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Merge pull request #309 from erwincoumans/master

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minor fixes (GL2, preSwapFileNameOut), improved URDF/btMultiBody (work in progress), basic debug drawing for btMultiBody
This commit is contained in:
erwincoumans
2015-01-27 13:33:37 -08:00
parent c5b7d5011e 2a1ac61c4d
commit 76b80ca71b
45 changed files with 1662 additions and 866 deletions
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54
Demos3/AllBullet2Demos/main.cpp
View File

@@ -8,7 +8,7 @@
#include "OpenGLWindow/SimpleOpenGL3App.h"
#endif
#include "OpenGLWindow/CommonRenderInterface.h"
#ifdef __APPLE__
#include "OpenGLWindow/MacOpenGLWindow.h"
#else
@@ -34,7 +34,7 @@
#include "Bullet3AppSupport/GwenProfileWindow.h"
#include "Bullet3AppSupport/GwenTextureWindow.h"
#include "Bullet3AppSupport/GraphingTexture.h"
#include "OpenGLWindow/CommonRenderInterface.h"
#include "OpenGLWindow/SimpleCamera.h"
CommonGraphicsApp* app=0;
@@ -140,6 +140,10 @@ struct TestRenderer : public CommonRenderInterface
{
return m_height;
}
virtual int registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling)
{
return 0;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
return 0;
@@ -192,6 +196,26 @@ struct TestRenderer : public CommonRenderInterface
{
}
virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth)
{
}
virtual void drawPoint(const float* position, const float color[4], float pointDrawSize)
{
}
virtual void drawPoint(const double* position, const double color[4], double pointDrawSize)
{
}
virtual void updateShape(int shapeIndex, const float* vertices)
{
}
virtual void enableBlend(bool blend)
{
}
};
#endif //USE_OPENGL2
b3gWindowInterface* s_window = 0;
@@ -210,9 +234,10 @@ extern bool useShadowMap;
static bool visualWireframe=false;
static bool renderVisualGeometry=true;
static bool renderGrid = true;
static bool pauseSimulation=false;//true;
int gDebugDrawFlags = 0;
static bool pauseSimulation=false;
int midiBaseIndex = 176;
extern bool gDisableDeactivation;
//#include <float.h>
//unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM);
@@ -244,9 +269,28 @@ void MyKeyboardCallback(int key, int state)
//if (handled)
// return;
if (key=='a' && state)
{
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawAabb;
}
if (key=='c' && state)
{
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraints;
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawContactPoints;
}
if (key == 'd' && state)
{
gDebugDrawFlags ^= btIDebugDraw::DBG_NoDeactivation;
gDisableDeactivation = ((gDebugDrawFlags & btIDebugDraw::DBG_NoDeactivation) != 0);
}
if (key=='l' && state)
{
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraintLimits;
}
if (key=='w' && state)
{
visualWireframe=!visualWireframe;
gDebugDrawFlags ^= btIDebugDraw::DBG_DrawWireframe;
}
if (key=='v' && state)
{
@@ -768,7 +812,7 @@ int main(int argc, char* argv[])
}
{
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
sCurrentDemo->physicsDebugDraw();
sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
}
}

2
Demos3/FiniteElementMethod/FiniteElementDemo.cpp
View File

@@ -317,7 +317,7 @@ void FiniteElementDemo::renderScene()
m_app->m_renderer->renderScene();
}
void FiniteElementDemo::physicsDebugDraw()
void FiniteElementDemo::physicsDebugDraw(int debugDrawFlags)
{
{
btAlignedObjectArray<btVector3FloatData> m_linePoints;

2
Demos3/FiniteElementMethod/FiniteElementDemo.h
View File

@@ -50,7 +50,7 @@ public:
virtual void renderScene();
virtual void physicsDebugDraw();
virtual void physicsDebugDraw(int debugDrawFlags);
virtual bool mouseMoveCallback(float x,float y);
virtual bool mouseButtonCallback(int button, int state, float x, float y);
virtual bool keyboardCallback(int key, int state);

2
Demos3/Geometry/DistributePoints.h
View File

@@ -181,7 +181,7 @@ public:
}
virtual void physicsDebugDraw()
virtual void physicsDebugDraw(int debugDrawFlags)
{
int lineWidth = 1;

2
Demos3/Geometry/SphereCreation.h
View File

@@ -168,7 +168,7 @@ public:
m_app->m_renderer->renderScene();
}
virtual void physicsDebugDraw()
virtual void physicsDebugDraw(int debugDrawFlags)
{
int lineWidth = 1;
int pointSize = 2;

