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Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering.

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This commit is contained in:
Erwin Coumans
2019-11-12 20:08:49 -08:00
parent b25d806b14
commit 9ca957387f
15 changed files with 108 additions and 41 deletions
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8
examples/CommonInterfaces/CommonRenderInterface.h
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@@ -9,6 +9,13 @@ enum
B3_GL_POINTS
};
enum
{
B3_INSTANCE_TRANSPARANCY = 1,
B3_INSTANCE_TEXTURE = 2,
B3_INSTANCE_DOUBLE_SIDED = 4,
};
enum
{
B3_DEFAULT_RENDERMODE = 1,
@@ -94,6 +101,7 @@ struct CommonRenderInterface
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex) = 0;
virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex) = 0;
virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex) = 0;
virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex) = 0;
virtual int getTotalNumInstances() const = 0;

5
examples/DeformableDemo/ClothFriction.cpp
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@@ -75,10 +75,11 @@ public:
{
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
//btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
}
}
}
};

4
examples/DeformableDemo/DeformableClothAnchor.cpp
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@@ -80,8 +80,8 @@ public:
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
//btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
}
}
}

11
examples/DeformableDemo/DeformableContact.cpp
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@@ -70,16 +70,19 @@ public:
virtual void renderScene()
{
CommonRigidBodyBase::renderScene();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
//btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// StddeformableWorld->getDrawFlags());
}
}
}
};
@@ -200,6 +203,10 @@ void DeformableContact::initPhysics()
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
int numInstances = m_guiHelper->getRenderInterface()->getTotalNumInstances();
double rgbaColors[3][4] = { { 1, 0, 0, 1 } , { 0, 1, 0, 1 } ,{ 0, 0, 1, 1 } };
}
void DeformableContact::exitPhysics()

2
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -86,7 +86,7 @@ public:
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
}
}
}

2
examples/DeformableDemo/DeformableRigid.cpp
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@@ -124,7 +124,7 @@ public:
//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
}
}
}

2
examples/DeformableDemo/DeformableSelfCollision.cpp
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@@ -79,7 +79,7 @@ public:
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
}
}
}

2
examples/DeformableDemo/GraspDeformable.cpp
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@@ -162,7 +162,7 @@ public:
btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
}
}
}

2
examples/DeformableDemo/MultibodyClothAnchor.cpp
View File

@@ -81,7 +81,7 @@ public:
//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
}
}
}

5
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -1433,6 +1433,11 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
color.setValue(1, 1, 1, 1);
}
createCollisionObjectGraphicsObject(colObj, color);
if (sb)
{
int graphicsInstanceId = colObj->getUserIndex();
changeInstanceFlags(graphicsInstanceId, B3_INSTANCE_DOUBLE_SIDED);
}
}
}

