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This commit is contained in:
Benjamin Ellenberger
2016-07-31 16:22:50 +02:00
parent 46af3ddc54 0c0b4be665
commit 4622ab4299
273 changed files with 47372 additions and 1771 deletions
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22
examples/ExampleBrowser/CMakeLists.txt
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@@ -165,6 +165,8 @@ SET(BulletExampleBrowser_SRCS
../BasicDemo/BasicExample.h
../InverseDynamics/InverseDynamicsExample.cpp
../InverseDynamics/InverseDynamicsExample.h
../InverseKinematics/InverseKinematicsExample.cpp
../InverseKinematics/InverseKinematicsExample.h
../ForkLift/ForkLiftDemo.cpp
../ForkLift/ForkLiftDemo.h
../Tutorial/Tutorial.cpp
@@ -173,6 +175,8 @@ SET(BulletExampleBrowser_SRCS
../Tutorial/Dof6ConstraintTutorial.h
../Evolution/NN3DWalkers.cpp
../Evolution/NN3DWalkers.h
../ExtendedTutorials/NewtonsRopeCradle.cpp
../ExtendedTutorials/NewtonsRopeCradle.h
../Collision/CollisionSdkC_Api.cpp
../Collision/CollisionSdkC_Api.h
../Collision/CollisionTutorialBullet2.cpp
@@ -204,7 +208,12 @@ SET(BulletExampleBrowser_SRCS
../RenderingExamples/TimeSeriesCanvas.h
../RenderingExamples/TimeSeriesFontData.cpp
../RenderingExamples/TimeSeriesFontData.h
../RoboticsLearning/GripperGraspExample.cpp
../RoboticsLearning/GripperGraspExample.h
../RoboticsLearning/b3RobotSimAPI.cpp
../RoboticsLearning/b3RobotSimAPI.h
../RoboticsLearning/R2D2GraspExample.cpp
../RoboticsLearning/R2D2GraspExample.h
../RenderingExamples/CoordinateSystemDemo.cpp
../RenderingExamples/CoordinateSystemDemo.h
../RenderingExamples/RaytracerSetup.cpp
@@ -291,6 +300,17 @@ SET(BulletExampleBrowser_SRCS
../ThirdPartyLibs/stb_image/stb_image.cpp
../ThirdPartyLibs/stb_image/stb_image.h
../ThirdPartyLibs/BussIK/Jacobian.cpp
../ThirdPartyLibs/BussIK/Tree.cpp
../ThirdPartyLibs/BussIK/Node.cpp
../ThirdPartyLibs/BussIK/LinearR2.cpp
../ThirdPartyLibs/BussIK/LinearR3.cpp
../ThirdPartyLibs/BussIK/LinearR4.cpp
../ThirdPartyLibs/BussIK/MatrixRmn.cpp
../ThirdPartyLibs/BussIK/VectorRn.cpp
../ThirdPartyLibs/BussIK/Misc.cpp
../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../ThirdPartyLibs/tinyxml/tinystr.cpp

1
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
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@@ -167,6 +167,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
}
}
}
delete hull;
}
} else
{

