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Code-style consistency improvement:

Browse Source 
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
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1615
examples/StandaloneMain/hellovr_opengl_main.cpp
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File diff suppressed because it is too large Load Diff

8
examples/StandaloneMain/main_console_single_example.cpp
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@@ -13,26 +13,22 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btHashMap.h"
int main(int argc, char* argv[])
{
{
DummyGUIHelper noGfx;
CommonExampleOptions options(&noGfx);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
for (int i = 0; i < 100000; i++)
@@ -46,5 +42,3 @@ int main(int argc, char* argv[])
}
return 0;
}

58
examples/StandaloneMain/main_opengl_single_example.cpp
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@@ -13,49 +13,46 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../Utils/b3Clock.h"
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#include <stdio.h>
#include "../ExampleBrowser/OpenGLGuiHelper.h"
CommonExampleInterface* example;
int gSharedMemoryKey=-1;
CommonExampleInterface* example;
int gSharedMemoryKey = -1;
b3MouseMoveCallback prevMouseMoveCallback = 0;
static void OnMouseMove( float x, float y)
static void OnMouseMove(float x, float y)
{
bool handled = false;
handled = example->mouseMoveCallback(x,y);
bool handled = false;
handled = example->mouseMoveCallback(x, y);
if (!handled)
{
if (prevMouseMoveCallback)
prevMouseMoveCallback (x,y);
prevMouseMoveCallback(x, y);
}
}
b3MouseButtonCallback prevMouseButtonCallback = 0;
static void OnMouseDown(int button, int state, float x, float y) {
b3MouseButtonCallback prevMouseButtonCallback = 0;
static void OnMouseDown(int button, int state, float x, float y)
{
bool handled = false;
handled = example->mouseButtonCallback(button, state, x,y);
handled = example->mouseButtonCallback(button, state, x, y);
if (!handled)
{
if (prevMouseButtonCallback )
prevMouseButtonCallback (button,state,x,y);
if (prevMouseButtonCallback)
prevMouseButtonCallback(button, state, x, y);
}
}
class LessDummyGuiHelper : public DummyGUIHelper
{
CommonGraphicsApp* m_app;
public:
virtual CommonGraphicsApp* getAppInterface()
{
@@ -63,54 +60,52 @@ public:
}
LessDummyGuiHelper(CommonGraphicsApp* app)
:m_app(app)
: m_app(app)
{
}
};
int main(int argc, char* argv[])
{
SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet Standalone Example",1024,768,true);
SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet Standalone Example", 1024, 768, true);
prevMouseButtonCallback = app->m_window->getMouseButtonCallback();
prevMouseMoveCallback = app->m_window->getMouseMoveCallback();
app->m_window->setMouseButtonCallback((b3MouseButtonCallback)OnMouseDown);
app->m_window->setMouseMoveCallback((b3MouseMoveCallback)OnMouseMove);
OpenGLGuiHelper gui(app,false);
OpenGLGuiHelper gui(app, false);
//LessDummyGuiHelper gui(app);
//DummyGUIHelper gui;
CommonExampleOptions options(&gui);
example = StandaloneExampleCreateFunc(options);
example->processCommandLineArgs(argc, argv);
example->initPhysics();
example->resetCamera();
b3Clock clock;
do
{
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera(app->getUpAxis());
app->m_instancingRenderer->updateCamera(app->getUpAxis());