735
Demos3/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -12,9 +12,10 @@ static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphasePr
static bool enableConstraints = true;//false;
ImportUrdfSetup::ImportUrdfSetup()
{
sprintf(m_fileName,"r2d2.urdf");//sphere2.urdf");//
sprintf(m_fileName,"r2d2.urdf");
}
ImportUrdfSetup::~ImportUrdfSetup()
@@ -86,12 +87,26 @@ struct URDF_LinkInformation
{
const Link* m_thisLink;
int m_linkIndex;
int m_parentIndex;
//int m_parentIndex;
btTransform m_localInertialFrame;
btTransform m_localVisualFrame;
//btTransform m_localVisualFrame;
btTransform m_bodyWorldTransform;
btVector3 m_localInertiaDiagonal;
btScalar m_mass;
btCollisionShape* m_collisionShape;
btRigidBody* m_bulletRigidBody;
URDF_LinkInformation()
:m_thisLink(0),
m_linkIndex(-2),
//m_parentIndex(-2),
m_collisionShape(0),
m_bulletRigidBody(0)
{
}
virtual ~URDF_LinkInformation()
{
printf("~\n");
@@ -107,17 +122,30 @@ struct URDF_JointInformation
struct URDF2BulletMappings
{
btHashMap<btHashPtr /*to Link*/, URDF_LinkInformation*> m_link2rigidbody;
btHashMap<btHashPtr /*to Joint*/, btTypedConstraint*> m_joint2Constraint;
//btHashMap<btHashPtr /*to Joint*/, btTypedConstraint*> m_joint2Constraint;
btAlignedObjectArray<btTransform> m_linkLocalInertiaTransforms;//Body transform is in center of mass, aligned with Principal Moment Of Inertia;
//btAlignedObjectArray<btTransform> m_linkLocalInertiaTransforms;//Body transform is in center of mass, aligned with Principal Moment Of Inertia;
btAlignedObjectArray<btScalar> m_linkMasses;
btAlignedObjectArray<btVector3> m_linkLocalDiagonalInertiaTensors;
btAlignedObjectArray<btTransform> m_jointTransforms;//for root, it is identity
btAlignedObjectArray<int> m_parentIndices;//for root, it is identity
btAlignedObjectArray<btVector3> m_jointAxisArray;
btAlignedObjectArray<btTransform> m_jointOffsetInParent;
btAlignedObjectArray<btTransform> m_jointOffsetInChild;
btAlignedObjectArray<int> m_jointTypeArray;
//btAlignedObjectArray<btVector3> m_linkLocalDiagonalInertiaTensors;
//btAlignedObjectArray<int> m_parentIndices;//for root, it is identity
//btAlignedObjectArray<btVector3> m_jointAxisArray;
//btAlignedObjectArray<btTransform> m_jointOffsetInParent;
//btAlignedObjectArray<btTransform> m_jointOffsetInChild;
//btAlignedObjectArray<int> m_jointTypeArray;
bool m_createMultiBody;
int m_totalNumJoints;
btMultiBody* m_bulletMultiBody;
URDF2BulletMappings()
:m_createMultiBody(false),
m_totalNumJoints(0),
m_bulletMultiBody(0)
{
}
};
enum MyFileType
@@ -126,7 +154,8 @@ enum MyFileType
FILE_COLLADA=2
};
btCollisionShape* convertVisualToCollisionShape(const Collision* visual, const char* pathPrefix)
template <typename T>
btCollisionShape* convertURDFToCollisionShape(const T* visual, const char* pathPrefix)
{
btCollisionShape* shape = 0;
@@ -151,6 +180,8 @@ btCollisionShape* convertVisualToCollisionShape(const Collision* visual, const c
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->initializePolyhedralFeatures();
//btConvexShape* cylZShape = new btConeShapeZ(cyl->radius,cyl->length);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
cylZShape->setMargin(0.001);
@@ -164,6 +195,7 @@ btCollisionShape* convertVisualToCollisionShape(const Collision* visual, const c
urdf::Box* box = (urdf::Box*)visual->geometry.get();
btVector3 extents(box->dim.x,box->dim.y,box->dim.z);
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
shape = boxShape;
shape ->setMargin(0.001);
break;
@@ -348,32 +380,46 @@ btCollisionShape* convertVisualToCollisionShape(const Collision* visual, const c
}
return shape;
}
void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btDiscreteDynamicsWorld* world1, URDF2BulletMappings& mappings, const char* pathPrefix)
void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1, URDF2BulletMappings& mappings, const char* pathPrefix)
{
btCollisionShape* shape = 0;
//btCollisionShape* shape = 0;
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
btScalar mass = 1;
btScalar mass = 0;
btTransform inertialFrame;
inertialFrame.setIdentity();
const Link* parentLink = (*link).getParent();
URDF_LinkInformation* pp = 0;
int linkIndex = mappings.m_linkMasses.size();
btVector3 localInertiaDiagonal(0,0,0);
int parentIndex = -1;
if (parentLink)
{
parentIndex = parentLink->m_link_index;
btAssert(parentIndex>=0);
}
{
URDF_LinkInformation** ppRigidBody = mappings.m_link2rigidbody.find(parentLink);
if (ppRigidBody)
{
pp = (*ppRigidBody);
btRigidBody* parentRigidBody = pp->m_bulletRigidBody;
btTransform tr = parentRigidBody->getWorldTransform();
pp = (*ppRigidBody);
btTransform tr = pp->m_bodyWorldTransform;
printf("rigidbody origin (COM) of link(%s) parent(%s): %f,%f,%f\n",(*link).name.c_str(), parentLink->name.c_str(), tr.getOrigin().x(), tr.getOrigin().y(), tr.getOrigin().z());
}
}
(*link).m_link_index = linkIndex;
if ((*link).inertial)
{
mass = (*link).inertial->mass;
localInertiaDiagonal.setValue((*link).inertial->ixx,(*link).inertial->iyy,(*link).inertial->izz);
inertialFrame.setOrigin(btVector3((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z));
inertialFrame.setRotation(btQuaternion((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w));
}
@@ -394,54 +440,123 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
} else
{
linkTransformInWorldSpace = parentTransformInWorldSpace;
}
{
printf("converting visuals of link %s",link->name.c_str());
for (int v=0;v<(int)link->collision_array.size();v++)
{
const Collision* visual = link->collision_array[v].get();
shape = convertVisualToCollisionShape(visual,pathPrefix);
if (shape)
{
gfxBridge.createCollisionShapeGraphicsObject(shape);
btCompoundShape* tmpGfxShape = new btCompoundShape();
btVector3 color = selectColor();
/* if (visual->material.get())
{
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
*/
btVector3 localInertia(0,0,0);
if (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,shape,localInertia);
for (int v=0;v<(int)link->visual_array.size();v++)
{
const Visual* vis = link->visual_array[v].get();
btCollisionShape* childShape = convertURDFToCollisionShape(vis,pathPrefix);
if (childShape)
{
btVector3 childPos(vis->origin.position.x, vis->origin.position.y, vis->origin.position.z);
btQuaternion childOrn(vis->origin.rotation.x, vis->origin.rotation.y, vis->origin.rotation.z, vis->origin.rotation.w);
btTransform childTrans;
childTrans.setOrigin(childPos);
childTrans.setRotation(childOrn);
if (!mappings.m_createMultiBody)
{
tmpGfxShape->addChildShape(childTrans*inertialFrame.inverse(),childShape);
} else
{
tmpGfxShape->addChildShape(childTrans,childShape);
}
}
}
btCompoundShape* compoundShape = new btCompoundShape();
for (int v=0;v<(int)link->collision_array.size();v++)
{
const Collision* col = link->collision_array[v].get();
btCollisionShape* childShape = convertURDFToCollisionShape(col ,pathPrefix);
if (childShape)
{
btVector3 childPos(col->origin.position.x, col->origin.position.y, col->origin.position.z);
btQuaternion childOrn(col->origin.rotation.x, col->origin.rotation.y, col->origin.rotation.z, col->origin.rotation.w);
btTransform childTrans;
childTrans.setOrigin(childPos);
childTrans.setRotation(childOrn);
if (!mappings.m_createMultiBody)
{
compoundShape->addChildShape(childTrans*inertialFrame.inverse(),childShape);
} else
{
compoundShape->addChildShape(childTrans,childShape);
}
}
}
if (compoundShape)
{
btVector3 color = selectColor();
/* if (visual->material.get())
{
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
*/
//btVector3 localInertiaDiagonal(0, 0, 0);
//if (mass)
//{
// shape->calculateLocalInertia(mass, localInertiaDiagonal);
//}
//btTransform visualFrameInWorldSpace = linkTransformInWorldSpace*visual_frame;
btTransform inertialFrameInWorldSpace = linkTransformInWorldSpace*inertialFrame;
URDF_LinkInformation* linkInfo = new URDF_LinkInformation;
if (!mappings.m_createMultiBody)
{
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, compoundShape, localInertiaDiagonal);
rbci.m_startWorldTransform = inertialFrameInWorldSpace;
linkInfo->m_bodyWorldTransform = inertialFrameInWorldSpace;//visualFrameInWorldSpace
//rbci.m_startWorldTransform = inertialFrameInWorldSpace;//linkCenterOfMass;
btRigidBody* body = new btRigidBody(rbci);
world1->addRigidBody(body, bodyCollisionFilterGroup, bodyCollisionFilterMask);
gfxBridge.createCollisionShapeGraphicsObject(tmpGfxShape);
//hack-> transfer user inder from visual to collision shape
compoundShape->setUserIndex(tmpGfxShape->getUserIndex());
gfxBridge.createRigidBodyGraphicsObject(body, color);
linkInfo->m_bulletRigidBody = body;
} else
{
if (mappings.m_bulletMultiBody==0)
{
bool multiDof = true;
bool canSleep = false;
bool isFixedBase = (mass==0);//todo: figure out when base is fixed
int totalNumJoints = mappings.m_totalNumJoints;
mappings.m_bulletMultiBody = new btMultiBody(totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep, multiDof);
}
}
btVector3 visual_pos(visual->origin.position.x,visual->origin.position.y,visual->origin.position.z);
btQuaternion visual_orn(visual->origin.rotation.x,visual->origin.rotation.y,visual->origin.rotation.z,visual->origin.rotation.w);
btTransform visual_frame;
visual_frame.setOrigin(visual_pos);
visual_frame.setRotation(visual_orn);
btTransform visualFrameInWorldSpace =linkTransformInWorldSpace*visual_frame;
rbci.m_startWorldTransform = visualFrameInWorldSpace;//linkCenterOfMass;
btRigidBody* body = new btRigidBody(rbci);
world1->addRigidBody(body,bodyCollisionFilterGroup,bodyCollisionFilterMask);
// body->setFriction(0);
gfxBridge.createRigidBodyGraphicsObject(body,color);
URDF_LinkInformation* linkInfo = new URDF_LinkInformation;
linkInfo->m_bulletRigidBody = body;
linkInfo->m_localVisualFrame =visual_frame;
linkInfo->m_collisionShape = compoundShape;
linkInfo->m_localInertiaDiagonal = localInertiaDiagonal;
linkInfo->m_mass = mass;
//linkInfo->m_localVisualFrame =visual_frame;
linkInfo->m_localInertialFrame =inertialFrame;
linkInfo->m_thisLink = link.get();
const Link* p = link.get();
@@ -452,68 +567,173 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
{
btAssert(pp);
btRigidBody* parentBody =pp->m_bulletRigidBody;
const Joint* pj = (*link).parent_joint.get();
btTransform offsetInA,offsetInB;
static bool once = true;
offsetInA.setIdentity();
offsetInA = pp->m_localVisualFrame.inverse()*parent2joint;
static bool toggle=false;
//offsetInA = pp->m_localVisualFrame.inverse()*parent2joint;
offsetInA = pp->m_localInertialFrame.inverse()*parent2joint;
offsetInB.setIdentity();
offsetInB = visual_frame.inverse();
//offsetInB = visual_frame.inverse();
offsetInB = inertialFrame.inverse();
bool disableParentCollision = true;
btVector3 jointAxis(pj->axis.x,pj->axis.y,pj->axis.z);
switch (pj->type)
{
case Joint::FIXED:
{
printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentBody, *body,offsetInA,offsetInB);
// btVector3 bulletAxis(pj->axis.x,pj->axis.y,pj->axis.z);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
if (mappings.m_createMultiBody)
{
//todo: adjust the center of mass transform and pivot axis properly
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
printf("Fixed joint (btMultiBody)\n");
//btVector3 dVec = quatRotate(parentComToThisCom.getRotation(),offsetInB.inverse().getOrigin());
btQuaternion rot = parent2joint.inverse().getRotation();
//toggle=!toggle;
mappings.m_bulletMultiBody->setupFixed(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1,
rot, parent2joint.getOrigin(), btVector3(0,0,0),disableParentCollision);
btMatrix3x3 rm(rot);
btScalar y,p,r;
rm.getEulerZYX(y,p,r);
//parent2joint.inverse().getRotation(), offsetInA.getOrigin(), -offsetInB.getOrigin(), disableParentCollision);
//linkInfo->m_localVisualFrame.setIdentity();
printf("y=%f,p=%f,r=%f\n", y,p,r);
if (enableConstraints)
world1->addConstraint(dof6,true);
// btFixedConstraint* fixed = new btFixedConstraint(*parentBody, *body,offsetInA,offsetInB);
// world->addConstraint(fixed,true);
} else
{
printf("Fixed joint\n");
btMatrix3x3 rm(offsetInA.getBasis());
btScalar y,p,r;
rm.getEulerZYX(y,p,r);
//parent2joint.inverse().getRotation(), offsetInA.getOrigin(), -offsetInB.getOrigin(), disableParentCollision);
//linkInfo->m_localVisualFrame.setIdentity();
printf("y=%f,p=%f,r=%f\n", y,p,r);
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB);
// btVector3 bulletAxis(pj->axis.x,pj->axis.y,pj->axis.z);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
// btFixedConstraint* fixed = new btFixedConstraint(*parentBody, *body,offsetInA,offsetInB);
// world->addConstraint(fixed,true);
}
break;
}
case Joint::CONTINUOUS:
case Joint::REVOLUTE:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentBody, *body,offsetInA,offsetInB);
// btVector3 bulletAxis(pj->axis.x,pj->axis.y,pj->axis.z);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
if (mappings.m_createMultiBody)
{
//todo: adjust the center of mass transform and pivot axis properly
mappings.m_bulletMultiBody->setupRevolute(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1,
parent2joint.inverse().getRotation(), jointAxis, parent2joint.getOrigin(),
btVector3(0,0,0),//offsetInB.getOrigin(),
disableParentCollision);
dof6->setAngularLowerLimit(btVector3(0,0,1000));
dof6->setAngularUpperLimit(btVector3(0,0,-1000));
if (enableConstraints)
world1->addConstraint(dof6,true);
printf("Revolute/Continuous joint\n");
/*
mappings.m_bulletMultiBody->setupRevolute(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1,
parent2joint.inverse().getRotation(), jointAxis, offsetInA.getOrigin(),//parent2joint.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);
linkInfo->m_localVisualFrame.setIdentity();
*/
} else
{
//only handle principle axis at the moment,
//@todo(erwincoumans) orient the constraint for non-principal axis
btVector3 axis(pj->axis.x,pj->axis.y,pj->axis.z);
int principleAxis = axis.closestAxis();
switch (principleAxis)
{
case 0:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB,RO_ZYX);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(-1,0,0));
dof6->setAngularLowerLimit(btVector3(1,0,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
break;
}
case 1:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB,RO_XZY);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,-1,0));
dof6->setAngularLowerLimit(btVector3(0,1,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
break;
}
case 2:
default:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB,RO_XYZ);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,-1));
dof6->setAngularLowerLimit(btVector3(0,0,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
}
};
printf("Revolute/Continuous joint\n");
}
break;
}
case Joint::PRISMATIC:
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*parentBody, *body,offsetInA,offsetInB);
if (mappings.m_createMultiBody)
{
mappings.m_bulletMultiBody->setupPrismatic(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1,
parent2joint.inverse().getRotation(),jointAxis,parent2joint.getOrigin(),disableParentCollision);
dof6->setLinearLowerLimit(btVector3(pj->limits->lower,0,0));
dof6->setLinearUpperLimit(btVector3(pj->limits->upper,0,0));
//mappings.m_bulletMultiBody->setupRevolute(linkIndex - 1, mass, localInertiaDiagonal, parentIndex - 1,
// parent2joint.getRotation(), jointAxis, parent2joint.getOrigin(),
// offsetInB.getOrigin(),
// disableParentCollision);
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
} else
{
btGeneric6DofSpring2Constraint* dof6 = new btGeneric6DofSpring2Constraint(*pp->m_bulletRigidBody, *linkInfo->m_bulletRigidBody, offsetInA, offsetInB);
dof6->setLinearLowerLimit(btVector3(pj->limits->lower,0,0));
dof6->setLinearUpperLimit(btVector3(pj->limits->upper,0,0));
if (enableConstraints)
world1->addConstraint(dof6,true);
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
printf("Prismatic\n");
if (enableConstraints)
world1->addConstraint(dof6,true);
printf("Prismatic\n");
}
break;
}
default:
@@ -523,10 +743,63 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
}
}
if (mappings.m_createMultiBody)
{
if (compoundShape->getNumChildShapes()>0)
{
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(mappings.m_bulletMultiBody, linkIndex-1);
//btCompoundShape* comp = new btCompoundShape();
//comp->addChildShape(linkInfo->m_localVisualFrame,shape);
gfxBridge.createCollisionShapeGraphicsObject(tmpGfxShape);
compoundShape->setUserIndex(tmpGfxShape->getUserIndex());
col->setCollisionShape(compoundShape);
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
//tr.setOrigin(local_origin[0]);
//tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
bool isDynamic = true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector3 color = selectColor();//(0.0,0.0,0.5);
gfxBridge.createCollisionObjectGraphicsObject(col,color);
btScalar friction = 0.5f;
col->setFriction(friction);
if (parentIndex>=0)
{
mappings.m_bulletMultiBody->getLink(linkIndex-1).m_collider=col;
} else
{
mappings.m_bulletMultiBody->setBaseCollider(col);
}
}
}
//mappings.m_linkLocalDiagonalInertiaTensors.push_back(localInertiaDiagonal);
//mappings.m_linkLocalInertiaTransforms.push_back(localInertialTransform);
}
}
}
mappings.m_linkMasses.push_back(mass);
for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
{
if (*child)
@@ -546,257 +819,6 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
}
btMultiBody* URDF2BulletMultiBody(my_shared_ptr<const Link> link, GraphicsPhysicsBridge& gfxBridge, const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world, URDF2BulletMappings& mappings, const char* pathPrefix, btMultiBody* mb, int totalNumJoints)
{
btScalar mass = 0.f;
btTransform localInertialTransform; localInertialTransform.setIdentity();
btVector3 localInertiaDiagonal(0,0,0);
{
if ((*link).inertial)
{
mass = (*link).inertial->mass;
btMatrix3x3 inertiaMat;
inertiaMat.setIdentity();
inertiaMat.setValue(
(*link).inertial->ixx,(*link).inertial->ixy,(*link).inertial->ixz,
(*link).inertial->ixy,(*link).inertial->iyy,(*link).inertial->iyz,
(*link).inertial->ixz,(*link).inertial->iyz,(*link).inertial->izz);
btScalar threshold = 0.00001f;
int maxSteps=20;
btMatrix3x3 inertia2PrincipalAxis;
inertiaMat.diagonalize(inertia2PrincipalAxis,threshold,maxSteps);
localInertiaDiagonal.setValue(inertiaMat[0][0],inertiaMat[1][1],inertiaMat[2][2]);
btVector3 inertiaLocalCOM((*link).inertial->origin.position.x,(*link).inertial->origin.position.y,(*link).inertial->origin.position.z);
localInertialTransform.setOrigin(inertiaLocalCOM);
btQuaternion inertiaOrn((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w);
btMatrix3x3 inertiaOrnMat(inertiaOrn);
if (mass > 0 && (localInertiaDiagonal[0]==0.f || localInertiaDiagonal[1] == 0.f
|| localInertiaDiagonal[2] == 0.f))
{
b3Warning("Error: inertia should not be zero if mass is positive\n");
localInertiaDiagonal.setMax(btVector3(0.1,0.1,0.1));
localInertialTransform.setIdentity();//.setBasis(inertiaOrnMat);
}
else
{
localInertialTransform.setBasis(inertiaOrnMat*inertia2PrincipalAxis);
}
}
}
btTransform linkTransformInWorldSpace;
int parentIndex = -1;
const Link* parentLink = (*link).getParent();
if (parentLink)
{
parentIndex = parentLink->m_link_index;
btAssert(parentIndex>=0);
}
int linkIndex = mappings.m_linkMasses.size();
btTransform parent2joint;
if ((*link).parent_joint)
{
const urdf::Vector3 pos = (*link).parent_joint->parent_to_joint_origin_transform.position;
const urdf::Rotation orn = (*link).parent_joint->parent_to_joint_origin_transform.rotation;
parent2joint.setOrigin(btVector3(pos.x,pos.y,pos.z));
parent2joint.setRotation(btQuaternion(orn.x,orn.y,orn.z,orn.w));
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
} else
{
linkTransformInWorldSpace = parentTransformInWorldSpace;
btAssert(mb==0);
bool multiDof = true;
bool canSleep = false;
bool isFixedBase = (mass==0);//todo: figure out when base is fixed
mb = new btMultiBody(totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep, multiDof);
}
btAssert(mb);
(*link).m_link_index = linkIndex;
//compute this links center of mass transform, aligned with the principal axis of inertia
{
//btTransform rigidBodyFrameInWorldSpace =linkTransformInWorldSpace*inertialFrame;
mappings.m_linkMasses.push_back(mass);
mappings.m_linkLocalDiagonalInertiaTensors.push_back(localInertiaDiagonal);
mappings.m_linkLocalInertiaTransforms.push_back(localInertialTransform);
if ((*link).parent_joint)
{
btTransform offsetInA,offsetInB;
offsetInA.setIdentity();
//offsetInA = mappings.m_linkLocalInertiaTransforms[parentIndex].inverse()*parent2joint;
offsetInA = parent2joint;
offsetInB.setIdentity();
//offsetInB = localInertialTransform.inverse();
const Joint* pj = (*link).parent_joint.get();
//btVector3 jointAxis(0,0,1);//pj->axis.x,pj->axis.y,pj->axis.z);
btVector3 jointAxis(pj->axis.x,pj->axis.y,pj->axis.z);
mappings.m_jointAxisArray.push_back(jointAxis);
mappings.m_jointOffsetInParent.push_back(offsetInA);
mappings.m_jointOffsetInChild.push_back(offsetInB);
mappings.m_jointTypeArray.push_back(pj->type);
switch (pj->type)
{
case Joint::FIXED:
{
printf("Fixed joint\n");
mb->setupFixed(linkIndex-1,mass,localInertiaDiagonal,parentIndex-1,offsetInA.getRotation(),offsetInA.getOrigin(),offsetInB.getOrigin());
break;
}
case Joint::CONTINUOUS:
case Joint::REVOLUTE:
{
printf("Revolute joint\n");
mb->setupRevolute(linkIndex-1,mass,localInertiaDiagonal,parentIndex-1,offsetInA.getRotation(),jointAxis,offsetInA.getOrigin(),offsetInB.getOrigin(),true);
mb->finalizeMultiDof();
//mb->setJointVel(linkIndex-1,1);
break;
}
case Joint::PRISMATIC:
{
mb->setupPrismatic(linkIndex-1,mass,localInertiaDiagonal,parentIndex-1,offsetInA.getRotation(),jointAxis,offsetInB.getOrigin(),true);
printf("Prismatic joint\n");
break;
}
default:
{
printf("Unknown joint\n");
btAssert(0);
}
};
} else
{
mappings.m_jointAxisArray.push_back(btVector3(0,0,0));
btTransform ident;
ident.setIdentity();
mappings.m_jointOffsetInParent.push_back(ident);
mappings.m_jointOffsetInChild.push_back(ident);
mappings.m_jointTypeArray.push_back(-1);
}
}
//btCompoundShape* compoundShape = new btCompoundShape();
btCollisionShape* shape = 0;
for (int v=0;v<(int)link->collision_array.size();v++)
{
const Collision* visual = link->collision_array[v].get();
shape = convertVisualToCollisionShape(visual,pathPrefix);
if (shape)//childShape)
{
gfxBridge.createCollisionShapeGraphicsObject(shape);//childShape);
//btVector3 color = selectColor();
/*
if (visual->material.get())
{
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
*/
btVector3 localInertia(0,0,0);
if (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
//btRigidBody::btRigidBodyConstructionInfo rbci(mass,0,shape,localInertia);
btVector3 visual_pos(visual->origin.position.x,visual->origin.position.y,visual->origin.position.z);
btQuaternion visual_orn(visual->origin.rotation.x,visual->origin.rotation.y,visual->origin.rotation.z,visual->origin.rotation.w);
btTransform visual_frame;
visual_frame.setOrigin(visual_pos);
visual_frame.setRotation(visual_orn);
btTransform childTransform;
childTransform.setIdentity();//TODO(erwincoumans): compute relative visual/inertial transform
// compoundShape->addChildShape(childTransform,childShape);
}
}
if (shape)//compoundShape->getNumChildShapes()>0)
{
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(mb, linkIndex-1);
col->setCollisionShape(shape);
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
//tr.setOrigin(local_origin[0]);
//tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
bool isDynamic = true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector3 color = selectColor();//(0.0,0.0,0.5);
gfxBridge.createCollisionObjectGraphicsObject(col,color);
btScalar friction = 0.5f;
col->setFriction(friction);
if (parentIndex>=0)
{
mb->getLink(linkIndex-1).m_collider=col;
} else
{
mb->setBaseCollider(col);
}
}
for (std::vector<my_shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
{
if (*child)
{
URDF2BulletMultiBody(*child,gfxBridge, linkTransformInWorldSpace, world,mappings,pathPrefix,mb,totalNumJoints);
}
else
{
std::cout << "root link: " << link->name << " has a null child!" << *child << std::endl;
}
}
return mb;
}
void ImportUrdfSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
@@ -874,27 +896,22 @@ void ImportUrdfSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
int numJoints = (*robot).m_numJoints;
static bool useFeatherstone = false;
if (!useFeatherstone)
{
URDF2BulletMappings mappings;
mappings.m_createMultiBody = useFeatherstone;
mappings.m_totalNumJoints = numJoints;
URDFvisual2BulletCollisionShape(root_link, gfxBridge, identityTrans,m_dynamicsWorld,mappings,pathPrefix);
if (useFeatherstone)
{
btMultiBody* mb = mappings.m_bulletMultiBody;
mb->setHasSelfCollision(false);
mb->finalizeMultiDof();
m_dynamicsWorld->addMultiBody(mb);
}
}
//the btMultiBody support is work-in-progress :-)
#if 1
else
{
URDF2BulletMappings mappings;
btMultiBody* mb = URDF2BulletMultiBody(root_link, gfxBridge, identityTrans,m_dynamicsWorld,mappings,pathPrefix, 0,numJoints);
mb->setHasSelfCollision(false);
mb->finalizeMultiDof();
m_dynamicsWorld->addMultiBody(mb);
//m_dynamicsWorld->integrateTransforms(0.f);
}
#endif//
useFeatherstone = !useFeatherstone;
printf("numJoints/DOFS = %d\n", numJoints);
@@ -923,7 +940,7 @@ void ImportUrdfSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
gfxBridge.createCollisionShapeGraphicsObject(box);
btTransform start; start.setIdentity();
btVector3 groundOrigin(0,0,0);
groundOrigin[upAxis]=-2.5;
groundOrigin[upAxis]=-1.5;
start.setOrigin(groundOrigin);
btRigidBody* body = createRigidBody(0,start,box);
//m_dynamicsWorld->removeRigidBody(body);
@@ -932,7 +949,7 @@ void ImportUrdfSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
gfxBridge.createRigidBodyGraphicsObject(body,color);
}
m_dynamicsWorld->stepSimulation(1. / 240., 0);// 1., 10, 1. / 240.);
}
void ImportUrdfSetup::stepSimulation(float deltaTime)

