added Steven Baker's GPU physics code (work in progress)
This commit is contained in:
ejcoumans
553
Extras/GPUphysics/GPU_physics_demo.cxx
Normal file
553
Extras/GPUphysics/GPU_physics_demo.cxx
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@@ -0,0 +1,553 @@
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#ifndef WIN32
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#include <sys/time.h>
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#endif
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#include <assert.h>
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#include <GL/glew.h>
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//think different
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#if defined(__APPLE__) && !defined (VMDMESA)
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#include <GL/gl.h>
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#endif
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#include "fboSupport.h"
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#include "shaderSupport.h"
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enum DebugOptions
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{
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DRAW_WITHOUT_SHADERS,
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DRAW_WITHOUT_PHYSICS,
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DRAW_WITHOUT_COLLISIONS,
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DRAW_WITHOUT_FORCES,
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DRAW_ALL
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} ;
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DebugOptions debugOpt = DRAW_ALL ;
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float frand ( float max )
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{
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return (float)(rand() % 32767) * max / 32767.0f ;
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}
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static GLSL_ShaderPair *velocityGenerator ;
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static GLSL_ShaderPair *positionGenerator ;
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static GLSL_ShaderPair *collisionGenerator ;
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static GLSL_ShaderPair *cubeShader ;
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static FrameBufferObject *position ;
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static FrameBufferObject *rotation ;
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static FrameBufferObject *velocity ;
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static FrameBufferObject *rotvelocity ;
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static FrameBufferObject *force ;
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static FrameBufferObject *mass ;
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#define TEX_SIZE 128
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#define NUM_CUBES ( TEX_SIZE * TEX_SIZE )
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#define STRIPS_PER_CUBE 2
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#define VERTS_PER_STRIP 8
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#define NUM_VERTS ( NUM_CUBES * STRIPS_PER_CUBE * VERTS_PER_STRIP )
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static GLuint vbo_vx = 0 ;
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static GLuint vbo_tx = 0 ;
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static GLuint vbo_co = 0 ;
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static float vertices [ NUM_VERTS * 3 ] ;
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static float texcoords [ NUM_VERTS * 2 ] ;
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static float colours [ NUM_VERTS * 4 ] ;
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static int starts [ NUM_CUBES * STRIPS_PER_CUBE ] ;
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static int lengths [ NUM_CUBES * STRIPS_PER_CUBE ] ;
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static int win_width = 640 ;
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static int win_height = 480 ;
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void keybd ( unsigned char, int, int )
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{
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exit ( 0 ) ;
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}
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void reshape ( int wid, int ht )
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{
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win_width = wid ;
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win_height = ht ;
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}
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void initGLcontext ( int argc, char **argv, void (*display)(void) )
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{
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glutInit ( &argc, argv ) ;
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glutInitDisplayMode ( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE ) ;
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glutInitWindowSize ( win_width, win_height ) ;
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glutCreateWindow ( "Shader Math Demo" ) ;
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glutDisplayFunc ( display ) ;
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glutKeyboardFunc ( keybd ) ;
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glutReshapeFunc ( reshape ) ;
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glewInit () ;
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}
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void initMotionTextures ()
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{
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if ( debugOpt == DRAW_WITHOUT_SHADERS ) return ;
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position = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
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rotation = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
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if ( debugOpt == DRAW_WITHOUT_PHYSICS )
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{
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velocity = NULL ;
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rotvelocity = NULL ;
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force = NULL ;
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mass = NULL ;
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}
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else
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{
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velocity = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
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rotvelocity = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
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if ( debugOpt == DRAW_WITHOUT_FORCES )
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{
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force = NULL ;
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mass = NULL ;
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}
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else
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{
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force = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
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mass = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 1, FBO_FLOAT ) ;
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}
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}
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float *positionData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
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float *rotationData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
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float *velocityData ;
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float *rotvelocityData ;
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float *forceData ;
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float *massData ;
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if ( debugOpt == DRAW_WITHOUT_PHYSICS )
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{
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velocityData = NULL ;