45
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -45,6 +45,10 @@
#include "../Tutorial/Dof6ConstraintTutorial.h"
#include "../MultiThreading/MultiThreadingExample.h"
#include "../InverseDynamics/InverseDynamicsExample.h"
#include "../RoboticsLearning/R2D2GraspExample.h"
#include "../RoboticsLearning/GripperGraspExample.h"
#include "../InverseKinematics/InverseKinematicsExample.h"
#ifdef ENABLE_LUA
#include "../LuaDemo/LuaPhysicsSetup.h"
#endif
@@ -66,6 +70,7 @@
#include "../ExtendedTutorials/RigidBodyFromObj.h"
#include "../ExtendedTutorials/InclinedPlane.h"
#include "../ExtendedTutorials/NewtonsCradle.h"
#include "../ExtendedTutorials/NewtonsRopeCradle.h"
#include "../ExtendedTutorials/MultiPendulum.h"
#include "../Evolution/NN3DWalkers.h"
@@ -97,7 +102,6 @@ static ExampleEntry gDefaultExamples[]=
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),
ExampleEntry(1,"Rolling Friction", "Damping is often not good enough to keep rounded objects from rolling down a sloped surface. Instead, you can set the rolling friction of a rigid body. Generally it is best to leave the rolling friction to zero, to avoid artifacts.", RollingFrictionCreateFunc),
ExampleEntry(1,"Constraints","Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
@@ -117,21 +121,30 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",RigidBodySoftContactCreateFunc),
ExampleEntry(0,"MultiBody"),
ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
ExampleEntry(1,"TestPendulum","Simulate a pendulum using btMultiBody with a constant joint torque applied. The same code is also used as a unit test comparing Bullet with the numerical solution of second-order non-linear differential equation stored in pendulum_gold.h", TestPendulumCreateFunc),
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,"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(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
ExampleEntry(0,"Inverse Dynamics"),
ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
ExampleEntry(0,"Inverse Dynamics"),
ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
ExampleEntry(0, "Inverse Kinematics"),
ExampleEntry(1, "SDLS", "Selectively Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_SDLS),
ExampleEntry(1, "DLS", "Damped Least Squares by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS),
ExampleEntry(1, "DLS-SVD", "Damped Least Squares with Singular Value Decomposition by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_DLS_SVD),
ExampleEntry(1, "Jacobi Transpose", "Jacobi Transpose by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_JACOB_TRANS),
ExampleEntry(1, "Jacobi Pseudo Inv", "Jacobi Pseudo Inverse Method by Sam Buss. Example configures the IK tree of a Kuka IIWA", InverseKinematicsExampleCreateFunc, IK_PURE_PSEUDO),
ExampleEntry(0,"Tutorial"),
ExampleEntry(1,"Constant Velocity","Free moving rigid body, without external or constraint forces", TutorialCreateFunc,TUT_VELOCITY),
@@ -187,7 +200,7 @@ static ExampleEntry gDefaultExamples[]=
#endif //INCLUDE_CLOTH_DEMOS
///we disable the benchmarks in debug mode, they are way too slow and benchmarking in debug mode is not recommended
#ifndef _DEBUG
//#ifndef _DEBUG
ExampleEntry(0,"Benchmarks"),
ExampleEntry(1,"3000 boxes", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ", BenchmarkCreateFunc, 1),
ExampleEntry(1,"1000 stack", "Benchmark a stack of 3000 boxes. It will stress the collision detection, a specialized box-box implementation based on the separating axis test, and the constraint solver. ",
@@ -197,7 +210,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Prim vs Mesh", "Benchmark the performance and stability of rigid bodies using primitive collision shapes (btSphereShape, btBoxShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 5),
ExampleEntry(1,"Convex vs Mesh", "Benchmark the performance and stability of rigid bodies using convex hull collision shapes (btConvexHullShape), resting on a triangle mesh, btBvhTriangleMeshShape.", BenchmarkCreateFunc, 6),
ExampleEntry(1,"Raycast", "Benchmark the performance of the btCollisionWorld::rayTest. Note that currently the rays are not rendered.", BenchmarkCreateFunc, 7),
#endif
//#endif
@@ -244,8 +257,13 @@ static ExampleEntry gDefaultExamples[]=
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
ExampleEntry(1,"URDF Compliant Contact","Work-in-progress, experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT),
ExampleEntry(1,"Contact for Grasp","Grasp experiment to improve contact model", GripperGraspExampleCreateFunc),
#ifdef ENABLE_LUA
@@ -279,8 +297,9 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Simple Chain", "Create a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),
ExampleEntry(1,"Simple Bridge", "Create a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
ExampleEntry(1,"Inclined Plane", "Create an inclined plane to show restitution and different types of friction. Use the sliders to vary restitution and friction and press space to reset the scene.", ET_InclinedPlaneCreateFunc),
ExampleEntry(1,"Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.", ET_NewtonsCradleCreateFunc),
ExampleEntry(1,"Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number of pendula in total (reset simulation), the number of displaced pendula and other options.",ET_MultiPendulumCreateFunc),
ExampleEntry(1,"Newton's Cradle", "Create a Newton's Cradle using a pair of point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.", ET_NewtonsCradleCreateFunc),
ExampleEntry(1,"Newton's Rope Cradle", "Create a Newton's Cradle using ropes. Press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula and the number of displaced pendula and apply the displacement force.",ET_NewtonsRopeCradleCreateFunc),
ExampleEntry(1,"Multi-Pendulum", "Create a Multi-Pendulum using point2point/slider constraints. Press 1/2 to lengthen/shorten the pendula, press 3 to displace pendula. Use the sliders to select the number (reset simulation), length and restitution of pendula, the number of displaced pendula and apply the displacement force.",ET_MultiPendulumCreateFunc),
ExampleEntry(9,"Evolution"),
ExampleEntry(1,"Neural Network 3D Walkers","A simple example of using evolution to make a creature walk.",ET_NN3DWalkersCreateFunc),

1
examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp
View File

@@ -21,6 +21,7 @@ void GraphingTexture::destroy()
m_height=0;
glDeleteTextures(1,(GLuint*)&m_textureId);
m_textureId=0;
}
bool GraphingTexture::create(int texWidth, int texHeight)

21
examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp
View File

@@ -4,7 +4,7 @@
#include "LinearMath/btQuickprof.h"
#ifndef BT_NO_PROFILE
class MyProfileWindow : public Gwen::Controls::WindowControl
@@ -42,9 +42,10 @@ protected:
}
public:
CProfileIterator* profIter;
class MyMenuItems* m_menuItems;
MyProfileWindow ( Gwen::Controls::Base* pParent)
: Gwen::Controls::WindowControl( pParent ),
profIter(0)
@@ -83,6 +84,12 @@ public:
}
virtual ~MyProfileWindow()
{
delete m_node;
delete m_ctrl;
}
float dumpRecursive(CProfileIterator* profileIterator, Gwen::Controls::TreeNode* parentNode)
{
@@ -266,11 +273,16 @@ public:
MyProfileWindow* setupProfileWindow(GwenInternalData* data)
{
MyMenuItems* menuItems = new MyMenuItems;
MyProfileWindow* profWindow = new MyProfileWindow(data->pCanvas);
//profWindow->SetHidden(true);
profWindow->profIter = CProfileManager::Get_Iterator();
profWindow->m_menuItems = menuItems;
//profWindow->profIter = CProfileManager::Get_Iterator();
data->m_viewMenu->GetMenu()->AddItem( L"Profiler", menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::MenuItemSelect);
menuItems->m_profWindow = profWindow;
return profWindow;
}
@@ -290,5 +302,8 @@ void profileWindowSetVisible(MyProfileWindow* window, bool visible)
}
void destroyProfileWindow(MyProfileWindow* window)
{
CProfileManager::Release_Iterator(window->profIter);
delete window;
}
#endif //BT_NO_PROFILE

5
examples/ExampleBrowser/GwenGUISupport/gwenInternalData.h
View File

@@ -45,7 +45,10 @@ struct GwenInternalData
Gwen::Controls::ListBox* m_TextOutput;
Gwen::Controls::Label* m_exampleInfoGroupBox;
Gwen::Controls::ListBox* m_exampleInfoTextOutput;
struct MyTestMenuBar* m_menubar;
Gwen::Controls::StatusBar* m_bar;
Gwen::Controls::ScrollControl* m_windowRight;
Gwen::Controls::TabControl* m_tab;
int m_curYposition;

