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add basic legacy OpenGL2 rendering

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This commit is contained in:
erwin coumans
2015-04-20 15:28:52 -07:00
parent 482deb1fca
commit 13396d32bf
14 changed files with 1080 additions and 100 deletions
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14
examples/BasicDemo/BasicExample.cpp
View File

@@ -1,5 +1,6 @@
#include "BasicExample.h"
#include "btBulletDynamicsCommon.h"
@@ -21,6 +22,7 @@ struct BasicExample : public CommonRigidBodyBase
}
virtual ~BasicExample(){}
virtual void initPhysics();
virtual void renderScene();
};
void BasicExample::initPhysics()
@@ -102,6 +104,15 @@ void BasicExample::initPhysics()
}
void BasicExample::renderScene()
{
CommonRigidBodyBase::renderScene();
}
ExampleInterface* BasicExampleCreateFunc(PhysicsInterface* pint, GUIHelperInterface* helper, int option)
{
@@ -110,6 +121,3 @@ ExampleInterface* BasicExampleCreateFunc(PhysicsInterface* pint, GUIHelperInt

4
examples/CommonInterfaces/CommonGUIHelperInterface.h
View File

@@ -25,6 +25,8 @@ struct GUIHelperInterface
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)=0;
virtual void render(const btDiscreteDynamicsWorld* rbWorld)=0;
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=0;
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) =0;
@@ -63,6 +65,8 @@ struct DummyGUIHelper : public GUIHelperInterface
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld){}
virtual void render(const btDiscreteDynamicsWorld* rbWorld) {}
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }

5
examples/CommonInterfaces/CommonRigidBodyBase.h
View File

@@ -425,10 +425,7 @@ struct CommonRigidBodyBase : public ExampleInterface
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
if (m_guiHelper->getRenderInterface())
{
m_guiHelper->getRenderInterface()->renderScene();
}
m_guiHelper->render(m_dynamicsWorld);
}
};