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rotvelocityData = NULL ;
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forceData = NULL ;
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massData = NULL ;
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}
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else
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{
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velocityData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
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rotvelocityData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
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if ( debugOpt == DRAW_WITHOUT_FORCES )
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{
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forceData = NULL ;
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massData = NULL ;
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}
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else
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{
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forceData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
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massData = new float [ TEX_SIZE * TEX_SIZE ] ;
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}
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}
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/* Give the objects some initial position, rotation, mass, force, etc */
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for ( int i = 0 ; i < TEX_SIZE ; i++ )
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for ( int j = 0 ; j < TEX_SIZE ; j++ )
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{
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/*
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Start the cubes on a nice, regular 5m grid, 10m above the ground
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centered around the origin
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*/
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positionData [ (i*TEX_SIZE + j) * 3 + 0 ] = 5.0f * (float) (TEX_SIZE/2 - i) ;
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positionData [ (i*TEX_SIZE + j) * 3 + 1 ] = 10.0f ;
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positionData [ (i*TEX_SIZE + j) * 3 + 2 ] = 5.0f * (float) (TEX_SIZE/2 - j) ;
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/* Zero their rotations */
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rotationData [ (i*TEX_SIZE + j) * 3 + 0 ] = 0.0f ;
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rotationData [ (i*TEX_SIZE + j) * 3 + 1 ] = 0.0f ;
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rotationData [ (i*TEX_SIZE + j) * 3 + 2 ] = 0.0f ;
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if ( debugOpt != DRAW_WITHOUT_PHYSICS )
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{
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/* Random (but predominantly upwards) velocities. */
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velocityData [ (i*TEX_SIZE + j) * 3 + 0 ] = frand ( 10.0f ) ;
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velocityData [ (i*TEX_SIZE + j) * 3 + 1 ] = frand ( 100.0f ) ;
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velocityData [ (i*TEX_SIZE + j) * 3 + 2 ] = frand ( 10.0f ) ;
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/* Random rotational velocities */
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rotvelocityData [ (i*TEX_SIZE + j) * 3 + 0 ] = frand ( 3.0f ) ;
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rotvelocityData [ (i*TEX_SIZE + j) * 3 + 1 ] = frand ( 3.0f ) ;
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rotvelocityData [ (i*TEX_SIZE + j) * 3 + 2 ] = frand ( 3.0f ) ;
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if ( debugOpt != DRAW_WITHOUT_FORCES )
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{
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/* Zero forces (just gravity) */
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forceData [ (i*TEX_SIZE + j) * 3 + 0 ] = 0.0f ;
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forceData [ (i*TEX_SIZE + j) * 3 + 1 ] = 0.0f ;
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forceData [ (i*TEX_SIZE + j) * 3 + 2 ] = 0.0f ;
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/* One kg in weight each */
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massData [ i*TEX_SIZE + j ] = 1.0f ;
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}
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}
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}
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/* Initialise the textures */
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position -> fillTexture ( positionData ) ;
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rotation -> fillTexture ( rotationData ) ;
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if ( debugOpt != DRAW_WITHOUT_PHYSICS )
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{
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velocity -> fillTexture ( velocityData ) ;
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rotvelocity -> fillTexture ( rotvelocityData ) ;
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if ( debugOpt != DRAW_WITHOUT_FORCES )
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{
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force -> fillTexture ( forceData ) ;
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mass -> fillTexture ( massData ) ;
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}
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}
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}
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void initPhysicsShaders ()
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{
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if ( debugOpt == DRAW_WITHOUT_SHADERS ||
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debugOpt == DRAW_WITHOUT_PHYSICS )
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return ;
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if ( debugOpt == DRAW_WITHOUT_FORCES )
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{
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velocityGenerator = NULL ;
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}
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else
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{
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/*
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The velocity generator shader calculates:
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velocity = old_velocity + delta_T * ( F / m ) ;
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*/
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velocityGenerator = new GLSL_ShaderPair (
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"VelocityGenerator",
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NULL, NULL,
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"uniform float delta_T ;"
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"uniform vec3 g ;"
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"uniform sampler2D old_velocity ;"
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"uniform sampler2D force ;"
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"uniform sampler2D mass ;"
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"void main() {"
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" gl_FragColor = vec4 ("
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" texture2D ( old_velocity, gl_TexCoord[0].st ).xyz +"
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" delta_T * ( g +"
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" texture2D ( force , gl_TexCoord[0].st ).xyz /"
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" texture2D ( mass , gl_TexCoord[0].st ).x),"
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" 1.0 ) ; }",
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"VelocityGenerator Frag Shader" ) ;
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assert ( velocityGenerator -> compiledOK () ) ;
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}
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/*
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The position generater shader calculates:
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position = old_position + delta_T * velocity ;
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It's also used to update the rotational velocity.
