body","(Preliminary work in progress) Free moving rigid body, without external or constraint forces", TutorialCreateFunc,0),
+
+
 #ifdef INCLUDE_CLOTH_DEMOS
 	ExampleEntry(0,"Soft Body"),
 	ExampleEntry(1,"Cloth","Simulate a patch of cloth.", SoftDemoCreateFunc,0),

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -51,7 +51,7 @@ static OpenGLGuiHelper*	s_guiHelper=0;
 static MyProfileWindow* s_profWindow =0;
 
 #define DEMO_SELECTION_COMBOBOX 13
-const char* startFileName = "bulletDemo.txt";
+const char* startFileName = "0_Bullet3Demo.txt";
 
 static GwenUserInterface* gui  = 0;
 static int sCurrentDemoIndex = -1;

examples/ExampleBrowser/premake4.lua

@@ -62,6 +62,7 @@
 		"../SharedMemory/PosixSharedMemory.cpp",
 		"../SharedMemory/Win32SharedMemory.cpp",
 		"../BasicDemo/BasicExample.*",
+		"../Tutorial/*",
 		"../Benchmarks/*",
 		"../CommonInterfaces/*",
 		"../ForkLift/ForkLiftDemo.*",

examples/Importers/ImportObjDemo/ImportObjExample.cpp

@@ -9,6 +9,7 @@
 #include "../../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3FileUtils.h"
 
+#include "stb_image/stb_image.h"
 
 #include "../CommonInterfaces/CommonRigidBodyBase.h"
 
@@ -24,10 +25,10 @@ public:
 
 	virtual void resetCamera()
 	{
-		float dist = 50;
+		float dist = 18;
-		float pitch = 61;
+		float pitch = 120;
-		float yaw = 18;
+		float yaw = 46;
-		float targetPos[3]={-15,-15,47};
+		float targetPos[3]={-2,-2,-2};
 		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
@@ -58,7 +59,7 @@ void ImportObjSetup::initPhysics()
 	m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
 
 
-   const char* fileName = "samurai_monastry.obj";
+   const char* fileName = "sphere8.obj";//sponza_closed.obj";//sphere8.obj";
         char relativeFileName[1024];
         if (b3ResourcePath::findResourcePath(fileName, relativeFileName, 1024))
         {
@@ -86,10 +87,49 @@ void ImportObjSetup::initPhysics()
 		btVector3 position = trans.getOrigin();
 		btQuaternion orn = trans.getRotation();
 		
-		btVector3 color(0,0,1);
+		btVector3 color(1,1,1);
 		
+		int textureIndex = -1;
+		//try to load some texture
+		for (int i=0;i<shapes.size();i++)
+		{
+			const tinyobj::shape_t& shape = shapes[i];
+			if (shape.material.diffuse_texname.length()>0)
+			{
 
-		int shapeId = m_guiHelper->getRenderInterface()->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices);
+				int width,height,n;
+				const char* filename = shape.material.diffuse_texname.c_str();
+				const unsigned char* image=0;
+		
+				const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
+				int numprefix = sizeof(prefix)/sizeof(const char*);
+		
+				for (int i=0;!image && i<numprefix;i++)
+				{
+					char relativeFileName[1024];
+					sprintf(relativeFileName,"%s%s",prefix[i],filename);
+					image = stbi_load(relativeFileName, &width, &height, &n, 0);
+				}
+		
+				if (image)
+				{
+					textureIndex = m_guiHelper->getRenderInterface()->registerTexture(image,width,height);
+					if (textureIndex>=0)
+					{
+						break;
+					}
+				}
+
+			}
+
+		}
+		
+		if (1)
+		{
+			
+		}
+
+		int shapeId = m_guiHelper->getRenderInterface()->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices,B3_GL_TRIANGLES,textureIndex);
 		
 		//int id = 
 		m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);

examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

@@ -40,24 +40,46 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
 					vtx0.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f]*3+2];
 					vtx0.xyzw[3] = 0.f;
 					
