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Merge remote-tracking branch 'upstream/master

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This commit is contained in:
Benjamin Ellenberger
2016-07-11 23:31:49 +02:00
parent 5f03b039a5 e2e750efb2
commit b73bcead4b
105 changed files with 29282 additions and 349 deletions
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21
Extras/Serialize/BulletFileLoader/bDNA.cpp
View File

@@ -390,16 +390,8 @@ void bDNA::init(char *data, int len, bool swap)
}
{
nr= (long)cp;
//long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
cp = btAlignPointer(cp,4);
/*
TYPE (4 bytes)
@@ -426,16 +418,7 @@ void bDNA::init(char *data, int len, bool swap)
cp++;
}
{
nr= (long)cp;
// long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
cp = btAlignPointer(cp,4);
/*
TLEN (4 bytes)

21
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@@ -460,15 +460,7 @@ void bFile::swapDNA(char* ptr)
}
{
nr= (long)cp;
//long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
cp = btAlignPointer(cp,4);
/*
@@ -497,16 +489,7 @@ void bFile::swapDNA(char* ptr)
cp++;
}
{
nr= (long)cp;
// long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
cp = btAlignPointer(cp,4);
/*
TLEN (4 bytes)

5
build3/premake4.lua
View File

@@ -29,6 +29,11 @@
description = "Try to link and use the system OpenGL headers version instead of dynamically loading OpenGL (dlopen is default)"
}
newoption
{
trigger = "enable_openvr",
description = "Enable experimental Virtual Reality examples, using OpenVR for HTC Vive and Oculus Rift"
}
newoption
{
trigger = "enable_system_x11",

2
build_visual_studio.bat
View File

@@ -2,7 +2,7 @@
rem premake4 --with-pe vs2010
rem premake4 --bullet2demos vs2010
cd build3
premake4 --targetdir="../bin" vs2010
premake4 --enable_openvr --targetdir="../bin" vs2010
rem premake4 --targetdir="../server2bin" vs2010
rem cd vs2010
rem rename 0_Bullet3Solution.sln 0_server.sln

2
bullet.pc.cmake
View File

@@ -3,4 +3,4 @@ Description: Bullet Continuous Collision Detection and Physics Library
Requires:
Version: @BULLET_VERSION@
Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath
Cflags: @BULLET_DOUBLE_DEF@ -I@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include
Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include

2
data/cube.mtl
View File

@@ -12,3 +12,5 @@ newmtl cube
map_Ka cube.tga
map_Kd cube.png

32
data/cube.urdf Normal file
View File

@@ -0,0 +1,32 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
</collision>
</link>
</robot>

22
data/plane.mtl
View File

@@ -1,11 +1,15 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl Material
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.5880 0.5880 0.5880
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka cube.tga
map_Kd checker_grid.jpg

18
data/plane.obj
View File

@@ -2,11 +2,17 @@
# www.blender.org
mtllib plane.mtl
o Plane
v 1.000000 0.000000 -1.000000
v 1.000000 0.000000 1.000000
v -1.000000 0.000000 1.000000
v -1.000000 0.000000 -1.000000
v 5.000000 -5.000000 0.000000
v 5.000000 5.000000 0.000000
v -5.000000 5.000000 0.000000
v -5.000000 -5.000000 0.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 0.000000 0.000000
usemtl Material
s off
f 1 2 3
f 1 3 4
f 1/1 2/2 3/3
f 1/1 3/3 4/4

2
data/r2d2.urdf
View File

@@ -79,7 +79,7 @@
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>

53
data/sphere2.urdf
View File

@@ -11,6 +11,9 @@
<geometry>
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -19,55 +22,5 @@
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="fixed">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 1.0"/>
</joint>
<link name="childB">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
<joint name="joint_childA_childB" type="continuous">
<parent link="childA"/>
<child link="childB"/>
<axis xyz="0 1 0"/>
<origin xyz="0 0 0.5"/>
</joint>
</robot>

12
examples/BasicDemo/BasicExample.cpp
View File

@@ -39,7 +39,7 @@ struct BasicExample : public CommonRigidBodyBase
virtual void renderScene();
void resetCamera()
{
float dist = 41;
float dist = 4;
float pitch = 52;
float yaw = 35;
float targetPos[3]={0,0,0};
@@ -81,7 +81,7 @@ void BasicExample::initPhysics()
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
btBoxShape* colShape = createBoxShape(btVector3(1,1,1));
btBoxShape* colShape = createBoxShape(btVector3(.1,.1,.1));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
@@ -108,9 +108,9 @@ void BasicExample::initPhysics()
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(btVector3(
btScalar(2.0*i),
btScalar(20+2.0*k),
btScalar(2.0*j)));
btScalar(0.2*i),
btScalar(2+.2*k),
btScalar(0.2*j)));
createRigidBody(mass,startTransform,colShape);
@@ -121,7 +121,9 @@ void BasicExample::initPhysics()
}
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