btScalar dtSec = btScalar(clock.getTimeInSeconds());
if (dtSec<0.1)
if (dtSec < 0.1)
dtSec = 0.1;
example->stepSimulation(dtSec);
clock.reset();
clock.reset();
example->renderScene();
DrawGridData dg;
dg.upAxis = app->getUpAxis();
dg.upAxis = app->getUpAxis();
app->drawGrid(dg);
app->swapBuffer();
} while (!app->m_window->requestedExit());
@@ -119,4 +114,3 @@ int main(int argc, char* argv[])
delete app;
return 0;
}

280
examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
View File

@@ -13,19 +13,15 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btHashMap.h"
#include "../TinyRenderer/TinyRenderer.h"
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#include <stdio.h>
@@ -33,129 +29,123 @@ subject to the following restrictions:
class SW_And_OpenGLGuiHelper : public OpenGLGuiHelper
{
btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
btHashMap<btHashInt,int> m_swInstances;
btHashMap<btHashInt, TinyRenderObjectData*> m_swRenderObjects;
btHashMap<btHashInt, int> m_swInstances;
int m_swWidth;
int m_swHeight;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
int m_textureHandle;
unsigned char* m_image;
unsigned char* m_image;
GLPrimitiveRenderer* m_primRenderer;
public:
SW_And_OpenGLGuiHelper (CommonGraphicsApp* glApp, bool useOpenGL2, int swWidth, int swHeight, GLPrimitiveRenderer* primRenderer)
:OpenGLGuiHelper(glApp,useOpenGL2),
m_swWidth(swWidth),
m_swHeight(swHeight),
m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB),
m_primRenderer(primRenderer)
{
m_depthBuffer.resize(swWidth*swHeight);
SW_And_OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2, int swWidth, int swHeight, GLPrimitiveRenderer* primRenderer)
: OpenGLGuiHelper(glApp, useOpenGL2),
m_swWidth(swWidth),
m_swHeight(swHeight),
m_rgbColorBuffer(swWidth, swHeight, TGAImage::RGB),
m_primRenderer(primRenderer)
{
m_depthBuffer.resize(swWidth * swHeight);
CommonRenderInterface* render = getRenderInterface();
m_image=new unsigned char[m_swWidth*m_swHeight*4];
m_image = new unsigned char[m_swWidth * m_swHeight * 4];
m_textureHandle = render->registerTexture(m_image, m_swWidth, m_swHeight);
}
m_textureHandle = render->registerTexture(m_image,m_swWidth,m_swHeight);
}
void clearBuffers(TGAColor& clearColor)
{
for(int y=0;y<m_swHeight;++y)
for (int y = 0; y < m_swHeight; ++y)
{
for(int x=0;x<m_swWidth;++x)
for (int x = 0; x < m_swWidth; ++x)
{
m_rgbColorBuffer.set(x,y,clearColor);
m_depthBuffer[x+y*m_swWidth] = -1e30f;
m_rgbColorBuffer.set(x, y, clearColor);
m_depthBuffer[x + y * m_swWidth] = -1e30f;
}
}
}
const TGAImage& getFrameBuffer() const
{
return m_rgbColorBuffer;
}
virtual ~SW_And_OpenGLGuiHelper()
{
for (int i=0;i<m_swRenderObjects.size();i++)
{
TinyRenderObjectData** d = m_swRenderObjects[i];
if (d && *d)
{
delete *d;
}
}
}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
virtual ~SW_And_OpenGLGuiHelper()
{
OpenGLGuiHelper::createCollisionObjectGraphicsObject(obj,color);
for (int i = 0; i < m_swRenderObjects.size(); i++)
{
TinyRenderObjectData** d = m_swRenderObjects[i];
if (d && *d)
{
delete *d;
}
}
}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj, const btVector3& color)
{
OpenGLGuiHelper::createCollisionObjectGraphicsObject(obj, color);
int colIndex = obj->getUserIndex();
int shapeIndex = obj->getCollisionShape()->getUserIndex();
if (colIndex>=0 && shapeIndex>=0)
{
m_swInstances.insert(colIndex,shapeIndex);
}
}