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*/
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positionGenerator = new GLSL_ShaderPair (
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"PositionGenerator",
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NULL, NULL,
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"uniform float delta_T ;"
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"uniform sampler2D old_position ;"
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"uniform sampler2D velocity ;"
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"void main() {"
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" gl_FragColor = vec4 ("
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" texture2D ( old_position, gl_TexCoord[0].st ).xyz +"
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" texture2D ( velocity , gl_TexCoord[0].st ).xyz *"
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" delta_T,"
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" 1.0 ) ; }",
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"PositionGenerator Frag Shader" ) ;
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assert ( positionGenerator -> compiledOK () ) ;
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if ( debugOpt == DRAW_WITHOUT_COLLISIONS )
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{
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collisionGenerator = NULL ;
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}
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else
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{
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collisionGenerator = new GLSL_ShaderPair (
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"CollisionGenerator",
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NULL, NULL,
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"uniform sampler2D position ;"
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"uniform sampler2D old_velocity ;"
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"void main() {"
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" vec3 pos = texture2D ( position , gl_TexCoord[0].st ).xyz ;"
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" vec3 vel = texture2D ( old_velocity, gl_TexCoord[0].st ).xyz ;"
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" if ( pos [ 1 ] < 0.0 ) vel [ 1 ] *= -0.90 ;"
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" gl_FragColor = vec4 ( vel, 1.0 ) ; }",
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"CollisionGenerator Frag Shader" ) ;
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assert ( collisionGenerator -> compiledOK () ) ;
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}
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}
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void initCubeVBO ()
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{
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float *p = vertices ;
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float *t = texcoords ;
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float *c = colours ;
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for ( int k = 0 ; k < NUM_CUBES * STRIPS_PER_CUBE ; k++ )
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{
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starts [ k ] = k * VERTS_PER_STRIP ;
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lengths [ k ] = VERTS_PER_STRIP ;
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}
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for ( int i = 0 ; i < TEX_SIZE ; i++ )
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for ( int j = 0 ; j < TEX_SIZE ; j++ )
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{
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int n = i * TEX_SIZE + j ;
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/*
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I use the colour data to set which cube is which in
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the physics textures.
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*/
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for ( int k = 0 ; k < STRIPS_PER_CUBE * VERTS_PER_STRIP ; k++ )
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{
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*t++ = ((float)i+0.5f)/(float)TEX_SIZE ;
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*t++ = ((float)j+0.5f)/(float)TEX_SIZE ;
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*c++ = frand ( 1.0f ) ;
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*c++ = frand ( 1.0f ) ;
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*c++ = frand ( 1.0f ) ;
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*c++ = 1.0f ;
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}
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float dx, dy, dz ;
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if ( debugOpt == DRAW_WITHOUT_SHADERS )
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{
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dx = 5.0f * (float) (TEX_SIZE/2 - i) ;
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dy = 10.0f ;
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dz = 5.0f * (float) (TEX_SIZE/2 - j) ;
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}
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else
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{
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dx = 0.0f ;
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dy = 0.0f ;