942
examples/ExampleBrowser/GL_ShapeDrawer.cpp Normal file
View File

@@ -0,0 +1,942 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifdef _WIN32 //needed for glut.h
#include <windows.h>
#endif
#include "../OpenGLWindow/OpenGL2Include.h"
#include "GL_ShapeDrawer.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btDefaultMotionState.h"
///
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btIDebugDraw.h"
//for debugmodes
#include <stdio.h> //printf debugging
#if defined(BT_USE_DOUBLE_PRECISION)
#define btglLoadMatrix glLoadMatrixd
#define btglMultMatrix glMultMatrixd
#define btglColor3 glColor3d
#define btglVertex3 glVertex3d
#else
#define btglLoadMatrix glLoadMatrixf
#define btglMultMatrix glMultMatrixf
#define btglColor3 glColor3f
#define btglVertex3 glVertex3d
#endif
void GL_ShapeDrawer::drawCoordSystem() {
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(0, 0, 0);
glVertex3d(1, 0, 0);
glColor3f(0, 1, 0);
glVertex3d(0, 0, 0);
glVertex3d(0, 1, 0);
glColor3f(0, 0, 1);
glVertex3d(0, 0, 0);
glVertex3d(0, 0, 1);
glEnd();
}
class GlDrawcallback : public btTriangleCallback
{
public:
bool m_wireframe;
GlDrawcallback()
:m_wireframe(false)
{
}
virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
(void)triangleIndex;
(void)partId;
if (m_wireframe)
{
glBegin(GL_LINES);
glColor3f(1, 0, 0);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 1, 0);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 0, 1);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
} else
{
glBegin(GL_TRIANGLES);
//glColor3f(1, 1, 1);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
}
}
};
class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
{
public:
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
(void)triangleIndex;
(void)partId;
glBegin(GL_TRIANGLES);//LINES);
glColor3f(1, 0, 0);
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 1, 0);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
glColor3f(0, 0, 1);
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
}
};
void GL_ShapeDrawer::drawSphere(btScalar radius, int lats, int longs)
{
int i, j;
for(i = 0; i <= lats; i++) {
btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
btScalar z0 = radius*sin(lat0);
btScalar zr0 = radius*cos(lat0);
btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
btScalar z1 = radius*sin(lat1);
btScalar zr1 = radius*cos(lat1);
glBegin(GL_QUAD_STRIP);
for(j = 0; j <= longs; j++) {
btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
btScalar x = cos(lng);
btScalar y = sin(lng);
glNormal3f(x * zr1, y * zr1, z1);
glVertex3f(x * zr1, y * zr1, z1);
glNormal3f(x * zr0, y * zr0, z0);
glVertex3f(x * zr0, y * zr0, z0);
}
glEnd();
}
}
GL_ShapeDrawer::ShapeCache* GL_ShapeDrawer::cache(btConvexShape* shape)
{
ShapeCache* sc=(ShapeCache*)shape->getUserPointer();
if(!sc)
{
sc=new(btAlignedAlloc(sizeof(ShapeCache),16)) ShapeCache(shape);
sc->m_shapehull.buildHull(shape->getMargin());
m_shapecaches.push_back(sc);
shape->setUserPointer(sc);
/* Build edges */
const int ni=sc->m_shapehull.numIndices();
const int nv=sc->m_shapehull.numVertices();
const unsigned int* pi=sc->m_shapehull.getIndexPointer();
const btVector3* pv=sc->m_shapehull.getVertexPointer();
btAlignedObjectArray<ShapeCache::Edge*> edges;
sc->m_edges.reserve(ni);
edges.resize(nv*nv,0);
for(int i=0;i<ni;i+=3)
{
const unsigned int* ti=pi+i;
const btVector3 nrm=btCross(pv[ti[1]]-pv[ti[0]],pv[ti[2]]-pv[ti[0]]).normalized();
for(int j=2,k=0;k<3;j=k++)
{
const unsigned int a=ti[j];
const unsigned int b=ti[k];
ShapeCache::Edge*& e=edges[btMin(a,b)*nv+btMax(a,b)];
if(!e)
{
sc->m_edges.push_back(ShapeCache::Edge());
e=&sc->m_edges[sc->m_edges.size()-1];
e->n[0]=nrm;e->n[1]=-nrm;
e->v[0]=a;e->v[1]=b;
}
else
{
e->n[1]=nrm;
}
}
}
}
return(sc);
}
void renderSquareA(float x, float y, float z)
{
glBegin(GL_LINE_LOOP);
glVertex3f(x, y, z);
glVertex3f(x + 10.f, y, z);
glVertex3f(x + 10.f, y + 10.f, z);
glVertex3f(x, y + 10.f, z);
glEnd();
}
inline void glDrawVector(const btVector3& v) { glVertex3d(v[0], v[1], v[2]); }
void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{
if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE)
{
btVector3 org(m[12], m[13], m[14]);
btVector3 dx(m[0], m[1], m[2]);
btVector3 dy(m[4], m[5], m[6]);
// btVector3 dz(m[8], m[9], m[10]);
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
dx *= halfExtent[0];
dy *= halfExtent[1];
// dz *= halfExtent[2];
glColor3f(1,1,1);
glDisable(GL_LIGHTING);
glLineWidth(2);
glBegin(GL_LINE_LOOP);
glDrawVector(org - dx - dy);
glDrawVector(org - dx + dy);