virtual int registerTexture(const unsigned char* texels, int width, int height)
if (colIndex >= 0 && shapeIndex >= 0)
{
m_swInstances.insert(colIndex, shapeIndex);
}
}
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
return -1;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices,primitiveType, textureId);
if (shapeIndex>=0)
{
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
float rgbaColor[4] = {1,1,1,1};
swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
{
int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices, numvertices, indices, numIndices, primitiveType, textureId);
if (shapeIndex >= 0)
{
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer, m_depthBuffer);
float rgbaColor[4] = {1, 1, 1, 1};
swObj->registerMeshShape(vertices, numvertices, indices, numIndices, rgbaColor);
//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
}
return shapeIndex;
}
m_swRenderObjects.insert(shapeIndex, swObj);
}
return shapeIndex;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
int instanceId = OpenGLGuiHelper::registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
return instanceId ;
int instanceId = OpenGLGuiHelper::registerGraphicsInstance(shapeIndex, position, quaternion, color, scaling);
return instanceId;
}
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
OpenGLGuiHelper::createCollisionShapeGraphicsObject(collisionShape);
OpenGLGuiHelper::createCollisionShapeGraphicsObject(collisionShape);
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::syncPhysicsToGraphics(rbWorld);
OpenGLGuiHelper::syncPhysicsToGraphics(rbWorld);
}
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::render(rbWorld);
OpenGLGuiHelper::render(rbWorld);
//clear the color buffer
TGAColor clearColor;
clearColor.bgra[0] = 255;
clearColor.bgra[1] = 255;
clearColor.bgra[2] = 255;
clearColor.bgra[3] = 255;
clearBuffers(clearColor);
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
ATTRIBUTE_ALIGNED16(float projMat[16]);
@@ -163,32 +153,32 @@ public:
render->getActiveCamera()->getCameraProjectionMatrix(projMat);
render->getActiveCamera()->getCameraViewMatrix(viewMat);
btVector3 lightDirWorld(-5,200,-40);
switch (1)//app->getUpAxis())
btVector3 lightDirWorld(-5, 200, -40);
switch (1) //app->getUpAxis())
{
case 1:
lightDirWorld = btVector3(-50.f,100,30);
break;
case 2:
lightDirWorld = btVector3(-50.f,30,100);
case 1:
lightDirWorld = btVector3(-50.f, 100, 30);
break;
default:{}
case 2:
lightDirWorld = btVector3(-50.f, 30, 100);
break;
default:
{
}
};
lightDirWorld.normalize();
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
for (int i = 0; i < rbWorld->getNumCollisionObjects(); i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
int colObjIndex = colObj->getUserIndex();
int shapeIndex = colObj->getCollisionShape()->getUserIndex();
if (colObjIndex>=0 && shapeIndex>=0)
if (colObjIndex >= 0 && shapeIndex >= 0)
{
TinyRenderObjectData* renderObj = 0;
int* cptr = m_swInstances[colObjIndex];
if (cptr)
{
@@ -200,94 +190,84 @@ public:
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
for (int i = 0; i < 4; i++)
{
for (int j=0;j<4;j++)
for (int j = 0; j < 4; j++)
{
renderObj->m_projectionMatrix[i][j] = projMat[i+4*j];
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
renderObj->m_projectionMatrix[i][j] = projMat[i + 4 * j];
renderObj->m_modelMatrix[i][j] = modelMat[i + 4 * j];