1
examples/BasicDemo/CMakeLists.txt
View File

@@ -53,6 +53,7 @@ SET(AppBasicExampleGui_SRCS
../ExampleBrowser/OpenGLGuiHelper.cpp
../ExampleBrowser/GL_ShapeDrawer.cpp
../ExampleBrowser/CollisionShape2TriangleMesh.cpp
../Utils/b3Clock.cpp
)
#this define maps StandaloneExampleCreateFunc to the right 'CreateFunc'

72
examples/BasicDemo/premake4.lua
View File

@@ -49,6 +49,8 @@ files {
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../Utils/b3Clock.cpp",
"../Utils/b3Clock.h",
}
if os.is("Linux") then initX11() end
@@ -59,6 +61,7 @@ end
project "App_BasicExampleGuiWithSoftwareRenderer"
if _OPTIONS["ios"] then
@@ -92,7 +95,9 @@ files {
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp"
"../Utils/b3ResourcePath.cpp",
"../Utils/b3Clock.cpp",
"../Utils/b3Clock.h",
}
if os.is("Linux") then initX11() end
@@ -131,5 +136,68 @@ files {
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp"
"../Utils/b3ResourcePath.cpp",
"../Utils/b3Clock.cpp",
"../Utils/b3Clock.h",
}
if _OPTIONS["enable_openvr"] then
project "App_BasicExampleVR"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
includedirs {"../../src",
"../ThirdPartyLibs/openvr/headers",
"../ThirdPartyLibs/openvr/samples/shared"}
links {
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common", "openvr_api"
}
initOpenGL()
initGlew()
language "C++"
files {
"BasicExample.cpp",
"*.h",
"../StandaloneMain/hellovr_opengl_main.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
"../Utils/b3Clock.cpp",
"../Utils/b3Clock.h",
}
if os.is("Windows") then
libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
end
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
end

2
examples/CommonInterfaces/CommonCameraInterface.h
View File

@@ -7,6 +7,8 @@ struct CommonCameraInterface
virtual void getCameraViewMatrix(float m[16]) const = 0;
virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
virtual void disableVRCamera()=0;
virtual bool isVRCamera() const =0;
virtual void getCameraTargetPosition(float pos[3]) const = 0;
virtual void getCameraPosition(float pos[3]) const = 0;

10
examples/CommonInterfaces/CommonGUIHelperInterface.h
View File

@@ -29,9 +29,10 @@ struct GUIHelperInterface
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)=0;
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) =0;
virtual int registerTexture(const unsigned char* texels, int width, int height)=0;
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) = 0;
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
virtual void removeAllGraphicsInstances()=0;
virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
@@ -73,9 +74,10 @@ struct DummyGUIHelper : public GUIHelperInterface
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }
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){return -1;}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
virtual void removeAllGraphicsInstances(){}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{

4
examples/CommonInterfaces/CommonRenderInterface.h
View File

@@ -52,6 +52,10 @@ struct CommonRenderInterface
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex)=0;
virtual int getTotalNumInstances() const = 0;
virtual void writeTransforms()=0;
virtual void enableBlend(bool blend)=0;

5
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -208,7 +208,10 @@ SET(BulletExampleBrowser_SRCS
../RenderingExamples/TimeSeriesCanvas.h
../RenderingExamples/TimeSeriesFontData.cpp
../RenderingExamples/TimeSeriesFontData.h
../RoboticsLearning/b3RobotSimAPI.cpp
../RoboticsLearning/b3RobotSimAPI.h
../RoboticsLearning/R2D2GraspExample.cpp
../RoboticsLearning/R2D2GraspExample.h
../RenderingExamples/CoordinateSystemDemo.cpp
../RenderingExamples/CoordinateSystemDemo.h
../RenderingExamples/RaytracerSetup.cpp

