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More patches from Francisco Leon, will be tested multi-platform etc. today

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ejcoumans
2007-09-30 00:08:07 +00:00
parent 78fe8b7249
commit 65b9fbe16e
2 changed files with 288 additions and 143 deletions
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429
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -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 <stdio.h> //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 <map>
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<unsigned long,TRIMESH_KEY> TRIMESH_KEY_MAP;
typedef pair<unsigned long,TRIMESH_KEY> 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> 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<const btCylinderShape*>(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();
}