-					vtx0.uv[0] = 0.5f;//shape.mesh.positions[shape.mesh.indices[f]*3+2];?
+					if (shape.mesh.texcoords.size())
-					vtx0.uv[1] = 0.5f;
+					{
+						vtx0.uv[0] = shape.mesh.texcoords[shape.mesh.indices[f]*2+0];
+						vtx0.uv[1] = shape.mesh.texcoords[shape.mesh.indices[f]*2+1];
+					} else
+					{
+						vtx0.uv[0] = 0.5;
+						vtx0.uv[1] = 0.5;
+					}
 					
 					GLInstanceVertex vtx1;
 					vtx1.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f+1]*3+0];
 					vtx1.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f+1]*3+1];
 					vtx1.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f+1]*3+2];
 					vtx1.xyzw[3]= 0.f;
-					vtx1.uv[0] = 0.5f;//obj->textureList[face->vertex_index[1]]->e[0];
+
-					vtx1.uv[1] = 0.5f;//obj->textureList[face->vertex_index[1]]->e[1];
+					if (shape.mesh.texcoords.size())
+					{
+						vtx1.uv[0] = shape.mesh.texcoords[shape.mesh.indices[f+1]*2+0];
+						vtx1.uv[1] = shape.mesh.texcoords[shape.mesh.indices[f+1]*2+1];
+					} else
+					{
+						vtx1.uv[0] = 0.5f;
+						vtx1.uv[1] = 0.5f;
+					}
 					
 					GLInstanceVertex vtx2;
 					vtx2.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f+2]*3+0];
 					vtx2.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f+2]*3+1];
 					vtx2.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f+2]*3+2];
 					vtx2.xyzw[3] = 0.f;
-					vtx2.uv[0] = 0.5f;
+					if (shape.mesh.texcoords.size())
-					vtx2.uv[1] = 0.5f;
+					{
+						vtx2.uv[0] = shape.mesh.texcoords[shape.mesh.indices[f+2]*2+0];
+						vtx2.uv[1] = shape.mesh.texcoords[shape.mesh.indices[f+2]*2+1];
+					} else
+					{
+						vtx2.uv[0] = 0.5;
+						vtx2.uv[1] = 0.5;
+					}
 					
 					
 					btVector3 v0(vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -214,6 +214,8 @@ static GLint	createShadow_depthMVP=0;
 
 static GLint	ModelViewMatrix=0;
 static GLint	ProjectionMatrix=0;
+static GLint	regularLightDirIn=0;
+
 
 static GLint                uniform_texture_diffuse = 0;
 
@@ -688,6 +690,8 @@ void GLInstancingRenderer::InitShaders()
 	ModelViewMatrix = glGetUniformLocation(instancingShader, "ModelViewMatrix");
 	ProjectionMatrix = glGetUniformLocation(instancingShader, "ProjectionMatrix");
 	uniform_texture_diffuse = glGetUniformLocation(instancingShader, "Diffuse");
+	regularLightDirIn  = glGetUniformLocation(instancingShader,"lightDirIn");
+
 	glUseProgram(0);
 
 		instancingShaderPointSprite = gltLoadShaderPair(pointSpriteVertexShader,pointSpriteFragmentShader);
@@ -1559,6 +1563,11 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 							glUseProgram(instancingShader);
 							glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
 							glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
+							
+							b3Vector3 gLightDir = gLightPos;
+							gLightDir.normalize();
+							glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);
+
 							glUniform1i(uniform_texture_diffuse, 0);
 							glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
 							break;

examples/OpenGLWindow/Shaders/instancingPS.glsl

@@ -26,7 +26,7 @@ void main(void)
 	vec3 ct,cf;
 	float intensity,at,af;
 	intensity = max(dot(lightDir,normalize(normal)),0);
-	cf = intensity*vec3(1.0,1.0,1.0)+ambient;
+	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;
 	af = 1.0;
 		
 	ct = texel.rgb;