9
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -45,6 +45,8 @@
#include "../Tutorial/Dof6ConstraintTutorial.h"
#include "../MultiThreading/MultiThreadingExample.h"
#include "../InverseDynamics/InverseDynamicsExample.h"
#include "../RoboticsLearning/R2D2GraspExample.h"
#ifdef ENABLE_LUA
#include "../LuaDemo/LuaPhysicsSetup.h"
#endif
@@ -93,11 +95,11 @@ struct ExampleEntry
static ExampleEntry gDefaultExamples[]=
{
ExampleEntry(0,"API"),
ExampleEntry(1,"Basic Example","Create some rigid bodies using box collision shapes. This is a good example to familiarize with the basic initialization of Bullet. The Basic Example can also be compiled without graphical user interface, as a console application. Press W for wireframe, A to show AABBs, I to suspend/restart physics simulation. Press D to toggle auto-deactivation of the simulation. ", BasicExampleCreateFunc),
ExampleEntry(1,"Rolling Friction", "Damping is often not good enough to keep rounded objects from rolling down a sloped surface. Instead, you can set the rolling friction of a rigid body. Generally it is best to leave the rolling friction to zero, to avoid artifacts.", RollingFrictionCreateFunc),
ExampleEntry(1,"Constraints","Show the use of the various constraints in Bullet. Press the L key to visualize the constraint limits. Press the C key to visualize the constraint frames.",
@@ -117,8 +119,6 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",RigidBodySoftContactCreateFunc),
ExampleEntry(0,"MultiBody"),
ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
@@ -244,10 +244,11 @@ static ExampleEntry gDefaultExamples[]=
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
ExampleEntry(1,"R2D2 Grasp","Load the R2D2 robot from URDF file and control it to grasp objects", R2D2GraspExampleCreateFunc, eROBOTIC_LEARN_GRASP),
ExampleEntry(1,"URDF Compliant Contact","Experiment/improve compliant rigid contact using parameters from URDF file (contact_cfm, contact_erp, lateral_friction, rolling_friction)", R2D2GraspExampleCreateFunc,eROBOTIC_LEARN_COMPLIANT_CONTACT),

4
examples/ExampleBrowser/InProcessExampleBrowser.cpp
View File

@@ -226,7 +226,7 @@ enum TestExampleBrowserCommunicationEnums
void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
{
printf("thread started\n");
printf("ExampleBrowserThreadFunc started\n");
ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
@@ -369,7 +369,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
}
};
printf("stopping threads\n");
printf("btShutDownExampleBrowser stopping threads\n");
delete data->m_threadSupport;
delete data->m_sharedMem;
delete data;

1
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -399,7 +399,6 @@ static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& ar
FILE* f = fopen(startFileName,"r");
if (f)
{
int result;
char oneline[1024];
char* argv[] = {0,&oneline[0]};

17
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -199,9 +199,16 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
}
}
int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
int OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height)
{
int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height);
return textureId;
}
int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
return shapeId;
}
@@ -210,6 +217,10 @@ int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* posit
return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
}
void OpenGLGuiHelper::removeAllGraphicsInstances()
{
m_data->m_glApp->m_renderer->removeAllInstances();
}
void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
@@ -247,7 +258,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1);
collisionShape->setUserIndex(shapeId);
}

7
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -20,11 +20,10 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices);
virtual int registerTexture(const unsigned char* texels, int width, int height);
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId);
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
virtual void removeAllGraphicsInstances();
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);

1
examples/ExampleBrowser/premake4.lua
View File

@@ -88,6 +88,7 @@ project "App_BulletExampleBrowser"
"../Tutorial/*",
"../ExtendedTutorials/*",
"../Collision/*",
"../RoboticsLearning/*",
"../Collision/Internal/*",
"../Benchmarks/*",
"../CommonInterfaces/*",

3
examples/ExtendedTutorials/RigidBodyFromObj.cpp
View File

@@ -134,7 +134,8 @@ void RigidBodyFromObjExample::initPhysics()
int shapeId = m_guiHelper->registerGraphicsShape(&glmesh->m_vertices->at(0).xyzw[0],
glmesh->m_numvertices,
&glmesh->m_indices->at(0),
glmesh->m_numIndices);
glmesh->m_numIndices,
B3_GL_TRIANGLES, -1);
shape->setUserIndex(shapeId);
int renderInstance = m_guiHelper->registerGraphicsInstance(shapeId,pos,orn,color,scaling);
body->setUserIndex(renderInstance);

2
examples/ExtendedTutorials/premake4.lua
View File

@@ -92,6 +92,8 @@ files {
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../ThirdPartyLibs/stb_image/stb_image.cpp",
"../Utils/b3Clock.cpp",
"../Utils/b3Clock.h",
}
if os.is("Linux") then initX11() end

23
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -108,7 +108,8 @@ struct BulletErrorLogger : public ErrorLogger
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
{
if (strlen(fileName)==0)
return false;
//int argc=0;
char relativeFileName[1024];
@@ -969,16 +970,17 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
// graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
//graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
//CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
if (renderer)
if (1)
{
int textureIndex = -1;
if (textures.size())
{
textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
}
graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
}
}
@@ -1003,6 +1005,17 @@ bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
return false;
}
bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const
{
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
contactInfo = link->m_contactInfo;
return true;
}
return false;
}
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj) const
{

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@@ -38,6 +38,8 @@ public:
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
virtual std::string getJointName(int linkIndex) const;
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;