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dz = 0.0f ;
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}
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*p++ = -1 + dx ; *p++ = -1 + dy ; *p++ = -1 + dz ;
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*p++ = +1 + dx ; *p++ = -1 + dy ; *p++ = -1 + dz ;
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*p++ = -1 + dx ; *p++ = +1 + dy ; *p++ = -1 + dz ;
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*p++ = +1 + dx ; *p++ = +1 + dy ; *p++ = -1 + dz ;
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*p++ = -1 + dx ; *p++ = +1 + dy ; *p++ = +1 + dz ;
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*p++ = +1 + dx ; *p++ = +1 + dy ; *p++ = +1 + dz ;
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*p++ = -1 + dx ; *p++ = -1 + dy ; *p++ = +1 + dz ;
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*p++ = +1 + dx ; *p++ = -1 + dy ; *p++ = +1 + dz ;
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*p++ = -1 + dx ; *p++ = +1 + dy ; *p++ = -1 + dz ;
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*p++ = -1 + dx ; *p++ = +1 + dy ; *p++ = +1 + dz ;
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*p++ = -1 + dx ; *p++ = -1 + dy ; *p++ = -1 + dz ;
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*p++ = -1 + dx ; *p++ = -1 + dy ; *p++ = +1 + dz ;
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*p++ = +1 + dx ; *p++ = -1 + dy ; *p++ = -1 + dz ;
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*p++ = +1 + dx ; *p++ = -1 + dy ; *p++ = +1 + dz ;
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*p++ = +1 + dx ; *p++ = +1 + dy ; *p++ = -1 + dz ;
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*p++ = +1 + dx ; *p++ = +1 + dy ; *p++ = +1 + dz ;
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}
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glGenBuffersARB ( 1, & vbo_vx ) ;
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glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_vx ) ;
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glBufferDataARB ( GL_ARRAY_BUFFER_ARB, NUM_VERTS * 3 * sizeof(float),
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vertices, GL_STATIC_DRAW_ARB ) ;
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glGenBuffersARB ( 1, & vbo_tx ) ;
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glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_tx ) ;
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glBufferDataARB ( GL_ARRAY_BUFFER_ARB, NUM_VERTS * 2 * sizeof(float),
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texcoords, GL_STATIC_DRAW_ARB ) ;
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glGenBuffersARB ( 1, & vbo_co ) ;
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glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_co ) ;
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glBufferDataARB ( GL_ARRAY_BUFFER_ARB, NUM_VERTS * 4 * sizeof(float),
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colours, GL_STATIC_DRAW_ARB ) ;
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glBindBufferARB ( GL_ARRAY_BUFFER_ARB, 0 ) ;
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if ( debugOpt == DRAW_WITHOUT_SHADERS )
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cubeShader = NULL ;
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else
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{
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cubeShader = new GLSL_ShaderPair ( "CubeShader", "cubeShader.vert",
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"cubeShader.frag" ) ;
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assert ( cubeShader -> compiledOK () ) ;
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}
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}
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void drawCubeVBO ()
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{
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glPushClientAttrib ( GL_CLIENT_VERTEX_ARRAY_BIT ) ;
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glEnableClientState ( GL_TEXTURE_COORD_ARRAY ) ;
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glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_tx ) ;
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glTexCoordPointer ( 2, GL_FLOAT, 0, vbo_tx ? NULL : texcoords ) ;
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glEnableClientState ( GL_COLOR_ARRAY ) ;
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glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_co ) ;
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glColorPointer ( 4, GL_FLOAT, 0, vbo_co ? NULL : colours ) ;
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glEnableClientState ( GL_VERTEX_ARRAY ) ;
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glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_vx ) ;
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glVertexPointer ( 3, GL_FLOAT, 0, vbo_vx ? NULL : vertices ) ;
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glMultiDrawArraysEXT ( GL_TRIANGLE_STRIP, (GLint*)starts, (GLint*)lengths,
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NUM_CUBES * STRIPS_PER_CUBE ) ;
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glBindBufferARB ( GL_ARRAY_BUFFER_ARB, 0 ) ;
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glPopClientAttrib () ;
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}
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void drawCubes ()
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{
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glMatrixMode ( GL_PROJECTION ) ;