glDrawVector(org + dx + dy);
glDrawVector(org + dx - dy);
glEnd();
return;
}
else if((shape->getShapeType() == BOX_SHAPE_PROXYTYPE) && (debugMode & btIDebugDraw::DBG_FastWireframe))
{
btVector3 org(m[12], m[13], m[14]);
btVector3 dx(m[0], m[1], m[2]);
btVector3 dy(m[4], m[5], m[6]);
btVector3 dz(m[8], m[9], m[10]);
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
dx *= halfExtent[0];
dy *= halfExtent[1];
dz *= halfExtent[2];
glBegin(GL_LINE_LOOP);
glDrawVector(org - dx - dy - dz);
glDrawVector(org + dx - dy - dz);
glDrawVector(org + dx + dy - dz);
glDrawVector(org - dx + dy - dz);
glDrawVector(org - dx + dy + dz);
glDrawVector(org + dx + dy + dz);
glDrawVector(org + dx - dy + dz);
glDrawVector(org - dx - dy + dz);
glEnd();
glBegin(GL_LINES);
glDrawVector(org + dx - dy - dz);
glDrawVector(org + dx - dy + dz);
glDrawVector(org + dx + dy - dz);
glDrawVector(org + dx + dy + dz);
glDrawVector(org - dx - dy - dz);
glDrawVector(org - dx + dy - dz);
glDrawVector(org - dx - dy + dz);
glDrawVector(org - dx + dy + dz);
glEnd();
return;
}
glPushMatrix();
btglMultMatrix(m);
if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
{
const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
const btConvexShape* convexShape = scalingShape->getChildShape();
float scalingFactor = (float)scalingShape->getUniformScalingFactor();
{
btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
{0,scalingFactor,0,0},
{0,0,scalingFactor,0},
{0,0,0,1}};
drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
}
glPopMatrix();
return;
}
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* colShape = compoundShape->getChildShape(i);
ATTRIBUTE_ALIGNED16(btScalar) childMat[16];
childTrans.getOpenGLMatrix(childMat);
drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
}
} else
{
if(m_textureenabled&&(!m_textureinitialized))
{
GLubyte* image=new GLubyte[256*256*4];
for(int y=0;y<256;++y)
{
const int t=y>>4;
GLubyte* pi=image+y*256*3;
for(int x=0;x<256;++x)
{
const int s=x>>4;
const GLubyte b=180;
GLubyte c=b+((s+(t&1))&1)*(255-b);
pi[0]=pi[1]=pi[2]=pi[3]=c;pi+=3;
}
}
glGenTextures(1,(GLuint*)&m_texturehandle);
glBindTexture(GL_TEXTURE_2D,m_texturehandle);
glGenTextures(1,(GLuint*)&m_texturehandle);
glBindTexture(GL_TEXTURE_2D,m_texturehandle);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
glTexImage2D(GL_TEXTURE_2D, 0, 3, 256 , 256 , 0, GL_RGB, GL_UNSIGNED_BYTE, image);
//glGenerateMipmap(GL_TEXTURE_2D);
delete[] image;
}
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
glScalef(0.025f,0.025f,0.025f);
glMatrixMode(GL_MODELVIEW);
static const GLfloat planex[]={1,0,0,0};
// static const GLfloat planey[]={0,1,0,0};
static const GLfloat planez[]={0,0,1,0};
glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
glEnable(GL_TEXTURE_GEN_S);
glEnable(GL_TEXTURE_GEN_T);
glEnable(GL_TEXTURE_GEN_R);
m_textureinitialized=true;
//drawCoordSystem();
//glPushMatrix();
glEnable(GL_COLOR_MATERIAL);
if(m_textureenabled)
{
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,m_texturehandle);
} else
{
glDisable(GL_TEXTURE_2D);
}
glColor3f(color.x(),color.y(), color.z());
//bool useWireframeFallback = true;
if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
{
///you can comment out any of the specific cases, and use the default
///the benefit of 'default' is that it approximates the actual collision shape including collision margin
//int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
int shapetype=shape->getShapeType();
switch (shapetype)
{
case SPHERE_SHAPE_PROXYTYPE:
{
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
drawSphere(radius,10,10);
//useWireframeFallback = false;
break;
}
case BOX_SHAPE_PROXYTYPE:
{
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
static int indices[36] = {
0,1,2,
3,2,1,
4,0,6,
6,0,2,
5,1,4,
4,1,0,
7,3,1,
7,1,5,
5,4,7,
7,4,6,
7,2,3,
7,6,2};
btVector3 vertices[8]={
btVector3(halfExtent[0],halfExtent[1],halfExtent[2]),
btVector3(-halfExtent[0],halfExtent[1],halfExtent[2]),
btVector3(halfExtent[0],-halfExtent[1],halfExtent[2]),
btVector3(-halfExtent[0],-halfExtent[1],halfExtent[2]),
btVector3(halfExtent[0],halfExtent[1],-halfExtent[2]),
btVector3(-halfExtent[0],halfExtent[1],-halfExtent[2]),
btVector3(halfExtent[0],-halfExtent[1],-halfExtent[2]),
btVector3(-halfExtent[0],-halfExtent[1],-halfExtent[2])};
#if 1
glBegin (GL_TRIANGLES);
int si=36;
for (int i=0;i<si;i+=3)
{
const btVector3& v1 = vertices[indices[i]];;
const btVector3& v2 = vertices[indices[i+1]];
const btVector3& v3 = vertices[indices[i+2]];
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
}
