Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
This commit is contained in:
erwin coumans
33
ObsoleteDemos/Raytracer/CMakeLists.txt
Normal file
33
ObsoleteDemos/Raytracer/CMakeLists.txt
Normal file
@@ -0,0 +1,33 @@
|
||||
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
|
||||
|
||||
|
||||
# For every executable you have with a main method you should have an add_executable line below.
|
||||
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
|
||||
|
||||
|
||||
|
||||
# You shouldn't have to modify anything below this line
|
||||
########################################################
|
||||
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
../OpenGL
|
||||
)
|
||||
|
||||
LINK_LIBRARIES(
|
||||
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
|
||||
ADD_EXECUTABLE(AppRaytracer
|
||||
Raytracer.cpp
|
||||
main.cpp
|
||||
)
|
||||
|
||||
|
||||
|
||||
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
SET_TARGET_PROPERTIES(AppRaytracer PROPERTIES DEBUG_POSTFIX "_Debug")
|
||||
SET_TARGET_PROPERTIES(AppRaytracer PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
|
||||
SET_TARGET_PROPERTIES(AppRaytracer PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
|
||||
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
|
||||
627
ObsoleteDemos/Raytracer/Raytracer.cpp
Normal file
627
ObsoleteDemos/Raytracer/Raytracer.cpp
Normal file
@@ -0,0 +1,627 @@
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans <www.erwincoumans.com>
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
|
||||
/*
|
||||
Raytracer uses the Convex rayCast to visualize the Collision Shapes/Minkowski Sum.
|
||||
Very basic raytracer, rendering into a texture.
|
||||
*/
|
||||
|
||||
///Low level demo, doesn't include btBulletCollisionCommon.h
|
||||
|
||||
#include "LinearMath/btQuaternion.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
#include "Raytracer.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
|
||||
#include "LinearMath/btAabbUtil2.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
||||
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConeShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
|
||||
|
||||
#include "RenderTexture.h"
|
||||
|
||||
|
||||
|
||||
static btVoronoiSimplexSolver simplexSolver;
|
||||
|
||||
static float yaw=0.f,pitch=0.f,roll=0.f;
|
||||
static const int maxNumObjects = 4;
|
||||
static const int numObjects = 3;
|
||||
|
||||
|
||||
static btConvexShape* shapePtr[maxNumObjects];
|
||||
static btTransform transforms[maxNumObjects];
|
||||
|
||||
renderTexture* raytracePicture = 0;
|
||||
|
||||
//this applies to the raytracer virtual screen/image buffer
|
||||
static int screenWidth = 128;//256;
|
||||
//float aspectRatio = (3.f/4.f);
|
||||
static int screenHeight = 64;//256;//screenWidth * aspectRatio;
|
||||
GLuint glTextureId;
|
||||
|
||||
btConeShape myCone(1,1);
|
||||
btSphereShape mysphere(1);
|
||||
btBoxShape mybox(btVector3(1,1,1));
|
||||
|
||||
btCollisionWorld* m_collisionWorld = 0;
|
||||
|
||||
|
||||
|
||||
///
|
||||
///
|
||||
///
|
||||
|
||||
void Raytracer::initPhysics()
|
||||
{
|
||||
m_ele = 0;
|
||||
|
||||
raytracePicture = new renderTexture(screenWidth,screenHeight);
|
||||
myCone.setMargin(0.2f);
|
||||
|
||||
//choose shape
|
||||