renderObj->m_viewMatrix[i][j] = viewMat[i + 4 * j];
}
}
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
renderObj->m_lightAmbientCoeff = 0.6;
renderObj->m_lightDiffuseCoeff = 0.35;
renderObj->m_lightSpecularCoeff = 0.05;
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
renderObj->m_lightAmbientCoeff = 0.6;
renderObj->m_lightDiffuseCoeff = 0.35;
renderObj->m_lightSpecularCoeff = 0.05;
TinyRenderer::renderObject(*renderObj);
}
}
}
}
for(int y=0;y<m_swHeight;++y)
for (int y = 0; y < m_swHeight; ++y)
{
unsigned char* pi=m_image+(y)*m_swWidth*3;
for(int x=0;x<m_swWidth;++x)
unsigned char* pi = m_image + (y)*m_swWidth * 3;
for (int x = 0; x < m_swWidth; ++x)
{
const TGAColor& color = getFrameBuffer().get(x,y);
const TGAColor& color = getFrameBuffer().get(x, y);
pi[0] = color.bgra[2];
pi[1] = color.bgra[1];
pi[2] = color.bgra[0];
pi+=3;
pi += 3;
}
}
render->activateTexture(m_textureHandle);
render->updateTexture(m_textureHandle,m_image);
static int counter=0;
counter++;
if ((counter&7)==0)
{
char filename[1024];
sprintf(filename,"framebuf%d.tga",counter);
getFrameBuffer().write_tga_file(filename,true);
}
float color[4] = {1,1,1,1};
m_primRenderer->drawTexturedRect(0,0,m_swWidth, m_swHeight,color,0,0,1,1,true);
render->activateTexture(m_textureHandle);
render->updateTexture(m_textureHandle, m_image);
static int counter = 0;
counter++;
if ((counter & 7) == 0)
{
char filename[1024];
sprintf(filename, "framebuf%d.tga", counter);
getFrameBuffer().write_tga_file(filename, true);
}
float color[4] = {1, 1, 1, 1};
m_primRenderer->drawTexturedRect(0, 0, m_swWidth, m_swHeight, color, 0, 0, 1, 1, true);
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::autogenerateGraphicsObjects(rbWorld);
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
OpenGLGuiHelper::autogenerateGraphicsObjects(rbWorld);
}
};
int main(int argc, char* argv[])
{
SimpleOpenGL3App* app = new SimpleOpenGL3App("Standalone Example (Software Renderer, TinyRenderer)",1024,768,true);
SimpleOpenGL3App* app = new SimpleOpenGL3App("Standalone Example (Software Renderer, TinyRenderer)", 1024, 768, true);
int textureWidth = 640;
int textureHeight = 480;
SW_And_OpenGLGuiHelper gui(app,false,textureWidth,textureHeight,app->m_primRenderer);
int textureHeight = 480;
SW_And_OpenGLGuiHelper gui(app, false, textureWidth, textureHeight, app->m_primRenderer);
CommonExampleOptions options(&gui);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
example->resetCamera();
do
{
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera(app->getUpAxis());
app->m_instancingRenderer->updateCamera(app->getUpAxis());
example->stepSimulation(1. / 60.);
example->stepSimulation(1./60.);
example->renderScene();
DrawGridData dg;
dg.upAxis = app->getUpAxis();
dg.upAxis = app->getUpAxis();
app->drawGrid(dg);
app->swapBuffer();
} while (!app->m_window->requestedExit());
@@ -297,5 +277,3 @@ int main(int argc, char* argv[])
delete app;
return 0;
}

335
examples/StandaloneMain/main_tinyrenderer_single_example.cpp
View File

@@ -13,8 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
@@ -29,12 +27,12 @@ subject to the following restrictions:
#include "../OpenGLWindow/SimpleCamera.h"
static btVector4 sMyColors[4] =
{
btVector4(0.3,0.3,1,1),
btVector4(0.6,0.6,1,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
//btVector4(1,1,0,1),
{
btVector4(0.3, 0.3, 1, 1),
btVector4(0.6, 0.6, 1, 1),