20
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -65,7 +65,8 @@ btAlignedObjectArray<std::string> gFileNameArray;
struct ImportUrdfInternalData
{
ImportUrdfInternalData()
:m_numMotors(0)
:m_numMotors(0),
m_mb(0)
{
for (int i=0;i<MAX_NUM_MOTORS;i++)
{
@@ -74,10 +75,13 @@ struct ImportUrdfInternalData
}
}
btScalar m_motorTargetVelocities[MAX_NUM_MOTORS];
btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS];
btGeneric6DofSpring2Constraint* m_generic6DofJointMotors [MAX_NUM_MOTORS];
int m_numMotors;
btMultiBody* m_mb;
btRigidBody* m_rb;
};
@@ -128,7 +132,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
if (gFileNameArray.size()==0)
{
gFileNameArray.push_back("sphere2.urdf");
gFileNameArray.push_back("r2d2.urdf");
}
@@ -196,7 +200,7 @@ void ImportUrdfSetup::initPhysics()
btVector3 gravity(0,0,0);
gravity[upAxis]=-9.8;
//gravity[upAxis]=-9.8;
m_dynamicsWorld->setGravity(gravity);
@@ -223,7 +227,6 @@ void ImportUrdfSetup::initPhysics()
{
btMultiBody* mb = 0;
//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
@@ -232,7 +235,9 @@ void ImportUrdfSetup::initPhysics()
MyMultiBodyCreator creation(m_guiHelper);
ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
mb = creation.getBulletMultiBody();
m_data->m_rb = creation.getRigidBody();
m_data->m_mb = creation.getBulletMultiBody();
btMultiBody* mb = m_data->m_mb;
if (m_useMultiBody && mb )
{
@@ -337,7 +342,7 @@ void ImportUrdfSetup::initPhysics()
bool createGround=true;
bool createGround=false;
if (createGround)
{
btVector3 groundHalfExtents(20,20,20);
@@ -357,8 +362,7 @@ void ImportUrdfSetup::initPhysics()
m_guiHelper->createRigidBodyGraphicsObject(body,color);
}
///this extra stepSimulation call makes sure that all the btMultibody transforms are properly propagates.
m_dynamicsWorld->stepSimulation(1. / 240., 0);// 1., 10, 1. / 240.);
}
#ifdef TEST_MULTIBODY_SERIALIZATION

7
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
View File

@@ -13,6 +13,7 @@
MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
:m_bulletMultiBody(0),
m_rigidBody(0),
m_guiHelper(guiHelper)
{
}
@@ -31,10 +32,10 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
{
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
rbci.m_startWorldTransform = initialWorldTrans;
btRigidBody* body = new btRigidBody(rbci);
body->forceActivationState(DISABLE_DEACTIVATION);
m_rigidBody = new btRigidBody(rbci);
m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
return body;
return m_rigidBody;
}
class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider(int /*urdfLinkIndex*/, int mbLinkIndex, btMultiBody* multiBody)

5
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
View File

@@ -24,6 +24,7 @@ class MyMultiBodyCreator : public MultiBodyCreationInterface
protected:
btMultiBody* m_bulletMultiBody;
btRigidBody* m_rigidBody;
struct GUIHelperInterface* m_guiHelper;
@@ -62,6 +63,10 @@ public:
virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
btMultiBody* getBulletMultiBody();
btRigidBody* getRigidBody()
{
return m_rigidBody;
}
int getNum6DofConstraints() const
{

13
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -392,9 +392,18 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col);
btScalar friction = 0.5f;
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
if ((contactInfo.m_flags & URDF_CONTACT_HAS_LATERAL_FRICTION)!=0)
{
col->setFriction(contactInfo.m_lateralFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_ROLLING_FRICTION)!=0)
{
col->setRollingFriction(contactInfo.m_rollingFriction);
}
col->setFriction(friction);
if (mbLinkIndex>=0) //???? double-check +/- 1
{

4
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
View File

@@ -6,6 +6,7 @@
#include "LinearMath/btTransform.h"
#include "URDFJointTypes.h"
class URDFImporterInterface
{
@@ -29,6 +30,9 @@ public:
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
///this API will likely change, don't override it!
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const { return false;}
virtual std::string getJointName(int linkIndex) const = 0;
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.