examples/OpenGLWindow/Shaders/instancingPS.h

@@ -23,7 +23,7 @@ static const char* instancingFragmentShader= \
 "	vec3 ct,cf;\n"
 "	float intensity,at,af;\n"
 "	intensity = max(dot(lightDir,normalize(normal)),0);\n"
-"	cf = intensity*vec3(1.0,1.0,1.0)+ambient;\n"
+"	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;\n"
 "	af = 1.0;\n"
 "		\n"
 "	ct = texel.rgb;\n"

examples/OpenGLWindow/Shaders/instancingVS.glsl

@@ -13,6 +13,7 @@ layout (location = 6) in vec3 instance_scale;
 
 uniform mat4 ModelViewMatrix;
 uniform mat4 ProjectionMatrix;
+uniform vec3 lightDirIn;
 
 out Fragment
 {
@@ -60,17 +61,13 @@ out vec3 lightDir,normal,ambient;
 void main(void)
 {
 	vec4 q = instance_quaternion;
-	ambient = vec3(0.3,.3,0.3);
+	ambient = vec3(0.6,.6,0.6);
 	
+	vec4 worldNormal =  (quatRotate3( vertexnormal,q));
+	normal = normalize(worldNormal).xyz;
 	
-	vec4 local_normal = (quatRotate3( vertexnormal,q));
+	lightDir = lightDirIn;
-	vec3 light_pos = vec3(-0.3,0.1,0.1);
-	normal = local_normal.xyz;//normalize(ModelViewMatrix * local_normal).xyz;
 	
-	lightDir = normalize(light_pos);//gl_LightSource[0].position.xyz));
-//	lightDir = normalize(vec3(gl_LightSource[0].position));
-		
-	vec4 axis = vec4(1,1,1,0);
 	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
 	vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);
 

examples/OpenGLWindow/Shaders/instancingVS.h

@@ -11,6 +11,7 @@ static const char* instancingVertexShader= \
 "layout (location = 6) in vec3 instance_scale;\n"
 "uniform mat4 ModelViewMatrix;\n"
 "uniform mat4 ProjectionMatrix;\n"
+"uniform vec3 lightDirIn;\n"
 "out Fragment\n"
 "{\n"
 "     vec4 color;\n"
@@ -51,16 +52,13 @@ static const char* instancingVertexShader= \
 "void main(void)\n"
 "{\n"
 "	vec4 q = instance_quaternion;\n"
-"	ambient = vec3(0.3,.3,0.3);\n"
+"	ambient = vec3(0.6,.6,0.6);\n"
 "	\n"
+"	vec4 worldNormal =  (quatRotate3( vertexnormal,q));\n"
+"	normal = normalize(worldNormal).xyz;\n"
 "	\n"
-"	vec4 local_normal = (quatRotate3( vertexnormal,q));\n"
+"	lightDir = lightDirIn;\n"
-"	vec3 light_pos = vec3(-0.3,0.1,0.1);\n"
-"	normal = local_normal.xyz;//normalize(ModelViewMatrix * local_normal).xyz;\n"
-"	lightDir = normalize(light_pos);//gl_LightSource[0].position.xyz));\n"
-"//	lightDir = normalize(vec3(gl_LightSource[0].position));\n"
 "	\n"
-"	vec4 axis = vec4(1,1,1,0);\n"
 "	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
 "	vec4 vertexPos = ProjectionMatrix * ModelViewMatrix *(instance_position+localcoord);\n"
 "	gl_Position = vertexPos;\n"

examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl

@@ -23,13 +23,13 @@ out vec4 color;
 
 void main(void)
 {
-    vec4 texel = fragment.color*texture(Diffuse,vert.texcoord);//fragment.color;
+  vec4 texel = fragment.color*texture(Diffuse,vert.texcoord);
 	vec3 ct,cf;
 	float intensity,at,af;
 	
 	intensity = clamp( dot( normalize(normal),lightDir ), 0,1 );
 	