170
examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
View File

@@ -17,6 +17,83 @@ GwenUserInterface::GwenUserInterface()
}
class MyMenuItems : public Gwen::Controls::Base
{
public:
b3FileOpenCallback m_fileOpenCallback;
b3QuitCallback m_quitCallback;
MyMenuItems() :Gwen::Controls::Base(0), m_fileOpenCallback(0)
{
}
void myQuitApp(Gwen::Controls::Base* pControl)
{
if (m_quitCallback)
{
(*m_quitCallback)();
}
}
void fileOpen(Gwen::Controls::Base* pControl)
{
if (m_fileOpenCallback)
{
(*m_fileOpenCallback)();
}
}
};
struct MyTestMenuBar : public Gwen::Controls::MenuStrip
{
Gwen::Controls::MenuItem* m_fileMenu;
Gwen::Controls::MenuItem* m_viewMenu;
MyMenuItems* m_menuItems;
MyTestMenuBar(Gwen::Controls::Base* pParent)
:Gwen::Controls::MenuStrip(pParent)
{
// Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
{
m_menuItems = new MyMenuItems();
m_menuItems->m_fileOpenCallback = 0;
m_menuItems->m_quitCallback = 0;
m_fileMenu = AddItem(L"File");
m_fileMenu->GetMenu()->AddItem(L"Open", m_menuItems, (Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
m_fileMenu->GetMenu()->AddItem(L"Quit", m_menuItems, (Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
m_viewMenu = AddItem(L"View");
}
}
virtual ~MyTestMenuBar()
{
delete m_menuItems;
}
};
void GwenUserInterface::exit()
{
//m_data->m_menubar->RemoveAllChildren();
delete m_data->m_tab;
delete m_data->m_windowRight;
delete m_data->m_leftStatusBar;
delete m_data->m_TextOutput;
delete m_data->m_rightStatusBar;
delete m_data->m_bar;
delete m_data->m_menubar;
m_data->m_menubar = 0;
delete m_data->pCanvas;
m_data->pCanvas = 0;
}
GwenUserInterface::~GwenUserInterface()
{
for (int i=0;i<m_data->m_handlers.size();i++)
@@ -26,72 +103,15 @@ GwenUserInterface::~GwenUserInterface()
m_data->m_handlers.clear();
delete m_data->pCanvas;
delete m_data;
}
class MyMenuItems : public Gwen::Controls::Base
{
public:
b3FileOpenCallback m_fileOpenCallback;
b3QuitCallback m_quitCallback;
MyMenuItems() :Gwen::Controls::Base(0),m_fileOpenCallback(0)
{
}
void myQuitApp( Gwen::Controls::Base* pControl )
{
if (m_quitCallback)
{
(*m_quitCallback)();
}
}
void fileOpen( Gwen::Controls::Base* pControl )
{
if (m_fileOpenCallback)
{
(*m_fileOpenCallback)();
}
}
};
struct MyTestMenuBar : public Gwen::Controls::MenuStrip
{
Gwen::Controls::MenuItem* m_fileMenu;
Gwen::Controls::MenuItem* m_viewMenu;
MyMenuItems* m_menuItems;
MyTestMenuBar(Gwen::Controls::Base* pParent)
:Gwen::Controls::MenuStrip(pParent)
{
// Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
{
m_menuItems = new MyMenuItems();
m_menuItems->m_fileOpenCallback = 0;
m_menuItems->m_quitCallback = 0;
m_fileMenu = AddItem( L"File" );
m_fileMenu->GetMenu()->AddItem(L"Open",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
m_fileMenu->GetMenu()->AddItem(L"Quit",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
m_viewMenu = AddItem( L"View" );
}
}
};
void GwenUserInterface::resize(int width, int height)
{
@@ -232,6 +252,7 @@ void GwenUserInterface::setStatusBarMessage(const char* message, bool isLeft)
}
}
void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback)
{
m_data->m_menuItems->m_fileOpenCallback = callback;
@@ -249,35 +270,43 @@ void GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
m_data->pRenderer = renderer;//new GwenOpenGL3CoreRenderer(m_data->m_primRenderer,stash,width,height,retinaScale);
m_data->skin.SetRender( m_data->pRenderer );
m_data->pCanvas= new Gwen::Controls::Canvas( &m_data->skin );
m_data->pCanvas->SetSize( width,height);
m_data->pCanvas->SetDrawBackground( false);
m_data->pCanvas->SetBackgroundColor( Gwen::Color( 150, 170, 170, 255 ) );
MyTestMenuBar* menubar = new MyTestMenuBar(m_data->pCanvas);
m_data->m_viewMenu = menubar->m_viewMenu;
m_data->m_menuItems = menubar->m_menuItems;
m_data->m_menubar = menubar;
Gwen::Controls::StatusBar* bar = new Gwen::Controls::StatusBar(m_data->pCanvas);
m_data->m_bar = bar;
m_data->m_rightStatusBar = new Gwen::Controls::Label( bar );
m_data->m_rightStatusBar->SetWidth(width/2);
//m_data->m_rightStatusBar->SetText( L"Label Added to Right" );
bar->AddControl( m_data->m_rightStatusBar, true );
m_data->m_TextOutput = new Gwen::Controls::ListBox( m_data->pCanvas );
m_data->m_TextOutput->Dock( Gwen::Pos::Bottom );
m_data->m_TextOutput->SetHeight( 100 );
m_data->m_leftStatusBar = new Gwen::Controls::Label( bar );
//m_data->m_leftStatusBar->SetText( L"Label Added to Left" );
m_data->m_leftStatusBar->SetWidth(width/2);
bar->AddControl( m_data->m_leftStatusBar,false);
//Gwen::KeyboardFocus
/*Gwen::Controls::GroupBox* box = new Gwen::Controls::GroupBox(m_data->pCanvas);
box->SetText("text");
@@ -289,11 +318,14 @@ void GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
windowRight->SetWidth(250);
windowRight->SetHeight(250);
windowRight->SetScroll(false,true);
m_data->m_windowRight = windowRight;
//windowLeft->SetSkin(
Gwen::Controls::TabControl* tab = new Gwen::Controls::TabControl(windowRight);
m_data->m_tab = tab;
//tab->SetHeight(300);
tab->SetWidth(240);
@@ -304,7 +336,8 @@ void GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
Gwen::UnicodeString str1(L"Params");
m_data->m_demoPage = tab->AddPage(str1);
@@ -348,7 +381,7 @@ void GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
//windowLeft->SetClosable(false);
// windowLeft->SetShouldDrawBackground(true);
windowLeft->SetTabable(true);
Gwen::Controls::TabControl* explorerTab = new Gwen::Controls::TabControl(windowLeft);
//tab->SetHeight(300);
@@ -388,7 +421,6 @@ void GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
m_data->m_exampleInfoGroupBox->SetText("Example Description");
m_data->m_exampleInfoTextOutput = new Gwen::Controls::ListBox(m_data->m_explorerPage->GetPage());
//m_data->m_exampleInfoTextOutput->Dock( Gwen::Pos::Bottom );
m_data->m_exampleInfoTextOutput->SetPos(2, 332);