27
examples/Importers/ImportURDFDemo/URDFJointTypes.h
View File

@@ -11,6 +11,33 @@ enum UrdfJointTypes
URDFPlanarJoint,
URDFFixedJoint,
};
#include "LinearMath/btScalar.h"
enum URDF_LinkContactFlags
{
URDF_CONTACT_HAS_LATERAL_FRICTION=1,
URDF_CONTACT_HAS_ROLLING_FRICTION=2,
URDF_CONTACT_HAS_CONTACT_CFM=4,
URDF_CONTACT_HAS_CONTACT_ERP=8
};
struct URDFLinkContactInfo
{
btScalar m_lateralFriction;
btScalar m_rollingFriction;
btScalar m_contactCfm;
btScalar m_contactErp;
int m_flags;
URDFLinkContactInfo()
:m_lateralFriction(0.5),
m_rollingFriction(0),
m_contactCfm(0),
m_contactErp(0)
{
m_flags = URDF_CONTACT_HAS_LATERAL_FRICTION;
}
};
#endif //URDF_JOINT_TYPES_H

25
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -569,6 +569,31 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
{
//optional 'contact' parameters
TiXmlElement* ci = config->FirstChildElement("contact");
if (ci)
{
TiXmlElement *friction_xml = ci->FirstChildElement("lateral_friction");
if (friction_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->GetText());
} else
{
if (!friction_xml->Attribute("value"))
{
logger->reportError("Link/contact: lateral_friction element must have value attribute");
return false;
}
link.m_contactInfo.m_lateralFriction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
}
}
}
}
// Inertial (optional)
TiXmlElement *i = config->FirstChildElement("inertial");
if (i)

2
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@@ -99,6 +99,8 @@ struct UrdfLink
int m_linkIndex;
URDFLinkContactInfo m_contactInfo;
UrdfLink()
:m_parentLink(0),
m_parentJoint(0)

1
examples/InverseDynamics/premake4.lua
View File

@@ -92,6 +92,7 @@ files {
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../ThirdPartyLibs/stb_image/stb_image.cpp",
"../Utils/b3Clock.cpp",
}
if os.is("Linux") then initX11() end

3
examples/MultiBody/TestJointTorqueSetup.cpp
View File

@@ -367,9 +367,8 @@ void TestJointTorqueSetup::initPhysics()
btSerializer* s = new btDefaultSerializer;
m_dynamicsWorld->serialize(s);
b3ResourcePath p;
char resourcePath[1024];
if (p.findResourcePath("multibody.bullet",resourcePath,1024))
if (b3ResourcePath::findResourcePath("multibody.bullet",resourcePath,1024))
{
FILE* f = fopen(resourcePath,"wb");
fwrite(s->getBufferPointer(),s->getCurrentBufferSize(),1,f);

2
examples/MultiThreading/MultiThreadingExample.cpp
View File

@@ -119,7 +119,7 @@ struct SampleThreadLocalStorage
void SampleThreadFunc(void* userPtr,void* lsMemory)
{
printf("thread started\n");
printf("SampleThreadFunc thread started\n");
SampleThreadLocalStorage* localStorage = (SampleThreadLocalStorage*) lsMemory;

2
examples/MultiThreading/b3PosixThreadSupport.cpp
View File

@@ -53,7 +53,7 @@ static sem_t* createSem(const char* baseName)
#ifdef NAMED_SEMAPHORES
/// Named semaphore begin
char name[32];
snprintf(name, 32, "/%s-%d-%4.4d", baseName, getpid(), semCount++);
snprintf(name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++);
sem_t* tempSem = sem_open(name, O_CREAT, 0600, 0);
if (tempSem != reinterpret_cast<sem_t *>(SEM_FAILED))

33
examples/MultiThreading/b3Win32ThreadSupport.cpp
View File

@@ -223,7 +223,8 @@ bool b3Win32ThreadSupport::isTaskCompleted(int *puiArgument0, int *puiArgument1,
void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threadConstructionInfo)
{
static int uniqueId = 0;
uniqueId++;
m_activeThreadStatus.resize(threadConstructionInfo.m_numThreads);
m_completeHandles.resize(threadConstructionInfo.m_numThreads);
@@ -244,17 +245,39 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
threadStatus.m_userPtr=0;
sprintf(threadStatus.m_eventStartHandleName,"eventStart%s%d",threadConstructionInfo.m_uniqueName,i);
sprintf(threadStatus.m_eventStartHandleName,"es%.8s%d%d",threadConstructionInfo.m_uniqueName,uniqueId,i);
threadStatus.m_eventStartHandle = CreateEventA (0,false,false,threadStatus.m_eventStartHandleName);
sprintf(threadStatus.m_eventCompletetHandleName,"eventComplete%s%d",threadConstructionInfo.m_uniqueName,i);
sprintf(threadStatus.m_eventCompletetHandleName,"ec%.8s%d%d",threadConstructionInfo.m_uniqueName,uniqueId,i);
threadStatus.m_eventCompletetHandle = CreateEventA (0,false,false,threadStatus.m_eventCompletetHandleName);
m_completeHandles[i] = threadStatus.m_eventCompletetHandle;
HANDLE handle = CreateThread(lpThreadAttributes,dwStackSize,lpStartAddress,lpParameter, dwCreationFlags,lpThreadId);
//SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
switch(threadConstructionInfo.m_priority)
{
case 0:
{
SetThreadPriority(handle,THREAD_PRIORITY_HIGHEST);
break;
}
case 1:
{
SetThreadPriority(handle,THREAD_PRIORITY_TIME_CRITICAL);
break;
}
case 2:
{
SetThreadPriority(handle,THREAD_PRIORITY_BELOW_NORMAL);
break;
}
default:
{
}
}
SetThreadAffinityMask(handle, 1<<i);
@@ -265,7 +288,7 @@ void b3Win32ThreadSupport::startThreads(const Win32ThreadConstructionInfo& threa
threadStatus.m_lsMemory = threadConstructionInfo.m_lsMemoryFunc();
threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
printf("started thread %d with threadHandle %p\n",i,handle);
printf("started %s thread %d with threadHandle %p\n",threadConstructionInfo.m_uniqueName,i,handle);
}