-	cf = ambient;
+	
 	af = 1.0;
 		
 	ct = texel.rgb;
@@ -43,14 +43,9 @@ void main(void)
 
 	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));
 	
-	intensity*=2;
+	intensity = 0.7*intensity  + 0.3*intensity*visibility;
-	if (intensity>1)
-		intensity=1.f;
 	
-	visibility *= intensity;
+	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;
 		
-	if (visibility<0.6)
+	color  = vec4(ct * cf, fragment.color.w);
-		visibility=0.6f;
-		
-	color  = vec4(ct * visibility, fragment.color.w);
 }

examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h

@@ -17,13 +17,13 @@ static const char* useShadowMapInstancingFragmentShader= \
 "out vec4 color;\n"
 "void main(void)\n"
 "{\n"
-"    vec4 texel = fragment.color*texture(Diffuse,vert.texcoord);//fragment.color;\n"
+"  vec4 texel = fragment.color*texture(Diffuse,vert.texcoord);\n"
 "	vec3 ct,cf;\n"
 "	float intensity,at,af;\n"
 "	\n"
 "	intensity = clamp( dot( normalize(normal),lightDir ), 0,1 );\n"
 "	\n"
-"	cf = ambient;\n"
+"	\n"
 "	af = 1.0;\n"
 "		\n"
 "	ct = texel.rgb;\n"
@@ -35,15 +35,10 @@ static const char* useShadowMapInstancingFragmentShader= \
 "	bias = clamp(bias, 0,0.01);\n"
 "	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));\n"
 "	\n"
-"	intensity*=2;\n"
+"	intensity = 0.7*intensity  + 0.3*intensity*visibility;\n"
-"	if (intensity>1)\n"
-"		intensity=1.f;\n"
 "	\n"
-"	visibility *= intensity;\n"
+"	cf = intensity*(vec3(1.0,1.0,1.0)-ambient)+ambient;\n"
 "		\n"
-"	if (visibility<0.6)\n"
+"	color  = vec4(ct * cf, fragment.color.w);\n"
-"		visibility=0.6f;\n"
-"		\n"
-"	color  = vec4(ct * visibility, fragment.color.w);\n"
 "}\n"
 ;

examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl

@@ -65,7 +65,7 @@ out vec3 lightDir,normal,ambient;
 void main(void)
 {
 	vec4 q = instance_quaternion;
-	ambient = vec3(0.3,.3,0.3);
+	ambient = vec3(0.6,.6,0.6);
 			
 	vec4 worldNormal = (quatRotate3( vertexnormal,q));
 	
@@ -73,7 +73,7 @@ void main(void)
 
 	lightDir = lightDirIn;
 		
-	vec4 axis = vec4(1,1,1,0);
+	
 	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);
 	vec4 vertexPos = MVP* vec4((instance_position+localcoord).xyz,1);
 

examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h

@@ -55,14 +55,14 @@ static const char* useShadowMapInstancingVertexShader= \
 "void main(void)\n"
 "{\n"
 "	vec4 q = instance_quaternion;\n"
-"	ambient = vec3(0.3,.3,0.3);\n"
+"	ambient = vec3(0.6,.6,0.6);\n"
 "			\n"
 "	vec4 worldNormal = (quatRotate3( vertexnormal,q));\n"
 "	\n"
 "	normal = normalize(worldNormal).xyz;\n"
 "	lightDir = lightDirIn;\n"
 "		\n"
-"	vec4 axis = vec4(1,1,1,0);\n"
+"	\n"
 "	vec4 localcoord = quatRotate3( position.xyz*instance_scale,q);\n"
 "	vec4 vertexPos = MVP* vec4((instance_position+localcoord).xyz,1);\n"
 "	gl_Position = vertexPos;\n"

examples/OpenGLWindow/SimpleOpenGL2App.h

@@ -19,11 +19,11 @@ public:
 	virtual void swapBuffer();
 	virtual void drawText( const char* txt, int posX, int posY);
 	virtual void setBackgroundColor(float red, float green, float blue);
-	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ)
+	virtual int	registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1)
 	{
 		return 0;
 	}
-	virtual int	registerGraphicsSphereShape(float radius, bool usePointSprites, int largeSphereThreshold, int mediumSphereThreshold)
+	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1)
 	{
 		return 0;
 	}

