add preliminary ray tracing test (ray-sphere placeholder on CPU)

Demos3/GpuDemos/GpuDemo.h

@@ -1,6 +1,7 @@
 #ifndef GPU_DEMO_H
 #define GPU_DEMO_H
 class GLInstancingRenderer;
+class GLPrimitiveRenderer;
 
 
 
@@ -31,6 +32,8 @@ public:
             float gapY;
             float gapZ;
             GLInstancingRenderer*   m_instancingRenderer;
+			GLPrimitiveRenderer*	m_primRenderer;
+			
 			class b3gWindowInterface*	m_window;
 			class GwenUserInterface*	m_gui;
 
@@ -38,9 +41,9 @@ public:
                     :useOpenCL(true),
                     preferredOpenCLPlatformIndex(-1),
                     preferredOpenCLDeviceIndex(-1),
-					arraySizeX(30),
-		arraySizeY(30),
-		arraySizeZ(30),
+					arraySizeX(2),
+		arraySizeY(2),
+		arraySizeZ(2),
 		m_useConcaveMesh(false),
 		gapX(14.3),
 		gapY(14.0),

Demos3/GpuDemos/main_opengl3core.cpp

@@ -76,6 +76,8 @@ GpuDemo::CreateFunc* allDemos[]=
 //		GpuConvexScene::MyCreateFunc,
 
 	//ConcaveSphereScene::MyCreateFunc,
+	GpuRaytraceScene::MyCreateFunc,
+
 	GpuBoxPlaneScene::MyCreateFunc,
 	GpuConvexPlaneScene::MyCreateFunc,
 
@@ -601,7 +603,7 @@ int main(int argc, char* argv[])
 		ci.m_gui = gui;
 		ci.m_instancingRenderer->init();
 		ci.m_instancingRenderer->InitShaders();
-
+		ci.m_primRenderer = &prim;
 //		render.init();
 
 		demo->initPhysics(ci);

Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp

@@ -18,9 +18,11 @@
 #include "GpuRigidBodyDemoInternalData.h"
 #include "../gwenUserInterface.h"
 #include "Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.h"
+#include "OpenGLWindow/GLPrimitiveRenderer.h"
 
 void GpuConvexScene::setupScene(const ConstructionInfo& ci)
 {
+	m_primRenderer = ci.m_primRenderer;
 
 	int index=0;
 	createStaticEnvironment(ci);
@@ -30,11 +32,15 @@ void GpuConvexScene::setupScene(const ConstructionInfo& ci)
 	m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
 
 
-	float camPos[4]={ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
+	float camPos[4]={0,0,0,0};//ci.arraySizeX,ci.arraySizeY/2,ci.arraySizeZ,0};
 	//float camPos[4]={1,12.5,1.5,0};
+	
 	m_instancingRenderer->setCameraTargetPosition(camPos);
-	m_instancingRenderer->setCameraDistance(100);
+	m_instancingRenderer->setCameraDistance(30);
+	m_instancingRenderer->setCameraYaw(0);
+	m_instancingRenderer->setCameraPitch(0);
 
+	m_instancingRenderer->updateCamera();
 
 	char msg[1024];
 	int numInstances = index;
@@ -174,3 +180,203 @@ void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
 	int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
 
