diff --git a/Demos/OpenGL/GL_ShapeDrawer.cpp b/Demos/OpenGL/GL_ShapeDrawer.cpp index 922d86c4e..65254b293 100644 --- a/Demos/OpenGL/GL_ShapeDrawer.cpp +++ b/Demos/OpenGL/GL_ShapeDrawer.cpp @@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. @@ -47,84 +47,144 @@ subject to the following restrictions: #include "BMF_Api.h" #include //printf debugging -//#define USE_DISPLAY_LISTS 1 +class GlDrawcallback : public btTriangleCallback +{ +public: + bool m_wireframe; + + virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex) + { + if (m_wireframe) + { + glBegin(GL_LINES); + glColor3f(1, 0, 0); + glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); + glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); + glColor3f(0, 1, 0); + glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); + glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); + glColor3f(0, 0, 1); + glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); + glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); + glEnd(); + } else + { + btVector3 diff1 = triangle[1] - triangle[0]; + btVector3 diff2 = triangle[2] - triangle[0]; + btVector3 normal = diff1.cross(diff2); + normal.normalize(); + glBegin(GL_TRIANGLES); + glColor3f(1.0f, 0.3f, 0.6f); + glNormal3d(normal.getX(),normal.getY(),normal.getZ()); + glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); + glColor3f(1.0f, 0.3f, 0.6f); + glNormal3d(normal.getX(),normal.getY(),normal.getZ()); + glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); + glColor3f(1.0f, 0.3f, 0.6f); + glNormal3d(normal.getX(),normal.getY(),normal.getZ()); + glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); + glEnd(); + } + } +}; + +class GlDrawcallback_plane : public btTriangleCallback +{ +public: + bool m_wireframe; + + virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex) + { + if(m_wireframe) + { + glDisable(GL_CULL_FACE); + glBegin(GL_LINES); + glColor3f(0.5, 0, 1); + glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); + glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); + glColor3f(0.5, 0, 1); + glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); + glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); + glColor3f(0.5, 0, 1); + glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); + glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); + glEnd(); + } + else + { + glBegin(GL_TRIANGLES); + glColor3f(0.4, -0.4, 0.5); + glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); + + glColor3f(0.4, -0.4, 1.0); + glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); + + glColor3f(0.4, -0.4, 0.5); + glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); + glEnd(); + } + } +}; + + + +class TriangleGlDrawcallback : public btInternalTriangleIndexCallback +{ +public: + virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) + { + glBegin(GL_TRIANGLES);//LINES); + glColor3f(1, 0, 0); + glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); + glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); + glColor3f(0, 1, 0); + glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); + glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); + glColor3f(0, 0, 1); + glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); + glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); + glEnd(); + } +}; + + + +#define USE_DISPLAY_LISTS 1 #ifdef USE_DISPLAY_LISTS -#include - -using namespace std; - //Set for storing Display list per trimesh struct TRIMESH_KEY { btCollisionShape* m_shape; - GLuint m_dlist;//OpenGL display list -}; + GLuint m_dlist;//OpenGL display list + GLuint m_dlist_wireframe;//OpenGL display list -typedef map TRIMESH_KEY_MAP; - -typedef pair TRIMESH_KEY_PAIR; - -TRIMESH_KEY_MAP g_display_lists; - -class GlDisplaylistDrawcallback : public btTriangleCallback -{ -public: - - virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex) + inline bool operator <(const TRIMESH_KEY& other) const { + return (m_shape < other.m_shape); + } - btVector3 diff1 = triangle[1] - triangle[0]; - btVector3 diff2 = triangle[2] - triangle[0]; - btVector3 normal = diff1.cross(diff2); - - normal.normalize(); - - glBegin(GL_TRIANGLES); - glColor3f(0, 