1
examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.h
View File

@@ -26,6 +26,7 @@ class GwenUserInterface
virtual ~GwenUserInterface();
void init(int width, int height,Gwen::Renderer::Base* gwenRenderer,float retinaScale);
void exit();
void setFocus();
void forceUpdateScrollBars();

4
examples/ExampleBrowser/InProcessExampleBrowser.cpp
View File

@@ -226,7 +226,7 @@ enum TestExampleBrowserCommunicationEnums
void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
{
printf("thread started\n");
printf("ExampleBrowserThreadFunc started\n");
ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
@@ -369,7 +369,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
}
};
printf("stopping threads\n");
printf("btShutDownExampleBrowser stopping threads\n");
delete data->m_threadSupport;
delete data->m_sharedMem;
delete data;

369
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -42,19 +42,65 @@
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportBullet/SerializeSetup.h"
#include "Bullet3Common/b3HashMap.h"
struct GL3TexLoader : public MyTextureLoader
{
b3HashMap<b3HashString, GLint> m_hashMap;
virtual void LoadTexture(Gwen::Texture* pTexture)
{
Gwen::String namestr = pTexture->name.Get();
const char* n = namestr.c_str();
GLint* texIdPtr = m_hashMap[n];
if (texIdPtr)
{
pTexture->m_intData = *texIdPtr;
}
}
virtual void FreeTexture(Gwen::Texture* pTexture)
{
}
};
struct OpenGLExampleBrowserInternalData
{
Gwen::Renderer::Base* m_gwenRenderer;
CommonGraphicsApp* m_app;
// MyProfileWindow* m_profWindow;
btAlignedObjectArray<Gwen::Controls::TreeNode*> m_nodes;
GwenUserInterface* m_gui;
GL3TexLoader* m_myTexLoader;
struct MyMenuItemHander* m_handler2;
btAlignedObjectArray<MyMenuItemHander*> m_handlers;
OpenGLExampleBrowserInternalData()
: m_gwenRenderer(0),
m_app(0),
// m_profWindow(0),
m_gui(0),
m_myTexLoader(0),
m_handler2(0)
{
}
};
static CommonGraphicsApp* s_app=0;
static CommonWindowInterface* s_window = 0;
static CommonParameterInterface* s_parameterInterface=0;
static CommonRenderInterface* s_instancingRenderer=0;
static OpenGLGuiHelper* s_guiHelper=0;
static MyProfileWindow* s_profWindow =0;
//static MyProfileWindow* s_profWindow =0;
static SharedMemoryInterface* sSharedMem = 0;
#define DEMO_SELECTION_COMBOBOX 13
const char* startFileName = "0_Bullet3Demo.txt";
char staticPngFileName[1024];
static GwenUserInterface* gui = 0;
//static GwenUserInterface* gui = 0;
static GwenUserInterface* gui2 = 0;
static int sCurrentDemoIndex = -1;
static int sCurrentHightlighted = 0;
static CommonExampleInterface* sCurrentDemo = 0;
@@ -111,6 +157,7 @@ void deleteDemo()
}
const char* gPngFileName = 0;
int gPngSkipFrames = 0;
@@ -123,9 +170,9 @@ void MyKeyboardCallback(int key, int state)
//b3Printf("key=%d, state=%d", key, state);
bool handled = false;
if (gui && !handled )
if (gui2 && !handled )
{
handled = gui->keyboardCallback(key, state);
handled = gui2->keyboardCallback(key, state);
}
if (!handled && sCurrentDemo)
@@ -223,11 +270,11 @@ void MyKeyboardCallback(int key, int state)
b3MouseMoveCallback prevMouseMoveCallback = 0;
static void MyMouseMoveCallback( float x, float y)
{
bool handled = false;
bool handled = false;
if (sCurrentDemo)
handled = sCurrentDemo->mouseMoveCallback(x,y);
if (!handled && gui)
handled = gui->mouseMoveCallback(x,y);
if (!handled && gui2)
handled = gui2->mouseMoveCallback(x,y);
if (!handled)
{
if (prevMouseMoveCallback)
@@ -244,8 +291,8 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
if (sCurrentDemo)
handled = sCurrentDemo->mouseButtonCallback(button,state,x,y);
if (!handled && gui)
handled = gui->mouseButtonCallback(button,state,x,y);
if (!handled && gui2)
handled = gui2->mouseButtonCallback(button,state,x,y);
if (!handled)
{
@@ -333,7 +380,10 @@ void selectDemo(int demoIndex)
CommonExampleInterface::CreateFunc* func = gAllExamples->getExampleCreateFunc(demoIndex);
if (func)
{
s_parameterInterface->removeAllParameters();
if (s_parameterInterface)
{
s_parameterInterface->removeAllParameters();
}
int option = gAllExamples->getExampleOption(demoIndex);
s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
CommonExampleOptions options(s_guiHelper, option);
@@ -341,12 +391,15 @@ void selectDemo(int demoIndex)
sCurrentDemo = (*func)(options);
if (sCurrentDemo)
{
if (gui)
if (gui2)
{
gui->setStatusBarMessage("Status: OK", false);
gui2->setStatusBarMessage("Status: OK", false);
}
b3Printf("Selected demo: %s",gAllExamples->getExampleName(demoIndex));
gui->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
if (gui2)
{
gui2->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
}
sCurrentDemo->initPhysics();
if(resetCamera)
@@ -399,7 +452,6 @@ static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& ar
FILE* f = fopen(startFileName,"r");
if (f)
{
int result;
char oneline[1024];
char* argv[] = {0,&oneline[0]};
@@ -438,10 +490,10 @@ void MyComboBoxCallback(int comboId, const char* item)
void MyGuiPrintf(const char* msg)
{
printf("b3Printf: %s\n",msg);
if (gui)
if (gui2)
{
gui->textOutput(msg);
gui->forceUpdateScrollBars();
gui2->textOutput(msg);
gui2->forceUpdateScrollBars();
}
}
@@ -450,10 +502,10 @@ void MyGuiPrintf(const char* msg)
void MyStatusBarPrintf(const char* msg)
{
printf("b3Printf: %s\n", msg);
if (gui)
if (gui2)
{
bool isLeft = true;
gui->setStatusBarMessage(msg,isLeft);
gui2->setStatusBarMessage(msg,isLeft);
}
}
@@ -461,13 +513,15 @@ void MyStatusBarPrintf(const char* msg)
void MyStatusBarError(const char* msg)
{
printf("Warning: %s\n", msg);
if (gui)
if (gui2)
{
bool isLeft = false;
gui->setStatusBarMessage(msg,isLeft);
gui->textOutput(msg);