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -46,6 +46,10 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
     {
         return m_height;
     }
+	virtual int	registerTexture(const unsigned char* texels, int width, int height)
+	{
+		return -1;
+	}
     virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling);
     
     virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -419,7 +419,7 @@ struct GfxVertex
 		float u,v;
 	};
 
-int	SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ)
+int	SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex)
 {
 
 
@@ -442,7 +442,7 @@ int	SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, f
 		verts[i].v = cube_vertices[i*9+8];
 	}
 	
-	int shapeId = m_instancingRenderer->registerShape(&verts[0].x,numVertices,cube_indices,numIndices);
+	int shapeId = m_instancingRenderer->registerShape(&verts[0].x,numVertices,cube_indices,numIndices,B3_GL_TRIANGLES,textureIndex);
 	return shapeId;
 }
 
@@ -480,42 +480,46 @@ void SimpleOpenGL3App::registerGrid(int cells_x, int cells_z, float color0[4], f
 	
 }
 
-
+int	SimpleOpenGL3App::registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId)
-int	SimpleOpenGL3App::registerGraphicsSphereShape(float radius, bool usePointSprites, int largeSphereThreshold, int mediumSphereThreshold)
 {
 
 	int strideInBytes = 9*sizeof(float);
 
 	int graphicsShapeIndex = -1;
 
-	if (radius>=largeSphereThreshold)
+	switch (lod)
 	{
-		int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
+		case 		SPHERE_LOD_POINT_SPRITE:
-		int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
-		graphicsShapeIndex = m_instancingRenderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices);
-	} else
-	{
-
-		if (usePointSprites)
 		{
 			int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
 			int numIndices = sizeof(point_sphere_indices)/sizeof(int);
-			graphicsShapeIndex = m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
+			graphicsShapeIndex = m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS,textureId);
-		} else
+			break;
-		{
+		}
-			if (radius>=mediumSphereThreshold)
+
-			{
+		case SPHERE_LOD_LOW:
-				int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
-				int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
-				graphicsShapeIndex = m_instancingRenderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices);
-			} else
 		{
 			int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
 			int numIndices = sizeof(low_sphere_indices)/sizeof(int);
-				graphicsShapeIndex = m_instancingRenderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices);
+			graphicsShapeIndex = m_instancingRenderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
+			break;
 		}
+		case SPHERE_LOD_MEDIUM:
+		{
+			int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_instancingRenderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
+			break;
 		}
+		case SPHERE_LOD_HIGH:
+		default:
+		{
+			int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
+			int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
+			graphicsShapeIndex = m_instancingRenderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
+			break;
 		}
+	};
 	return graphicsShapeIndex;
 }
 

examples/OpenGLWindow/SimpleOpenGL3App.h

@@ -19,8 +19,8 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
 	SimpleOpenGL3App(const char* title, int width,int height);
 	virtual ~SimpleOpenGL3App();
 
-	virtual int	registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f);
+	virtual int	registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f, int textureIndex = -1);
-	virtual int	registerGraphicsSphereShape(float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10);
+	virtual int	registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1);
 	virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
     void dumpNextFrameToPng(const char* pngFilename);
     void dumpFramesToVideo(const char* mp4Filename);

examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp

@@ -606,8 +606,8 @@ LoadObj(
 
       std::string err_mtl = LoadMtl(material_map, namebuf, mtl_basepath);
       if (!err_mtl.empty()) {
-        faceGroup.resize(0);  // for safety
+        //faceGroup.resize(0);  // for safety
-        return err_mtl;
+        //return err_mtl;
       }
       continue;
     }