shapePtr[0] = &myCone;
|
||||
shapePtr[1] = &mysphere;
|
||||
shapePtr[2] = &mybox;
|
||||
|
||||
for (int i=0;i<numObjects;i++)
|
||||
{
|
||||
transforms[i].setIdentity();
|
||||
btVector3 pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
|
||||
transforms[i].setIdentity();
|
||||
transforms[i].setOrigin( pos );
|
||||
btQuaternion orn;
|
||||
if (i < 2)
|
||||
{
|
||||
orn.setEuler(yaw,pitch,roll);
|
||||
transforms[i].setRotation(orn);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
btVector3 worldMin(-1000,-1000,-1000);
|
||||
btVector3 worldMax(1000,1000,1000);
|
||||
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
|
||||
|
||||
m_collisionWorld = new btCollisionWorld(m_dispatcher,m_overlappingPairCache,m_collisionConfiguration);
|
||||
|
||||
for (int s=0;s<numObjects;s++)
|
||||
{
|
||||
btCollisionObject* obj = new btCollisionObject();
|
||||
obj->setCollisionShape(shapePtr[s]);
|
||||
obj->setWorldTransform(transforms[s]);
|
||||
m_collisionWorld->addCollisionObject(obj);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
Raytracer::~Raytracer()
|
||||
{
|
||||
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
int i;
|
||||
for (i=m_collisionWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_collisionWorld->getCollisionObjectArray()[i];
|
||||
m_collisionWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
//delete collision world
|
||||
delete m_collisionWorld;
|
||||
|
||||
//delete broadphase
|
||||
delete m_overlappingPairCache;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
delete raytracePicture;
|
||||
raytracePicture=0;
|
||||
}
|
||||
|
||||
//to be implemented by the demo
|
||||
|
||||
void Raytracer::clientMoveAndDisplay()
|
||||
{
|
||||
displayCallback();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
bool Raytracer::worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
|
||||
{
|
||||
|
||||
struct AllRayResultCallback : public btCollisionWorld::RayResultCallback
|
||||
{
|
||||
AllRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld)
|
||||
:m_rayFromWorld(rayFromWorld),
|
||||
m_rayToWorld(rayToWorld)
|
||||
{
|
||||
}
|
||||
|
||||
btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
|
||||
btVector3 m_rayToWorld;
|
||||
|
||||
btVector3 m_hitNormalWorld;
|
||||
btVector3 m_hitPointWorld;
|
||||
|
||||
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
|
||||
{
|
||||
|
||||
//caller already does the filter on the m_closestHitFraction
|
||||
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
|
||||
|
||||
m_closestHitFraction = rayResult.m_hitFraction;
|
||||
|
||||
m_collisionObject = rayResult.m_collisionObject;
|
||||
if (normalInWorldSpace)
|
||||
{
|
||||
m_hitNormalWorld = rayResult.m_hitNormalLocal;
|
||||
} else
|
||||
{
|
||||
///need to transform normal into worldspace
|
||||
m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
|
||||
}
|
||||
m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
|
||||
return 1.f;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
AllRayResultCallback resultCallback(rayFrom,rayTo);
|
||||
// btCollisionWorld::ClosestRayResultCallback resultCallback(rayFrom,rayTo);
|
||||
m_collisionWorld->rayTest(rayFrom,rayTo,resultCallback);
|
||||
if (resultCallback.hasHit())
|
||||
{
|
||||
worldNormal = resultCallback.m_hitNormalWorld;
