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X11OpenGLWindow: create stencil buffer for shadows in OpenGL2 mode (OpenGL3 uses shadow maps)

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Add 'createCollisionObjectGraphicsObject' API for CommonPhysicsSetup
Add 'pthread' dependency as workaround for NVIDIA graphics driver issue
(see //See https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-319/+bug/1248642
)
This commit is contained in:
Erwin Coumans
2014-08-26 11:28:44 -07:00
parent 1e956c8002
commit 2b35911f2a
19 changed files with 702 additions and 53 deletions
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23
Demos3/AllBullet2Demos/BulletDemoEntries.h
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@@ -18,6 +18,14 @@
#include "../ImportURDFDemo/ImportURDFSetup.h"
#include "../ImportObjDemo/ImportObjSetup.h"
#include "../ImportSTLDemo/ImportSTLSetup.h"
#include "../../Demos/SerializeDemo/SerializeSetup.h"
#include "../bullet2/MultiBodyDemo/TestJointTorqueSetup.h"
static BulletDemoInterface* TestJointTorqueCreateFunc(SimpleOpenGL3App* app)
{
CommonPhysicsSetup* physicsSetup = new TestJointTorqueSetup();
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* LuaDemoCreateFunc(SimpleOpenGL3App* app)
{
@@ -36,7 +44,11 @@ static BulletDemoInterface* MyKinematicObjectCreateFunc(SimpleOpenGL3App* app)
CommonPhysicsSetup* physicsSetup = new KinematicObjectSetup();
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MySerializeCreateFunc(SimpleOpenGL3App* app)
{
CommonPhysicsSetup* physicsSetup = new SerializeSetup();
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MyConstraintCreateFunc(SimpleOpenGL3App* app)
{
CommonPhysicsSetup* physicsSetup = new ConstraintPhysicsSetup();
@@ -70,7 +82,7 @@ struct BulletDemoEntry
static BulletDemoEntry allDemos[]=
{
//{"emptydemo",EmptyBulletDemo::MyCreateFunc},
{0,"API Demos", 0},
@@ -82,10 +94,11 @@ static BulletDemoEntry allDemos[]=
{0,"File Formats", 0},
//@todo(erwincoumans) { 1, "bullet", MyImportSTLCreateFunc},
{ 1, ".bullet",MySerializeCreateFunc},
{ 1, "Wavefront Obj", MyImportObjCreateFunc},
{ 1, "URDF", MyImportUrdfCreateFunc },
{ 1, "STL", MyImportSTLCreateFunc},
/* {1,"ChainDemo",ChainDemo::MyCreateFunc},
// {0, "Stress tests", 0 },
@@ -95,13 +108,15 @@ static BulletDemoEntry allDemos[]=
{1,"LemkeHingeDemo",HingeDemo::LemkeCreateFunc},
{1,"InertiaHingeDemo",HingeDemo::InertiaCreateFunc},
{1,"ABMHingeDemo",HingeDemo::FeatherstoneCreateFunc},
{1,"Ragdoll",RagDollDemo::MyCreateFunc},
*/
{ 0, "Multibody" ,0},
{1,"MultiBody1",FeatherstoneDemo1::MyCreateFunc},
// {"MultiBody2",FeatherstoneDemo2::MyCreateFunc},
{1,"MultiDofDemo",MultiDofDemo::MyCreateFunc},
{1,"TestJointTorque",TestJointTorqueCreateFunc},
};