1, 0); - glNormal3d(normal.getX(),normal.getY(),normal.getZ()); - glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); - - glColor3f(0, 1, 0); - glNormal3d(normal.getX(),normal.getY(),normal.getZ()); - glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); - - glColor3f(0, 1, 0); - glNormal3d(normal.getX(),normal.getY(),normal.getZ()); - glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); - glEnd(); - - /*glBegin(GL_LINES); - glColor3f(1, 1, 0); - glNormal3d(normal.getX(),normal.getY(),normal.getZ()); - glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); - glNormal3d(normal.getX(),normal.getY(),normal.getZ()); - glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); - glColor3f(1, 1, 0); - glNormal3d(normal.getX(),normal.getY(),normal.getZ()); - glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); - glNormal3d(normal.getX(),normal.getY(),normal.getZ()); - glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); - glColor3f(1, 1, 0); - glNormal3d(normal.getX(),normal.getY(),normal.getZ()); - glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); - glNormal3d(normal.getX(),normal.getY(),normal.getZ()); - glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); - glEnd();*/ - - + inline bool operator >(const TRIMESH_KEY& other) const + { + return (m_shape > other.m_shape); } }; -GLuint OGL_get_displaylist_for_shape(btCollisionShape * shape) +typedef btAlignedObjectArray TRIMESH_KEY_MAP; + +TRIMESH_KEY_MAP g_display_lists; + +TRIMESH_KEY * OGL_get_displaylist_for_shape(btCollisionShape * shape) { - TRIMESH_KEY_MAP::iterator map_iter; - - unsigned long key = (unsigned long)shape; - map_iter = g_display_lists.find(key); - if(map_iter!=g_display_lists.end()) + if(g_display_lists.size()==0) return 0; + + TRIMESH_KEY searchkey; + searchkey.m_shape = shape; + + int map_iter = g_display_lists.findBinarySearch(searchkey); + if(map_iter < g_display_lists.size()) { - return map_iter->second.m_dlist; + return &g_display_lists[map_iter]; } return 0; @@ -132,51 +192,119 @@ GLuint OGL_get_displaylist_for_shape(btCollisionShape * shape) void OGL_displaylist_clean() { - TRIMESH_KEY_MAP::iterator map_iter,map_itend; + int map_iter = g_display_lists.size(); - map_iter = g_display_lists.begin(); - - while(map_iter!=map_itend) + while(map_iter--) { - glDeleteLists(map_iter->second.m_dlist,1); - map_iter++; + glDeleteLists(g_display_lists[map_iter].m_dlist,1); + glDeleteLists(g_display_lists[map_iter].m_dlist_wireframe,1); } g_display_lists.clear(); } - -void OGL_displaylist_register_shape(btCollisionShape * shape) +TRIMESH_KEY * OGL_displaylist_register_shape(btCollisionShape * shape) { - btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); - btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30)); - GlDisplaylistDrawcallback drawCallback; + btVector3 aabbMax(1e30f,1e30f,1e30f); + btVector3 aabbMin(-1e30f,-1e30f,-1e30f); + GlDrawcallback drawCallback; + TRIMESH_KEY dlist; dlist.m_dlist = glGenLists(1); + dlist.m_dlist_wireframe = glGenLists(1); dlist.m_shape = shape; - unsigned long key = (unsigned long)shape; - - g_display_lists.insert(TRIMESH_KEY_PAIR(key,dlist)); - - glNewList(dlist.m_dlist,GL_COMPILE); - - glEnable(GL_CULL_FACE); - - glCullFace(GL_BACK); - - if (shape->isConcave()) + if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) { - btConcaveShape* concaveMesh = (btConcaveShape*) shape; - //todo pass camera, for some culling + btConcaveShape* concaveMesh = (btConcaveShape*) shape; + //Draw + glNewList(dlist.m_dlist,GL_COMPILE); + glDisable(GL_CULL_FACE); + drawCallback.m_wireframe = false; concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); + glEndList(); + + //Draw wireframe + glNewList(dlist.m_dlist_wireframe,GL_COMPILE); + glDisable(GL_CULL_FACE); + drawCallback.m_wireframe = true; + concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); + glEndList(); + } + else if (shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) + { + btConcaveShape* gimpactMesh = (btConcaveShape*) shape; + + //Draw + glNewList(dlist.m_dlist,GL_COMPILE); + //glEnable(GL_CULL_FACE); + //glCullFace(GL_BACK); + glDisable(GL_CULL_FACE); + drawCallback.m_wireframe = false; + gimpactMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); + //glDisable(GL_CULL_FACE); + glEndList(); + + //Draw wireframe + glNewList(dlist.m_dlist_wireframe,GL_COMPILE); + glDisable(GL_CULL_FACE); + drawCallback.m_wireframe = true; + gimpactMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); + glEndList(); + } + else if (shape->getShapeType() == STATIC_PLANE_PROXYTYPE) + { + GlDrawcallback_plane drawPlaneCallback; + btVector3 paabbMax(100.f,100.f,100.f); + btVector3 paabbMin(-100.f,-100.f,-100.f); + + btConcaveShape* planeshape = (btConcaveShape*) shape; + + //Draw + glNewList(dlist.m_dlist,GL_COMPILE); + glDisable(GL_CULL_FACE); + drawPlaneCallback.m_wireframe = false; + planeshape->processAllTriangles(&drawPlaneCallback,paabbMin,paabbMax); + glEndList(); + + //Draw wireframe + glNewList(dlist.m_dlist_wireframe,GL_COMPILE); + glDisable(GL_CULL_FACE); + drawPlaneCallback.m_wireframe = true; + planeshape->processAllTriangles(&drawPlaneCallback,paabbMin,paabbMax); + glEndList(); } - glDisable(GL_CULL_FACE); + g_display_lists.push_back(dlist); + g_display_lists.heapSort(TRIMESH_KEY_MAP::less()); - glEndList(); + int inserted = g_display_lists.findBinarySearch(dlist); + + return &g_display_lists[inserted]; } + +void OGL_draw_shape(btCollisionShape* shape, bool wireframe) +{ + TRIMESH_KEY * dlist = OGL_get_displaylist_for_shape(shape); + + if(dlist == 0) + { + dlist = OGL_displaylist_register_shape(shape); + } + if(wireframe) + { + glCallList(dlist->m_dlist_wireframe); + } + else + { + glCallList(dlist->m_dlist); + } + +} + + + #endif //USE_DISPLAY_LISTS void GL_ShapeDrawer::drawCoordSystem() { @@ -191,13 +319,13 @@ void GL_ShapeDrawer::drawCoordSystem() { glVertex3d(0, 0, 0); glVertex3d(0, 0, 1); glEnd(); - + } - +/* class GlDrawcallback : public btTriangleCallback { @@ -243,8 +371,9 @@ public: } } }; +*/ -class TriangleGlDrawcallback : public btInternalTriangleIndexCallback +/*class TriangleGlDrawcallback : public btInternalTriangleIndexCallback { public: virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) @@ -265,11 +394,11 @@ public: glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); glEnd(); } -}; +};*/ void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis) { - + glPushMatrix(); switch (upAxis) @@ -283,7 +412,7 @@ void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis) glTranslatef(0.0, 0.0, -halfHeight); break; case 2: - + glTranslatef(0.0, 0.0, -halfHeight); break; default: @@ -292,17 +421,17 @@ void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis) } } - + GLUquadricObj *quadObj = gluNewQuadric(); - //The gluCylinder subroutine draws a cylinder that is oriented along the z axis. - //The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height. + //The gluCylinder subroutine draws a cylinder that is oriented along the z axis. + //The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height. //Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks. - + gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL); gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH); - - + + gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10); glPopMatrix(); gluDeleteQuadric(quadObj); @@ -311,9 +440,9 @@ void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis) void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode) { - - glPushMatrix(); - btglMultMatrix(m); + + glPushMatrix(); + btglMultMatrix(m); if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE) { @@ -325,7 +454,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons 0,scalingFactor,0,0, 0,0,scalingFactor,0, 0,0,0,1}; - + drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode); } glPopMatrix(); @@ -347,12 +476,12 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons } else { //drawCoordSystem(); - + //glPushMatrix(); glEnable(GL_COLOR_MATERIAL); glColor3f(color.x(),color.y(), color.z()); - + bool useWireframeFallback = true; @@ -372,7 +501,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons case TRIANGLE_SHAPE_PROXYTYPE: case TETRAHEDRAL_SHAPE_PROXYTYPE: { - //todo: + //todo: // useWireframeFallback = false; break; } @@ -395,7 +524,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons drawCylinder(radius,halfHeight,upAxis); - + glPushMatrix(); glTranslatef(0.0, -halfHeight,0.0); glutSolidSphere(radius,10,10); @@ -432,8 +561,8 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons { const btCylinderShape* cylinder = static_cast(shape); int upAxis = cylinder->getUpAxis(); - - + + float radius = cylinder->getRadius(); float halfHeight = cylinder->getHalfExtents()[upAxis]; @@ -448,9 +577,9 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons }; } - - + + if (useWireframeFallback) { @@ -458,8 +587,8 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons if (shape->isPolyhedral()) { btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape; - - + + glBegin(GL_LINES); @@ -476,7 +605,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons } glEnd(); - + if (debugMode==btIDebugDraw::DBG_DrawFeaturesText) { glRasterPos3f(0.0, 0.0, 0.0); @@ -504,37 +633,41 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons char buf[12]; sprintf(buf," plane %d",i); BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf); - + } } - + } } #ifdef USE_DISPLAY_LISTS - - if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) + if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE|| + shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE|| + shape->getShapeType() == STATIC_PLANE_PROXYTYPE) { - GLuint dlist = OGL_get_displaylist_for_shape((btCollisionShape * )shape); - if (dlist) + if((debugMode & btIDebugDraw::DBG_DrawWireframe)!=0) { - glCallList(dlist); + OGL_draw_shape((btCollisionShape *)shape,true); } else { -#else - if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) -// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) + OGL_draw_shape((btCollisionShape *)shape,false); + } + + + } +#else + if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) { - btConcaveShape* concaveMesh = (btConcaveShape*) shape; - //btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); - //btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30)); + btConcaveShape* concaveMesh = (btTriangleMeshShape*) shape; + //btVector3 aabbMax(1e30f,1e30f,1e30f); + //btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f); //todo pass camera, for some culling - btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); - btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30)); + btVector3 aabbMax(1e30f,1e30f,1e30f); + btVector3 aabbMin(-1e30f,-1e30f,-1e30f); GlDrawcallback drawCallback; drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0; @@ -542,25 +675,37 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); } + else if (shape->getShapeType() == STATIC_PLANE_PROXYTYPE) + { + + GlDrawcallback_plane drawPlaneCallback; + btVector3 paabbMax(100.f,100.f,100.f); + btVector3 paabbMin(-100.f,-100.f,-100.f); + + btConcaveShape* planeshape = (btConcaveShape*) shape; + + drawPlaneCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0; + //Draw + glDisable(GL_CULL_FACE); + planeshape->processAllTriangles(&drawPlaneCallback,paabbMin,paabbMax); + } + + #endif -#ifdef USE_DISPLAY_LISTS - } - } -#endif if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE) { btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape; - - //todo: pass camera for some culling + + //todo: pass camera for some culling btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30)); btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30)); TriangleGlDrawcallback drawCallback; convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax); } - + glDisable(GL_DEPTH_BUFFER_BIT); glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z()); @@ -578,5 +723,5 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons // glPopMatrix(); } glPopMatrix(); - + } diff --git a/Demos/OpenGL/GL_ShapeDrawer.h b/Demos/OpenGL/GL_ShapeDrawer.h index 84315d40b..0c663fb39 100644 --- a/Demos/OpenGL/GL_ShapeDrawer.h +++ b/Demos/OpenGL/GL_ShapeDrawer.h @@ -28,7 +28,7 @@ class GL_ShapeDrawer static void drawCylinder(float radius,float halfHeight, int upAxis); }; -void OGL_displaylist_register_shape(btCollisionShape * shape); +//void OGL_displaylist_register_shape(btCollisionShape * shape); void OGL_displaylist_clean(); #endif //GL_SHAPE_DRAWER_H