glEnd();
#endif
//useWireframeFallback = false;
break;
}
#if 0
case CONE_SHAPE_PROXYTYPE:
{
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
int upIndex = coneShape->getConeUpIndex();
float radius = coneShape->getRadius();//+coneShape->getMargin();
float height = coneShape->getHeight();//+coneShape->getMargin();
switch (upIndex)
{
case 0:
glRotatef(90.0, 0.0, 1.0, 0.0);
break;
case 1:
glRotatef(-90.0, 1.0, 0.0, 0.0);
break;
case 2:
break;
default:
{
}
};
glTranslatef(0.0, 0.0, -0.5*height);
glutSolidCone(radius,height,10,10);
//useWireframeFallback = false;
break;
}
#endif
case STATIC_PLANE_PROXYTYPE:
{
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
btScalar planeConst = staticPlaneShape->getPlaneConstant();
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
btVector3 planeOrigin = planeNormal * planeConst;
btVector3 vec0,vec1;
btPlaneSpace1(planeNormal,vec0,vec1);
btScalar vecLen = 100.f;
btVector3 pt0 = planeOrigin + vec0*vecLen;
btVector3 pt1 = planeOrigin - vec0*vecLen;
btVector3 pt2 = planeOrigin + vec1*vecLen;
btVector3 pt3 = planeOrigin - vec1*vecLen;
glBegin(GL_LINES);
glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ());
glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ());
glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ());
glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ());
glEnd();
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
btTransform childTransform;
childTransform.setIdentity();
for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
{
btSphereShape sc(multiSphereShape->getSphereRadius(i));
childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
ATTRIBUTE_ALIGNED16(btScalar) childMat[16];
childTransform.getOpenGLMatrix(childMat);
drawOpenGL(childMat,&sc,color,debugMode,worldBoundsMin,worldBoundsMax);
}
break;
}
default:
{
if (shape->isConvex())
{
const btConvexPolyhedron* poly = shape->isPolyhedral() ? ((btPolyhedralConvexShape*) shape)->getConvexPolyhedron() : 0;
if (poly)
{
int i;
glBegin (GL_TRIANGLES);
for (i=0;i<poly->m_faces.size();i++)
{
btVector3 centroid(0,0,0);
int numVerts = poly->m_faces[i].m_indices.size();
if (numVerts>2)
{
btVector3 v1 = poly->m_vertices[poly->m_faces[i].m_indices[0]];
for (int v=0;v<poly->m_faces[i].m_indices.size()-2;v++)
{
btVector3 v2 = poly->m_vertices[poly->m_faces[i].m_indices[v+1]];
btVector3 v3 = poly->m_vertices[poly->m_faces[i].m_indices[v+2]];
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
}
}
}
glEnd ();
} else
{
ShapeCache* sc=cache((btConvexShape*)shape);
//glutSolidCube(1.0);
btShapeHull* hull = &sc->m_shapehull/*(btShapeHull*)shape->getUserPointer()*/;
if (hull->numTriangles () > 0)
{
int index = 0;
const unsigned int* idx = hull->getIndexPointer();
const btVector3* vtx = hull->getVertexPointer();
glBegin (GL_TRIANGLES);
for (int i = 0; i < hull->numTriangles (); i++)
{
int i1 = index++;
int i2 = index++;
int i3 = index++;
btAssert(i1 < hull->numIndices () &&
i2 < hull->numIndices () &&
i3 < hull->numIndices ());
int index1 = idx[i1];
int index2 = idx[i2];
int index3 = idx[i3];
btAssert(index1 < hull->numVertices () &&
index2 < hull->numVertices () &&
index3 < hull->numVertices ());
btVector3 v1 = vtx[index1];
btVector3 v2 = vtx[index2];
btVector3 v3 = vtx[index3];
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
glVertex3f (v3.x(), v3.y(), v3.z());
}
glEnd ();
}
}
}
}
}
}
glNormal3f(0,1,0);
/// for polyhedral shapes
if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))
{
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
{
glColor3f(1.f, 1.f, 1.f);
int i;
for (i=0;i<polyshape->getNumVertices();i++)
{
btVector3 vtx;
polyshape->getVertex(i,vtx);
char buf[12];
sprintf(buf," %d",i);
//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
for (i=0;i<polyshape->getNumPlanes();i++)
{
btVector3 normal;
btVector3 vtx;
polyshape->getPlane(normal,vtx,i);
//btScalar d = vtx.dot(normal);
//char buf[12];
//sprintf(buf," plane %d",i);
//btDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
}
}
}
glPopMatrix();
}
//
void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{
glPushMatrix();
btglMultMatrix(m);
if(shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
{
const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
const btConvexShape* convexShape = scalingShape->getChildShape();
float scalingFactor = (float)scalingShape->getUniformScalingFactor();
btScalar tmpScaling[4][4]={ {scalingFactor,0,0,0},
{0,scalingFactor,0,0},
{0,0,scalingFactor,0},
{0,0,0,1}};
drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax);
glPopMatrix();