gui->forceUpdateScrollBars();
gui2->setStatusBarMessage(msg,isLeft);
gui2->textOutput(msg);
gui2->forceUpdateScrollBars();
}
btAssert(0);
}
struct MyMenuItemHander :public Gwen::Event::Handler
@@ -535,7 +589,7 @@ struct MyMenuItemHander :public Gwen::Event::Handler
{
// printf("select %d\n",m_buttonId);
sCurrentHightlighted = m_buttonId;
gui->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
gui2->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
}
void onButtonF(Gwen::Controls::Base* pControl)
@@ -550,26 +604,6 @@ struct MyMenuItemHander :public Gwen::Event::Handler
};
#include "Bullet3Common/b3HashMap.h"
struct GL3TexLoader : public MyTextureLoader
{
b3HashMap<b3HashString,GLint> m_hashMap;
virtual void LoadTexture( Gwen::Texture* pTexture )
{
Gwen::String namestr = pTexture->name.Get();
const char* n = namestr.c_str();
GLint* texIdPtr = m_hashMap[n];
if (texIdPtr)
{
pTexture->m_intData = *texIdPtr;
}
}
virtual void FreeTexture( Gwen::Texture* pTexture )
{
}
};
void quitCallback()
@@ -624,7 +658,7 @@ struct QuickCanvas : public Common2dCanvasInterface
m_curNumGraphWindows++;
MyGraphInput input(gui->getInternalData());
MyGraphInput input(gui2->getInternalData());
input.m_width=width;
input.m_height=height;
input.m_xPos = 10000;//GUI will clamp it to the right//300;
@@ -644,7 +678,10 @@ struct QuickCanvas : public Common2dCanvasInterface
virtual void destroyCanvas(int canvasId)
{
btAssert(canvasId>=0);
delete m_gt[canvasId];
m_gt[canvasId] = 0;
destroyTextureWindow(m_gw[canvasId]);
m_gw[canvasId] = 0;
m_curNumGraphWindows--;
}
virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
@@ -670,12 +707,51 @@ struct QuickCanvas : public Common2dCanvasInterface
OpenGLExampleBrowser::OpenGLExampleBrowser(class ExampleEntries* examples)
{
m_internalData = new OpenGLExampleBrowserInternalData;
gAllExamples = examples;
}
OpenGLExampleBrowser::~OpenGLExampleBrowser()
{
deleteDemo();
deleteDemo();
for (int i = 0; i < m_internalData->m_nodes.size(); i++)
{
delete m_internalData->m_nodes[i];
}
delete m_internalData->m_handler2;
for (int i = 0; i < m_internalData->m_handlers.size(); i++)
{
delete m_internalData->m_handlers[i];
}
m_internalData->m_handlers.clear();
m_internalData->m_nodes.clear();
delete s_parameterInterface;
s_parameterInterface = 0;
delete s_app->m_2dCanvasInterface;
s_app->m_2dCanvasInterface = 0;
m_internalData->m_gui->exit();
delete m_internalData->m_gui;
delete m_internalData->m_gwenRenderer;
delete m_internalData->m_myTexLoader;
delete m_internalData->m_app;
s_app = 0;
// delete m_internalData->m_profWindow;
delete m_internalData;
gFileImporterByExtension.clear();
gAllExamples = 0;
}
@@ -688,7 +764,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
loadCurrentSettings(startFileName, args);
args.GetCmdLineArgument("fixed_timestep",gFixedTimeStep);
args.GetCmdLineArgument("png_skip_frames", gPngSkipFrames);
///The OpenCL rigid body pipeline is experimental and
///most OpenCL drivers and OpenCL compilers have issues with our kernels.
///If you have a high-end desktop GPU such as AMD 7970 or better, or NVIDIA GTX 680 with up-to-date drivers
@@ -727,17 +803,17 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
s_app = new SimpleOpenGL2App(title,width,height);
s_app->m_renderer = new SimpleOpenGL2Renderer(width,height);
}
#ifndef NO_OPENGL3
else
{
char title[1024];
sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
simpleApp = new SimpleOpenGL3App(title,width,height, gAllowRetina);
s_app = simpleApp;
}
#endif
m_internalData->m_app = s_app;
char* gVideoFileName = 0;
args.GetCmdLineArgument("mp4",gVideoFileName);
#ifndef NO_OPENGL3
@@ -793,43 +869,67 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
assert(glGetError()==GL_NO_ERROR);
{
GL3TexLoader* myTexLoader = new GL3TexLoader;
m_internalData->m_myTexLoader = myTexLoader;
gui = new GwenUserInterface;
GL3TexLoader* myTexLoader = new GL3TexLoader;
Gwen::Renderer::Base* gwenRenderer = 0;
if (sUseOpenGL2 )
{
gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
}
sth_stash* fontstash = simpleApp->getFontStash();
if (sUseOpenGL2)
{
m_internalData->m_gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
}
#ifndef NO_OPENGL3
else
{
sth_stash* fontstash=simpleApp->getFontStash();
gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer,fontstash,width,height,s_window->getRetinaScale(),myTexLoader);
}
else
{
sth_stash* fontstash = simpleApp->getFontStash();
m_internalData->m_gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer, fontstash, width, height, s_window->getRetinaScale(), myTexLoader);
}
#endif
gui2 = new GwenUserInterface;
m_internalData->m_gui = gui2;
m_internalData->m_myTexLoader = myTexLoader;
gui2->init(width, height, m_internalData->m_gwenRenderer, s_window->getRetinaScale());
}
//gui = 0;// new GwenUserInterface;
GL3TexLoader* myTexLoader = m_internalData->m_myTexLoader;
// = myTexLoader;
//
gui->init(width,height,gwenRenderer,s_window->getRetinaScale());
// gui->getInternalData()->m_explorerPage
Gwen::Controls::TreeControl* tree = gui->getInternalData()->m_explorerTreeCtrl;
if (gui2)
{
// gui->getInternalData()->m_explorerPage
Gwen::Controls::TreeControl* tree = gui2->getInternalData()->m_explorerTreeCtrl;
//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
// s_profWindow= setupProfileWindow(gui2->getInternalData());
//m_internalData->m_profWindow = s_profWindow;
// profileWindowSetVisible(s_profWindow,false);
gui2->setFocus();
s_parameterInterface = s_app->m_parameterInterface = new GwenParameterInterface(gui2->getInternalData());
s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