680
Demos3/ImportURDFDemo/urdf_samples.h
View File

@@ -401,269 +401,423 @@ const char* urdf_char_r2d2 = MSTRINGIFY(
const char* urdf_char = MSTRINGIFY(
<?xml version="1.0"?>
<robot name="flexible">
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
</link>
<link name="right_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
</link>
<joint name="base_to_right_leg" type="fixed">
<parent link="base_link"/>
<child link="right_leg"/>
<origin xyz="0.22 0 .25"/>
</joint>
<link name="right_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="right_base_joint" type="fixed">
<parent link="right_leg"/>
<child link="right_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="right_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="right_base"/>
<child link="right_front_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="right_back_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="right_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="right_base"/>
<child link="right_back_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white"/>
</visual>
</link>
<joint name="base_to_left_leg" type="fixed">
<parent link="base_link"/>
<child link="left_leg"/>
<origin xyz="-0.22 0 .25"/>
</joint>
<link name="left_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="left_base_joint" type="fixed">
<parent link="left_leg"/>
<child link="left_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="left_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="left_base"/>
<child link="left_front_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_back_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
</link>
<joint name="left_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="left_base"/>
<child link="left_back_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="gripper_extension" type="prismatic">
<parent link="base_link"/>
<child link="gripper_pole"/>
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
</joint>
<link name="gripper_pole">
<visual>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
<material name="Gray">
<color rgba=".7 .7 .7 1"/>
</material>
</visual>
</link>
<joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<parent link="gripper_pole"/>
<child link="left_gripper"/>
</joint>
<link name="left_gripper">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
</geometry>
</visual>
</link>
<joint name="left_tip_joint" type="fixed">
<parent link="left_gripper"/>
<child link="left_tip"/>
</joint>
<link name="left_tip">
<visual>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
</geometry>
</visual>
</link>
<joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
<parent link="gripper_pole"/>
<child link="right_gripper"/>
</joint>
<link name="right_gripper">
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
</geometry>
</visual>
</link>
<joint name="right_tip_joint" type="fixed">
<parent link="right_gripper"/>
<child link="right_tip"/>
</joint>
<link name="right_tip">
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
</geometry>
</visual>
</link>
<link name="head">
<visual>
<geometry>
<sphere radius="0.2"/>
</geometry>
<material name="white"/>
</visual>
</link>
<joint name="head_swivel" type="continuous">
<parent link="base_link"/>
<child link="head"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 0.3"/>
</joint>
<link name="box">
<visual>
<geometry>
<box size=".08 .08 .08"/>
</geometry>
<material name="blue"/>
</visual>
</link>
<joint name="tobox" type="fixed">
<parent link="head"/>
<child link="box"/>
<origin xyz="0 0.1414 0.1414"/>
</joint>
</robot>
<?xml version="1.0"?>
<robot name="physics">
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="right_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
</collision>
<inertial>
<mass value="10"/>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="base_to_right_leg" type="fixed">
<parent link="base_link"/>
<child link="right_leg"/>
<origin xyz="0.22 0 .25"/>
</joint>
<link name="right_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_base_joint" type="fixed">
<parent link="right_leg"/>
<child link="right_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="right_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="right_base"/>
<child link="right_front_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="right_back_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="right_base"/>
<child link="right_back_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
</inertial>
</link>
<joint name="base_to_left_leg" type="fixed">
<parent link="base_link"/>
<child link="left_leg"/>
<origin xyz="-0.22 0 .25"/>
</joint>
<link name="left_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_base_joint" type="fixed">
<parent link="left_leg"/>
<child link="left_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="left_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="left_base"/>
<child link="left_front_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_back_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="left_base"/>
<child link="left_back_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="gripper_extension" type="prismatic">
<parent link="base_link"/>
<child link="gripper_pole"/>
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
</joint>
<link name="gripper_pole">
<visual>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
<material name="Gray">
<color rgba=".7 .7 .7 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<parent link="gripper_pole"/>
<child link="left_gripper"/>
</joint>
<link name="left_gripper">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger.stl"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_tip_joint" type="fixed">
<parent link="left_gripper"/>
<child link="left_tip"/>
</joint>
<link name="left_tip">
<visual>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
<parent link="gripper_pole"/>
<child link="right_gripper"/>
</joint>
<link name="right_gripper">
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger.stl"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_tip_joint" type="fixed">
<parent link="right_gripper"/>
<child link="right_tip"/>
</joint>
<link name="right_tip">
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="head">
<visual>
<geometry>
<sphere radius="0.2"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<sphere radius="0.2"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="head_swivel" type="continuous">
<parent link="base_link"/>
<child link="head"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 0.3"/>
</joint>
<link name="box">
<visual>
<geometry>
<box size=".08 .08 .08"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size=".08 .08 .08"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="tobox" type="fixed">
<parent link="head"/>
<child link="box"/>
<origin xyz="0 0.1414 0.1414"/>
</joint>
</robot>
);

5
Demos3/bullet2/BasicConcepts/CoordinateSystemDemo.h
View File

@@ -60,6 +60,9 @@ public:
virtual void renderScene()
{
m_app->m_renderer->renderScene();
m_app->drawText3D("X",1,0,0,1);
m_app->drawText3D("Y",0,1,0,1);
m_app->drawText3D("Z",0,0,1,1);
}
virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
@@ -89,7 +92,7 @@ public:
}
}
virtual void physicsDebugDraw()
virtual void physicsDebugDraw(int debugDrawFlags)
{
btVector3 xUnit(1,0,0);

2
Demos3/bullet2/CollisionDetection/SupportFuncDemo.h
View File

@@ -74,7 +74,7 @@ public:
m_app->m_renderer->renderScene();
}
virtual void physicsDebugDraw()
virtual void physicsDebugDraw(int debugDrawFlags)
{
int width=3;
btVector3 from(0,0,0);