btVector4(0, 1, 0, 1),
btVector4(0, 1, 1, 1),
//btVector4(1,1,0,1),
};
struct TinyRendererTexture
@@ -46,77 +44,73 @@ struct TinyRendererTexture
struct TinyRendererGUIHelper : public GUIHelperInterface
{
int m_upAxis;
btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
btHashMap<btHashInt,int> m_swInstances;
btHashMap<btHashInt,TinyRendererTexture> m_textures;
btHashMap<btHashInt, TinyRenderObjectData*> m_swRenderObjects;
btHashMap<btHashInt, int> m_swInstances;
btHashMap<btHashInt, TinyRendererTexture> m_textures;
int m_swWidth;
int m_swHeight;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
SimpleCamera m_camera;
int m_colObjUniqueIndex;
TinyRendererGUIHelper( int swWidth, int swHeight)
TinyRendererGUIHelper(int swWidth, int swHeight)
: m_upAxis(1),
m_swWidth(swWidth),
m_swHeight(swHeight),
m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB),
m_colObjUniqueIndex(0)
m_swWidth(swWidth),
m_swHeight(swHeight),
m_rgbColorBuffer(swWidth, swHeight, TGAImage::RGB),
m_colObjUniqueIndex(0)
{
m_depthBuffer.resize(swWidth*swHeight);
m_depthBuffer.resize(swWidth * swHeight);
}
void clearBuffers(TGAColor& clearColor)
{
for(int y=0;y<m_swHeight;++y)
for (int y = 0; y < m_swHeight; ++y)
{
for(int x=0;x<m_swWidth;++x)
for (int x = 0; x < m_swWidth; ++x)
{
m_rgbColorBuffer.set(x,y,clearColor);
m_depthBuffer[x+y*m_swWidth] = -1e30f;
m_rgbColorBuffer.set(x, y, clearColor);
m_depthBuffer[x + y * m_swWidth] = -1e30f;
}
}
}
const TGAImage& getFrameBuffer() const
{
return m_rgbColorBuffer;
}
virtual ~TinyRendererGUIHelper()
{
for (int i=0;i<m_swRenderObjects.size();i++)
{
TinyRenderObjectData** d = m_swRenderObjects[i];
if (d && *d)
{
delete *d;
}
}
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
virtual ~TinyRendererGUIHelper()
{
if (obj->getUserIndex()<0)
for (int i = 0; i < m_swRenderObjects.size(); i++)
{
TinyRenderObjectData** d = m_swRenderObjects[i];
if (d && *d)
{
delete *d;
}
}
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color) {}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj, const btVector3& color)
{
if (obj->getUserIndex() < 0)
{
int colIndex = m_colObjUniqueIndex++;
obj->setUserIndex(colIndex);
int shapeIndex = obj->getCollisionShape()->getUserIndex();
if (colIndex>=0 && shapeIndex>=0)
if (colIndex >= 0 && shapeIndex >= 0)
{
m_swInstances.insert(colIndex,shapeIndex);
m_swInstances.insert(colIndex, shapeIndex);
}
}
}
@@ -124,49 +118,48 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
//already has a graphics object?
if (collisionShape->getUserIndex()>=0)
return;
if (collisionShape->getUserIndex() >= 0)
return;
btAlignedObjectArray<GLInstanceVertex> gfxVertices;
btAlignedObjectArray<GLInstanceVertex> gfxVertices;
btAlignedObjectArray<int> indices;
btTransform startTrans;startTrans.setIdentity();
btAlignedObjectArray<int> indices;
btTransform startTrans;
startTrans.setIdentity();
{
btAlignedObjectArray<btVector3> vertexPositions;
btAlignedObjectArray<btVector3> vertexNormals;
CollisionShape2TriangleMesh(collisionShape,startTrans,vertexPositions,vertexNormals,indices);
gfxVertices.resize(vertexPositions.size());
for (int i=0;i<vertexPositions.size();i++)
{
for (int j=0;j<4;j++)
{
gfxVertices[i].xyzw[j] = vertexPositions[i][j];
}
for (int j=0;j<3;j++)
{
gfxVertices[i].normal[j] = vertexNormals[i][j];
}
for (int j=0;j<2;j++)
{
gfxVertices[i].uv[j] = 0.5;//we don't have UV info...
