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

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This commit is contained in:
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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359
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -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_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
inline bool operator <(const TRIMESH_KEY& other) const
{
public:
return (m_shape < other.m_shape);
}
virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
inline bool operator >(const TRIMESH_KEY& other) const
{
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();*/
return (m_shape > other.m_shape);
}
};
GLuint OGL_get_displaylist_for_shape(btCollisionShape * shape)
{
TRIMESH_KEY_MAP::iterator map_iter;
typedef btAlignedObjectArray<TRIMESH_KEY> TRIMESH_KEY_MAP;
unsigned long key = (unsigned long)shape;
map_iter = g_display_lists.find(key);
if(map_iter!=g_display_lists.end())
TRIMESH_KEY_MAP g_display_lists;
TRIMESH_KEY * OGL_get_displaylist_for_shape(btCollisionShape * shape)
{
return map_iter->second.m_dlist;
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 &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
concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
}
//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();
}
g_display_lists.push_back(dlist);
g_display_lists.heapSort(TRIMESH_KEY_MAP::less());
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() {
@@ -197,7 +325,7 @@ void GL_ShapeDrawer::drawCoordSystem() {
/*
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)
@@ -265,7 +394,7 @@ public:
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
glEnd();
}
};
};*/
void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
{
@@ -514,27 +643,31 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
#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
{
OGL_draw_shape((btCollisionShape *)shape,false);
}
}
#else
if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
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;
@@ -542,12 +675,24 @@ 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)
{

2
Demos/OpenGL/GL_ShapeDrawer.h
View File

@@ -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