4
examples/MultiThreading/b3Win32ThreadSupport.h
View File

@@ -74,7 +74,8 @@ public:
m_userThreadFunc(userThreadFunc),
m_lsMemoryFunc(lsMemoryFunc),
m_numThreads(numThreads),
m_threadStackSize(threadStackSize)
m_threadStackSize(threadStackSize),
m_priority(0)
{
}
@@ -84,6 +85,7 @@ public:
b3Win32lsMemorySetupFunc m_lsMemoryFunc;
int m_numThreads;
int m_threadStackSize;
int m_priority;
};

90
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -17,8 +17,8 @@ subject to the following restrictions:
///todo: make this configurable in the gui
bool useShadowMap=true;//false;//true;
int shadowMapWidth=8192;
int shadowMapHeight=8192;
int shadowMapWidth=4096;//8192;
int shadowMapHeight=4096;
float shadowMapWorldSize=50;
#define MAX_POINTS_IN_BATCH 1024
@@ -158,10 +158,13 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
GLRenderToTexture* m_shadowMap;
GLuint m_shadowTexture;
GLuint m_renderFrameBuffer;
InternalDataRenderer() :
m_shadowMap(0),
m_shadowTexture(0)
m_shadowTexture(0),
m_renderFrameBuffer(0)
{
//clear to zero to make it obvious if the matrix is used uninitialized
for (int i=0;i<16;i++)
@@ -258,6 +261,8 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
void GLInstancingRenderer::removeAllInstances()
{
m_data->m_totalNumInstances = 0;
for (int i=0;i<m_graphicsInstances.size();i++)
{
if (m_graphicsInstances[i]->m_index_vbo)
@@ -273,6 +278,7 @@ void GLInstancingRenderer::removeAllInstances()
m_graphicsInstances.clear();
}
GLInstancingRenderer::~GLInstancingRenderer()
{
delete m_data->m_shadowMap;
@@ -320,6 +326,7 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
*/
}
void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
{
m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);
@@ -337,7 +344,19 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int srcIn
m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
}
void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
{
m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
}
void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
{
m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
}
void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectIndex)
{
@@ -383,25 +402,46 @@ void GLInstancingRenderer::writeTransforms()
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
glFlush();
//glFlush();
b3Assert(glGetError() ==GL_NO_ERROR);
#ifdef B3_DEBUG
{
int totalNumInstances= 0;
for (int k=0;k<m_graphicsInstances.size();k++)
{
b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
totalNumInstances+=gfxObj->m_numGraphicsInstances;
}
b3Assert(m_data->m_totalNumInstances == totalNumInstances);
}
#endif//B3_DEBUG
int POSITION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
int ORIENTATION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
int COLOR_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
// int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
#if 1
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
&m_data->m_instance_positions_ptr[0]);
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
&m_data->m_instance_quaternion_ptr[0]);
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
&m_data->m_instance_colors_ptr[0]);
glBufferSubData( GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
&m_data->m_instance_scale_ptr[0]);
#else
char* orgBase = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
if (orgBase)
{
int totalNumInstances= 0;
for (int k=0;k<m_graphicsInstances.size();k++)
{
b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
totalNumInstances+=gfxObj->m_numGraphicsInstances;
}
m_data->m_totalNumInstances = totalNumInstances;
for (int k=0;k<m_graphicsInstances.size();k++)
{
@@ -410,10 +450,7 @@ void GLInstancingRenderer::writeTransforms()
int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
// int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
char* base = orgBase;
@@ -462,6 +499,9 @@ void GLInstancingRenderer::writeTransforms()
//if this glFinish is removed, the animation is not always working/blocks
//@todo: figure out why
glFlush();
#endif
glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -1072,6 +1112,9 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
void GLInstancingRenderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float lineWidthIn)
{
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,0);
float lineWidth = lineWidthIn;
b3Clamp(lineWidth,(float)lineWidthRange[0],(float)lineWidthRange[1]);
glLineWidth(lineWidth);
@@ -1631,6 +1674,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
printf("gfxObj->m_numGraphicsInstances=%d\n",gfxObj->m_numGraphicsInstances);
printf("indexCount=%d\n",indexCount);
*/
glUseProgram(createShadowMapInstancingShader);
glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]);
glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
@@ -1663,7 +1707,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
{
glDisable (GL_BLEND);
}
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,0);
break;
}
default:
@@ -1688,6 +1733,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
{
// writeTextureToPng(shadowMapWidth,shadowMapHeight,"shadowmap.png",4);
m_data->m_shadowMap->disable();
glBindFramebuffer( GL_FRAMEBUFFER, m_data->m_renderFrameBuffer);
glViewport(dims[0],dims[1],dims[2],dims[3]);
}
@@ -1733,4 +1779,16 @@ int GLInstancingRenderer::getInstanceCapacity() const
{
return m_data->m_maxNumObjectCapacity;
}
void GLInstancingRenderer::setRenderFrameBuffer(unsigned int renderFrameBuffer)
{
m_data->m_renderFrameBuffer = (GLuint) renderFrameBuffer;
}
int GLInstancingRenderer::getTotalNumInstances() const
{
return m_data->m_totalNumInstances;
}
#endif //NO_OPENGL3