78
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -139,11 +139,7 @@ static InternalDataRenderer* sData2;
GLint lineWidthRange[2] = {1, 1};
enum
{
eGfxTransparency = 1,
eGfxHasTexture = 2,
};
struct b3GraphicsInstance
{
@@ -492,6 +488,26 @@ void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex2, flo
orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex * 4 + 2];
orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex * 4 + 3];
}
void GLInstancingRenderer::writeSingleInstanceFlagsToCPU(int flags, int srcIndex2)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
b3Assert(pg);
int srcIndex = pg->m_internalInstanceIndex;
int shapeIndex = pg->m_shapeIndex;
b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
if (flags & B3_INSTANCE_DOUBLE_SIDED)
{
gfxObj->m_flags |= B3_INSTANCE_DOUBLE_SIDED;
}
else
{
gfxObj->m_flags &= ~B3_INSTANCE_DOUBLE_SIDED;
}
}
void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int srcIndex2)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
@@ -502,11 +518,11 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, in
b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
if (color[3] < 1)
{
gfxObj->m_flags |= eGfxTransparency;
gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY;
}
else
{
gfxObj->m_flags &= ~eGfxTransparency;
gfxObj->m_flags &= ~B3_INSTANCE_TRANSPARANCY;
}
m_data->m_instance_colors_ptr[srcIndex * 4 + 0] = float(color[0]);
@@ -525,11 +541,11 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int
if (color[3] < 1)
{
gfxObj->m_flags |= eGfxTransparency;
gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY;
}
else
{
gfxObj->m_flags &= ~eGfxTransparency;
gfxObj->m_flags &= ~B3_INSTANCE_TRANSPARANCY;
}
m_data->m_instance_colors_ptr[srcIndex * 4 + 0] = color[0];
@@ -916,7 +932,7 @@ int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const flo
if (color[3] < 1 && color[3] > 0)
{
gfxObj->m_flags |= eGfxTransparency;
gfxObj->m_flags |= B3_INSTANCE_TRANSPARANCY;
}
gfxObj->m_numGraphicsInstances++;
m_data->m_totalNumInstances++;
@@ -1018,11 +1034,11 @@ void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
if (textureId >= 0 && textureId < m_data->m_textureHandles.size())
{
gfxObj->m_textureIndex = textureId;
gfxObj->m_flags |= eGfxHasTexture;
gfxObj->m_flags |= B3_INSTANCE_TEXTURE;
} else
{
gfxObj->m_textureIndex = -1;
gfxObj->m_flags &= ~eGfxHasTexture;
gfxObj->m_flags &= ~B3_INSTANCE_TEXTURE;
}
}
}
@@ -1110,7 +1126,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
if (textureId >= 0)
{
gfxObj->m_textureIndex = textureId;
gfxObj->m_flags |= eGfxHasTexture;
gfxObj->m_flags |= B3_INSTANCE_TEXTURE;
}
gfxObj->m_primitiveType = primitiveType;
@@ -1754,6 +1770,7 @@ static void b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center, const
result[3 * 4 + 3] = 1.f;
}
void GLInstancingRenderer::drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float colorRGBA[4], int textureIndex, int vertexLayout)
{
int sz = sizeof(GfxVertexFormat0);
@@ -2263,7 +2280,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
inst.m_shapeIndex = obj;
if ((gfxObj->m_flags & eGfxTransparency) == 0)
if ((gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) == 0)
{
inst.m_instanceId = curOffset;
b3Vector3 centerPosition;
@@ -2313,10 +2330,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
//only draw stuff (opaque/transparent) if it is the right pass
int drawThisPass = (pass == 0) == ((gfxObj->m_flags & eGfxTransparency) == 0);
int drawThisPass = (pass == 0) == ((gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY) == 0);
//transparent objects don't cast shadows (to simplify things)
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
if (renderMode == B3_CREATE_SHADOWMAP_RENDERMODE)
drawThisPass = 0;
@@ -2326,7 +2343,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
{
glActiveTexture(GL_TEXTURE0);
GLuint curBindTexture = 0;
if (gfxObj->m_flags & eGfxHasTexture)
if (gfxObj->m_flags & B3_INSTANCE_TEXTURE)
{
curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture;
@@ -2432,6 +2449,11 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
}
else
{
if (gfxObj->m_flags & B3_INSTANCE_DOUBLE_SIDED)
{
glDisable(GL_CULL_FACE);
}
switch (renderMode)
{
case B3_SEGMENTATION_MASK_RENDERMODE:
@@ -2445,7 +2467,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
}
case B3_DEFAULT_RENDERMODE:
{
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
glDepthMask(false);
glEnable(GL_BLEND);
@@ -2462,7 +2484,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
glUniform1i(uniform_texture_diffuse, 0);
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
int instanceId = transparentInstances[i].m_instanceId;
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes));
@@ -2477,7 +2499,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
}
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
glDisable(GL_BLEND);
glDepthMask(true);
@@ -2495,7 +2517,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
case B3_USE_SHADOWMAP_RENDERMODE:
{
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
glDepthMask(false);
glEnable(GL_BLEND);
@@ -2549,7 +2571,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
//gfxObj->m_instanceOffset
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
int instanceId = transparentInstances[i].m_instanceId;
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes));
@@ -2563,7 +2585,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
}
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
glDisable(GL_BLEND);
glDepthMask(true);
@@ -2577,7 +2599,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
}
case B3_USE_PROJECTIVE_TEXTURE_RENDERMODE:
{
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
glDepthMask(false);
glEnable(GL_BLEND);
@@ -2617,7 +2639,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
glUniformMatrix4fv(projectiveTexture_TextureMVP, 1, false, &textureMVP[0]);
//sort transparent objects
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
int instanceId = transparentInstances[i].m_instanceId;
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid*)((instanceId)*4 * sizeof(float) + m_data->m_maxShapeCapacityInBytes));
@@ -2631,7 +2653,7 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
}
if (gfxObj->m_flags & eGfxTransparency)
if (gfxObj->m_flags & B3_INSTANCE_TRANSPARANCY)
{
glDisable(GL_BLEND);
glDepthMask(true);
@@ -2646,6 +2668,10 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
// b3Assert(0);
}
};
if (gfxObj->m_flags & B3_INSTANCE_DOUBLE_SIDED)
{
glEnable(GL_CULL_FACE);
}
}
//glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances);

1
examples/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -95,6 +95,7 @@ public:
virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex2);
virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex2);
virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex2);

2
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
View File

@@ -40,7 +40,7 @@ public:
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex) {}
virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex) {}
virtual void writeSingleInstanceFlagsToCPU(int flags, int srcIndex) {}
virtual void getCameraViewMatrix(float viewMat[16]) const;
virtual void getCameraProjectionMatrix(float projMat[16]) const;
virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex = -1, int vertexLayout = 0)

16
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
View File

@@ -378,6 +378,22 @@ void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
btMultiBodyDynamicsWorld::getSolverInfo().m_timeStep = timeStep;
}
void btDeformableMultiBodyDynamicsWorld::debugDrawWorld()
{
for (int i = 0; i < getSoftBodyArray().size(); i++)
{
btSoftBody* psb = (btSoftBody*)getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(psb, getDebugDrawer());
btSoftBodyHelpers::Draw(psb, getDebugDrawer(), getDrawFlags());
}
}
btMultiBodyDynamicsWorld::debugDrawWorld();
}
void btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(btScalar timeStep)
{
// Gravity is applied in stepSimulation and then cleared here and then applied here and then cleared here again

3
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
View File

@@ -94,6 +94,8 @@ public:
virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
virtual void debugDrawWorld();
void setSolverCallback(btSolverCallback cb)
{
m_solverCallback = cb;
@@ -178,6 +180,7 @@ public:
{
m_lineSearch = lineSearch;
}
};
#endif //BT_DEFORMABLE_MULTIBODY_DYNAMICS_WORLD_H