 }
+
+struct GpuRaytraceInternalData
+{
+	GLuint* m_texId;
+	unsigned char* m_texels;
+	int textureWidth;
+	int textureHeight;
+};
+#include <string.h>
+
+GpuRaytraceScene::GpuRaytraceScene()
+{
+	
+	m_raytraceData = new GpuRaytraceInternalData;
+
+	m_raytraceData->m_texId = new GLuint;
+	m_raytraceData->textureWidth = 1024;
+	m_raytraceData->textureHeight = 768;
+
+	//create new texture
+	glGenTextures(1, m_raytraceData->m_texId);
+	GLenum err = glGetError();
+	assert(err==GL_NO_ERROR);
+
+			
+	
+	glBindTexture(GL_TEXTURE_2D, *m_raytraceData->m_texId);
+	m_raytraceData->m_texels = (unsigned char*)malloc(m_raytraceData->textureWidth*m_raytraceData->textureHeight*3);
+	memset(m_raytraceData->m_texels,0,m_raytraceData->textureWidth*m_raytraceData->textureHeight*3);
+	for (int i=0;i<m_raytraceData->textureWidth;i++)
+	{
+		for (int y=0;y<m_raytraceData->textureHeight;y++)
+		{
+			int color = 0;
+			if (y<m_raytraceData->textureHeight-1 && (y>0) && (i>0 && i<m_raytraceData->textureWidth-1))
+				color = 255;
+
+			m_raytraceData->m_texels[(i+m_raytraceData->textureWidth*y)*3+0] = color;
+			m_raytraceData->m_texels[(i+m_raytraceData->textureWidth*y)*3+1] = color;
+			m_raytraceData->m_texels[(i+m_raytraceData->textureWidth*y)*3+2] = color;
+		}
+	}
+
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_raytraceData->textureWidth, m_raytraceData->textureHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, m_raytraceData->m_texels);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+	err = glGetError();
+	assert(err==GL_NO_ERROR);
+
+}
+GpuRaytraceScene::~GpuRaytraceScene()
+{
+	glDeleteTextures(1,m_raytraceData->m_texId);
+	delete[] m_raytraceData->m_texels;
+	delete m_raytraceData;
+}
+
+
+bool sphere_intersect(const b3Vector3& spherePos,  b3Scalar radius, const b3Vector3& rayFrom, const b3Vector3& rayTo)
+{
+    // rs = ray.org - sphere.center
+    const b3Vector3& rs = rayFrom - spherePos;
+	b3Vector3 rayDir = rayTo-rayFrom;//rayFrom-rayTo;
+	rayDir.normalize();
+
+    float B = b3Dot(rs, rayDir);
+    float C = b3Dot(rs, rs) - (radius * radius);
+    float D = B * B - C;
+
+    if (D > 0.0)
+    {
+        float t = -B - sqrt(D);
+        if ( (t > 0.0))// && (t < isect.t) )
+        {
+            return true;//isect.t = t;
+		}
+	}
+	return false;
+}
+
+void GpuRaytraceScene::renderScene()
+{
+	B3_PROFILE("raytrace");
+	//raytrace into the texels
+	m_instancingRenderer->updateCamera();
+	//generate primary rays
+
+	float top = 1.f;
+	float bottom = -1.f;
+	float nearPlane = 1.f;
+
+	float tanFov = (top-bottom)*0.5f / nearPlane;
+
+	float fov = 2.0 * atanf (tanFov);
+
+	b3Vector3	rayFrom, camTarget;
+	m_instancingRenderer->getCameraPosition(rayFrom);
+	m_instancingRenderer->getCameraTargetPosition(camTarget);
+	b3Vector3 rayForward = camTarget-rayFrom;
+	rayForward.normalize();
+	float farPlane = 500.f;
+	rayForward*= farPlane;
+
+	b3Vector3 rightOffset;
+	b3Vector3 vertical(0.f,1.f,0.f);
+	b3Vector3 hor;
+	hor = rayForward.cross(vertical);
+	hor.normalize();
+	vertical = hor.cross(rayForward);
+	vertical.normalize();
+
+	float tanfov = tanf(0.5f*fov);
+
+	hor *= 2.f * farPlane * tanfov;
+	vertical *= 2.f * farPlane * tanfov;