6
examples/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -95,6 +95,9 @@ public:
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
virtual struct GLInstanceRendererInternalData* getInternalData();
@@ -125,6 +128,8 @@ public:
virtual int getInstanceCapacity() const;
virtual int getTotalNumInstances() const;
virtual void enableShadowMap();
virtual void enableBlend(bool blend)
{
@@ -132,6 +137,7 @@ public:
}
virtual void clearZBuffer();
virtual void setRenderFrameBuffer(unsigned int renderFrameBuffer);
};
#endif //GL_INSTANCING_RENDERER_H

10
examples/OpenGLWindow/SimpleCamera.cpp
View File

@@ -62,6 +62,16 @@ void SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMa
}
}
void SimpleCamera::disableVRCamera()
{
m_data->m_enableVR = false;
}
bool SimpleCamera::isVRCamera() const
{
return m_data->m_enableVR ;
}
static void b3CreateFrustum(
float left,

2
examples/OpenGLWindow/SimpleCamera.h
View File

@@ -15,6 +15,8 @@ struct SimpleCamera : public CommonCameraInterface
virtual void getCameraViewMatrix(float m[16]) const;
virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16]);
virtual void disableVRCamera();
virtual bool isVRCamera() const;
virtual void getCameraTargetPosition(float pos[3]) const;
virtual void getCameraPosition(float pos[3]) const;

14
examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
View File

@@ -64,6 +64,20 @@ void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(double* color, int src
{
}
void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
{
}
void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
{
}
int SimpleOpenGL2Renderer::getTotalNumInstances() const
{
return 0;
}
void SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
{
b3Assert(0);

5
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
View File

@@ -32,6 +32,8 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
virtual void getCameraViewMatrix(float viewMat[16]) const;
virtual void getCameraProjectionMatrix(float projMat[16]) const;
@@ -68,6 +70,8 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex);
virtual int getTotalNumInstances() const;
virtual void writeTransforms();
virtual void drawLine(const double from[4], const double to[4], const double color[4], double lineWidth);
@@ -82,6 +86,7 @@ struct SimpleOpenGL2Renderer : public CommonRenderInterface
virtual void clearZBuffer();
virtual struct GLInstanceRendererInternalData* getInternalData()
{
return 0;

3
examples/OpenGLWindow/Win32Window.cpp
View File

@@ -435,11 +435,10 @@ void Win32Window::setWindowTitle(const char* titleChar)
wchar_t windowTitle[1024];
swprintf(windowTitle, 1024, L"%hs", titleChar);
DWORD dwResult;
#ifdef _WIN64
SetWindowTextW(m_data->m_hWnd, windowTitle);
#else
DWORD dwResult;
SendMessageTimeoutW(m_data->m_hWnd, WM_SETTEXT, 0,
reinterpret_cast<LPARAM>(windowTitle),
SMTO_ABORTIFHUNG, 2000, &dwResult);

2
examples/RenderingExamples/RaytracerSetup.cpp
View File

@@ -295,7 +295,7 @@ void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
for (x=0;x<m_internalData->m_width;x++)
{
for (int y=0;y<m_internalData->m_height;y++)
for (y=0;y<m_internalData->m_height;y++)
{
btVector4 rgba(0,0,0,0);
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;