1
Demos3/bullet2/CoordinateFrameDemo/CoordinateFrameDemoPhysicsSetup.cpp
View File

@@ -21,6 +21,7 @@ void CoordinateFrameDemoPhysicsSetup::debugDraw()
}
}
*/
m_dynamicsWorld->debugDrawWorld();
}

4
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
View File

@@ -612,10 +612,12 @@ void FeatherstoneDemo1::renderScene()
m_glApp->m_renderer->renderScene();
}
void FeatherstoneDemo1::physicsDebugDraw()
void FeatherstoneDemo1::physicsDebugDraw(int debugDrawFlags)
{
if (m_dynamicsWorld)
{
if (m_dynamicsWorld->getDebugDrawer())
m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
m_dynamicsWorld->debugDrawWorld();
}
}

2
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h
View File

@@ -89,7 +89,7 @@ public:
virtual void initPhysics();
virtual void exitPhysics();
virtual void renderScene();
virtual void physicsDebugDraw();
virtual void physicsDebugDraw(int debugDrawFlags);
virtual void stepSimulation(float deltaTime);
};

8
Demos3/bullet2/LuaDemo/LuaPhysicsSetup.cpp
View File

@@ -413,10 +413,16 @@ void LuaPhysicsSetup::stepSimulation(float deltaTime)
}
void LuaPhysicsSetup::debugDraw()
void LuaPhysicsSetup::debugDraw(int debugDrawFlags)
{
if (m_dynamicsWorld)
{
if (m_dynamicsWorld->getDebugDrawer())
{
m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
}
m_dynamicsWorld->debugDrawWorld();
}
}

2
Demos3/bullet2/LuaDemo/LuaPhysicsSetup.h
View File

@@ -25,7 +25,7 @@ struct LuaPhysicsSetup : public CommonPhysicsSetup
virtual void stepSimulation(float deltaTime);
virtual void debugDraw();
virtual void debugDraw(int debugDrawFlags);
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);

4
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@@ -388,7 +388,9 @@ void bFile::swapDNA(char* ptr)
{
bool swap = ((mFlags & FD_ENDIAN_SWAP)!=0);
char* data = &ptr[20];
int offset = (mFlags & FD_FILE_64)? 24 : 20;
char* data = &ptr[offset];
// void bDNA::init(char *data, int len, bool swap)
int *intPtr=0;short *shtPtr=0;
char *cp = 0;int dataLen =0;long nr=0;

4
btgui/Bullet3AppSupport/Bullet2RigidBodyDemo.cpp
View File

@@ -226,9 +226,9 @@ void Bullet2RigidBodyDemo::renderScene()
}
void Bullet2RigidBodyDemo::physicsDebugDraw()
void Bullet2RigidBodyDemo::physicsDebugDraw(int debugDrawFlags)
{
m_physicsSetup->debugDraw();
m_physicsSetup->debugDraw(debugDrawFlags);
}
Bullet2RigidBodyDemo::~Bullet2RigidBodyDemo()

2
btgui/Bullet3AppSupport/Bullet2RigidBodyDemo.h
View File

@@ -25,7 +25,7 @@ public:
virtual void initPhysics();
virtual void exitPhysics();
virtual void renderScene();
virtual void physicsDebugDraw();
virtual void physicsDebugDraw(int debugDrawFlags);
virtual void stepSimulation(float dt);
virtual CommonPhysicsSetup* getPhysicsSetup()
{

5
btgui/Bullet3AppSupport/BulletDemoInterface.h
View File

@@ -3,6 +3,7 @@
struct CommonGraphicsApp;
class BulletDemoInterface
{
public:
@@ -17,7 +18,7 @@ public:
virtual void exitPhysics()=0;
virtual void stepSimulation(float deltaTime)=0;
virtual void renderScene()=0;
virtual void physicsDebugDraw()=0;
virtual void physicsDebugDraw(int debugFlags)=0;//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h
virtual bool mouseMoveCallback(float x,float y)=0;
virtual bool mouseButtonCallback(int button, int state, float x, float y)=0;
virtual bool keyboardCallback(int key, int state)=0;
@@ -44,7 +45,7 @@ public:
virtual void renderScene()
{
}
virtual void physicsDebugDraw()
virtual void physicsDebugDraw(int debugFlags)
{
}
virtual bool mouseMoveCallback(float x,float y)

6
btgui/Bullet3AppSupport/CommonMultiBodySetup.h
View File

@@ -125,10 +125,14 @@ struct CommonMultiBodySetup : public CommonPhysicsSetup
}
}
virtual void debugDraw()
virtual void debugDraw(int debugDrawFlags)
{
if (m_dynamicsWorld)
{
if (m_dynamicsWorld->getDebugDrawer())
{
m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
}
m_dynamicsWorld->debugDrawWorld();
}

2
btgui/Bullet3AppSupport/CommonPhysicsSetup.h
View File

@@ -57,7 +57,7 @@ public:
virtual void stepSimulation(float deltaTime)=0;
virtual void debugDraw()=0;
virtual void debugDraw(int debugDrawFlags)=0;
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) = 0;
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;

6
btgui/Bullet3AppSupport/CommonRigidBodySetup.h
View File

@@ -118,10 +118,14 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
}
}
virtual void debugDraw()
virtual void debugDraw(int debugDrawFlags)
{
if (m_dynamicsWorld)
{
if (m_dynamicsWorld->getDebugDrawer())
{
m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
}
m_dynamicsWorld->debugDrawWorld();
}

12
btgui/OpenGLWindow/CMakeLists.txt
View File

@@ -1,7 +1,7 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/btgui
..
../../src
)
FILE(GLOB OpenGLWindow_HDRS "*.h" )
@@ -19,9 +19,9 @@ LIST(REMOVE_ITEM OpenGLWindowCommon_CPP X11OpenGLWindow.cpp )
#MESSAGE (${OpenGLWindowCommon_CPP})
IF (WIN32)
SET(OpenGLWindow_SRCS ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows/glew.c ${OpenGLWindowWin32_CPP} ${OpenGLWindowCommon_CPP})
SET(OpenGLWindow_SRCS GlewWindows/glew.c ${OpenGLWindowWin32_CPP} ${OpenGLWindowCommon_CPP})
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
GlewWindows
)
ADD_DEFINITIONS(-DGLEW_STATIC)
ENDIF(WIN32)
@@ -33,13 +33,13 @@ ENDIF(APPLE)
#no Linux detection?
IF(NOT WIN32 AND NOT APPLE)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
GlewWindows
)
ADD_DEFINITIONS(-DGLEW_STATIC)
ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows/glew.c ${OpenGLWindowCommon_CPP} )
SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} GlewWindows/glew.c ${OpenGLWindowCommon_CPP} )
ENDIF()

3
btgui/OpenGLWindow/CommonGraphicsApp.h
View File

@@ -42,9 +42,10 @@ struct CommonGraphicsApp
virtual void swapBuffer() = 0;
virtual void drawText( const char* txt, int posX, int posY) = 0;
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ)=0;
virtual int registerGraphicsSphereShape(float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10)=0;
virtual void registerGrid(int xres, int yres, float color0[4], float color1[4])=0;
};

54
btgui/OpenGLWindow/CommonRenderInterface.h
View File

@@ -32,6 +32,9 @@ struct CommonRenderInterface
virtual void getCameraTargetPosition(float cameraPos[4]) const=0;
virtual void getCameraTargetPosition(double cameraPos[4]) const=0;
virtual void getCameraViewMatrix(float viewMat[16]) const=0;
virtual void getCameraProjectionMatrix(float projMat[16]) const=0;
virtual void renderScene()=0;
virtual int getScreenWidth() = 0;
@@ -49,8 +52,59 @@ struct CommonRenderInterface
virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)=0;
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
virtual void writeTransforms()=0;
virtual void enableBlend(bool blend)=0;
};
template <typename T>
inline int projectWorldCoordToScreen(T objx, T objy, T objz,
const T modelMatrix[16],
const T projMatrix[16],
const int viewport[4],
T *winx, T *winy, T *winz)
{
int i;
T in2[4];
T tmp[4];
in2[0]=objx;
in2[1]=objy;
in2[2]=objz;
in2[3]=T(1.0);
for (i=0; i<4; i++)
{
tmp[i] = in2[0] * modelMatrix[0*4+i] + in2[1] * modelMatrix[1*4+i] +
in2[2] * modelMatrix[2*4+i] + in2[3] * modelMatrix[3*4+i];
}
T out[4];
for (i=0; i<4; i++)
{
out[i] = tmp[0] * projMatrix[0*4+i] + tmp[1] * projMatrix[1*4+i] + tmp[2] * projMatrix[2*4+i] + tmp[3] * projMatrix[3*4+i];
}
if (out[3] == T(0.0))
return 0;
out[0] /= out[3];
out[1] /= out[3];
out[2] /= out[3];
/* Map x, y and z to range 0-1 */
out[0] = out[0] * T(0.5) + T(0.5);
out[1] = out[1] * T(0.5) + T(0.5);
out[2] = out[2] * T(0.5) + T(0.5);
/* Map x,y to viewport */
out[0] = out[0] * viewport[2] + viewport[0];
out[1] = out[1] * viewport[3] + viewport[1];
*winx=out[0];
*winy=out[1];
*winz=out[2];
return 1;
}
#endif//COMMON_RENDER_INTERFACE_H