s_profWindow= setupProfileWindow(gui->getInternalData());
profileWindowSetVisible(s_profWindow,false);
gui->setFocus();
s_parameterInterface = s_app->m_parameterInterface = new GwenParameterInterface(gui->getInternalData());
s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
///add some demos to the gAllExamples
@@ -840,7 +940,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
//int curDemo = 0;
int selectedDemo = 0;
Gwen::Controls::TreeNode* curNode = tree;
MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
m_internalData->m_handler2 = new MyMenuItemHander(-1);
char* demoNameFromCommandOption = 0;
args.GetCmdLineArgument("start_demo_name", demoNameFromCommandOption);
@@ -848,7 +948,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
selectedDemo = -1;
}
tree->onReturnKeyDown.Add(handler2, &MyMenuItemHander::onButtonD);
tree->onReturnKeyDown.Add(m_internalData->m_handler2, &MyMenuItemHander::onButtonD);
int firstAvailableDemoIndex=-1;
Gwen::Controls::TreeNode* firstNode=0;
@@ -895,13 +995,18 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
}
}
#if 1
MyMenuItemHander* handler = new MyMenuItemHander(d);
m_internalData->m_handlers.push_back(handler);
pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonA);
pNode->GetButton()->onDoubleClick.Add(handler, &MyMenuItemHander::onButtonB);
pNode->GetButton()->onDown.Add(handler, &MyMenuItemHander::onButtonC);
pNode->onSelect.Add(handler, &MyMenuItemHander::onButtonE);
pNode->onReturnKeyDown.Add(handler, &MyMenuItemHander::onButtonG);
pNode->onSelectChange.Add(handler, &MyMenuItemHander::onButtonF);
#endif
// pNode->onKeyReturn.Add(handler, &MyMenuItemHander::onButtonD);
// pNode->GetButton()->onKeyboardReturn.Add(handler, &MyMenuItemHander::onButtonD);
// pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonD);
@@ -911,6 +1016,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
else
{
curNode = tree->AddNode(nodeUText);
m_internalData->m_nodes.push_back(curNode);
}
}
@@ -929,6 +1035,9 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
}
}
free(demoNameFromCommandOption);
demoNameFromCommandOption = 0;
btAssert(sCurrentDemo!=0);
if (sCurrentDemo==0)
{
@@ -936,9 +1045,11 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
exit(0);
}
gui->registerFileOpenCallback(fileOpenCallback);
gui->registerQuitCallback(quitCallback);
gui2->registerFileOpenCallback(fileOpenCallback);
gui2->registerQuitCallback(quitCallback);
}
return true;
}
@@ -971,14 +1082,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
s_instancingRenderer->updateCamera(dg.upAxis);
}
if (renderGrid)
{
BT_PROFILE("Draw Grid");
glPolygonOffset(3.0, 3);
glEnable(GL_POLYGON_OFFSET_FILL);
s_app->drawGrid(dg);
}
static int frameCount = 0;
frameCount++;
@@ -998,24 +1102,6 @@ void OpenGLExampleBrowser::update(float deltaTime)
//printf("---------------------------------------------------\n");
//printf("Framecount = %d\n",frameCount);
if (gPngFileName)
{
static int skip = 0;
skip++;
if (skip>4)
{
skip=0;
//printf("gPngFileName=%s\n",gPngFileName);
static int s_frameCount = 100;
sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
//b3Printf("Made screenshot %s",staticPngFileName);
s_app->dumpNextFrameToPng(staticPngFileName);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
}
if (gFixedTimeStep>0)
{
@@ -1026,6 +1112,14 @@ void OpenGLExampleBrowser::update(float deltaTime)
}
}
if (renderGrid)
{
BT_PROFILE("Draw Grid");
glPolygonOffset(3.0, 3);
glEnable(GL_POLYGON_OFFSET_FILL);
s_app->drawGrid(dg);
}
if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))
{
if (visualWireframe)
@@ -1042,9 +1136,28 @@ void OpenGLExampleBrowser::update(float deltaTime)
}
}
if (gPngFileName)
{
static int skip = 0;
skip--;
if (skip<0)
{
skip=gPngSkipFrames;
//printf("gPngFileName=%s\n",gPngFileName);
static int s_frameCount = 100;
sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
//b3Printf("Made screenshot %s",staticPngFileName);
s_app->dumpNextFrameToPng(staticPngFileName);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
}
{
if (s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
{
char msg[1024];
float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
@@ -1053,7 +1166,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
float camTarget[3];
s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
sprintf(msg,"dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
gui->setStatusBarMessage(msg, true);
gui2->setStatusBarMessage(msg, true);
}
}
@@ -1061,16 +1174,24 @@ void OpenGLExampleBrowser::update(float deltaTime)
static int toggle = 1;
if (renderGui)
{
if (!pauseSimulation)
processProfileData(s_profWindow,false);
// if (!pauseSimulation)
// processProfileData(s_profWindow,false);
if (sUseOpenGL2)
if (sUseOpenGL2)
{
saveOpenGLState(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
saveOpenGLState(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
}
BT_PROFILE("Draw Gwen GUI");
gui->draw(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
BT_PROFILE("Draw Gwen GUI");
if (m_internalData->m_gui)
{
m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
}
if (gui2)
{
gui2->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
}
if (sUseOpenGL2)
{
restoreOpenGLState();
@@ -1084,14 +1205,20 @@ void OpenGLExampleBrowser::update(float deltaTime)
toggle=1-toggle;
{
BT_PROFILE("Sync Parameters");
s_parameterInterface->syncParameters();
if (s_parameterInterface)
{
s_parameterInterface->syncParameters();
}
}
{
BT_PROFILE("Swap Buffers");
s_app->swapBuffer();
}
gui->forceUpdateScrollBars();
if (gui2)
{
gui2->forceUpdateScrollBars();
}
}