}
}
}
{
btAlignedObjectArray<btVector3> vertexPositions;
btAlignedObjectArray<btVector3> vertexNormals;
CollisionShape2TriangleMesh(collisionShape, startTrans, vertexPositions, vertexNormals, indices);
gfxVertices.resize(vertexPositions.size());
for (int i = 0; i < vertexPositions.size(); i++)
{
for (int j = 0; j < 4; j++)
{
gfxVertices[i].xyzw[j] = vertexPositions[i][j];
}
for (int j = 0; j < 3; j++)
{
gfxVertices[i].normal[j] = vertexNormals[i][j];
}
for (int j = 0; j < 2; j++)
{
gfxVertices[i].uv[j] = 0.5; //we don't have UV info...
}
}
}
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),
1,-1);
collisionShape->setUserIndex(shapeId);
}
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(),
1, -1);
collisionShape->setUserIndex(shapeId);
}
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld){}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld) {}
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
{
//clear the color buffer
TGAColor clearColor;
@@ -174,42 +167,41 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
clearColor.bgra[1] = 255;
clearColor.bgra[2] = 255;
clearColor.bgra[3] = 255;
clearBuffers(clearColor);
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
ATTRIBUTE_ALIGNED16(float projMat[16]);
m_camera.getCameraProjectionMatrix(projMat);
m_camera.getCameraViewMatrix(viewMat);
btVector3 lightDirWorld(-5,200,-40);
btVector3 lightDirWorld(-5, 200, -40);
switch (m_upAxis)
{
case 1:
lightDirWorld = btVector3(-50.f,100,30);
break;
case 2:
lightDirWorld = btVector3(-50.f,30,100);
case 1:
lightDirWorld = btVector3(-50.f, 100, 30);
break;
default:{}
case 2:
lightDirWorld = btVector3(-50.f, 30, 100);
break;
default:
{
}
};
lightDirWorld.normalize();
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
for (int i = 0; i < rbWorld->getNumCollisionObjects(); i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
int colObjIndex = colObj->getUserIndex();
int shapeIndex = colObj->getCollisionShape()->getUserIndex();
if (colObjIndex>=0 && shapeIndex>=0)
if (colObjIndex >= 0 && shapeIndex >= 0)
{
TinyRenderObjectData* renderObj = 0;
int* cptr = m_swInstances[colObjIndex];
if (cptr)
{
@@ -221,46 +213,42 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
for (int i = 0; i < 4; i++)
{
for (int j=0;j<4;j++)
for (int j = 0; j < 4; j++)
{
renderObj->m_projectionMatrix[i][j] = projMat[i+4*j];
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
renderObj->m_projectionMatrix[i][j] = projMat[i + 4 * j];
renderObj->m_modelMatrix[i][j] = modelMat[i + 4 * j];
renderObj->m_viewMatrix[i][j] = viewMat[i + 4 * j];
}
}
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
renderObj->m_lightAmbientCoeff = 0.6;
renderObj->m_lightDiffuseCoeff = 0.35;
renderObj->m_lightSpecularCoeff = 0.05;
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
renderObj->m_lightAmbientCoeff = 0.6;
renderObj->m_lightDiffuseCoeff = 0.35;
renderObj->m_lightSpecularCoeff = 0.05;
TinyRenderer::renderObject(*renderObj);
}
}
}
}
static int counter=0;
static int counter = 0;
counter++;
if ((counter&7)==0)
if ((counter & 7) == 0)
{
char filename[1024];
sprintf(filename,"framebuf%d.tga",counter);
sprintf(filename, "framebuf%d.tga", counter);
m_rgbColorBuffer.flip_vertically();
getFrameBuffer().write_tga_file(filename,true);
getFrameBuffer().write_tga_file(filename, true);
}
float color[4] = {1,1,1,1};
float color[4] = {1, 1, 1, 1};
}
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld) {}
virtual int registerTexture(const unsigned char* texels, int width, int height)
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
//do we need to make a copy?