111
btgui/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -27,7 +27,7 @@ float MOUSE_MOVE_MULTIPLIER = 0.4f;
#include "OpenGLInclude.h"
#include "b3gWindowInterface.h"
#include "Bullet3Common/b3MinMax.h"
//#include "Bullet3Common/b3MinMax.h"
#ifndef __APPLE__
#ifndef glVertexAttribDivisor
@@ -112,8 +112,7 @@ struct b3GraphicsInstance
bool m_ortho = false;
static GLfloat projectionMatrix[16];
static GLfloat modelviewMatrix[16];
//static GLfloat depthLightModelviewMatrix[16];
@@ -157,7 +156,8 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
int m_middleMouseButton;
int m_rightMouseButton;
GLfloat m_projectionMatrix[16];
GLfloat m_viewMatrix[16];
GLuint m_defaultTexturehandle;
@@ -185,7 +185,12 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
m_altPressed(0),
m_controlPressed(0)
{
//clear to zero to make it obvious if the matrix is used uninitialized
for (int i=0;i<16;i++)
{
m_projectionMatrix[i]=0;
m_viewMatrix[i]=0;
}
}
@@ -224,6 +229,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
void mouseMoveCallback(float x, float y)
{
// printf("moved to %f,%f\n",x,y);
if (m_altPressed || m_controlPressed)
{
float xDelta = x-m_mouseXpos;
@@ -460,6 +466,13 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
*/
}
void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
{
m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);
m_data->m_instance_colors_ptr[srcIndex*4+1]=float(color[1]);
m_data->m_instance_colors_ptr[srcIndex*4+2]=float(color[2]);
m_data->m_instance_colors_ptr[srcIndex*4+3]=float(color[3]);
}
void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int srcIndex)
{
@@ -643,6 +656,7 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
m_data->m_instance_scale_ptr[index*3+2] = scaling[2];
gfxObj->m_numGraphicsInstances++;
m_data->m_totalNumInstances++;
} else
{
b3Error("registerGraphicsInstance out of range, %d\n", maxElements);
@@ -690,8 +704,6 @@ void GLInstancingRenderer::updateShape(int shapeIndex, const float* vertices)
glUnmapBuffer( GL_ARRAY_BUFFER);
}
int GLInstancingRenderer::registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
b3GraphicsInstance* gfxObj = new b3GraphicsInstance;
@@ -897,9 +909,9 @@ void GLInstancingRenderer::init()
{
if (x<2||y<2||x>253||y>253)
{
pi[0]=0;
pi[1]=0;
pi[2]=0;
pi[0]=255;//0;
pi[1]=255;//0;
pi[2]=255;//0;
} else
{
pi[0]=255;
@@ -1091,8 +1103,8 @@ void GLInstancingRenderer::updateCamera(int upAxis)
};
float m_frustumZNear=1;
float m_frustumZFar=10000.f;
float m_frustumZNear=0.01;
float m_frustumZFar=1000.f;
// m_azi=m_azi+0.01;
@@ -1132,13 +1144,13 @@ void GLInstancingRenderer::updateCamera(int upAxis)
if (m_screenWidth > m_screenHeight)
{
b3CreateFrustum(-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar,projectionMatrix);
b3CreateFrustum(-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar,m_data->m_projectionMatrix);
} else
{
b3CreateFrustum(-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar,projectionMatrix);
b3CreateFrustum(-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar,m_data->m_projectionMatrix);
}
b3CreateLookAt(m_data->m_cameraPosition,m_data->m_cameraTargetPosition,m_data->m_cameraUp,modelviewMatrix);
b3CreateLookAt(m_data->m_cameraPosition,m_data->m_cameraTargetPosition,m_data->m_cameraUp,m_data->m_viewMatrix);
}
@@ -1276,7 +1288,7 @@ void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName
pixels[(j*textureWidth+i)*numComponents]=char(orgPixels[(j*textureWidth+i)]*255.f);
pixels[(j*textureWidth+i)*numComponents+1]=0;//255.f;
pixels[(j*textureWidth+i)*numComponents+2]=0;//255.f;
pixels[(j*textureWidth+i)*numComponents+3]=255;
pixels[(j*textureWidth+i)*numComponents+3]=127;
//pixels[(j*textureWidth+i)*+1]=val;
@@ -1342,8 +1354,8 @@ void GLInstancingRenderer::renderScene()
void GLInstancingRenderer::drawPoint(const double* position, const double color[4], double pointDrawSize)
{
float pos[4]={position[0],position[1],position[2],0};
float clr[4] = {color[0],color[1],color[2],color[3]};
float pos[4]={(float)position[0],(float)position[1],(float)position[2],0};
float clr[4] = {(float)color[0],(float)color[1],(float)color[2],(float)color[3]};
drawPoints(pos,clr,1,3*sizeof(float),float(pointDrawSize));
}
@@ -1351,16 +1363,16 @@ void GLInstancingRenderer::drawPoint(const float* positions, const float color[4
{
drawPoints(positions,color,1,3*sizeof(float),pointDrawSize);
}
void GLInstancingRenderer::drawPoints(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, float pointDrawSize)
{
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,0);
b3Assert(glGetError() ==GL_NO_ERROR);glUseProgram(linesShader);
glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &projectionMatrix[0]);
glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &modelviewMatrix[0]);
b3Assert(glGetError() ==GL_NO_ERROR);
glUseProgram(linesShader);
glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glUniform4f(lines_colour,color[0],color[1],color[2],color[3]);
glPointSize(pointDrawSize);
@@ -1393,22 +1405,26 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
glBindVertexArray(0);
glPointSize(1);
glUseProgram(0);
}
void GLInstancingRenderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize)
void GLInstancingRenderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float lineWidthIn)
{
float lineWidth = lineWidthIn;
b3Clamp(lineWidth,(float)lineWidthRange[0],(float)lineWidthRange[1]);
glLineWidth(lineWidth);
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
b3Assert(glGetError() ==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,0);
b3Assert(glGetError() ==GL_NO_ERROR);glUseProgram(linesShader);
glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &projectionMatrix[0]);
glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &modelviewMatrix[0]);
b3Assert(glGetError() ==GL_NO_ERROR);
glUseProgram(linesShader);
glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glUniform4f(lines_colour,color[0],color[1],color[2],color[3]);
// glPointSize(pointDrawSize);
@@ -1450,7 +1466,7 @@ void GLInstancingRenderer::drawLines(const float* positions, const float color[4
b3Assert(glGetError() ==GL_NO_ERROR);
glPointSize(1);
b3Assert(glGetError() ==GL_NO_ERROR);
glUseProgram(0);
}
void GLInstancingRenderer::drawLine(const double fromIn[4], const double toIn[4], const double colorIn[4], double lineWidthIn)
@@ -1463,6 +1479,7 @@ void GLInstancingRenderer::drawLine(const double fromIn[4], const double toIn[4]
}
void GLInstancingRenderer::drawLine(const float from[4], const float to[4], const float color[4], float lineWidth)
{
b3Assert(glGetError() ==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
@@ -1475,8 +1492,8 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
b3Assert(glGetError() ==GL_NO_ERROR);
glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &projectionMatrix[0]);
glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &modelviewMatrix[0]);
glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glUniform4f(lines_colour,color[0],color[1],color[2],color[3]);
@@ -1526,7 +1543,7 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
glLineWidth(1);
b3Assert(glGetError() ==GL_NO_ERROR);
glUseProgram(0);
}
struct PointerCaster
@@ -1769,8 +1786,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
if (gfxObj->m_primitiveType==B3_GL_POINTS)
{
glUseProgram(instancingShaderPointSprite);
glUniformMatrix4fv(ProjectionMatrixPointSprite, 1, false, &projectionMatrix[0]);
glUniformMatrix4fv(ModelViewMatrixPointSprite, 1, false, &modelviewMatrix[0]);
glUniformMatrix4fv(ProjectionMatrixPointSprite, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(ModelViewMatrixPointSprite, 1, false, &m_data->m_viewMatrix[0]);
glUniform1f(screenWidthPointSprite,float(m_screenWidth));
//glUniform1i(uniform_texture_diffusePointSprite, 0);
@@ -1792,8 +1809,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
case B3_DEFAULT_RENDERMODE:
{
glUseProgram(instancingShader);
glUniformMatrix4fv(ProjectionMatrix, 1, false, &projectionMatrix[0]);
glUniformMatrix4fv(ModelViewMatrix, 1, false, &modelviewMatrix[0]);
glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
glUniform1i(uniform_texture_diffuse, 0);
glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
break;
@@ -1821,10 +1838,10 @@ b3Assert(glGetError() ==GL_NO_ERROR);
}
glUseProgram(useShadowMapInstancingShader);
glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &projectionMatrix[0]);
glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &modelviewMatrix[0]);
glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
float MVP[16];
b3Matrix4x4Mul16(projectionMatrix,modelviewMatrix,MVP);
b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP);
glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]);
b3Vector3 gLightDir = gLightPos;
gLightDir.normalize();
@@ -1877,7 +1894,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
glDisable(GL_CULL_FACE);
b3Assert(glGetError() ==GL_NO_ERROR);
}
@@ -1894,3 +1911,19 @@ void GLInstancingRenderer::enableShadowMap()
//glBindTexture(GL_TEXTURE_2D, m_data->m_defaultTexturehandle);
}
void GLInstancingRenderer::getCameraViewMatrix(float viewMat[16]) const
{
for (int i=0;i<16;i++)
{
viewMat[i] = m_data->m_viewMatrix[i];
}
}
void GLInstancingRenderer::getCameraProjectionMatrix(float projMat[16]) const
{
for (int i=0;i<16;i++)
{
projMat[i] = m_data->m_projectionMatrix[i];
}
}

8
btgui/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -64,8 +64,7 @@ public:
///vertices must be in the format x,y,z, nx,ny,nz, u,v
virtual int registerShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType=B3_GL_TRIANGLES, int textureIndex=-1);
virtual int registerTexture(const unsigned char* texels, int width, int height);
///position x,y,z, quaternion x,y,z,w, color r,g,b,a, scaling x,y,z
@@ -94,6 +93,7 @@ public:
virtual void writeSingleInstanceTransformToGPU(float* position, float* orientation, int srcIndex);
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
virtual void getMouseDirection(float* dir, int mouseX, int mouseY);
@@ -141,6 +141,10 @@ public:
virtual float getCameraYaw() const;
virtual float getCameraPitch() const;
virtual void getCameraViewMatrix(float viewMat[16]) const;
virtual void getCameraProjectionMatrix(float projMat[16]) const;
virtual void resize(int width, int height);
virtual int getScreenWidth()
{

2
btgui/OpenGLWindow/GLPrimInternalData.h
View File

@@ -6,6 +6,8 @@
struct PrimInternalData
{
GLuint m_shaderProg;
GLint m_viewmatUniform;
GLint m_projMatUniform;
GLint m_positionUniform;
GLint m_colourAttribute;
GLint m_positionAttribute;

117
btgui/OpenGLWindow/GLPrimitiveRenderer.cpp
View File

@@ -5,11 +5,10 @@
#include <assert.h>
static const char* vertexShader= \
static const char* vertexShader3D= \
"#version 150 \n"
"\n"
"\n"
"uniform mat4 viewMatrix, projMatrix;\n"
"in vec4 position;\n"
"in vec4 colour;\n"
"out vec4 colourV;\n"
@@ -21,11 +20,11 @@ static const char* vertexShader= \
"void main (void)\n"
"{\n"
" colourV = colour;\n"
" gl_Position = vec4(position.x, position.y,0.f,1.f);\n"
" gl_Position = projMatrix * viewMatrix * position ;\n"
" texuvV=texuv;\n"
"}\n";
static const char* fragmentShader= \
static const char* fragmentShader3D= \
"#version 150\n"
"\n"
"uniform vec2 p;\n"
@@ -42,42 +41,12 @@ static const char* fragmentShader= \
" {\n"
" texcolor = vec4(1,1,1,texcolor.x);\n"
" }\n"
"\n"
" fragColour = colourV*texcolor;\n"
" fragColour = colourV*texcolor;\n"
"}\n";
static unsigned int s_indexData[6] = {0,1,2,0,2,3};
struct vec2
{
vec2(float x, float y)
{
p[0] = x;
p[1] = y;
}
float p[2];
};
struct vec4
{
vec4(float x,float y, float z, float w)
{
p[0] = x;
p[1] = y;
p[2] = z;
p[3] = w;
}
float p[4];
};
typedef struct
{
vec4 position;
vec4 colour;
vec2 uv;
} Vertex;
@@ -90,9 +59,16 @@ m_screenHeight(screenHeight)
m_data = new PrimInternalData;
m_data->m_shaderProg = gltLoadShaderPair(vertexShader,fragmentShader);
m_data->m_shaderProg = gltLoadShaderPair(vertexShader3D,fragmentShader3D);
m_data->m_viewmatUniform = glGetUniformLocation(m_data->m_shaderProg,"viewMatrix");
if (m_data->m_viewmatUniform < 0) {
assert(0);
}
m_data->m_projMatUniform = glGetUniformLocation(m_data->m_shaderProg,"projMatrix");
if (m_data->m_projMatUniform < 0) {
assert(0);
}
m_data->m_positionUniform = glGetUniformLocation(m_data->m_shaderProg, "p");
if (m_data->m_positionUniform < 0) {
assert(0);
@@ -117,11 +93,11 @@ m_screenHeight(screenHeight)
void GLPrimitiveRenderer::loadBufferData()
{
Vertex vertexData[4] = {
{ vec4(-1, -1, 0.0, 1.0 ), vec4( 1.0, 0.0, 0.0, 1.0 ) ,vec2(0,0)},
{ vec4(-1, 1, 0.0, 1.0 ), vec4( 0.0, 1.0, 0.0, 1.0 ) ,vec2(0,1)},
{ vec4( 1, 1, 0.0, 1.0 ), vec4( 0.0, 0.0, 1.0, 1.0 ) ,vec2(1,1)},
{ vec4( 1, -1, 0.0, 1.0 ), vec4( 1.0, 1.0, 1.0, 1.0 ) ,vec2(1,0)}
PrimVertex vertexData[4] = {
{ PrimVec4(-1, -1, 0.0, 1.0 ), PrimVec4( 1.0, 0.0, 0.0, 1.0 ) ,PrimVec2(0,0)},
{ PrimVec4(-1, 1, 0.0, 1.0 ), PrimVec4( 0.0, 1.0, 0.0, 1.0 ) ,PrimVec2(0,1)},
{ PrimVec4( 1, 1, 0.0, 1.0 ), PrimVec4( 0.0, 0.0, 1.0, 1.0 ) ,PrimVec2(1,1)},
{ PrimVec4( 1, -1, 0.0, 1.0 ), PrimVec4( 1.0, 1.0, 1.0, 1.0 ) ,PrimVec2(1,0)}
};
@@ -130,7 +106,7 @@ void GLPrimitiveRenderer::loadBufferData()
glGenBuffers(1, &m_data->m_vertexBuffer);
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
glBufferData(GL_ARRAY_BUFFER, 4 * sizeof(Vertex), vertexData, GL_DYNAMIC_DRAW);
glBufferData(GL_ARRAY_BUFFER, 4 * sizeof(PrimVertex), vertexData, GL_DYNAMIC_DRAW);
assert(glGetError()==GL_NO_ERROR);
@@ -146,9 +122,9 @@ void GLPrimitiveRenderer::loadBufferData()
glEnableVertexAttribArray(m_data->m_textureAttribute);
glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
glVertexAttribPointer(m_data->m_colourAttribute , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
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);
@@ -225,13 +201,18 @@ void GLPrimitiveRenderer::drawRect(float x0, float y0, float x1, float y1, float
}
void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVertex& v1,const PrimVertex& v2,const PrimVertex& v3,float viewMat[16],float projMat[16], bool useRGBA)
{
assert(glGetError()==GL_NO_ERROR);
glUseProgram(m_data->m_shaderProg);
glUniformMatrix4fv(m_data->m_viewmatUniform, 1, false, viewMat);
glUniformMatrix4fv(m_data->m_projMatUniform, 1, false, projMat);
assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
@@ -248,14 +229,11 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
}
Vertex vertexData[4] = {
{ vec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 0.f ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v0)},
{ vec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u0,v1)},
{ vec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 1.f, 1.f ), vec4(color[0], color[1], color[2], color[3]) ,vec2(u1,v1)},
{ vec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 1.f, 0.f ), vec4( color[0], color[1], color[2], color[3] ) ,vec2(u1,v0)}
};
PrimVertex vertexData[4] = {
v0,v1,v2,v3
};
glBufferSubData(GL_ARRAY_BUFFER, 0,4 * sizeof(Vertex), vertexData);
glBufferSubData(GL_ARRAY_BUFFER, 0,4 * sizeof(PrimVertex), vertexData);
@@ -264,7 +242,7 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
assert(glGetError()==GL_NO_ERROR);
vec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
PrimVec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
if (useRGBA)
{
p.p[0] = 1.f;
@@ -285,9 +263,9 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
glEnableVertexAttribArray(m_data->m_textureAttribute);
glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)0);
glVertexAttribPointer(m_data->m_colourAttribute , 4, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)sizeof(vec4));
glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (const GLvoid *)(sizeof(vec4)+sizeof(vec4)));
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);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
@@ -319,6 +297,23 @@ void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y
}
void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
{
float identity[16]={1,0,0,0,
0,1,0,0,
0,0,1,0,
0,0,0,1};
PrimVertex vertexData[4] = {
{ PrimVec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)},
{ PrimVec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)},
{ PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)},
{ PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0)}
};
drawTexturedRect3D(vertexData[0],vertexData[1],vertexData[2],vertexData[3],identity,identity,useRGBA);
}
void GLPrimitiveRenderer::setScreenSize(int width, int height)
{
m_screenWidth = width;