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glLoadIdentity () ;
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glFrustum ( -1.0f, 1.0f,
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-1.0f / ((float)win_width/(float)win_height),
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1.0f / ((float)win_width/(float)win_height),
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1.0f, 1000000.0f) ;
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glMatrixMode ( GL_MODELVIEW ) ;
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glLoadIdentity () ;
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glTranslatef ( 10.0, -100.0, -500.0 ) ;
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glRotatef ( 20.0, 1.0, 0.0, 0.0 ) ;
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glEnable ( GL_DEPTH_TEST ) ;
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glEnable ( GL_CULL_FACE ) ;
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glCullFace ( GL_FRONT ) ;
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glClearColor ( 0.7f, 0.7f, 0.7f, 1.0f ) ;
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glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT ) ;
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drawCubeVBO () ;
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}
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void display ( void )
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{
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if ( debugOpt != DRAW_WITHOUT_SHADERS &&
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debugOpt != DRAW_WITHOUT_PHYSICS )
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||||
{
|
||||
/* Do some simple physics calculations in four stages */
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||||
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||||
if ( debugOpt != DRAW_WITHOUT_FORCES )
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||||
{
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||||
velocityGenerator -> use () ;
|
||||
velocityGenerator -> applyTexture ( "old_velocity", velocity, 0 ) ;
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||||
velocityGenerator -> applyTexture ( "force" , force , 1 ) ;
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||||
velocityGenerator -> applyTexture ( "mass" , mass , 2 ) ;
|
||||
velocityGenerator -> setUniform1f ( "delta_T" , 0.016f ) ;
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||||
velocityGenerator -> setUniform3f ( "g", 0.0f, -9.8f, 0.0f ) ;
|
||||
velocity -> paint () ;
|
||||
}
|
||||
|
||||
positionGenerator -> use () ;
|
||||
positionGenerator -> applyTexture ( "old_position", position, 0 ) ;
|
||||
positionGenerator -> applyTexture ( "velocity" , velocity, 1 ) ;
|
||||
positionGenerator -> setUniform1f ( "delta_T", 0.016f ) ;
|
||||
position -> paint () ;
|
||||
|
||||
if ( debugOpt != DRAW_WITHOUT_COLLISIONS )
|
||||
{
|
||||
collisionGenerator -> use () ;
|
||||
collisionGenerator -> applyTexture ( "position" , position, 0 ) ;
|
||||
collisionGenerator -> applyTexture ( "old_velocity", velocity, 1 ) ;
|
||||
velocity -> paint () ;
|
||||
}
|
||||
|
||||
positionGenerator -> use () ;
|
||||
positionGenerator -> applyTexture ( "old_position", rotation , 0 ) ;
|
||||
positionGenerator -> applyTexture ( "velocity" , rotvelocity, 1 ) ;
|
||||
positionGenerator -> setUniform1f ( "delta_T", 0.016f ) ;
|
||||
rotation -> paint () ;
|
||||
|
||||
/* Now render the scene using the results */
|
||||
|
||||
restoreFrameBuffer () ;
|
||||
}
|
||||
|
||||
glViewport ( 0, 0, win_width, win_height ) ;
|
||||
|
||||
if ( debugOpt != DRAW_WITHOUT_SHADERS )
|
||||
{
|
||||
cubeShader -> use () ; /* Math = Cube shader */
|
||||
cubeShader -> applyTexture ( "position", position, 0 ) ;
|
||||
cubeShader -> applyTexture ( "rotation", rotation, 1 ) ;
|
||||
}
|
||||
|
||||
drawCubes () ;
|
||||
|
||||
/* All done! */
|
||||
|
||||
glutSwapBuffers () ;
|
||||
glutPostRedisplay () ;
|
||||
}
|
||||
|
||||
|
||||
void help ()
|
||||
{
|
||||
fprintf ( stderr, "GPUphysics: Usage -\n\n" ) ;
|
||||
fprintf ( stderr, " GPUphysics_demo [-c][-p][-v][-a]\n\n" ) ;
|
||||
fprintf ( stderr, "Where:\n" ) ;
|
||||
fprintf ( stderr, " -s -- Draw with shaders at all\n" ) ;
|
||||
fprintf ( stderr, " -p -- Draw with shaders but no physics\n" ) ;
|
||||
fprintf ( stderr, " -c -- Draw with physics but no ground collisions\n" ) ;
|
||||
fprintf ( stderr, " -f -- Draw with physics but no forces\n" ) ;
|
||||
fprintf ( stderr, " -a -- Draw with all features enabled [default]\n" ) ;
|
||||
fprintf ( stderr, "\n" ) ;
|
||||
}
|
||||
|
||||
|
||||
int main ( int argc, char **argv )
|
||||
{
|
||||
debugOpt = DRAW_ALL ;
|
||||
|
||||
for ( int i = 1 ; i < argc ; i++ )
|
||||
{
|
||||
if ( argv [ i ][ 0 ] == '-' || argv [ i ][ 0 ] == '+' )
|
||||
for ( int j = 1 ; argv[i][j] != '\0' ; j++ )
|
||||
switch ( argv [ i ][ j ] )
|
||||
{
|
||||
case 's' : debugOpt = DRAW_WITHOUT_SHADERS ; break ;
|
||||
case 'p' : debugOpt = DRAW_WITHOUT_PHYSICS ; break ;
|
||||
case 'c' : debugOpt = DRAW_WITHOUT_COLLISIONS ; break ;
|
||||
case 'f' : debugOpt = DRAW_WITHOUT_FORCES ; break ;
|
||||
case 'a' : debugOpt = DRAW_ALL ; break ;
|
||||
|
||||
default : help () ; exit ( 0 ) ;
|
||||
}
|
||||
else
|
||||
{
|
||||
help () ;
|
||||
exit ( 0 ) ;
|
||||
}
|
||||
}
|
||||
|
||||
initGLcontext ( argc, argv, display ) ;
|
||||
|
||||
initMotionTextures () ;
|
||||
initPhysicsShaders () ;
|
||||
initCubeVBO () ;
|
||||
|
||||
glutMainLoop () ;
|
||||
return 0 ;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user