int textureId = m_textures.size();
@@ -268,48 +256,48 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
t.m_texels = texels;
t.m_width = width;
t.m_height = height;
this->m_textures.insert(textureId,t);
this->m_textures.insert(textureId, t);
return textureId;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
{
int shapeIndex = m_swRenderObjects.size();
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer,m_depthBuffer);
float rgbaColor[4] = {1,1,1,1};
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer, m_depthBuffer);
float rgbaColor[4] = {1, 1, 1, 1};
//if (textureId>=0)
//{
// swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
//} else
{
swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
swObj->registerMeshShape(vertices, numvertices, indices, numIndices, rgbaColor);
}
//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
m_swRenderObjects.insert(shapeIndex, swObj);
return shapeIndex;
}
virtual void removeAllGraphicsInstances()
{
}
virtual void removeAllGraphicsInstances()
{
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
int colIndex = m_colObjUniqueIndex++;
if (colIndex>=0 && shapeIndex>=0)
if (colIndex >= 0 && shapeIndex >= 0)
{
TinyRenderObjectData** dPtr = m_swRenderObjects[shapeIndex];
if (dPtr && *dPtr)
{
TinyRenderObjectData* d= *dPtr;
d->m_localScaling.setValue(scaling[0],scaling[1],scaling[2]);
m_swInstances.insert(colIndex,shapeIndex);
if (dPtr && *dPtr)
{
TinyRenderObjectData* d = *dPtr;
d->m_localScaling.setValue(scaling[0], scaling[1], scaling[2]);
m_swInstances.insert(colIndex, shapeIndex);
}
}
return colIndex;
}
@@ -317,7 +305,7 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
{
return 0;
}
virtual CommonParameterInterface* getParameterInterface()
{
return 0;
@@ -327,46 +315,41 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
{
return 0;
}
virtual CommonGraphicsApp* getAppInterface()
{
return 0;
}
virtual void setUpAxis(int axis)
{
m_upAxis = axis;
m_camera.setCameraUpAxis(axis);
m_camera.update();
}
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX, float camPosY, float camPosZ)
{
m_camera.setCameraDistance(camDist);
m_camera.setCameraPitch(pitch);
m_camera.setCameraYaw(yaw);
m_camera.setCameraTargetPosition(camPosX,camPosY,camPosZ);
m_camera.setAspectRatio((float)m_swWidth/(float)m_swHeight);
m_camera.setCameraTargetPosition(camPosX, camPosY, camPosZ);
m_camera.setAspectRatio((float)m_swWidth / (float)m_swHeight);
m_camera.update();
}
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
{
if (numPixelsCopied)
*numPixelsCopied = 0;
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
for (int i = 0; i < rbWorld->getNumCollisionObjects(); i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
//btRigidBody* body = btRigidBody::upcast(colObj);
@@ -374,46 +357,44 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
btVector3 color= sMyColors[colorIndex];
createCollisionObjectGraphicsObject(colObj,color);
btVector3 color = sMyColors[colorIndex];
createCollisionObjectGraphicsObject(colObj, color);
}
}
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
virtual void drawText3D(const char* txt, float posX, float posZY, float posZ, float size)
{
}
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
virtual int addUserDebugText3D(const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
{
return -1;
}
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime )
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime)
{
return -1;
}
virtual void removeUserDebugItem( int debugItemUniqueId)
virtual void removeUserDebugItem(int debugItemUniqueId)
{
}
virtual void removeAllUserDebugItems( )
virtual void removeAllUserDebugItems()
{
}
};
int main(int argc, char* argv[])
{
TinyRendererGUIHelper noGfx(640,480);
TinyRendererGUIHelper noGfx(640, 480);
CommonExampleOptions options(&noGfx);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
example->resetCamera();
for (int i=0;i<1000;i++)
for (int i = 0; i < 1000; i++)
{
printf("Simulating step %d\n",i);
example->stepSimulation(1.f/60.f);
printf("Simulating step %d\n", i);
example->stepSimulation(1.f / 60.f);
example->renderScene();
}
example->exitPhysics();
@@ -422,5 +403,3 @@ int main(int argc, char* argv[])
return 0;
}