34
btgui/OpenGLWindow/GLPrimitiveRenderer.h
View File

@@ -3,6 +3,39 @@
//#include "OpenGLInclude.h"
struct PrimVec2
{
PrimVec2(float x, float y)
{
p[0] = x;
p[1] = y;
}
float p[2];
};
struct PrimVec4
{
PrimVec4() {}
PrimVec4(float x,float y, float z, float w)
{
p[0] = x;
p[1] = y;
p[2] = z;
p[3] = w;
}
float p[4];
};
typedef struct
{
PrimVec4 position;
PrimVec4 colour;
PrimVec2 uv;
} PrimVertex;
class GLPrimitiveRenderer
{
int m_screenWidth;
@@ -19,6 +52,7 @@ public:
void drawRect(float x0, float y0, float x1, float y1, float color[4]);
void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA=0);
void drawTexturedRect3D(const PrimVertex& v0,const PrimVertex& v1,const PrimVertex& v2,const PrimVertex& v3,float viewMat[16],float projMat[16], bool useRGBA = true);
void drawLine();//float from[4], float to[4], float color[4]);
void setScreenSize(int width, int height);

102
btgui/OpenGLWindow/MacOpenGLWindow.mm
View File

@@ -398,11 +398,12 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
// }];
//see http://stackoverflow.com/questions/8238473/cant-get-nsmousemoved-events-from-nexteventmatchingmask-with-an-nsopenglview
ProcessSerialNumber psn;
GetCurrentProcess(&psn);
/* ProcessSerialNumber psn;
GetCurrentProcess(&psn);
TransformProcessType(&psn, kProcessTransformToForegroundApplication);
SetFrontProcess(&psn);
*/
m_retinaScaleFactor = [m_internalData->m_myview convertSizeToBacking:sz].width;
[m_internalData->m_myApp finishLaunching];
@@ -808,45 +809,8 @@ void MacOpenGLWindow::startRendering()
}
}
if ([event type]== NSLeftMouseUp)
{
// printf("right mouse!");
NSPoint eventLocation = [event locationInWindow];
NSPoint center = [m_internalData->m_myview convertPoint:eventLocation fromView:nil];
m_mouseX = center.x;
m_mouseY = [m_internalData->m_myview GetWindowHeight] - center.y;
// printf("mouse coord = %f, %f\n",mouseX,mouseY);
if (m_mouseButtonCallback)
{
(*m_mouseButtonCallback)(0,0,m_mouseX,m_mouseY);
//handledEvent = true;
}
}
if ([event type]== NSLeftMouseDown)
{
// printf("right mouse!");
NSPoint eventLocation = [event locationInWindow];
NSPoint center = [m_internalData->m_myview convertPoint:eventLocation fromView:nil];
m_mouseX = center.x;
m_mouseY = [m_internalData->m_myview GetWindowHeight] - center.y;
// printf("mouse coord = %f, %f\n",mouseX,mouseY);
if (m_mouseButtonCallback)
{
//handledEvent = true;
(*m_mouseButtonCallback)(0,1,m_mouseX,m_mouseY);
}
}
if ([event type]== NSRightMouseDown)
if (([event type]== NSRightMouseDown) || ([ event type]==NSLeftMouseDown)||([event type]==NSOtherMouseDown))
{
// printf("right mouse!");
// float mouseX,mouseY;
@@ -855,17 +819,39 @@ void MacOpenGLWindow::startRendering()
NSPoint center = [m_internalData->m_myview convertPoint:eventLocation fromView:nil];
m_mouseX = center.x;
m_mouseY = [m_internalData->m_myview GetWindowHeight] - center.y;
int button=0;
switch ([event type])
{
case NSLeftMouseDown:
{
button=0;
break;
}
case NSOtherMouseDown:
{
button=1;
break;
}
case NSRightMouseDown:
{
button=2;
break;
}
default:
{
}
};
// printf("mouse coord = %f, %f\n",mouseX,mouseY);
if (m_mouseButtonCallback)
{
//handledEvent = true;
(*m_mouseButtonCallback)(2,1,m_mouseX,m_mouseY);
(*m_mouseButtonCallback)(button,1,m_mouseX,m_mouseY);
}
}
if ([event type]== NSRightMouseUp)
if (([event type]== NSRightMouseUp) || ([ event type]==NSLeftMouseUp)||([event type]==NSOtherMouseUp))
{
// printf("right mouse!");
// float mouseX,mouseY;
@@ -875,9 +861,33 @@ void MacOpenGLWindow::startRendering()
m_mouseX = center.x;
m_mouseY = [m_internalData->m_myview GetWindowHeight] - center.y;
int button=0;
switch ([event type])
{
case NSLeftMouseUp:
{
button=0;
break;
}
case NSOtherMouseUp:
{
button=1;
break;
}
case NSRightMouseUp:
{
button=2;
break;
}
default:
{
}
};
// printf("mouse coord = %f, %f\n",mouseX,mouseY);
if (m_mouseButtonCallback)
(*m_mouseButtonCallback)(2,0,m_mouseX,m_mouseY);
(*m_mouseButtonCallback)(button,0,m_mouseX,m_mouseY);
}
@@ -899,7 +909,7 @@ void MacOpenGLWindow::startRendering()
}
}
if ([event type] == NSLeftMouseDragged)
if (([event type] == NSLeftMouseDragged) || ([event type] == NSRightMouseDragged) || ([event type] == NSOtherMouseDragged))
{
int dx1, dy1;
CGGetLastMouseDelta (&dx1, &dy1);