return;
}
else if(shape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* colShape = compoundShape->getChildShape(i);
ATTRIBUTE_ALIGNED16(btScalar) childMat[16];
childTrans.getOpenGLMatrix(childMat);
drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax);
}
}
else
{
// bool useWireframeFallback = true;
if (shape->isConvex())
{
ShapeCache* sc=cache((btConvexShape*)shape);
btShapeHull* hull =&sc->m_shapehull;
glBegin(GL_QUADS);
for(int i=0;i<sc->m_edges.size();++i)
{
const btScalar d=btDot(sc->m_edges[i].n[0],extrusion);
if((d*btDot(sc->m_edges[i].n[1],extrusion))<0)
{
const int q= d<0?1:0;
const btVector3& a= hull->getVertexPointer()[sc->m_edges[i].v[q]];
const btVector3& b= hull->getVertexPointer()[sc->m_edges[i].v[1-q]];
glVertex3f(a[0],a[1],a[2]);
glVertex3f(b[0],b[1],b[2]);
glVertex3f(b[0]+extrusion[0],b[1]+extrusion[1],b[2]+extrusion[2]);
glVertex3f(a[0]+extrusion[0],a[1]+extrusion[1],a[2]+extrusion[2]);
}
}
glEnd();
}
}
if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
GlDrawcallback drawCallback;
drawCallback.m_wireframe = false;
concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
}
glPopMatrix();
}
//
GL_ShapeDrawer::GL_ShapeDrawer()
{
m_texturehandle = 0;
m_textureenabled = false;
m_textureinitialized = false;
}
GL_ShapeDrawer::~GL_ShapeDrawer()
{
int i;
for (i=0;i<m_shapecaches.size();i++)
{
m_shapecaches[i]->~ShapeCache();
btAlignedFree(m_shapecaches[i]);
}
m_shapecaches.clear();
if(m_textureinitialized)
{
glDeleteTextures(1,(const GLuint*) &m_texturehandle);
}
}
void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWorld, int pass)
{
btAssert(dynamicsWorld);
btScalar m[16];
btMatrix3x3 rot;rot.setIdentity();
const int numObjects=dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
//glDisable(GL_CULL_FACE);
for(int i=0;i<numObjects;i++)
{
const btCollisionObject* colObj=dynamicsWorld->getCollisionObjectArray()[i];
const btRigidBody* body=btRigidBody::upcast(colObj);
if(body&&body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
rot=myMotionState->m_graphicsWorldTrans.getBasis();
}
else
{
colObj->getWorldTransform().getOpenGLMatrix(m);
rot=colObj->getWorldTransform().getBasis();
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
///color differently for active, sleeping, wantsdeactivation states
if (colObj->getActivationState() == 1) //active
{
if (i & 1)
{
wireColor += btVector3 (1.f,0.f,0.f);
}
else
{
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if(colObj->getActivationState()==2) //ISLAND_SLEEPING
{
if(i&1)
{
wireColor += btVector3 (0.f,1.f, 0.f);
}
else
{
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
//m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
// m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
//switch(pass)
//if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe))
int debugMode = 0;//getDebugMode()
//btVector3 m_sundirection(-1,-1,-1);
btVector3 m_sundirection(btVector3(1,-2,1)*1000);
switch(pass)
{
case 0: drawOpenGL(m,colObj->getCollisionShape(),wireColor,debugMode,aabbMin,aabbMax);break;
case 1: drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
case 2: drawOpenGL(m,colObj->getCollisionShape(),wireColor*btScalar(0.3),0,aabbMin,aabbMax);break;
}
}
}
void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, bool useShadows)
{
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));
if(useShadows)
{
glClear(GL_STENCIL_BUFFER_BIT);
glEnable(GL_CULL_FACE);
drawSceneInternal(dynamicsWorld,0);
glDisable(GL_LIGHTING);
glDepthMask(GL_FALSE);
glDepthFunc(GL_LEQUAL);
glEnable(GL_STENCIL_TEST);
glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE);
glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL);
glFrontFace(GL_CCW);
glStencilOp(GL_KEEP,GL_KEEP,GL_INCR);
drawSceneInternal(dynamicsWorld,1);
glFrontFace(GL_CW);
glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
drawSceneInternal(dynamicsWorld,1);
glFrontFace(GL_CCW);
glPolygonMode(GL_FRONT,GL_FILL);
glPolygonMode(GL_BACK,GL_FILL);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glEnable(GL_LIGHTING);
glDepthMask(GL_TRUE);
glCullFace(GL_BACK);
glFrontFace(GL_CCW);
glEnable(GL_CULL_FACE);
glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE);
glDepthFunc(GL_LEQUAL);
glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL );
glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
glDisable(GL_LIGHTING);
drawSceneInternal(dynamicsWorld,2);
glEnable(GL_LIGHTING);
glDepthFunc(GL_LESS);
glDisable(GL_STENCIL_TEST);
glDisable(GL_CULL_FACE);
}
else
{
glDisable(GL_CULL_FACE);
drawSceneInternal(dynamicsWorld,0);
}
}