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool Raytracer::singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
|
||||
{
|
||||
|
||||
// btScalar closestHitResults = 1.f;
|
||||
|
||||
btCollisionWorld::ClosestRayResultCallback resultCallback(rayFrom,rayTo);
|
||||
|
||||
bool hasHit = false;
|
||||
btConvexCast::CastResult rayResult;
|
||||
btSphereShape pointShape(0.0f);
|
||||
btTransform rayFromTrans;
|
||||
btTransform rayToTrans;
|
||||
|
||||
rayFromTrans.setIdentity();
|
||||
rayFromTrans.setOrigin(rayFrom);
|
||||
rayToTrans.setIdentity();
|
||||
rayToTrans.setOrigin(rayTo);
|
||||
|
||||
for (int s=0;s<numObjects;s++)
|
||||
{
|
||||
//comment-out next line to get all hits, instead of just the closest hit
|
||||
//resultCallback.m_closestHitFraction = 1.f;
|
||||
|
||||
//do some culling, ray versus aabb
|
||||
btVector3 aabbMin,aabbMax;
|
||||
shapePtr[s]->getAabb(transforms[s],aabbMin,aabbMax);
|
||||
btScalar hitLambda = 1.f;
|
||||
btVector3 hitNormal;
|
||||
btCollisionObject tmpObj;
|
||||
tmpObj.setWorldTransform(transforms[s]);
|
||||
|
||||
|
||||
if (btRayAabb(rayFrom,rayTo,aabbMin,aabbMax,hitLambda,hitNormal))
|
||||
{
|
||||
//reset previous result
|
||||
|
||||
btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans, &tmpObj, shapePtr[s], transforms[s], resultCallback);
|
||||
if (resultCallback.hasHit())
|
||||
{
|
||||
//float fog = 1.f - 0.1f * rayResult.m_fraction;
|
||||
resultCallback.m_hitNormalWorld.normalize();//.m_normal.normalize();
|
||||
worldNormal = resultCallback.m_hitNormalWorld;
|
||||
//worldNormal = transforms[s].getBasis() *rayResult.m_normal;
|
||||
worldNormal.normalize();
|
||||
hasHit = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return hasHit;
|
||||
}
|
||||
|
||||
|
||||
bool Raytracer::lowlevelRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
|
||||
{
|
||||
|
||||
btScalar closestHitResults = 1.f;
|
||||
|
||||
bool hasHit = false;
|
||||
btConvexCast::CastResult rayResult;
|
||||
btSphereShape pointShape(0.0f);
|
||||
btTransform rayFromTrans;
|
||||
btTransform rayToTrans;
|
||||
|
||||
rayFromTrans.setIdentity();
|
||||
rayFromTrans.setOrigin(rayFrom);
|
||||
rayToTrans.setIdentity();
|
||||
rayToTrans.setOrigin(rayTo);
|
||||
|
||||
for (int s=0;s<numObjects;s++)
|
||||
{
|
||||
|
||||
//do some culling, ray versus aabb
|
||||
btVector3 aabbMin,aabbMax;
|
||||
shapePtr[s]->getAabb(transforms[s],aabbMin,aabbMax);
|
||||
btScalar hitLambda = 1.f;
|
||||
btVector3 hitNormal;
|
||||
btCollisionObject tmpObj;
|
||||
tmpObj.setWorldTransform(transforms[s]);
|
||||
|
||||
|
||||
if (btRayAabb(rayFrom,rayTo,aabbMin,aabbMax,hitLambda,hitNormal))
|
||||
{
|
||||
//reset previous result
|
||||
|
||||
//choose the continuous collision detection method
|
||||
btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
|
||||
//btGjkConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
|
||||
//btContinuousConvexCollision convexCaster(&pointShape,shapePtr[s],&simplexSolver,0);
|
||||
|
||||
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
|
||||
{
|
||||
if (rayResult.m_fraction < closestHitResults)
|
||||
{
|
||||
closestHitResults = rayResult.m_fraction;
|
||||
|
||||
worldNormal = transforms[s].getBasis() *rayResult.m_normal;
|
||||
