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add pybullet.multiplyTransforms and pybullet.invertTransform

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use btAssert instead of assert (glGetError is really slow)
shift default light-position a little bit, to make faces different color
This commit is contained in:
erwincoumans
2017-05-29 21:55:58 -07:00
parent 5436b8f048
commit 4e03c36fa6
7 changed files with 218 additions and 53 deletions
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90
examples/OpenGLWindow/GLPrimitiveRenderer.cpp
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@@ -1,10 +1,10 @@
#ifndef NO_OPENGL3
#include "GLPrimitiveRenderer.h"
#include "GLPrimInternalData.h"
//#include "Bullet3Common/b3Logging.h"
#include "Bullet3Common/b3Scalar.h"
#include "LoadShader.h"
#include <assert.h>
static const char* vertexShader3D= \
"#version 150 \n"
@@ -75,27 +75,27 @@ m_screenHeight(screenHeight)
m_data->m_viewmatUniform = glGetUniformLocation(m_data->m_shaderProg,"viewMatrix");
if (m_data->m_viewmatUniform < 0) {
assert(0);
b3Assert(0);
}
m_data->m_projMatUniform = glGetUniformLocation(m_data->m_shaderProg,"projMatrix");
if (m_data->m_projMatUniform < 0) {
assert(0);
b3Assert(0);
}
m_data->m_positionUniform = glGetUniformLocation(m_data->m_shaderProg, "p");
if (m_data->m_positionUniform < 0) {
assert(0);
b3Assert(0);
}
m_data->m_colourAttribute = glGetAttribLocation(m_data->m_shaderProg, "colour");
if (m_data->m_colourAttribute < 0) {
assert(0);
b3Assert(0);
}
m_data->m_positionAttribute = glGetAttribLocation(m_data->m_shaderProg, "position");
if (m_data->m_positionAttribute < 0) {
assert(0);
b3Assert(0);
}
m_data->m_textureAttribute = glGetAttribLocation(m_data->m_shaderProg,"texuv");
if (m_data->m_textureAttribute < 0) {
assert(0);
b3Assert(0);
}
loadBufferData();
@@ -127,7 +127,7 @@ void GLPrimitiveRenderer::loadBufferData()
glBufferData(GL_ARRAY_BUFFER, MAX_VERTICES2 * sizeof(PrimVertex), 0, GL_DYNAMIC_DRAW);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
@@ -153,14 +153,14 @@ void GLPrimitiveRenderer::loadBufferData()
glEnableVertexAttribArray(m_data->m_positionAttribute);
glEnableVertexAttribArray(m_data->m_colourAttribute);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_textureAttribute);
glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)0);
glVertexAttribPointer(m_data->m_colourAttribute , 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)sizeof(PrimVec4));
glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)(sizeof(PrimVec4)+sizeof(PrimVec4)));
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
@@ -200,7 +200,7 @@ void GLPrimitiveRenderer::loadBufferData()
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256,256,0,GL_RGB,GL_UNSIGNED_BYTE,image);
glGenerateMipmap(GL_TEXTURE_2D);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
delete[] image;
@@ -226,14 +226,14 @@ void GLPrimitiveRenderer::drawLine()
void GLPrimitiveRenderer::drawRect(float x0, float y0, float x1, float y1, float color[4])
{
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
drawTexturedRect(x0,y0,x1,y1,color,0,0,1,1);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
}
@@ -242,7 +242,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
{
//B3_PROFILE("GLPrimitiveRenderer::drawTexturedRect3D");
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glUseProgram(m_data->m_shaderProg);
@@ -250,7 +250,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
glUniformMatrix4fv(m_data->m_viewmatUniform, 1, false, viewMat);
glUniformMatrix4fv(m_data->m_projMatUniform, 1, false, projMat);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
glBindVertexArray(m_data->m_vertexArrayObject);
@@ -277,7 +277,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
PrimVec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
if (useRGBA)
@@ -290,47 +290,47 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_positionAttribute);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_colourAttribute);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_textureAttribute);
glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)0);
glVertexAttribPointer(m_data->m_colourAttribute , 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)sizeof(PrimVec4));
glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)(sizeof(PrimVec4)+sizeof(PrimVec4)));
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
//glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
int indexCount = 6;
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindVertexArray(0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ARRAY_BUFFER, 0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
//glDisableVertexAttribArray(m_data->m_textureAttribute);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glUseProgram(0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
}
@@ -349,7 +349,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D2( PrimVertex* vertices, int numVert
}
//B3_PROFILE("GLPrimitiveRenderer::drawTexturedRect3D");
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
float identity[16]={1,0,0,0,
0,1,0,0,
0,0,1,0,
@@ -360,7 +360,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D2( PrimVertex* vertices, int numVert
glUniformMatrix4fv(m_data->m_viewmatUniform, 1, false, identity);
glUniformMatrix4fv(m_data->m_projMatUniform, 1, false, identity);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer2);
glBindVertexArray(m_data->m_vertexArrayObject2);
@@ -388,7 +388,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D2( PrimVertex* vertices, int numVert
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
PrimVec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
if (useRGBA)
@@ -401,47 +401,47 @@ void GLPrimitiveRenderer::drawTexturedRect3D2( PrimVertex* vertices, int numVert
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_positionAttribute);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_colourAttribute);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_textureAttribute);
glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)0);
glVertexAttribPointer(m_data->m_colourAttribute , 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)sizeof(PrimVec4));
glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)(sizeof(PrimVec4)+sizeof(PrimVec4)));
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer2);
//glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
int indexCount = (numVertices/4)*6;
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindVertexArray(0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ARRAY_BUFFER, 0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
//glDisableVertexAttribArray(m_data->m_textureAttribute);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glUseProgram(0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
}
@@ -477,7 +477,7 @@ void GLPrimitiveRenderer::flushBatchedRects()
return;
glActiveTexture(GL_TEXTURE0);
assert(glGetError()==GL_NO_ERROR);
b3Assert(glGetError()==GL_NO_ERROR);
glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
drawTexturedRect3D2(m_data2->m_verticesRect, m_data2->m_numVerticesRect,0);
m_data2->m_numVerticesRect=0;