77
examples/ExampleBrowser/GL_ShapeDrawer.h Normal file
View File

@@ -0,0 +1,77 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef GL_SHAPE_DRAWER_H
#define GL_SHAPE_DRAWER_H
class btCollisionShape;
class btShapeHull;
class btDiscreteDynamicsWorld;
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
/// OpenGL shape drawing
class GL_ShapeDrawer
{
protected:
struct ShapeCache
{
struct Edge { btVector3 n[2];int v[2]; };
ShapeCache(btConvexShape* s) : m_shapehull(s) {}
btShapeHull m_shapehull;
btAlignedObjectArray<Edge> m_edges;
};
//clean-up memory of dynamically created shape hulls
btAlignedObjectArray<ShapeCache*> m_shapecaches;
unsigned int m_texturehandle;
bool m_textureenabled;
bool m_textureinitialized;
ShapeCache* cache(btConvexShape*);
virtual void drawSceneInternal(const btDiscreteDynamicsWorld* world, int pass);
public:
GL_ShapeDrawer();
virtual ~GL_ShapeDrawer();
virtual void drawScene(const btDiscreteDynamicsWorld* world, bool useShadows);
///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
virtual void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
virtual void drawShadow(btScalar* m, const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax);
bool enableTexture(bool enable) { bool p=m_textureenabled;m_textureenabled=enable;return(p); }
bool hasTextureEnabled() const
{
return m_textureenabled;
}
void drawSphere(btScalar r, int lats, int longs);
static void drawCoordSystem();
};
void OGL_displaylist_register_shape(btCollisionShape * shape);
void OGL_displaylist_clean();
#endif //GL_SHAPE_DRAWER_H

2
examples/ExampleBrowser/GUIHelperInterface.cpp
View File

@@ -1,2 +0,0 @@
#include "GUIHelperInterface.h"

75
examples/ExampleBrowser/GUIHelperInterface.h
View File

@@ -1,75 +0,0 @@
#ifndef GUI_HELPER_INTERFACE_H
#define GUI_HELPER_INTERFACE_H
class btRigidBody;
class btVector3;
class btCollisionObject;
class btDiscreteDynamicsWorld;
class btCollisionShape;
///The Bullet 2 GraphicsPhysicsBridge let's the graphics engine create graphics representation and synchronize
struct GUIHelperInterface
{
virtual ~GUIHelperInterface() {}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
{
}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
{
}
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
}
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)
{
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }//, int primitiveType = B3_GL_TRIANGLES, int textureIndex = -1);
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;}
virtual struct Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
}
virtual struct CommonParameterInterface* getParameterInterface()
{
return 0;
}
virtual struct CommonRenderInterface* getRenderInterface()
{
return 0;
}
virtual struct CommonGraphicsApp* getAppInterface()
{
return 0;
}
virtual void setUpAxis(int axis)
{
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
}
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
};
#endif //GUI_HELPER_INTERFACE_H