worldNormal.normalize();
|
||||
hasHit = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return hasHit;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Raytracer::displayCallback()
|
||||
{
|
||||
|
||||
updateCamera();
|
||||
|
||||
for (int i=0;i<numObjects;i++)
|
||||
{
|
||||
transforms[i].setIdentity();
|
||||
btVector3 pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
|
||||
transforms[i].setOrigin( pos );
|
||||
btQuaternion orn;
|
||||
if (i < 2)
|
||||
{
|
||||
orn.setEuler(yaw,pitch,roll);
|
||||
transforms[i].setRotation(orn);
|
||||
}
|
||||
}
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glDisable(GL_LIGHTING);
|
||||
if (!m_initialized)
|
||||
{
|
||||
m_initialized = true;
|
||||
glGenTextures(1, &glTextureId);
|
||||
}
|
||||
|
||||
glBindTexture(GL_TEXTURE_2D,glTextureId );
|
||||
|
||||
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
|
||||
|
||||
glDisable(GL_TEXTURE_2D);
|
||||
glDisable(GL_BLEND);
|
||||
|
||||
|
||||
btVector4 rgba(1.f,0.f,0.f,0.5f);
|
||||
|
||||
float top = 1.f;
|
||||
float bottom = -1.f;
|
||||
float nearPlane = 1.f;
|
||||
|
||||
float tanFov = (top-bottom)*0.5f / nearPlane;
|
||||
|
||||
float fov = 2.0 * atanf (tanFov);
|
||||
|
||||
|
||||
btVector3 rayFrom = getCameraPosition();
|
||||
btVector3 rayForward = getCameraTargetPosition()-getCameraPosition();
|
||||
rayForward.normalize();
|
||||
float farPlane = 600.f;
|
||||
rayForward*= farPlane;
|
||||
|
||||
btVector3 rightOffset;
|
||||
btVector3 vertical(0.f,1.f,0.f);
|
||||
btVector3 hor;
|
||||
hor = rayForward.cross(vertical);
|
||||
hor.normalize();
|
||||
vertical = hor.cross(rayForward);
|
||||
vertical.normalize();
|
||||
|
||||
float tanfov = tanf(0.5f*fov);
|
||||
|
||||
hor *= 2.f * farPlane * tanfov;
|
||||
vertical *= 2.f * farPlane * tanfov;
|
||||
|
||||
btVector3 rayToCenter = rayFrom + rayForward;
|
||||
|
||||
btVector3 dHor = hor * 1.f/float(screenWidth);
|
||||
btVector3 dVert = vertical * 1.f/float(screenHeight);
|
||||
|
||||
btTransform rayFromTrans;
|
||||
rayFromTrans.setIdentity();
|
||||
rayFromTrans.setOrigin(rayFrom);
|
||||
|
||||
btTransform rayFromLocal;
|
||||
btTransform rayToLocal;
|
||||
|
||||
|
||||
|
||||
|
||||
int x;
|
||||
|
||||
///clear texture
|
||||
for (x=0;x<screenWidth;x++)
|
||||
{
|
||||
for (int y=0;y<screenHeight;y++)
|
||||
{
|
||||
btVector4 rgba(0.2f,0.2f,0.2f,1.f);
|
||||
raytracePicture->setPixel(x,y,rgba);
|
||||
}
|
||||
}
|
||||
|
||||
#if 1
|
||||
btVector3 rayTo;
|
||||
btTransform colObjWorldTransform;
|
||||
colObjWorldTransform.setIdentity();
|
||||
|
||||
int mode = 0;
|
||||
|
||||
for (x=0;x<screenWidth;x++)
|
||||
{
|
||||
for (int y=0;y<screenHeight;y++)
|
||||
{
|
||||
|
||||
rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
|
||||
rayTo += x * dHor;
|
||||
rayTo -= y * dVert;
|
||||
btVector3 worldNormal(0,0,0);
|
||||
btVector3 worldPoint(0,0,0);
|
||||
|
||||
|
||||
|
||||
bool hasHit = false;
|
||||
int mode = 0;
|
||||
switch (mode)
|
||||
{
|
||||
case 0:
|
||||
hasHit = lowlevelRaytest(rayFrom,rayTo,worldNormal,worldPoint);
|
||||
break;
|
||||
case 1:
|
||||
hasHit = singleObjectRaytest(rayFrom,rayTo,worldNormal,worldPoint);
|
||||
break;
|
||||
case 2:
|
||||
hasHit = worldRaytest(rayFrom,rayTo,worldNormal,worldPoint);