examples/Tutorial/Tutorial.cpp

@@ -0,0 +1,249 @@
+
+#include "Tutorial.h"
+#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
+#include "../CommonInterfaces/CommonRenderInterface.h"
+
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "LinearMath/btTransform.h"
+
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+
+#include "stb_image/stb_image.h"
+
+struct LWPose
+{
+	btVector3		m_worldPosition;
+	btQuaternion	m_worldOrientation;
+	LWPose()
+		:m_worldPosition(0,0,0),
+		m_worldOrientation(0,0,0,1)
+	{
+	}
+
+};
+
+enum LWRIGIDBODY_FLAGS
+{
+	LWFLAG_USE_QUATERNION_DERIVATIVE = 1,
+
+};
+struct LWRightBody
+{
+	LWPose	m_worldPose;
+	btVector3 m_linearVelocity;
+	btVector3 m_angularVelocity;
+
+	int				m_graphicsIndex;
+	int				m_flags;
+
+	LWRightBody()
+		:m_linearVelocity(0,0,0),
+		m_angularVelocity(0,0,0),
+		m_flags(LWFLAG_USE_QUATERNION_DERIVATIVE)
+	{
+
+	}
+
+	void	integrateTransform(double deltaTime)
+	{
+		LWPose newPose;
+
+		newPose.m_worldPosition = m_worldPose.m_worldPosition + m_linearVelocity*deltaTime;
+
+		if (m_flags & LWFLAG_USE_QUATERNION_DERIVATIVE)
+		{
+			newPose.m_worldOrientation = m_worldPose.m_worldOrientation;
+			newPose.m_worldOrientation += (m_angularVelocity * newPose.m_worldOrientation) * (deltaTime * btScalar(0.5));
+			newPose.m_worldOrientation.normalize();
+			m_worldPose = newPose;
+		} else
+		{
+			//Exponential map
+			//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
+
+			btVector3 axis;
+			btScalar	fAngle = m_angularVelocity.length(); 
+			//limit the angular motion
+			const btScalar angularMotionThreshold =  btScalar(0.5)*SIMD_HALF_PI;
+
+			if (fAngle*deltaTime > angularMotionThreshold)
+			{
+				fAngle = angularMotionThreshold / deltaTime;
+			}
+
+			if ( fAngle < btScalar(0.001) )
+			{
+				// use Taylor's expansions of sync function
+				axis   = m_angularVelocity*( btScalar(0.5)*deltaTime-(deltaTime*deltaTime*deltaTime)*(btScalar(0.020833333333))*fAngle*fAngle );
+			}
+			else
+			{
+				// sync(fAngle) = sin(c*fAngle)/t
+				axis   = m_angularVelocity*( btSin(btScalar(0.5)*fAngle*deltaTime)/fAngle );
+			}
+			btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*deltaTime*btScalar(0.5) ));
+			btQuaternion orn0 = m_worldPose.m_worldOrientation;
+
+			btQuaternion predictedOrn = dorn * orn0;
+			predictedOrn.normalize();
+			m_worldPose.m_worldOrientation = predictedOrn;
+		}
+	}
+	
+
+	void	stepSimulation(double deltaTime)
+	{
+		integrateTransform(deltaTime);
+	}
+};
+
+
+
+///quick demo showing the right-handed coordinate system and positive rotations around each axis
+class Tutorial : public CommonExampleInterface
+{
+    CommonGraphicsApp* m_app;
+    float m_x;
+    float m_y;
+    float m_z;
+    int m_tutorialIndex;
+
+	LWRightBody*	m_body;
+
+public:
+    
+    Tutorial(CommonGraphicsApp* app, int tutorialIndex)
+    :m_app(app),
+    m_x(0),
+    m_y(0),
+	m_z(0),
+	m_tutorialIndex(tutorialIndex)
+    {
+		m_app->setUpAxis(2);
+
+
+		{
+
+		 int boxId = m_app->registerCubeShape(100,100,1);
+            btVector3 pos(0,0,-1);
+            btQuaternion orn(0,0,0,1);
+            btVector4 color(1,1,1,1);
+            btVector3 scaling(1,1,1);
+            m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
+		}
+
+		m_body = new LWRightBody();