269
btgui/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -26,6 +26,7 @@
#include "OpenGLWindow/opengl_fontstashcallbacks.h"
#include <assert.h>
#include "OpenGLWindow/GLRenderToTexture.h"
#include "Bullet3Common/b3Quaternion.h"
#ifdef _WIN32
#define popen _popen
@@ -35,6 +36,7 @@
struct SimpleInternalData
{
GLuint m_fontTextureId;
GLuint m_largeFontTextureId;
struct sth_stash* m_fontStash;
OpenGL2RenderCallbacks* m_renderCallbacks;
int m_droidRegular;
@@ -48,8 +50,10 @@ struct SimpleInternalData
static SimpleOpenGL3App* gApp=0;
static void SimpleResizeCallback( float width, float height)
static void SimpleResizeCallback( float widthf, float heightf)
{
int width = (int)widthf;
int height = (int)heightf;
gApp->m_instancingRenderer->resize(width,height);
gApp->m_primRenderer->setScreenSize(width,height);
@@ -111,7 +115,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
m_window->setWindowTitle(title);
b3Assert(glGetError() ==GL_NO_ERROR);
b3Assert(glGetError() ==GL_NO_ERROR);
glClearColor(0.9,0.9,1,1);
m_window->startRendering();
@@ -156,6 +160,8 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
TwGenerateDefaultFonts();
m_data->m_fontTextureId = BindFont(g_DefaultNormalFont);
m_data->m_largeFontTextureId = BindFont(g_DefaultLargeFont);
{
@@ -189,12 +195,193 @@ struct sth_stash* SimpleOpenGL3App::getFontStash()
return m_data->m_fontStash;
}
void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
{
float viewMat[16];
float projMat[16];
m_instancingRenderer->getCameraViewMatrix(viewMat);
m_instancingRenderer->getCameraProjectionMatrix(projMat);
float camPos[4];
this->m_instancingRenderer->getCameraPosition(camPos);
b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);
float dist = (cp-p).length();
float dv = 0;//dist/1000.f;
//
//printf("str = %s\n",unicodeText);
float dx=0;
//int measureOnly=0;
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
int viewport[4]={0,0,m_instancingRenderer->getScreenWidth(),m_instancingRenderer->getScreenHeight()};
float posX = 450.f;
float posY = 100.f;
float winx,winy, winz;
if (!projectWorldCoordToScreen(worldPosX, worldPosY, worldPosZ,viewMat,projMat,viewport,&winx, &winy, &winz))
{
return;
}
posX = winx;
posY = m_instancingRenderer->getScreenHeight()/2+(m_instancingRenderer->getScreenHeight()/2)-winy;
if (0)//m_useTrueTypeFont)
{
bool measureOnly = false;
float fontSize= 32;//64;//512;//128;
sth_draw_text(m_data->m_fontStash,
m_data->m_droidRegular,fontSize,posX,posY,
txt,&dx, this->m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),measureOnly,m_window->getRetinaScale());
sth_end_draw(m_data->m_fontStash);
sth_flush_draw(m_data->m_fontStash);
} else
{
//float width = 0.f;
int pos=0;
//float color[]={0.2f,0.2,0.2f,1.f};
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,m_data->m_largeFontTextureId);
//float width = r.x;
//float extraSpacing = 0.;
float startX = posX;
float startY = posY-g_DefaultLargeFont->m_CharHeight;
while (txt[pos])
{
int c = txt[pos];
//r.h = g_DefaultNormalFont->m_CharHeight;
//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
float endX = startX+g_DefaultLargeFont->m_CharWidth[c];
float endY = posY;
float currentColor[]={1.f,0.2,0.2f,1.f};
// m_primRenderer->drawTexturedRect(startX, startY, endX, endY, currentColor,g_DefaultLargeFont->m_CharU0[c],g_DefaultLargeFont->m_CharV0[c],g_DefaultLargeFont->m_CharU1[c],g_DefaultLargeFont->m_CharV1[c]);
float u0 = g_DefaultLargeFont->m_CharU0[c];
float u1 = g_DefaultLargeFont->m_CharU1[c];
float v0 = g_DefaultLargeFont->m_CharV0[c];
float v1 = g_DefaultLargeFont->m_CharV1[c];
float color[4] = {currentColor[0],currentColor[1],currentColor[2],currentColor[3]};
float x0 = startX;
float x1 = endX;
float y0 = startY;
float y1 = endY;
int screenWidth = m_instancingRenderer->getScreenWidth();
int screenHeight = m_instancingRenderer->getScreenHeight();
float z = 2.f*winz-1.f;//*(far
float identity[16]={1,0,0,0,
0,1,0,0,
0,0,1,0,
0,0,0,1};
PrimVertex vertexData[4] = {
{ PrimVec4(-1.f+2.f*x0/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)},
{ PrimVec4(-1.f+2.f*x0/float(screenWidth), 1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)},
{ PrimVec4( -1.f+2.f*x1/float(screenWidth), 1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)},
{ PrimVec4( -1.f+2.f*x1/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0)}
};
m_primRenderer->drawTexturedRect3D(vertexData[0],vertexData[1],vertexData[2],vertexData[3],identity,identity,false);
//DrawTexturedRect(0,r,g_DefaultNormalFont->m_CharU0[c],g_DefaultNormalFont->m_CharV0[c],g_DefaultNormalFont->m_CharU1[c],g_DefaultNormalFont->m_CharV1[c]);
// DrawFilledRect(r);
startX = endX;
//startY = endY;
pos++;
}
glBindTexture(GL_TEXTURE_2D,0);
}
glDisable(GL_BLEND);
#if 0
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
int pos=0;
//float color[]={0.2f,0.2,0.2f,1.f};
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,m_data->m_largeFontTextureId);
//float width = r.x;
//float extraSpacing = 0.;
float startX = posX;
float startY = posY;
while (txt[pos])
{
float scaling = 0.02;
int c = txt[pos];
//r.h = g_DefaultNormalFont->m_CharHeight;
//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
float endX = startX-float(g_DefaultLargeFont->m_CharWidth[c])*scaling;
float endY = startY-float(g_DefaultLargeFont->m_CharHeight)*scaling;
float currentColor[]={0.2f,0.2,0.2f,1.f};
float u0 = g_DefaultLargeFont->m_CharU0[c];
float v0 = g_DefaultLargeFont->m_CharV0[c];
float u1 = g_DefaultLargeFont->m_CharU1[c];
float v1 = g_DefaultLargeFont->m_CharV1[c];
float color[4] = {0,0,0,1};
PrimVertex vertexData[4] = {
{ PrimVec4(startX, startY, 0, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)},
{ PrimVec4(startX, endY, 0 , 1.f), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)},
{ PrimVec4(endX, endY,0.f, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)},
{ PrimVec4(endX,startY, 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0)}
};
float viewMat[16];
float projMat[16];
m_instancingRenderer->getCameraViewMatrix(viewMat);
m_instancingRenderer->getCameraProjectionMatrix(projMat);
m_primRenderer->drawTexturedRect3D(vertexData[0],vertexData[1],vertexData[2],vertexData[3],viewMat,projMat,false);
//DrawTexturedRect(0,r,g_DefaultNormalFont->m_CharU0[c],g_DefaultNormalFont->m_CharV0[c],g_DefaultNormalFont->m_CharU1[c],g_DefaultNormalFont->m_CharV1[c]);
// DrawFilledRect(r);
startX = endX;
//startY = endY;
pos++;
}
glBindTexture(GL_TEXTURE_2D,0);
glDisable(GL_BLEND);
#endif
}
void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi)
{
float posX = (float)posXi;
float posY = (float) posYi;
//
@@ -213,9 +400,15 @@ void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
bool measureOnly = false;
float fontSize= 64;//512;//128;
int bla=0;
float bla2=1;
sth_draw_text(m_data->m_fontStash,
m_data->m_droidRegular,fontSize,posX,posY,
txt,&dx, this->m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),measureOnly,m_window->getRetinaScale());
txt,&dx, this->m_instancingRenderer->getScreenWidth(),
this->m_instancingRenderer->getScreenHeight(),
measureOnly,
m_window->getRetinaScale());
sth_end_draw(m_data->m_fontStash);
sth_flush_draw(m_data->m_fontStash);
} else
@@ -224,13 +417,13 @@ void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
int pos=0;
//float color[]={0.2f,0.2,0.2f,1.f};
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,m_data->m_fontTextureId);
glBindTexture(GL_TEXTURE_2D,m_data->m_largeFontTextureId);
//float width = r.x;
//float extraSpacing = 0.;
int startX = posX;
int startY = posY;
float startX = posX;
float startY = posY;
while (txt[pos])
@@ -238,13 +431,13 @@ void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
int c = txt[pos];
//r.h = g_DefaultNormalFont->m_CharHeight;
//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
int endX = startX+g_DefaultNormalFont->m_CharWidth[c];
int endY = startY+g_DefaultNormalFont->m_CharHeight;
float endX = startX+g_DefaultLargeFont->m_CharWidth[c];
float endY = startY+g_DefaultLargeFont->m_CharHeight;
float currentColor[]={0.2f,0.2,0.2f,1.f};
m_primRenderer->drawTexturedRect(startX, startY, endX, endY, currentColor,g_DefaultNormalFont->m_CharU0[c],g_DefaultNormalFont->m_CharV0[c],g_DefaultNormalFont->m_CharU1[c],g_DefaultNormalFont->m_CharV1[c]);
m_primRenderer->drawTexturedRect(startX, startY, endX, endY, currentColor,g_DefaultLargeFont->m_CharU0[c],g_DefaultLargeFont->m_CharV0[c],g_DefaultLargeFont->m_CharU1[c],g_DefaultLargeFont->m_CharV1[c]);
//DrawTexturedRect(0,r,g_DefaultNormalFont->m_CharU0[c],g_DefaultNormalFont->m_CharV0[c],g_DefaultNormalFont->m_CharU1[c],g_DefaultNormalFont->m_CharV1[c]);
// DrawFilledRect(r);
@@ -290,11 +483,45 @@ int SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, f
verts[i].u = cube_vertices[i*9+7];
verts[i].v = cube_vertices[i*9+8];
}
int shapeId = m_instancingRenderer->registerShape(&verts[0].x,numVertices,cube_indices,numIndices);
return shapeId;
}
void SimpleOpenGL3App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
{
b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
cubeExtents[m_data->m_upAxis] = 0;
int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
b3Quaternion orn(0,0,0,1);
b3Vector3 center=b3MakeVector3(0,0,0,1);
b3Vector3 scaling=b3MakeVector3(1,1,1,1);
for ( int i = 0; i < cells_x; i++)
{
for (int j = 0; j < cells_z; j++)
{
float* color =0;
if ((i + j) % 2 == 0)
{
color = (float*)color0;
} else {
color = (float*)color1;
}
if (this->m_data->m_upAxis==1)
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, 0.f, (j + 0.5f) - cells_z * 0.5f);
} else
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,0.f );
}
m_instancingRenderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
}
}
}
int SimpleOpenGL3App::registerGraphicsSphereShape(float radius, bool usePointSprites, int largeSphereThreshold, int mediumSphereThreshold)
{
@@ -459,10 +686,10 @@ static void writeTextureToFile(int textureWidth, int textureHeight, const char*
{
for (int i=0;i<textureWidth;i++)
{
pixels[(j*textureWidth+i)*numComponents] = orgPixels[(j*textureWidth+i)*numComponents]*255.f;
pixels[(j*textureWidth+i)*numComponents+1]=orgPixels[(j*textureWidth+i)*numComponents+1]*255.f;
pixels[(j*textureWidth+i)*numComponents+2]=orgPixels[(j*textureWidth+i)*numComponents+2]*255.f;
pixels[(j*textureWidth+i)*numComponents+3]=orgPixels[(j*textureWidth+i)*numComponents+3]*255.f;
pixels[(j*textureWidth+i)*numComponents] = char(orgPixels[(j*textureWidth+i)*numComponents]*255.f);
pixels[(j*textureWidth+i)*numComponents+1]=char(orgPixels[(j*textureWidth+i)*numComponents+1]*255.f);
pixels[(j*textureWidth+i)*numComponents+2]=char(orgPixels[(j*textureWidth+i)*numComponents+2]*255.f);
pixels[(j*textureWidth+i)*numComponents+3]=char(orgPixels[(j*textureWidth+i)*numComponents+3]*255.f);
}
}
@@ -508,8 +735,8 @@ void SimpleOpenGL3App::swapBuffer()
m_window->endRendering();
if (m_data->m_frameDumpPngFileName)
{
writeTextureToFile(m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth(),
m_window->getRetinaScale()*this->m_instancingRenderer->getScreenHeight(),m_data->m_frameDumpPngFileName,
writeTextureToFile((int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth(),
(int) m_window->getRetinaScale()*this->m_instancingRenderer->getScreenHeight(),m_data->m_frameDumpPngFileName,
m_data->m_ffmpegFile);
//m_data->m_renderTexture->disable();
//if (m_data->m_ffmpegFile==0)
@@ -522,8 +749,8 @@ void SimpleOpenGL3App::swapBuffer()
// see also http://blog.mmacklin.com/2013/06/11/real-time-video-capture-with-ffmpeg/
void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
{
int width = m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
int height = m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight();
int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
int height = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight();
char cmd[8192];
sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "

7
btgui/OpenGLWindow/SimpleOpenGL3App.h
View File

@@ -19,9 +19,9 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
SimpleOpenGL3App(const char* title, int width,int height);
virtual ~SimpleOpenGL3App();
int registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f);
int registerGraphicsSphereShape(float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10);
virtual int registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f);
virtual int registerGraphicsSphereShape(float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10);
virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
void dumpNextFrameToPng(const char* pngFilename);
void dumpFramesToVideo(const char* mp4Filename);
@@ -31,6 +31,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
virtual void swapBuffer();
virtual void drawText( const char* txt, int posX, int posY);
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
struct sth_stash* getFontStash();

52
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -34,6 +34,7 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
@@ -1306,6 +1307,57 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
}
}
break;
///note: the code for D6_SPRING_2_CONSTRAINT_TYPE is identical to D6_CONSTRAINT_TYPE, the D6_CONSTRAINT_TYPE+D6_SPRING_CONSTRAINT_TYPE will likely become obsolete/deprecated at some stage
case D6_SPRING_2_CONSTRAINT_TYPE:
{
{
btGeneric6DofSpring2Constraint* p6DOF = (btGeneric6DofSpring2Constraint*)constraint;
btTransform tr = p6DOF->getCalculatedTransformA();
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
tr = p6DOF->getCalculatedTransformB();
if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize);
if (drawLimits)
{
tr = p6DOF->getCalculatedTransformA();
const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin();
btVector3 up = tr.getBasis().getColumn(2);
btVector3 axis = tr.getBasis().getColumn(0);
btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
axis = tr.getBasis().getColumn(1);
btScalar ay = p6DOF->getAngle(1);
btScalar az = p6DOF->getAngle(2);
btScalar cy = btCos(ay);
btScalar sy = btSin(ay);
btScalar cz = btCos(az);
btScalar sz = btSin(az);
btVector3 ref;
ref[0] = cy*cz*axis[0] + cy*sz*axis[1] - sy*axis[2];
ref[1] = -sz*axis[0] + cz*axis[1];
ref[2] = cz*sy*axis[0] + sz*sy*axis[1] + cy*axis[2];
tr = p6DOF->getCalculatedTransformB();
btVector3 normal = -tr.getBasis().getColumn(0);
btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit;
btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit;
if (minFi > maxFi)
{
getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false);
}
else if (minFi < maxFi)
{
getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true);
}
tr = p6DOF->getCalculatedTransformA();
btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit;
btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit;
getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0));
}
}
break;
}
case SLIDER_CONSTRAINT_TYPE:
{
btSliderConstraint* pSlider = (btSliderConstraint*)constraint;

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -151,7 +151,7 @@ public:
virtual void removeCollisionObject(btCollisionObject* collisionObject);
void debugDrawConstraint(btTypedConstraint* constraint);
virtual void debugDrawConstraint(btTypedConstraint* constraint);
virtual void debugDrawWorld();