|
||||
break;
|
||||
default:
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
if (hasHit)
|
||||
{
|
||||
float lightVec0 = worldNormal.dot(btVector3(0,-1,-1));//0.4f,-1.f,-0.4f));
|
||||
float lightVec1= worldNormal.dot(btVector3(-1,0,-1));//-0.4f,-1.f,-0.4f));
|
||||
|
||||
|
||||
rgba = btVector4(lightVec0,lightVec1,0,1.f);
|
||||
rgba.setMin(btVector3(1,1,1));
|
||||
rgba.setMax(btVector3(0.2,0.2,0.2));
|
||||
rgba[3] = 1.f;
|
||||
raytracePicture->setPixel(x,y,rgba);
|
||||
} else
|
||||
{
|
||||
// btVector4 rgba = raytracePicture->getPixel(x,y);
|
||||
}
|
||||
if (!rgba.length2())
|
||||
{
|
||||
raytracePicture->setPixel(x,y,btVector4(1,1,1,1));
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
extern unsigned char sFontData[];
|
||||
if (0)
|
||||
{
|
||||
|
||||
const char* text="ABC abc 123 !@#";
|
||||
int x=0;
|
||||
for (int cc = 0;cc<strlen(text);cc++)
|
||||
{
|
||||
|
||||
char testChar = text[cc];//'b';
|
||||
char ch = testChar-32;
|
||||
int startx=ch%16;
|
||||
int starty=ch/16;
|
||||
|
||||
|
||||
//for (int i=0;i<256;i++)
|
||||
for (int i=startx*16;i<(startx*16+16);i++)
|
||||
{
|
||||
int y=0;
|
||||
//for (int j=0;j<256;j++)
|
||||
//for (int j=0;j<256;j++)
|
||||
for (int j=starty*16;j<(starty*16+16);j++)
|
||||
{
|
||||
|
||||
btVector4 rgba(0,0,0,1);
|
||||
rgba[0] = (sFontData[i*3+255*256*3-(256*j)*3])/255.f;
|
||||
//rgba[0] += (sFontData[(i+1)*3+255*256*3-(256*j)*3])/255.*0.25f;
|
||||
//rgba[0] += (sFontData[(i)*3+255*256*3-(256*j+1)*3])/255.*0.25f;
|
||||
//rgba[0] += (sFontData[(i+1)*3+255*256*3-(256*j+1)*3])/255.*0.25;
|
||||
|
||||
//if (rgba[0]!=0.f)
|
||||
{
|
||||
rgba[1]=rgba[0];
|
||||
rgba[2]=rgba[0];
|
||||
rgba[3]=1.f;
|
||||
|
||||
//raytracePicture->setPixel(x,y,rgba);
|
||||
raytracePicture->addPixel(x,y,rgba);
|
||||
}
|
||||
y++;
|
||||
}
|
||||
x++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//raytracePicture->grapicalPrintf("CCD RAYTRACER",sFontData);
|
||||
char buffer[256];
|
||||
sprintf(buffer,"%d rays",screenWidth*screenHeight*numObjects);
|
||||
//sprintf(buffer,"Toggle",screenWidth*screenHeight*numObjects);
|
||||
//sprintf(buffer,"TEST",screenWidth*screenHeight*numObjects);
|
||||
//raytracePicture->grapicalPrintf(buffer,sFontData,0,10);//&BMF_font_helv10,0,10);
|
||||
raytracePicture->grapicalPrintf(buffer,sFontData,0,0);//&BMF_font_helv10,0,10);
|
||||
|
||||
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glPushMatrix();
|
||||
glLoadIdentity();
|
||||
glFrustum(-1.0,1.0,-1.0,1.0,3,2020.0);
|
||||
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
glPushMatrix();
|
||||
glLoadIdentity(); // reset The Modelview Matrix
|
||||
glTranslatef(0.0f,0.0f,-3.1f); // Move Into The Screen 5 Units
|
||||
|
||||
|
||||
|
||||
glEnable(GL_TEXTURE_2D);
|
||||
glBindTexture(GL_TEXTURE_2D,glTextureId );
|
||||
|
||||
const unsigned char *ptr = raytracePicture->getBuffer();
|
||||
glTexImage2D(GL_TEXTURE_2D,
|
||||
0,
|
||||
GL_RGBA,
|
||||
raytracePicture->getWidth(),raytracePicture->getHeight(),
|
||||
0,
|
||||
GL_RGBA,
|
||||
GL_UNSIGNED_BYTE,
|
||||
ptr);
|
||||
|
||||
|
||||
glEnable (GL_BLEND);
|
||||
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
glColor4f (1,1,1,1); // alpha=0.5=half visible
|
||||
|
||||
glBegin(GL_QUADS);
|
||||