3
examples/ExampleBrowser/OpenGLExampleBrowser.h
View File

@@ -5,6 +5,9 @@
class OpenGLExampleBrowser : public ExampleBrowserInterface
{
struct OpenGLExampleBrowserInternalData* m_internalData;
public:
OpenGLExampleBrowser(class ExampleEntries* examples);

98
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -8,7 +8,7 @@
#include "CollisionShape2TriangleMesh.h"
#include "../OpenGLWindow/SimpleCamera.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
//backwards compatibility
#include "GL_ShapeDrawer.h"
@@ -144,8 +144,8 @@ struct OpenGLGuiHelperInternalData
class MyDebugDrawer* m_debugDraw;
GL_ShapeDrawer* m_gl2ShapeDrawer;
btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer;
btAlignedObjectArray<float> m_depthBuffer;
btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
btAlignedObjectArray<float> m_depthBuffer1;
};
@@ -167,6 +167,7 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
OpenGLGuiHelper::~OpenGLGuiHelper()
{
delete m_data->m_debugDraw;
delete m_data->m_gl2ShapeDrawer;
delete m_data;
}
@@ -199,9 +200,16 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
}
}
int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
int OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height)
{
int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height);
return textureId;
}
int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
return shapeId;
}
@@ -210,6 +218,10 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
}
void OpenGLGuiHelper::removeAllGraphicsInstances()
{
m_data->m_glApp->m_renderer->removeAllInstances();
}
void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
@@ -247,7 +259,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1);
collisionShape->setUserIndex(shapeId);
}
@@ -326,19 +338,15 @@ void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float c
}
void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
{
int w = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
int h = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
int sourceWidth = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
int sourceHeight = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
if (widthPtr)
*widthPtr = w;
if (heightPtr)
*heightPtr = h;
if (numPixelsCopied)
*numPixelsCopied = 0;
int numTotalPixels = w*h;
int numTotalPixels = destinationWidth*destinationHeight;
int numRemainingPixels = numTotalPixels - startPixelIndex;
int numBytesPerPixel = 4;//RGBA
int numRequestedPixels = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
@@ -346,22 +354,58 @@ void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBuf
{
if (startPixelIndex==0)
{
//quick test: render the scene
CommonCameraInterface* oldCam = getRenderInterface()->getActiveCamera();
SimpleCamera tempCam;
getRenderInterface()->setActiveCamera(&tempCam);
getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
getRenderInterface()->renderScene();
//copy the image into our local cache
m_data->m_rgbaPixelBuffer.resize(w*h*numBytesPerPixel);
m_data->m_depthBuffer.resize(w*h);
m_data->m_glApp->getScreenPixels(&(m_data->m_rgbaPixelBuffer[0]),m_data->m_rgbaPixelBuffer.size());
}
for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
{
if (pixelsRGBA)
{
pixelsRGBA[i] = m_data->m_rgbaPixelBuffer[i+startPixelIndex*numBytesPerPixel];
getRenderInterface()->setActiveCamera(oldCam);
{
btAlignedObjectArray<unsigned char> sourceRgbaPixelBuffer;
btAlignedObjectArray<float> sourceDepthBuffer;
//copy the image into our local cache
sourceRgbaPixelBuffer.resize(sourceWidth*sourceHeight*numBytesPerPixel);
sourceDepthBuffer.resize(sourceWidth*sourceHeight);
m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
m_data->m_rgbaPixelBuffer1.resize(destinationWidth*destinationHeight*numBytesPerPixel);
m_data->m_depthBuffer1.resize(destinationWidth*destinationHeight);
//rescale and flip
for (int i=0;i<destinationWidth;i++)
{
for (int j=0;j<destinationHeight;j++)
{
int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
btClamp(xIndex,0,sourceWidth);
btClamp(yIndex,0,sourceHeight);
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
}
}
}
}
if (pixelsRGBA)
{
for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
{
pixelsRGBA[i] = m_data->m_rgbaPixelBuffer1[i+startPixelIndex*numBytesPerPixel];
}
}
if (depthBuffer)
{
for (int i=0;i<numRequestedPixels;i++)
{
depthBuffer[i] = m_data->m_depthBuffer1[i];
}
}
if (numPixelsCopied)
*numPixelsCopied = numRequestedPixels;