43
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -137,16 +137,18 @@ void btMultiBody::setupFixed(int i,
const btVector3 &inertia,
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &parentComToThisComOffset,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision)
{
btAssert(m_isMultiDof);
m_links[i].m_mass = mass;
m_links[i].m_inertia = inertia;
m_links[i].m_inertiaLocal = inertia;
m_links[i].m_parent = parent;
m_links[i].m_zeroRotParentToThis = rotParentToThis;
m_links[i].m_eVector = parentComToThisComOffset;
m_links[i].m_dVector = thisPivotToThisComOffset;
m_links[i].m_eVector = parentComToThisPivotOffset;
m_links[i].m_jointType = btMultibodyLink::eFixed;
m_links[i].m_dofCount = 0;
@@ -156,6 +158,7 @@ void btMultiBody::setupFixed(int i,
m_links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
//
m_links[i].updateCacheMultiDof();
//
//if(m_isMultiDof)
// resizeInternalMultiDofBuffers();
@@ -180,12 +183,12 @@ void btMultiBody::setupPrismatic(int i,
}
m_links[i].m_mass = mass;
m_links[i].m_inertia = inertia;
m_links[i].m_inertiaLocal = inertia;
m_links[i].m_parent = parent;
m_links[i].m_zeroRotParentToThis = rotParentToThis;
m_links[i].setAxisTop(0, 0., 0., 0.);
m_links[i].setAxisBottom(0, jointAxis);
m_links[i].m_eVector = parentComToThisComOffset;
m_links[i].m_eVector = parentComToThisComOffset;
m_links[i].m_cachedRotParentToThis = rotParentToThis;
m_links[i].m_jointType = btMultibodyLink::ePrismatic;
@@ -223,7 +226,7 @@ void btMultiBody::setupRevolute(int i,
}
m_links[i].m_mass = mass;
m_links[i].m_inertia = inertia;
m_links[i].m_inertiaLocal = inertia;
m_links[i].m_parent = parent;
m_links[i].m_zeroRotParentToThis = rotParentToThis;
m_links[i].setAxisTop(0, jointAxis);
@@ -265,7 +268,7 @@ void btMultiBody::setupSpherical(int i,
m_posVarCnt += 4;
m_links[i].m_mass = mass;
m_links[i].m_inertia = inertia;
m_links[i].m_inertiaLocal = inertia;
m_links[i].m_parent = parent;
m_links[i].m_zeroRotParentToThis = rotParentToThis;
m_links[i].m_dVector = thisPivotToThisComOffset;
@@ -307,7 +310,7 @@ void btMultiBody::setupPlanar(int i,
m_posVarCnt += 3;
m_links[i].m_mass = mass;
m_links[i].m_inertia = inertia;
m_links[i].m_inertiaLocal = inertia;
m_links[i].m_parent = parent;
m_links[i].m_zeroRotParentToThis = rotParentToThis;
m_links[i].m_dVector.setZero();
@@ -365,7 +368,7 @@ btScalar btMultiBody::getLinkMass(int i) const
const btVector3 & btMultiBody::getLinkInertia(int i) const
{
return m_links[i].m_inertia;
return m_links[i].m_inertiaLocal;
}
btScalar btMultiBody::getJointPos(int i) const
@@ -506,7 +509,7 @@ btScalar btMultiBody::getKineticEnergy() const
for (int i = 0; i < num_links; ++i) {
result += m_links[i].m_mass * vel[i+1].dot(vel[i+1]);
result += omega[i+1].dot(m_links[i].m_inertia * omega[i+1]);
result += omega[i+1].dot(m_links[i].m_inertiaLocal * omega[i+1]);
}
return 0.5f * result;
@@ -526,7 +529,7 @@ btVector3 btMultiBody::getAngularMomentum() const
for (int i = 0; i < num_links; ++i) {
rot_from_world[i+1] = m_links[i].m_cachedRotParentToThis * rot_from_world[m_links[i].m_parent+1];
result += (quatRotate(rot_from_world[i+1].inverse() , (m_links[i].m_inertia * omega[i+1])));
result += (quatRotate(rot_from_world[i+1].inverse() , (m_links[i].m_inertiaLocal * omega[i+1])));
}
return result;
@@ -1241,7 +1244,7 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
//
//adding damping terms (only)
btScalar linDampMult = 1., angDampMult = 1.;
zeroAccSpatFrc[i+1].addVector(angDampMult * m_links[i].m_inertia * spatVel[i+1].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[i+1].getAngular().norm()),
zeroAccSpatFrc[i+1].addVector(angDampMult * m_links[i].m_inertiaLocal * spatVel[i+1].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[i+1].getAngular().norm()),
linDampMult * m_links[i].m_mass * spatVel[i+1].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[i+1].getLinear().norm()));
// calculate Ihat_i^A
@@ -1252,9 +1255,9 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
0, m_links[i].m_mass, 0,
0, 0, m_links[i].m_mass),
//
btMatrix3x3(m_links[i].m_inertia[0], 0, 0,
0, m_links[i].m_inertia[1], 0,
0, 0, m_links[i].m_inertia[2])
btMatrix3x3(m_links[i].m_inertiaLocal[0], 0, 0,
0, m_links[i].m_inertiaLocal[1], 0,
0, 0, m_links[i].m_inertiaLocal[2])
);
//
//p += vhat x Ihat vhat - done in a simpler way
@@ -1694,19 +1697,19 @@ void btMultiBody::stepVelocities(btScalar dt,
- (rot_from_world[i+1] * m_links[i].m_appliedTorque);
if (m_useGyroTerm)
{
zero_acc_bottom_linear[i+1] += vel_top_angular[i+1].cross( m_links[i].m_inertia * vel_top_angular[i+1] );
zero_acc_bottom_linear[i+1] += vel_top_angular[i+1].cross( m_links[i].m_inertiaLocal * vel_top_angular[i+1] );
}
zero_acc_bottom_linear[i+1] += m_links[i].m_inertia * vel_top_angular[i+1] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[i+1].norm());
zero_acc_bottom_linear[i+1] += m_links[i].m_inertiaLocal * vel_top_angular[i+1] * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR*vel_top_angular[i+1].norm());
// calculate Ihat_i^A
inertia_top_left[i+1] = btMatrix3x3(0,0,0,0,0,0,0,0,0);//::Zero();
inertia_top_right[i+1].setValue(m_links[i].m_mass, 0, 0,
0, m_links[i].m_mass, 0,
0, 0, m_links[i].m_mass);
inertia_bottom_left[i+1].setValue(m_links[i].m_inertia[0], 0, 0,
0, m_links[i].m_inertia[1], 0,
0, 0, m_links[i].m_inertia[2]);
inertia_bottom_left[i+1].setValue(m_links[i].m_inertiaLocal[0], 0, 0,
0, m_links[i].m_inertiaLocal[1], 0,
0, 0, m_links[i].m_inertiaLocal[2]);
}

3
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -61,7 +61,8 @@ public:
const btVector3 &inertia,
int parent,
const btQuaternion &rotParentToThis,
const btVector3 &parentComToThisComOffset,
const btVector3 &parentComToThisPivotOffset,
const btVector3 &thisPivotToThisComOffset,
bool disableParentCollision);

1
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
View File

@@ -153,6 +153,7 @@ public:
m_maxAppliedImpulse = maxImp;
}
virtual void debugDraw(class btIDebugDraw* drawer)=0;
};

91
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "LinearMath/btQuickprof.h"
#include "btMultiBodyConstraint.h"
#include "LinearMath/btIDebugDraw.h"
@@ -755,3 +755,92 @@ void btMultiBodyDynamicsWorld::removeMultiBodyConstraint( btMultiBodyConstraint*
{
m_multiBodyConstraints.remove(constraint);
}
void btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint)
{
constraint->debugDraw(getDebugDrawer());
}
void btMultiBodyDynamicsWorld::debugDrawWorld()
{
BT_PROFILE("btMultiBodyDynamicsWorld debugDrawWorld");
bool drawConstraints = false;
if (getDebugDrawer())
{
int mode = getDebugDrawer()->getDebugMode();
if (mode & (btIDebugDraw::DBG_DrawConstraints | btIDebugDraw::DBG_DrawConstraintLimits))
{
drawConstraints = true;
}
if (drawConstraints)
{
BT_PROFILE("btMultiBody debugDrawWorld");
btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin;
for (int c=0;c<m_multiBodyConstraints.size();c++)
{
btMultiBodyConstraint* constraint = m_multiBodyConstraints[c];
debugDrawMultiBodyConstraint(constraint);
}
for (int b = 0; b<m_multiBodies.size(); b++)
{
btMultiBody* bod = m_multiBodies[b];
int nLinks = bod->getNumLinks();
///base + num m_links
world_to_local.resize(nLinks + 1);
local_origin.resize(nLinks + 1);
world_to_local[0] = bod->getWorldToBaseRot();
local_origin[0] = bod->getBasePos();
{
btVector3 posr = local_origin[0];
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
btScalar quat[4] = { -world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w() };
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
getDebugDrawer()->drawTransform(tr, 0.1);
}
for (int k = 0; k<bod->getNumLinks(); k++)
{
const int parent = bod->getParent(k);
world_to_local[k + 1] = bod->getParentToLocalRot(k) * world_to_local[parent + 1];
local_origin[k + 1] = local_origin[parent + 1] + (quatRotate(world_to_local[k + 1].inverse(), bod->getRVector(k)));
}
for (int m = 0; m<bod->getNumLinks(); m++)
{
int link = m;
int index = link + 1;
btVector3 posr = local_origin[index];
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
btScalar quat[4] = { -world_to_local[index].x(), -world_to_local[index].y(), -world_to_local[index].z(), world_to_local[index].w() };
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
getDebugDrawer()->drawTransform(tr, 0.1);
}
}
}
}
btDiscreteDynamicsWorld::debugDrawWorld();
}

4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
View File

@@ -54,5 +54,9 @@ public:
virtual void removeMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual void integrateTransforms(btScalar timeStep);
virtual void debugDrawWorld();
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H

6
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h
View File

@@ -36,7 +36,11 @@ public:
virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal);
virtual void debugDraw(class btIDebugDraw* drawer)
{
//todo(erwincoumans)
}
};

6
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
View File

@@ -45,7 +45,11 @@ public:
{
m_desiredVelocity = velTarget;
}
virtual void debugDraw(class btIDebugDraw* drawer)
{
//todo(erwincoumans)
}
};
#endif //BT_MULTIBODY_JOINT_MOTOR_H

12
src/BulletDynamics/Featherstone/btMultiBodyLink.h
View File

@@ -355,7 +355,7 @@ struct btMultibodyLink
BT_DECLARE_ALIGNED_ALLOCATOR();
btScalar m_mass; // mass of link
btVector3 m_inertia; // inertia of link (local frame; diagonal)
btVector3 m_inertiaLocal; // inertia of link (local frame; diagonal)
int m_parent; // index of the parent link (assumed to be < index of this link), or -1 if parent is the base link.
@@ -440,15 +440,15 @@ struct btMultibodyLink
btMultibodyLink()
: m_mass(1),
m_parent(-1),
m_zeroRotParentToThis(1, 0, 0, 0),
m_cachedRotParentToThis(1, 0, 0, 0),
m_zeroRotParentToThis(0, 0, 0, 1),
m_cachedRotParentToThis(0, 0, 0, 1),
m_collider(0),
m_flags(0),
m_dofCount(0),
m_posVarCount(0),
m_jointType(btMultibodyLink::eInvalid)
{
m_inertia.setValue(1, 1, 1);
m_inertiaLocal.setValue(1, 1, 1);
setAxisTop(0, 0., 0., 0.);
setAxisBottom(0, 1., 0., 0.);
m_dVector.setValue(0, 0, 0);
@@ -493,7 +493,7 @@ struct btMultibodyLink
case ePrismatic:
{
// m_cachedRotParentToThis never changes, so no need to update
m_cachedRVector = m_eVector + pJointPos[0] * getAxisBottom(0);
m_cachedRVector = quatRotate(m_cachedRotParentToThis,m_eVector) + pJointPos[0] * getAxisBottom(0);
break;
}
@@ -516,7 +516,7 @@ struct btMultibodyLink
case eFixed:
{
m_cachedRotParentToThis = m_zeroRotParentToThis;
m_cachedRVector = quatRotate(m_cachedRotParentToThis,m_eVector);
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector);
break;
}

53
src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
View File

@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "btMultiBodyPoint2Point.h"
#include "btMultiBodyLinkCollider.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btIDebugDraw.h"
#ifndef BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
#define BTMBP2PCONSTRAINT_DIM 3
@@ -95,18 +96,18 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
const btContactSolverInfo& infoGlobal)
{
// int i=1;
// int i=1;
int numDim = BTMBP2PCONSTRAINT_DIM;
for (int i=0;i<numDim;i++)
{
btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
//memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal1.setValue(0,0,0);
constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal2.setValue(0,0,0);
constraintRow.m_angularComponentA.setValue(0,0,0);
//memset(&constraintRow,0xffffffff,sizeof(btMultiBodySolverConstraint));
constraintRow.m_relpos1CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal1.setValue(0,0,0);
constraintRow.m_relpos2CrossNormal.setValue(0,0,0);
constraintRow.m_contactNormal2.setValue(0,0,0);
constraintRow.m_angularComponentA.setValue(0,0,0);
constraintRow.m_angularComponentB.setValue(0,0,0);
constraintRow.m_solverBodyIdA = data.m_fixedBodyId;
@@ -154,8 +155,8 @@ int numDim = BTMBP2PCONSTRAINT_DIM;
posError,
infoGlobal,
-m_maxAppliedImpulse, m_maxAppliedImpulse
);
//@todo: support the case of btMultiBody versus btRigidBody,
);
//@todo: support the case of btMultiBody versus btRigidBody,
//see btPoint2PointConstraint::getInfo2NonVirtual
#else
const btVector3 dummy(0, 0, 0);
@@ -176,4 +177,36 @@ int numDim = BTMBP2PCONSTRAINT_DIM;
);
#endif
}
}
}
void btMultiBodyPoint2Point::debugDraw(class btIDebugDraw* drawer)
{
btTransform tr;
tr.setIdentity();
if (m_rigidBodyA)
{
btVector3 pivot = m_rigidBodyA->getCenterOfMassTransform() * m_pivotInA;
tr.setOrigin(pivot);
drawer->drawTransform(tr, 0.1);
}
if (m_bodyA)
{
btVector3 pivotAworld = m_bodyA->localPosToWorld(m_linkA, m_pivotInA);
tr.setOrigin(pivotAworld);
drawer->drawTransform(tr, 0.1);
}
if (m_rigidBodyB)
{
// that ideally should draw the same frame
btVector3 pivot = m_rigidBodyB->getCenterOfMassTransform() * m_pivotInB;
tr.setOrigin(pivot);
drawer->drawTransform(tr, 0.1);
}
if (m_bodyB)
{
btVector3 pivotBworld = m_bodyB->localPosToWorld(m_linkB, m_pivotInB);
tr.setOrigin(pivotBworld);
drawer->drawTransform(tr, 0.1);
}
}

1
src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h
View File

@@ -56,6 +56,7 @@ public:
m_pivotInB = pivotInB;
}
virtual void debugDraw(class btIDebugDraw* drawer);
};

5
src/LinearMath/btQuickprof.cpp
View File

@@ -43,6 +43,11 @@ static btClock gProfileClock;
#include <Xtl.h>
#else //_XBOX
#include <windows.h>
#if WINVER < 0x0600
ULONGLONG GetTickCount64() { return GetTickCount(); }
#endif
#endif //_XBOX
#include <time.h>