+
+	b3Vector3 rayToCenter = rayFrom + rayForward;
+	
+	//should be screenwidth/height
+	b3Vector3 dHor = hor * 1.f/float(m_raytraceData->textureWidth);
+	b3Vector3 dVert = vertical * 1.f/float(m_raytraceData->textureHeight);
+
+	b3Transform rayFromTrans;
+	rayFromTrans.setIdentity();
+	rayFromTrans.setOrigin(rayFrom);
+
+	b3Transform rayFromLocal;
+	b3Transform	rayToLocal;
+
+
+
+	//cast primary rays
+
+	m_data->m_np->readbackAllBodiesToCpu();
+
+	for (int x=0;x<m_raytraceData->textureWidth;x++)
+	{
+		for (int y=0;y<m_raytraceData->textureHeight;y++)
+		{
+
+			b3Vector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
+			rayTo += x * dHor;
+			rayTo -= y * dVert;
+
+			//if there is a hit, color the pixels
+			int numBodies = m_data->m_rigidBodyPipeline->getNumBodies();
+			bool hits  = false;
+
+			for (int i=0;i<numBodies && !hits;i++)
+			{
+				
+				b3Vector3 pos;
+				b3Quaternion orn;
+				m_data->m_np->getObjectTransformFromCpu(pos,orn,i);
+				b3Scalar radius = 1;
+
+				hits = sphere_intersect(pos,  radius, rayFrom, rayTo);
+			}
+
+			if (hits)
+			{
+				m_raytraceData->m_texels[(x+m_raytraceData->textureWidth*y)*3+0] = 255;
+				m_raytraceData->m_texels[(x+m_raytraceData->textureWidth*y)*3+1] = 0;
+				m_raytraceData->m_texels[(x+m_raytraceData->textureWidth*y)*3+2] = 0;
+			} else
+			{
+				m_raytraceData->m_texels[(x+m_raytraceData->textureWidth*y)*3+0] = 0;
+				m_raytraceData->m_texels[(x+m_raytraceData->textureWidth*y)*3+1] = 0;
+				m_raytraceData->m_texels[(x+m_raytraceData->textureWidth*y)*3+2] = 0;
+			}
+
+			
+
+
+		}
+	}
+	
+	
+
+	GLint err;
+    
+    err = glGetError();
+    assert(err==GL_NO_ERROR);
+	glActiveTexture(GL_TEXTURE0);
+
+	glBindTexture(GL_TEXTURE_2D, *m_raytraceData->m_texId);
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_raytraceData->textureWidth, m_raytraceData->textureHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, m_raytraceData->m_texels);
+
+	err = glGetError();
+    assert(err==GL_NO_ERROR);
+	b3Assert(m_primRenderer);
+	float color[4] = {1,1,1,1};
+	float rect[4] = {0,0,m_raytraceData->textureWidth,m_raytraceData->textureHeight};
+	float u[2] = {0,1};
+	float v[2] = {0,1};
+	int useRGBA = 1;
+	m_primRenderer->drawTexturedRect(rect[0],rect[1],rect[2],rect[3],color,u[0],v[0],u[1],v[1], useRGBA);
+	err = glGetError();
+    assert(err==GL_NO_ERROR);
+}

Demos3/GpuDemos/rigidbody/GpuConvexScene.h

@@ -5,9 +5,12 @@
 
 class GpuConvexScene : public GpuRigidBodyDemo
 {
+protected:
+	class GLPrimitiveRenderer* m_primRenderer;
+
 public:
 
-	GpuConvexScene(){}
+	GpuConvexScene() :m_primRenderer(0) {}
 	virtual ~GpuConvexScene(){}
 	virtual const char* getName()
 	{
@@ -72,7 +75,30 @@ public:
 
 	virtual int	createDynamicsObjects(const ConstructionInfo& ci);
 
-	
 
 };
+
+class GpuRaytraceScene : public GpuBoxPlaneScene
+{
+protected:
+	struct GpuRaytraceInternalData* m_raytraceData;
+
+public:
+	GpuRaytraceScene();
+	virtual ~GpuRaytraceScene();
+	virtual const char* getName()
+	{
+		return "GPURaytrace";
+	}
+
+	static GpuDemo* MyCreateFunc()
+	{
+		GpuDemo* demo = new GpuRaytraceScene;
+		return demo;
+	}
+	
+	void renderScene();
+};
+
+
 #endif //GPU_CONVEX_SCENE_H