Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -6,7 +6,6 @@
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/Common2dCanvasInterface.h"
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//#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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@@ -19,7 +18,6 @@
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struct RaytracerPhysicsSetup : public CommonExampleInterface
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{
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struct CommonGraphicsApp* m_app;
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struct RaytracerInternalData* m_internalData;
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@@ -33,27 +31,26 @@ struct RaytracerPhysicsSetup : public CommonExampleInterface
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virtual void stepSimulation(float deltaTime);
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virtual void physicsDebugDraw(int debugFlags);
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virtual void physicsDebugDraw(int debugFlags);
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virtual void syncPhysicsToGraphics(struct GraphicsPhysicsBridge& gfxBridge);
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///worldRaytest performs a ray versus all objects in a collision world, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
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///worldRaytest performs a ray versus all objects in a collision world, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool worldRaytest(const btVector3& rayFrom, const btVector3& rayTo, btVector3& worldNormal, btVector3& worldHitPoint);
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///singleObjectRaytest performs a ray versus one collision shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
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bool singleObjectRaytest(const btVector3& rayFrom, const btVector3& rayTo, btVector3& worldNormal, btVector3& worldHitPoint);
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///lowlevelRaytest performs a ray versus convex shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool lowlevelRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
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bool lowlevelRaytest(const btVector3& rayFrom, const btVector3& rayTo, btVector3& worldNormal, btVector3& worldHitPoint);
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virtual bool mouseMoveCallback(float x,float y);
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virtual bool mouseMoveCallback(float x, float y);
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virtual bool mouseButtonCallback(int button, int state, float x, float y);
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virtual bool mouseButtonCallback(int button, int state, float x, float y);
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virtual bool keyboardCallback(int key, int state);
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virtual bool keyboardCallback(int key, int state);
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virtual void renderScene()
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virtual void renderScene()
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{
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}
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};
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@@ -68,55 +65,54 @@ struct RaytracerInternalData
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btAlignedObjectArray<btConvexShape*> m_shapePtr;
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btAlignedObjectArray<btTransform> m_transforms;
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btVoronoiSimplexSolver m_simplexSolver;
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btVoronoiSimplexSolver m_simplexSolver;
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btScalar m_pitch;
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btScalar m_roll;
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btScalar m_yaw;
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RaytracerInternalData()
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:m_canvasIndex(-1),
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m_canvas(0),
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: m_canvasIndex(-1),
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m_canvas(0),
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#ifdef _DEBUG
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m_width(64),
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m_height(64),
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m_width(64),
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m_height(64),
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#else
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m_width(128),
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m_height(128),
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m_width(128),
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m_height(128),
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#endif
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m_pitch(0),
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m_roll(0),
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m_yaw(0)
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m_pitch(0),
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m_roll(0),
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m_yaw(0)
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{
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btConeShape* cone = new btConeShape(1,1);
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btConeShape* cone = new btConeShape(1, 1);
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btSphereShape* sphere = new btSphereShape(1);
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btBoxShape* box = new btBoxShape (btVector3(1,1,1));
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btBoxShape* box = new btBoxShape(btVector3(1, 1, 1));
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m_shapePtr.push_back(cone);
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m_shapePtr.push_back(sphere);
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m_shapePtr.push_back(box);
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updateTransforms();
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}
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void updateTransforms()
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{
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int numObjects = m_shapePtr.size();
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m_transforms.resize(numObjects);
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for (int i=0;i<numObjects;i++)
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for (int i = 0; i < numObjects; i++)
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{
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m_transforms[i].setIdentity();
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btVector3 pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
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btVector3 pos(0.f, 0.f, -(2.5 * numObjects * 0.5) + i * 2.5f);
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m_transforms[i].setIdentity();
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m_transforms[i].setOrigin( pos );
