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enable URDF loading throught the 'File/Open' menu

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set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location.
no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)
This commit is contained in:
erwincoumans
2015-05-01 11:42:14 -07:00
parent 3dd41b84a8
commit 218e9f9bf9
66 changed files with 562 additions and 217 deletions
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70
examples/OpenCL/broadphase/PairBench.cpp
View File

@@ -32,14 +32,13 @@
#include "../OpenGLWindow/GLInstanceRendererInternalData.h"
char* gPairBenchFileName = 0;
class PairBench : public CommonOpenCLBase
{
struct PairBenchInternalData* m_data;
GLInstancingRenderer* m_instancingRenderer;
public:
PairBench(GUIHelperInterface* helper);
@@ -56,6 +55,24 @@ public:
virtual void stepSimulation(float deltaTime);
virtual void renderScene();
virtual void resetCamera()
{
float dist = 10;
if (gPairBenchFileName)
{
dist = 830;
} else
{
dist = 130;
}
float pitch = 62;
float yaw = 33;
float targetPos[4]={15.5,12.5,15.5,0};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
@@ -67,7 +84,7 @@ public:
char* gPairBenchFileName = 0;
extern bool useShadowMap;
float maxExtents = -1e30f;
int largeCount = 0;
@@ -143,7 +160,8 @@ PairBench::PairBench(GUIHelperInterface* helper)
:CommonOpenCLBase(helper)
{
m_data = new PairBenchInternalData;
m_instancingRenderer = (GLInstancingRenderer*) helper->getRenderInterface();
m_data->m_validationBroadphase = 0;
}
PairBench::~PairBench()
@@ -182,7 +200,7 @@ void PairBench::initPhysics()
dimensions[1] = 10;
dimensions[2] = 10;
//m_instancingRenderer = ci.m_instancingRenderer;
//m_guiHelper->getRenderInterface() = ci.m_guiHelper->getRenderInterface();
sPairDemo = this;
useShadowMap = false;
@@ -228,7 +246,7 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_vertices)/sizeof(int);
int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = m_guiHelper->getRenderInterface()->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
int index=TEST_INDEX_OFFSET;
@@ -316,12 +334,12 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
if (l>500)
{
b3Vector4 color=b3MakeVector4(0,1,0,0.1);
int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_data->m_broadphaseGPU->createLargeProxy(aabbMin,aabbMax,index,group,mask);
} else
{
b3Vector4 color=b3MakeVector4(1,0,0,1);
int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_data->m_broadphaseGPU->createProxy(aabbMin,aabbMax,index,group,mask);
index++;
}
@@ -384,7 +402,7 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
}*/
int id = m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int id = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
b3Vector3 aabbMin = position-scaling;
@@ -404,21 +422,13 @@ void PairBench::createBroadphase(int arraySizeX, int arraySizeY, int arraySizeZ)
}
}
float camPos[4]={15.5,12.5,15.5,0};
m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(camPos[0],camPos[1],camPos[2]);
if (gPairBenchFileName)
{
m_instancingRenderer->getActiveCamera()->setCameraDistance(830);
} else
{
m_instancingRenderer->getActiveCamera()->setCameraDistance(130);
}
m_instancingRenderer->writeTransforms();
m_guiHelper->getRenderInterface()->writeTransforms();
m_data->m_broadphaseGPU->writeAabbsToGpu();
}
void PairBench::deleteBroadphase()
{
delete m_data->m_broadphaseGPU;
@@ -429,11 +439,13 @@ void PairBench::deleteBroadphase()
m_data->m_bodyTimes = 0;
m_data->m_broadphaseGPU = 0;
m_instancingRenderer->removeAllInstances();
m_guiHelper->getRenderInterface()->removeAllInstances();
}
void PairBench::exitPhysics()
{
//reset the state to 'on'
useShadowMap = true;
if(m_data->m_validationBroadphase)
{
delete m_data->m_validationBroadphase;
@@ -449,7 +461,7 @@ void PairBench::exitPhysics()
void PairBench::renderScene()
{
m_instancingRenderer->renderScene();
m_guiHelper->getRenderInterface()->renderScene();
}
struct OverlappingPairSortPredicate
@@ -467,17 +479,23 @@ void PairBench::stepSimulation(float deltaTime)
{
//color all objects blue
GLInstanceRendererInternalData* internalData = m_guiHelper->getRenderInterface()->getInternalData();
if (internalData==0)
return;
bool animate=true;
int numObjects= 0;
{
B3_PROFILE("Num Objects");
numObjects = m_instancingRenderer->getInternalData()->m_totalNumInstances;
numObjects = internalData->m_totalNumInstances;
}
b3Vector4* positions = 0;
if (numObjects)
{
B3_PROFILE("Sync");
GLuint vbo = m_instancingRenderer->getInternalData()->m_vbo;
GLuint vbo = internalData->m_vbo;
@@ -488,7 +506,7 @@ void PairBench::stepSimulation(float deltaTime)
char* hostPtr= 0;
{
B3_PROFILE("glMapBufferRange");
hostPtr = (char*)glMapBufferRange( GL_ARRAY_BUFFER,m_instancingRenderer->getMaxShapeCapacity(),arraySizeInBytes, GL_MAP_WRITE_BIT|GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
hostPtr = (char*)glMapBufferRange( GL_ARRAY_BUFFER,internalData->m_maxShapeCapacityInBytes,arraySizeInBytes, GL_MAP_WRITE_BIT|GL_MAP_READ_BIT );//GL_READ_WRITE);//GL_WRITE_ONLY
}
GLint err = glGetError();
assert(err==GL_NO_ERROR);
@@ -767,7 +785,7 @@ void PairBench::stepSimulation(float deltaTime)
}
class CommonExampleInterface* PairBenchOpenCLCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
class CommonExampleInterface* PairBenchOpenCLCreateFunc(struct CommonExampleOptions& options)
{
return new PairBench(helper);
return new PairBench(options.m_guiHelper);
}

2
examples/OpenCL/broadphase/PairBench.h
View File

@@ -1,7 +1,7 @@
#ifndef PAIR_BENCH_H
#define PAIR_BENCH_H
class CommonExampleInterface* PairBenchOpenCLCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class CommonExampleInterface* PairBenchOpenCLCreateFunc(struct CommonExampleOptions& options);
#endif