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Patch by Nathanael Presson: (needs some more work, some of the demos don't show properly (RayCaster, CollisionInterfaceDemo,'g' key is already occupied in ConcaveDemo etc)

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btDbvtBroadphase:
- Fixed a performance issues reported by 'reltham'
- Added btDbvtBroadphase::optimize() for people who want good performances right away or don't do dynamics.
- fixed compilation issues when DBVT_BP_PROFILE was set.

btSoftBody:
- Fixed singular matrix issues related to polar decomposition (flat meshes).

DemoApplication:
- Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
- Texture can be enable/disable through 'u'

CDFramework:
- fixed compilation issues.
This commit is contained in:
erwin.coumans
2008-07-28 04:33:55 +00:00
parent 9e2e77d578
commit 3ca977e39f
11 changed files with 399 additions and 140 deletions
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151
Demos/OpenGL/DemoApplication.cpp
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@@ -71,7 +71,9 @@ m_shootBoxShape(0),
m_ShootBoxInitialSpeed(40.f),
m_stepping(true),
m_singleStep(false),
m_idle(false)
m_idle(false),
m_enableshadows(false),
m_sundirection(btVector3(1,-2,1)*1000)
{
#ifndef BT_NO_PROFILE
m_profileIterator = CProfileManager::Get_Iterator();
@@ -289,6 +291,8 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
case 'z' : zoomIn(); break;
case 'x' : zoomOut(); break;
case 'i' : toggleIdle(); break;
case 'g' : m_enableshadows=!m_enableshadows;break;
case 'u' : m_shapeDrawer.enableTexture(!m_shapeDrawer.enableTexture(false));break;
case 'h':
if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
@@ -902,60 +906,115 @@ void DemoApplication::showProfileInfo(float& xOffset,float& yStart, float yIncr)
}
//
void DemoApplication::renderscene(int pass)
{
btScalar m[16];
btMatrix3x3 rot;rot.setIdentity();
const int numObjects=m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for(int i=0;i<numObjects;i++)
{
btCollisionObject* colObj=m_dynamicsWorld->getCollisionObjectArray()[i];
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);
}
}
switch(pass)
{
case 0: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());break;
case 1: m_shapeDrawer.drawShadow(m,m_sundirection*rot,colObj->getCollisionShape());break;
case 2: m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0);break;
}
}
}
//
void DemoApplication::renderme()
{
updateCamera();
btScalar m[16];
if (m_dynamicsWorld)
{
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
if(m_enableshadows)
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
colObj->getWorldTransform().getOpenGLMatrix(m);
glClear(GL_STENCIL_BUFFER_BIT);
glEnable(GL_CULL_FACE);
renderscene(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);
renderscene(1);
glFrontFace(GL_CW);
glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
renderscene(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);
renderscene(2);
glEnable(GL_LIGHTING);
glDepthFunc(GL_LESS);
glDisable(GL_STENCIL_TEST);
glDisable(GL_CULL_FACE);
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
else
{
wireColor = btVector3(0.f,0.0f,1.f);
renderscene(0);
}
///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);
}
}
m_shapeDrawer.drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
}
float xOffset = 10.f;
float yStart = 20.f;