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m_transforms[i].setOrigin(pos);
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btQuaternion orn;
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if (i < 2)
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{
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orn.setEuler(m_yaw,m_pitch,m_roll);
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orn.setEuler(m_yaw, m_pitch, m_roll);
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m_transforms[i].setRotation(orn);
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}
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}
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m_pitch += 0.005f;
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m_yaw += 0.01f;
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}
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};
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RaytracerPhysicsSetup::RaytracerPhysicsSetup(struct CommonGraphicsApp* app)
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@@ -133,54 +129,43 @@ RaytracerPhysicsSetup::~RaytracerPhysicsSetup()
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void RaytracerPhysicsSetup::initPhysics()
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{
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//request a visual bitma/texture we can render to
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m_internalData->m_canvas = m_app->m_2dCanvasInterface;
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if (m_internalData->m_canvas)
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{
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m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("raytracer",m_internalData->m_width,m_internalData->m_height, 15,55);
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for (int i=0;i<m_internalData->m_width;i++)
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m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("raytracer", m_internalData->m_width, m_internalData->m_height, 15, 55);
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for (int i = 0; i < m_internalData->m_width; i++)
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{
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for (int j=0;j<m_internalData->m_height;j++)
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for (int j = 0; j < m_internalData->m_height; j++)
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{
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unsigned char red=255;
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unsigned char green=255;
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unsigned char blue=255;
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unsigned char alpha=255;
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m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
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unsigned char red = 255;
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unsigned char green = 255;
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unsigned char blue = 255;
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unsigned char alpha = 255;
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m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex, i, j, red, green, blue, alpha);
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}
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}
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m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
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//int bitmapId = gfxBridge.createRenderBitmap(width,height);
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}
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}
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///worldRaytest performs a ray versus all objects in a collision world, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool RaytracerPhysicsSetup::worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
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bool RaytracerPhysicsSetup::worldRaytest(const btVector3& rayFrom, const btVector3& rayTo, btVector3& worldNormal, btVector3& worldHitPoint)
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{
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return false;
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}
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///singleObjectRaytest performs a ray versus one collision shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool RaytracerPhysicsSetup::singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
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bool RaytracerPhysicsSetup::singleObjectRaytest(const btVector3& rayFrom, const btVector3& rayTo, btVector3& worldNormal, btVector3& worldHitPoint)
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{
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return false;
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}
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///lowlevelRaytest performs a ray versus convex shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool RaytracerPhysicsSetup::lowlevelRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
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bool RaytracerPhysicsSetup::lowlevelRaytest(const btVector3& rayFrom, const btVector3& rayTo, btVector3& worldNormal, btVector3& worldHitPoint)
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{
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btScalar closestHitResults = 1.f;
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@@ -197,50 +182,45 @@ bool RaytracerPhysicsSetup::lowlevelRaytest(const btVector3& rayFrom,const btVec
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int numObjects = m_internalData->m_shapePtr.size();
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for (int s=0;s<numObjects;s++)
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for (int s = 0; s < numObjects; s++)
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{
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//do some culling, ray versus aabb
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btVector3 aabbMin,aabbMax;
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m_internalData->m_shapePtr[s]->getAabb( m_internalData->m_transforms[s],aabbMin,aabbMax);
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btVector3 aabbMin, aabbMax;
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m_internalData->m_shapePtr[s]->getAabb(m_internalData->m_transforms[s], aabbMin, aabbMax);
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btScalar hitLambda = 1.f;
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btVector3 hitNormal;
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btCollisionObject tmpObj;
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tmpObj.setWorldTransform( m_internalData->m_transforms[s]);
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btCollisionObject tmpObj;
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tmpObj.setWorldTransform(m_internalData->m_transforms[s]);
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if (btRayAabb(rayFrom,rayTo,aabbMin,aabbMax,hitLambda,hitNormal))
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if (btRayAabb(rayFrom, rayTo, aabbMin, aabbMax, hitLambda, hitNormal))
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{