9
Demos3/AllBullet2Demos/premake4.lua
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@@ -44,12 +44,21 @@
"../bullet2/BasicDemo/Bullet2RigidBodyDemo.h",
"../bullet2/LuaDemo/LuaPhysicsSetup.cpp",
"../bullet2/LuaDemo/LuaPhysicsSetup.h",
"../bullet2/MultiBodyDemo/TestJointTorqueSetup.cpp",
"../bullet2/MultiBodyDemo/TestJointTorqueSetup.h",
-- "../DifferentialGearDemo/DifferentialGearSetup.cpp",
-- "../DifferentialGearDemo/DifferentialGearSetup.h",
"../../Demos/BasicDemo/BasicDemoPhysicsSetup.cpp",
"../../Demos/BasicDemo/BasicDemoPhysicsSetup.h",
"../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp",
"../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h",
"../../Demos/SerializeDemo/SerializeSetup.cpp",
"../../Extras/Serialize/BulletFileLoader/bChunk.cpp",
"../../Extras/Serialize/BulletFileLoader/bDNA.cpp",
"../../Extras/Serialize/BulletFileLoader/bFile.cpp",
"../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp",
"../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp",
"../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp",
"../bullet2/ConstraintDemo/ConstraintPhysicsSetup.cpp",
"../bullet2/ConstraintDemo/ConstraintPhysicsSetup.h",
"../ImportURDFDemo/ImportURDFSetup.cpp",

13
Demos3/BasicDemoCustomOpenGL2/main.cpp
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@@ -144,7 +144,7 @@ int main(int argc, char* argv[])
}
if (majorGlVersion>=3 && wci.m_openglVersion>=3)
{
float retinaScale = 1.f;
// float retinaScale = 1.f;
#ifndef __APPLE__
#ifndef _WIN32
@@ -154,14 +154,15 @@ int main(int argc, char* argv[])
glewInit();
#endif
//we ned to call glGetError twice, because of some Ubuntu/Intel/OpenGL issue
//we need to call glGetError twice, because of some Ubuntu/Intel/OpenGL issue
GLuint err = glGetError();
err = glGetError();
btAssert(err==GL_NO_ERROR);
glGetError();
glGetError();
btAssert(glGetError()==GL_NO_ERROR);
retinaScale = window->getRetinaScale();
//retinaScale = window->getRetinaScale();
//primRenderer = new GLPrimitiveRenderer(sWidth,sHeight);
//sth_stash* font = initFont(primRenderer );

38
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -364,21 +364,40 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
gravity[upAxis]=-9.8;
m_dynamicsWorld->setGravity(gravity);
int argc=0;
const char* filename="somefile.urdf";
//int argc=0;
const char* someFileName="r2d2.urdf";
std::string xml_string;
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024];
FILE* f=0;
bool fileFound = false;
int result = 0;
for (int i=0;!f && i<numPrefixes;i++)
{
sprintf(relativeFileName,"%s%s",prefix[i],someFileName);
f = fopen(relativeFileName,"rb");
if (f)
{
fileFound = true;
break;
}
}
if (f)
{
fclose(f);
}
if (argc < 2){
std::cerr << "No URDF file name provided, using a dummy test URDF" << std::endl;
if (!fileFound){
std::cerr << "URDF file not found, using a dummy test URDF" << std::endl;
xml_string = std::string(urdf_char);
} else
{
std::fstream xml_file(filename, std::fstream::in);
std::fstream xml_file(relativeFileName, std::fstream::in);
while ( xml_file.good() )
{
std::string line;
@@ -407,7 +426,8 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
printTree(root_link);
btTransform worldTrans;
worldTrans.setIdentity();
if (1)
{
URDF2BulletMappings mappings;
URDFvisual2BulletCollisionShape(root_link, gfxBridge, worldTrans,m_dynamicsWorld,mappings);

6
Demos3/ImportURDFDemo/ImportURDFSetup.h
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@@ -2,14 +2,14 @@
#define IMPORT_URDF_SETUP_H
#include "../../Demos/CommonRigidBodySetup.h"
#include "../../Demos/CommonMultiBodySetup.h"
class ImportUrdfDemo : public CommonRigidBodySetup
class ImportUrdfDemo : public CommonMultiBodySetup
{
public:
ImportUrdfDemo();
virtual ~ImportUrdfDemo();
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
};

7
Demos3/SimpleOpenGL3/main.cpp
View File

@@ -11,15 +11,13 @@ int main(int argc, char* argv[])
{
b3CommandLineArgs myArgs(argc,argv);
float dt = 1./120.f;
SimpleOpenGL3App* app = new SimpleOpenGL3App("SimpleOpenGL3App",1024,768);
app->m_instancingRenderer->setCameraDistance(13);
app->m_instancingRenderer->setCameraPitch(0);
app->m_instancingRenderer->setCameraTargetPosition(b3MakeVector3(0,0,0));
GLint err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
myArgs.GetCmdLineArgument("mp4_file",gVideoFileName);
if (gVideoFileName)
@@ -40,8 +38,7 @@ int main(int argc, char* argv[])
app->dumpNextFrameToPng(fileName);
}
GLint err = glGetError();
assert(err==GL_NO_ERROR);
assert(glGetError()==GL_NO_ERROR);
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera();