glTexCoord2f(0.0f, 0.0f);
|
||||
glVertex2f(-1,1);
|
||||
glTexCoord2f(1.0f, 0.0f);
|
||||
glVertex2f(1,1);
|
||||
glTexCoord2f(1.0f, 1.0f);
|
||||
glVertex2f(1,-1);
|
||||
glTexCoord2f(0.0f, 1.0f);
|
||||
glVertex2f(-1,-1);
|
||||
glEnd();
|
||||
|
||||
|
||||
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
glPopMatrix();
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glPopMatrix();
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
|
||||
|
||||
glDisable(GL_TEXTURE_2D);
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
|
||||
GL_ShapeDrawer::drawCoordSystem();
|
||||
|
||||
|
||||
|
||||
{
|
||||
for (int i=0;i<numObjects;i++)
|
||||
{
|
||||
btVector3 aabbMin,aabbMax;
|
||||
shapePtr[i]->getAabb(transforms[i],aabbMin,aabbMax);
|
||||
}
|
||||
}
|
||||
|
||||
glPushMatrix();
|
||||
|
||||
|
||||
|
||||
|
||||
glPopMatrix();
|
||||
|
||||
pitch += 0.005f;
|
||||
yaw += 0.01f;
|
||||
m_azi += 1.f;
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
65
ObsoleteDemos/Raytracer/Raytracer.h
Normal file
65
ObsoleteDemos/Raytracer/Raytracer.h
Normal file
@@ -0,0 +1,65 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
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,
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef RAYTRACER_H
|
||||
#define RAYTRACER_H
|
||||
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
class btDefaultCollisionConfiguration;
|
||||
class btCollisionDispatcher;
|
||||
class btAxisSweep3;
|
||||
class btCollisionWorld;
|
||||
|
||||
///Raytracer shows the inner working of the ray casting, using ray tracing rendering into a texture.
|
||||
class Raytracer : public GlutDemoApplication
|
||||
{
|
||||
|
||||
btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
btCollisionDispatcher* m_dispatcher;
|
||||
btAxisSweep3* m_overlappingPairCache;
|
||||
btCollisionWorld* m_collisionWorld;
|
||||
bool m_initialized;
|
||||
|
||||
public:
|
||||
|
||||
void initPhysics();
|
||||
|
||||
virtual ~Raytracer();
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
///worldRaytest performs a ray versus all objects in a collision world, returning true is a hit is found (filling in worldNormal and worldHitPoint)
|
||||
bool worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
|
||||
|
||||
///singleObjectRaytest performs a ray versus one collision shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
|
||||
bool singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
|
||||
|
||||
///lowlevelRaytest performs a ray versus convex shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
|
||||
bool lowlevelRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
Raytracer* demo = new Raytracer();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
};
|
||||
|
||||
#endif //RAYTRACER_H
|
||||
|
||||
|
||||
16
ObsoleteDemos/Raytracer/main.cpp
Normal file
16
ObsoleteDemos/Raytracer/main.cpp
Normal file
@@ -0,0 +1,16 @@
|
||||
|
||||
#include "Raytracer.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
Raytracer* raytraceDemo = new Raytracer();
|
||||
|
||||
raytraceDemo->initPhysics();
|
||||
|
||||
raytraceDemo->setCameraDistance(6.f);
|
||||
|
||||
return glutmain(argc, argv,640,640,"Bullet GJK Implicit Shape Raytracer Demo",raytraceDemo);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user