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//reset previous result
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//choose the continuous collision detection method
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btSubsimplexConvexCast convexCaster(&pointShape, m_internalData->m_shapePtr[s],&m_internalData->m_simplexSolver);
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btSubsimplexConvexCast convexCaster(&pointShape, m_internalData->m_shapePtr[s], &m_internalData->m_simplexSolver);
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//btGjkConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
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//btContinuousConvexCollision convexCaster(&pointShape,shapePtr[s],&simplexSolver,0);
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if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans, m_internalData->m_transforms[s], m_internalData->m_transforms[s],rayResult))
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if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, m_internalData->m_transforms[s], m_internalData->m_transforms[s], rayResult))
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{
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if (rayResult.m_fraction < closestHitResults)
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{
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closestHitResults = rayResult.m_fraction;
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worldNormal = m_internalData->m_transforms[s].getBasis() *rayResult.m_normal;
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worldNormal = m_internalData->m_transforms[s].getBasis() * rayResult.m_normal;
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worldNormal.normalize();
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hasHit = true;
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}
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}
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}
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}
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return hasHit;
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}
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void RaytracerPhysicsSetup::exitPhysics()
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{
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if (m_internalData->m_canvas && m_internalData->m_canvasIndex>=0)
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if (m_internalData->m_canvas && m_internalData->m_canvasIndex >= 0)
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{
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m_internalData->m_canvas->destroyCanvas(m_internalData->m_canvasIndex);
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}
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@@ -248,147 +228,134 @@ void RaytracerPhysicsSetup::exitPhysics()
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void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
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{
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m_internalData->updateTransforms();
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float top = 1.f;
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float tanFov = (top - bottom) * 0.5f / nearPlane;
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float fov = 2.0 * atanf (tanFov);
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float fov = 2.0 * atanf(tanFov);
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btVector3 cameraPosition(5,0,0);
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btVector3 cameraTargetPosition(0,0,0);
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btVector3 cameraPosition(5, 0, 0);
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btVector3 cameraTargetPosition(0, 0, 0);
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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{
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m_app->m_renderer->getActiveCamera()->getCameraPosition(cameraPosition);
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m_app->m_renderer->getActiveCamera()->getCameraTargetPosition(cameraTargetPosition);
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}
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btVector3 rayFrom = cameraPosition;
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btVector3 rayForward = cameraTargetPosition-cameraPosition;
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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{
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m_app->m_renderer->getActiveCamera()->getCameraPosition(cameraPosition);
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m_app->m_renderer->getActiveCamera()->getCameraTargetPosition(cameraTargetPosition);
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}
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rayForward.normalize();
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btVector3 rayFrom = cameraPosition;
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btVector3 rayForward = cameraTargetPosition - cameraPosition;
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rayForward.normalize();
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float farPlane = 600.f;
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rayForward*= farPlane;
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rayForward *= farPlane;
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btVector3 rightOffset;
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btVector3 vertical(0.f,1.f,0.f);
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btVector3 vertical(0.f, 1.f, 0.f);
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btVector3 hor;
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hor = rayForward.cross(vertical);
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hor.normalize();
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vertical = hor.cross(rayForward);
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vertical.normalize();
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float tanfov = tanf(0.5f*fov);
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float tanfov = tanf(0.5f * fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
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btVector3 rayToCenter = rayFrom + rayForward;
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btVector3 dHor = hor * 1.f/float(m_internalData->m_width);
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btVector3 dVert = vertical * 1.f/float(m_internalData->m_height);
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btVector3 dHor = hor * 1.f / float(m_internalData->m_width);
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btVector3 dVert = vertical * 1.f / float(m_internalData->m_height);
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// int mode = 0;
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int x, y;
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// int mode = 0;
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int x,y;
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for (x=0;x<m_internalData->m_width;x++)
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for (x = 0; x < m_internalData->m_width; x++)
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{
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for (y=0;y<m_internalData->m_height;y++)