12
Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp
View File

@@ -21,6 +21,10 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
{
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
{
createCollisionObjectGraphicsObject(body,color);
}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color)
{
btCollisionShape* shape = body->getCollisionShape();
btTransform startTransform = body->getWorldTransform();
@@ -45,7 +49,7 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
break;
}
default:
@@ -149,7 +153,7 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
{
return m_glApp->m_parameterInterface;
}
virtual void setUpAxis(int axis)
{
m_glApp->setUpAxis(axis);
@@ -233,7 +237,7 @@ btVector3 Bullet2RigidBodyDemo::getRayTo(int x,int y)
btVector3 rightOffset;
btVector3 cameraUp=btVector3(0,0,0);
cameraUp[m_glApp->getUpAxis()]=1;
btVector3 vertical = cameraUp;
btVector3 hor;
@@ -291,7 +295,7 @@ bool Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, f
btVector3 rayFrom = camPos;
btVector3 rayTo = getRayTo(x,y);
m_physicsSetup->pickBody(rayFrom, rayTo);

248
Demos3/bullet2/MultiBodyDemo/TestJointTorqueSetup.cpp Normal file
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@@ -0,0 +1,248 @@
//test addJointTorque
#include "TestJointTorqueSetup.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
TestJointTorqueSetup::TestJointTorqueSetup()
{
}
TestJointTorqueSetup::~TestJointTorqueSetup()
{
}
void TestJointTorqueSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
int upAxis = 2;
btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
int curColor = 0;
gfxBridge.setUpAxis(upAxis);
this->createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
//btIDebugDraw::DBG_DrawConstraints
+btIDebugDraw::DBG_DrawWireframe
+btIDebugDraw::DBG_DrawContactPoints
+btIDebugDraw::DBG_DrawAabb
);//+btIDebugDraw::DBG_DrawConstraintLimits);
//create a static ground object
if (0)
{
btVector3 groundHalfExtents(20,20,20);
groundHalfExtents[upAxis]=1.f;
btBoxShape* box = new btBoxShape(groundHalfExtents);
box->initializePolyhedralFeatures();
gfxBridge.createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(0,0,0);
groundOrigin[upAxis]=-1.5;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
gfxBridge.createRigidBodyGraphicsObject(body,color);
}
{
bool floating = false;
bool damping = true;
bool gyro = true;
int numLinks = 5;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = false;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = 1.f;
if(baseMass)
{
btCollisionShape *pTempBox = new btBoxShape(btVector3(baseHalfExtents[0], baseHalfExtents[1], baseHalfExtents[2]));
pTempBox->calculateLocalInertia(baseMass, baseInertiaDiag);
delete pTempBox;
}
bool isMultiDof = false;
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep, isMultiDof);
m_multiBody = pMultiBody;
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
pMultiBody->setBasePos(basePosition);
pMultiBody->setWorldToBaseRot(baseOriQuat);
btVector3 vel(0, 0, 0);
// pMultiBody->setBaseVel(vel);
//init the links
btVector3 hingeJointAxis(1, 0, 0);
float linkMass = 1.f;
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
btCollisionShape *pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));
pTempBox->calculateLocalInertia(linkMass, linkInertiaDiag);
delete pTempBox;
//y-axis assumed up
btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] * 2.f, 0); //par body's COM to cur body's COM offset
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0); //cur body's COM to cur body's PIV offset
btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom; //par body's COM to cur body's PIV offset
//////
btScalar q0 = 0.f * SIMD_PI/ 180.f;
btQuaternion quat0(btVector3(0, 1, 0).normalized(), q0);
quat0.normalize();
/////