4
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -51,7 +51,7 @@ static ExampleInterface* sCurrentDemo = 0;
static b3AlignedObjectArray<const char*> allNames;
static class ExampleEntries* gAllExamples=0;
static bool sUseOpenGL2 = false;
bool sUseOpenGL2 = false;
bool drawGUI=true;
extern bool useShadowMap;
static bool visualWireframe=false;
@@ -237,7 +237,7 @@ void selectDemo(int demoIndex)
{
s_parameterInterface->removeAllParameters();
int option = gAllExamples->getExampleOption(demoIndex);
s_guiHelper= new OpenGLGuiHelper(s_app);
s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
sCurrentDemo = (*func)(0,s_guiHelper, option);
if (sCurrentDemo)
{

27
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -9,6 +9,8 @@
#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
//backwards compatibility
#include "GL_ShapeDrawer.h"
#define BT_LINE_BATCH_SIZE 512
@@ -127,20 +129,29 @@ struct OpenGLGuiHelperInternalData
struct CommonGraphicsApp* m_glApp;
class MyDebugDrawer* m_debugDraw;
int m_curColor;
GL_ShapeDrawer* m_gl2ShapeDrawer;
};
OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp)
OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
{
m_data = new OpenGLGuiHelperInternalData;
m_data->m_glApp = glApp;
m_data->m_debugDraw = 0;
m_data->m_curColor = 0;
m_data->m_gl2ShapeDrawer = 0;
if (useOpenGL2)
{
m_data->m_gl2ShapeDrawer = new GL_ShapeDrawer();
}
}
OpenGLGuiHelper::~OpenGLGuiHelper()
{
delete m_data->m_gl2ShapeDrawer;
delete m_data;
}
@@ -427,6 +438,20 @@ void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
m_data->m_glApp->m_renderer->writeTransforms();
}
void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
{
m_data->m_glApp->m_renderer->renderScene();
//backwards compatible OpenGL2 rendering
if (m_data->m_gl2ShapeDrawer && rbWorld)
{
m_data->m_gl2ShapeDrawer->enableTexture(true);
m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true);
}
}
void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
{
btAssert(rbWorld);

10
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -1,6 +1,6 @@
#ifndef OPENGL_GUI_HELPER_H
#define OPENGL_GUI_HELPER_H
#include "GUIHelperInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
class btCollisionShape;
class btTransform;
@@ -10,7 +10,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
{
struct OpenGLGuiHelperInternalData* m_data;
OpenGLGuiHelper(struct CommonGraphicsApp* glApp);
OpenGLGuiHelper(struct CommonGraphicsApp* glApp, bool useOpenGL2);
virtual ~OpenGLGuiHelper();
@@ -30,6 +30,10 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
virtual void render(const btDiscreteDynamicsWorld* rbWorld);
virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld);
virtual struct Common2dCanvasInterface* get2dCanvasInterface();
@@ -46,6 +50,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);
void renderInternalGl2(int pass, const btDiscreteDynamicsWorld* dynamicsWorld);
};
#endif //OPENGL_GUI_HELPER_H

12
examples/ForkLift/ForkLiftDemo.cpp
View File

@@ -37,7 +37,7 @@ class btCollisionShape;
#include "../CommonInterfaces/ExampleInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btBulletCollisionCommon.h"
#include "../ExampleBrowser/GUIHelperInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonWindowInterface.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
@@ -628,14 +628,12 @@ void ForkLiftDemo::renderScene()
}
}
if (m_guiHelper->getRenderInterface())
{
m_guiHelper->getRenderInterface()->renderScene();
}
updateCamera();
m_guiHelper->render(m_dynamicsWorld);
ATTRIBUTE_ALIGNED16(btScalar) m[16];
int i;

2
examples/RenderingExamples/CoordinateSystemDemo.cpp
View File

@@ -5,7 +5,7 @@
#include "../CommonInterfaces/ExampleInterface.h"
#include "LinearMath/btTransform.h"
#include "GUIHelperInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
///quick demo showing the right-handed coordinate system and positive rotations around each axis
class CoordinateSystemDemo : public ExampleInterface
{

2
examples/RenderingExamples/RaytracerSetup.cpp
View File

@@ -15,7 +15,7 @@
#include "../CommonInterfaces/ExampleInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btBulletCollisionCommon.h"
#include "GUIHelperInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
struct RaytracerPhysicsSetup : public ExampleInterface
{

2
examples/RenderingExamples/RenderInstancingDemo.cpp
View File

@@ -7,7 +7,7 @@
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/ExampleInterface.h"
#include "GUIHelperInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
///quick demo showing the right-handed coordinate system and positive rotations around each axis
class RenderInstancingDemo : public ExampleInterface