+		m_body->m_worldPose.m_worldPosition.setValue(0,0,3);
+
+		 {
+			 int textureIndex = -1;
+
+			if (1)
+			{
+				int width,height,n;
+		
+				const char* filename = "data/cube.png";
+				const unsigned char* image=0;
+		
+				const char* prefix[]={"./","../","../../","../../../","../../../../"};
+				int numprefix = sizeof(prefix)/sizeof(const char*);
+		
+				for (int i=0;!image && i<numprefix;i++)
+				{
+					char relativeFileName[1024];
+					sprintf(relativeFileName,"%s%s",prefix[i],filename);
+					image = stbi_load(relativeFileName, &width, &height, &n, 0);
+				}
+		
+				b3Assert(image);
+				if (image)
+				{
+					textureIndex = m_app->m_renderer->registerTexture(image,width,height);
+				}
+			}
+
+            int boxId = m_app->registerCubeShape(1,1,1,textureIndex);//>registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
+            btVector4 color(1,1,1,1);
+            btVector3 scaling(1,1,1);
+            m_body->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(boxId,m_body->m_worldPose.m_worldPosition, m_body->m_worldPose.m_worldOrientation,color,scaling);
+			m_app->m_renderer->writeSingleInstanceTransformToCPU(m_body->m_worldPose.m_worldPosition, m_body->m_worldPose.m_worldOrientation, m_body->m_graphicsIndex);
+        }
+
+		 m_app->m_renderer->writeTransforms();
+    }
+    virtual ~Tutorial()
+    {
+        m_app->m_renderer->enableBlend(false);
+    }
+    
+    
+    virtual void    initPhysics()
+    {
+    }
+    virtual void    exitPhysics()
+    {
+        
+    }
+    virtual void	stepSimulation(float deltaTime)
+    {
+        m_x+=0.01f;
+        m_y+=0.01f;
+		m_z+=0.01f;
+		//m_body->m_worldPose.m_worldPosition+= btVector3(0,0.01,0);
+		//m_body->m_linearVelocity=btVector3(0,0.1,0);
+		m_body->m_angularVelocity =btVector3(0,0.1,0);
+		m_body->integrateTransform(deltaTime);
+
+		m_app->m_renderer->writeSingleInstanceTransformToCPU(m_body->m_worldPose.m_worldPosition, m_body->m_worldPose.m_worldOrientation, m_body->m_graphicsIndex);
+		 m_app->m_renderer->writeTransforms();
+    }
+    virtual void	renderScene()
+    {
+		m_app->m_renderer->renderScene();
+		m_app->drawText3D("X",1,0,0,1);
+		m_app->drawText3D("Y",0,1,0,1);
+		m_app->drawText3D("Z",0,0,1,1);
+    }
+
+	
+
+    virtual void	physicsDebugDraw(int debugDrawFlags)
+    {
+      
+		
+    }
+    virtual bool	mouseMoveCallback(float x,float y)
+    {
+		return false;   
+    }
+    virtual bool	mouseButtonCallback(int button, int state, float x, float y)
+    {
+        return false;   
+    }
+    virtual bool	keyboardCallback(int key, int state)
+    {
+        return false;   
+    }
+  
+
+	virtual void resetCamera()
+	{
+		float dist = 10.5;
+		float pitch = 136;
+		float yaw = 32;
+		float targetPos[3]={0,0,0};
+		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
+		{
+			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
+			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
+			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
+		}
+	}
+};
+
+class CommonExampleInterface*    TutorialCreateFunc(struct CommonExampleOptions& options)
+{
+	return new Tutorial(options.m_guiHelper->getAppInterface(), options.m_option);
+}
+

examples/Tutorial/Tutorial.h

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