for(int i = 0; i < numLinks; ++i)
{
if(!spherical)
pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), hingeJointAxis, parentComToCurrentPivot, currentPivotToCurrentCom, false);
else
//pMultiBody->setupPlanar(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f)/*quat0*/, btVector3(1, 0, 0), parentComToCurrentPivot*2, false);
pMultiBody->setupSpherical(i, linkMass, linkInertiaDiag, i - 1, btQuaternion(0.f, 0.f, 0.f, 1.f), parentComToCurrentPivot, currentPivotToCurrentCom, false);
}
//pMultiBody->finalizeMultiDof();
btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
///
world->addMultiBody(pMultiBody);
btMultiBody* mbC = pMultiBody;
mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide);
mbC->setUseGyroTerm(gyro);
//
if(!damping)
{
mbC->setLinearDamping(0.f);
mbC->setAngularDamping(0.f);
}else
{ mbC->setLinearDamping(0.1f);
mbC->setAngularDamping(0.9f);
}
//
btVector3 gravity(0,0,0);
//gravity[upAxis] = -9.81;
m_dynamicsWorld->setGravity(gravity);
//////////////////////////////////////////////
if(numLinks > 0)
{
btScalar q0 = 45.f * SIMD_PI/ 180.f;
if(!spherical)
if(mbC->isMultiDof())
mbC->setJointPosMultiDof(0, &q0);
else
mbC->setJointPos(0, q0);
else
{
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
quat0.normalize();
mbC->setJointPosMultiDof(0, quat0);
}
}
///
btAlignedObjectArray<btQuaternion> world_to_local;
world_to_local.resize(pMultiBody->getNumLinks() + 1);
btAlignedObjectArray<btVector3> local_origin;
local_origin.resize(pMultiBody->getNumLinks() + 1);
world_to_local[0] = pMultiBody->getWorldToBaseRot();
local_origin[0] = pMultiBody->getBasePos();
double friction = 1;
{
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
if (1)
{
btCollisionShape* box = new btBoxShape(baseHalfExtents);
gfxBridge.createCollisionShapeGraphicsObject(box);
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(pMultiBody, -1);
col->setCollisionShape(box);
btTransform tr;
tr.setIdentity();
tr.setOrigin(local_origin[0]);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
world->addCollisionObject(col, 2,1+2);
btVector3 color(0.0,0.0,0.5);
gfxBridge.createCollisionObjectGraphicsObject(col,color);
col->setFriction(friction);
pMultiBody->setBaseCollider(col);
}
}
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
{
const int parent = pMultiBody->getParent(i);
world_to_local[i+1] = pMultiBody->getParentToLocalRot(i) * world_to_local[parent+1];
local_origin[i+1] = local_origin[parent+1] + (quatRotate(world_to_local[i+1].inverse() , pMultiBody->getRVector(i)));
}
for (int i=0; i < pMultiBody->getNumLinks(); ++i)
{
btVector3 posr = local_origin[i+1];
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
btCollisionShape* box = new btBoxShape(linkHalfExtents);
gfxBridge.createCollisionShapeGraphicsObject(box);
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
col->setCollisionShape(box);
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
col->setFriction(friction);
world->addCollisionObject(col,2,1+2);
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
gfxBridge.createCollisionObjectGraphicsObject(col,color);
pMultiBody->getLink(i).m_collider=col;
}
}
}
void TestJointTorqueSetup::stepSimulation(float deltaTime)
{
m_multiBody->addJointTorque(0, 10.0);
m_dynamicsWorld->stepSimulation(deltaTime);
}

21
Demos3/bullet2/MultiBodyDemo/TestJointTorqueSetup.h Normal file
View File

@@ -0,0 +1,21 @@
#ifndef TEST_JOINT_TORQUE_SETUP_H
#define TEST_JOINT_TORQUE_SETUP_H
#include "../../../Demos/CommonMultiBodySetup.h"
struct TestJointTorqueSetup : public CommonMultiBodySetup
{
btMultiBody* m_multiBody;
public:
TestJointTorqueSetup();
virtual ~TestJointTorqueSetup();
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
virtual void stepSimulation(float deltaTime);
};
#endif //TEST_JOINT_TORQUE_SETUP_H