9
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -20,12 +20,11 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices);
virtual int registerTexture(const unsigned char* texels, int width, int height);
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
virtual void removeAllGraphicsInstances();
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
@@ -45,7 +44,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied);
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16], unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied);
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;

55
examples/ExampleBrowser/main.cpp
View File

@@ -1,4 +1,5 @@
#include "OpenGLExampleBrowser.h"
#include "Bullet3Common/b3CommandLineArgs.h"
@@ -13,36 +14,46 @@
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportSDFDemo/ImportSDFSetup.h"
#include "../Importers/ImportSTLDemo/ImportSTLSetup.h"
#include "LinearMath/btAlignedAllocator.h"
int main(int argc, char* argv[])
{
b3CommandLineArgs args(argc,argv);
b3Clock clock;
ExampleEntriesAll examples;
examples.initExampleEntries();
OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
bool init = exampleBrowser->init(argc,argv);
exampleBrowser->registerFileImporter(".urdf",ImportURDFCreateFunc);
exampleBrowser->registerFileImporter(".sdf",ImportSDFCreateFunc);
exampleBrowser->registerFileImporter(".obj",ImportObjCreateFunc);
clock.reset();
if (init)
{
do
{
float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
clock.reset();
exampleBrowser->update(deltaTimeInSeconds);
b3CommandLineArgs args(argc, argv);
b3Clock clock;
ExampleEntriesAll examples;
examples.initExampleEntries();
OpenGLExampleBrowser* exampleBrowser = new OpenGLExampleBrowser(&examples);
bool init = exampleBrowser->init(argc, argv);
exampleBrowser->registerFileImporter(".urdf", ImportURDFCreateFunc);
exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc);
exampleBrowser->registerFileImporter(".obj", ImportObjCreateFunc);
exampleBrowser->registerFileImporter(".stl", ImportSTLCreateFunc);
clock.reset();
if (init)
{
do
{
float deltaTimeInSeconds = clock.getTimeMicroseconds() / 1000000.f;
clock.reset();
exampleBrowser->update(deltaTimeInSeconds);
} while (!exampleBrowser->requestedExit());
}
delete exampleBrowser;
} while (!exampleBrowser->requestedExit());
}
delete exampleBrowser;
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
int numBytesLeaked = btDumpMemoryLeaks();
btAssert(numBytesLeaked==0);
#endif//BT_DEBUG_MEMORY_ALLOCATIONS
return 0;
}

13
examples/ExampleBrowser/premake4.lua
View File

@@ -45,9 +45,10 @@ project "App_BulletExampleBrowser"
defines {"INCLUDE_CLOTH_DEMOS"}
files {
"main.cpp",
"ExampleEntries.cpp",
"../InverseKinematics/*",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
@@ -86,16 +87,11 @@ project "App_BulletExampleBrowser"
"../InverseDynamics/InverseDynamicsExample.h",
"../BasicDemo/BasicExample.*",
"../Tutorial/*",
"../ExtendedTutorials/SimpleBox.cpp",
"../ExtendedTutorials/MultipleBoxes.cpp",
"../ExtendedTutorials/SimpleJoint.cpp",
"../ExtendedTutorials/SimpleCloth.cpp",
"../ExtendedTutorials/Chain.cpp",
"../ExtendedTutorials/Bridge.cpp",
"../ExtendedTutorials/RigidBodyFromObj.cpp",
"../ExtendedTutorials/*",
"../Evolution/NN3DWalkers.cpp",
"../Evolution/NN3DWalkers.h",
"../Collision/*",
"../RoboticsLearning/*",
"../Collision/Internal/*",
"../Benchmarks/*",
"../CommonInterfaces/*",
@@ -123,6 +119,7 @@ project "App_BulletExampleBrowser"
"../ThirdPartyLibs/stb_image/*",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/tinyxml/*",
"../ThirdPartyLibs/BussIK/*",
"../GyroscopicDemo/GyroscopicSetup.cpp",
"../GyroscopicDemo/GyroscopicSetup.h",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",