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for (y = 0; y < m_internalData->m_height; y++)
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{
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btVector4 rgba(0,0,0,0);
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btVector4 rgba(0, 0, 0, 0);
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btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += x * dHor;
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rayTo -= y * dVert;
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btVector3 worldNormal(0,0,0);
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btVector3 worldPoint(0,0,0);
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btVector3 worldNormal(0, 0, 0);
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btVector3 worldPoint(0, 0, 0);
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bool hasHit = false;
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int mode = 0;
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switch (mode)
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{
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case 0:
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hasHit = lowlevelRaytest(rayFrom,rayTo,worldNormal,worldPoint);
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break;
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case 1:
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hasHit = singleObjectRaytest(rayFrom,rayTo,worldNormal,worldPoint);
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break;
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case 2:
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hasHit = worldRaytest(rayFrom,rayTo,worldNormal,worldPoint);
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break;
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default:
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case 0:
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hasHit = lowlevelRaytest(rayFrom, rayTo, worldNormal, worldPoint);
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break;
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case 1:
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hasHit = singleObjectRaytest(rayFrom, rayTo, worldNormal, worldPoint);
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break;
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case 2:
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hasHit = worldRaytest(rayFrom, rayTo, worldNormal, worldPoint);
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break;
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default:
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{
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}
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}
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if (hasHit)
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{
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float lightVec0 = worldNormal.dot(btVector3(0,-1,-1));//0.4f,-1.f,-0.4f));
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float lightVec1= worldNormal.dot(btVector3(-1,0,-1));//-0.4f,-1.f,-0.4f));
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float lightVec0 = worldNormal.dot(btVector3(0, -1, -1)); //0.4f,-1.f,-0.4f));
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float lightVec1 = worldNormal.dot(btVector3(-1, 0, -1)); //-0.4f,-1.f,-0.4f));
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rgba = btVector4(lightVec0,lightVec1,0,1.f);
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rgba.setMin(btVector3(1,1,1));
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rgba.setMax(btVector3(0.2,0.2,0.2));
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rgba = btVector4(lightVec0, lightVec1, 0, 1.f);
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rgba.setMin(btVector3(1, 1, 1));
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rgba.setMax(btVector3(0.2, 0.2, 0.2));
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rgba[3] = 1.f;
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unsigned char red = rgba[0] * 255;
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unsigned char green = rgba[1] * 255;
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unsigned char blue = rgba[2] * 255;
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unsigned char alpha=255;
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m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,y,red,green,blue,alpha);
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} else
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{
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// btVector4 rgba = raytracePicture->getPixel(x,y);
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}
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unsigned char alpha = 255;
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m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex, x, y, red, green, blue, alpha);
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}
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else
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{
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// btVector4 rgba = raytracePicture->getPixel(x,y);
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}
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if (!rgba.length2())
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{
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m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,y,255,0,0,255);
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m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex, x, y, 255, 0, 0, 255);
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}
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}
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}
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m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
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}
|
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|
||||
|
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void RaytracerPhysicsSetup::physicsDebugDraw(int debugDrawFlags)
|
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void RaytracerPhysicsSetup::physicsDebugDraw(int debugDrawFlags)
|
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{
|
||||
}
|
||||
|
||||
bool RaytracerPhysicsSetup::mouseMoveCallback(float x,float y)
|
||||
bool RaytracerPhysicsSetup::mouseMoveCallback(float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
bool RaytracerPhysicsSetup::mouseButtonCallback(int button, int state, float x, float y)
|
||||
bool RaytracerPhysicsSetup::mouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
bool RaytracerPhysicsSetup::keyboardCallback(int key, int state)
|
||||
bool RaytracerPhysicsSetup::keyboardCallback(int key, int state)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
void RaytracerPhysicsSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
|
||||
{
|
||||
}
|
||||
|
||||
CommonExampleInterface* RayTracerCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new RaytracerPhysicsSetup(options.m_guiHelper->getAppInterface());
|
||||
}
|
||||
CommonExampleInterface* RayTracerCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new RaytracerPhysicsSetup(options.m_guiHelper->getAppInterface());
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user