164
examples/RoboticsLearning/R2D2GraspExample.cpp Normal file
View File

@@ -0,0 +1,164 @@
#include "R2D2GraspExample.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include <string>
#include "b3RobotSimAPI.h"
#include "../Utils/b3Clock.h"
///quick demo showing the right-handed coordinate system and positive rotations around each axis
class R2D2GraspExample : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
GUIHelperInterface* m_guiHelper;
b3RobotSimAPI m_robotSim;
int m_options;
int m_r2d2Index;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
enum
{
numCubesX = 20,
numCubesY = 20
};
public:
R2D2GraspExample(GUIHelperInterface* helper, int options)
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
m_options(options),
m_r2d2Index(-1),
m_x(0),
m_y(0),
m_z(0)
{
m_app->setUpAxis(2);
}
virtual ~R2D2GraspExample()
{
m_app->m_renderer->enableBlend(false);
}
virtual void physicsDebugDraw(int debugDrawMode)
{
}
virtual void initPhysics()
{
bool connected = m_robotSim.connect(m_guiHelper);
b3Printf("robotSim connected = %d",connected);
b3RobotSimLoadURDFArgs args("");
if ((m_options & eROBOTIC_LEARN_GRASP)!=0)
{
args.m_urdfFileName = "r2d2.urdf";
args.m_startPosition.setValue(0,0,.5);
m_r2d2Index = m_robotSim.loadURDF(args);
int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_r2d2Index,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
int wheelJointIndices[4]={2,3,6,7};
int wheelTargetVelocities[4]={30,30,30,30};
for (int i=0;i<4;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
controlArgs.m_maxTorqueValue = 1e30;
m_robotSim.setJointMotorControl(m_r2d2Index,wheelJointIndices[i],controlArgs);
}
}
if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT)!=0)
{
args.m_urdfFileName = "cube.urdf";
args.m_startPosition.setValue(0,0,2.5);
m_robotSim.loadURDF(args);
args.m_startOrientation.setEulerZYX(0,0.2,0);
}
args.m_urdfFileName = "plane.urdf";
args.m_startPosition.setValue(0,0,0);
args.m_forceOverrideFixedBase = true;
m_robotSim.loadURDF(args);
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
}
virtual void exitPhysics()
{
m_robotSim.disconnect();
}
virtual void stepSimulation(float deltaTime)
{
m_robotSim.stepSimulation();
}
virtual void renderScene()
{
m_robotSim.renderScene();
//m_app->m_renderer->renderScene();
}
virtual void physicsDebugDraw()
{
}
virtual bool mouseMoveCallback(float x,float y)
{
return false;
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
return false;
}
virtual bool keyboardCallback(int key, int state)
{
return false;
}
virtual void resetCamera()
{
float dist = 10;
float pitch = 50;
float yaw = 13;
float targetPos[3]={-1,0,-0.3};
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
{
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
}
}
};
class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options)
{
return new R2D2GraspExample(options.m_guiHelper, options.m_option);
}

28
examples/RoboticsLearning/R2D2GraspExample.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2016 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef R2D2_GRASP_EXAMPLE_H
#define R2D2_GRASP_EXAMPLE_H
enum RobotLearningExampleOptions
{
eROBOTIC_LEARN_GRASP=1,
eROBOTIC_LEARN_COMPLIANT_CONTACT=2,
};
class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options);
#endif //R2D2_GRASP_EXAMPLE_H

729
examples/RoboticsLearning/b3RobotSimAPI.cpp Normal file
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#include "b3RobotSimAPI.h"
//#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
//#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include <string>
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
void RobotThreadFunc(void* userPtr,void* lsMemory);
void* RobotlsMemoryFunc();
#define MAX_ROBOT_NUM_THREADS 1
enum
{
numCubesX = 20,
numCubesY = 20
};
enum TestRobotSimCommunicationEnums
{
eRequestTerminateRobotSim= 13,
eRobotSimIsUnInitialized,
eRobotSimIsInitialized,
eRobotSimInitializationFailed,
eRobotSimHasTerminated
};
enum MultiThreadedGUIHelperCommunicationEnums
{
eRobotSimGUIHelperIdle= 13,
eRobotSimGUIHelperRegisterTexture,
eRobotSimGUIHelperRegisterGraphicsShape,
eRobotSimGUIHelperRegisterGraphicsInstance,
eRobotSimGUIHelperCreateCollisionShapeGraphicsObject,
eRobotSimGUIHelperCreateCollisionObjectGraphicsObject,
eRobotSimGUIHelperRemoveAllGraphicsInstances,
};
#include <stdio.h>
//#include "BulletMultiThreaded/PlatformDefinitions.h"
#ifndef _WIN32
#include "../MultiThreading/b3PosixThreadSupport.h"
b3ThreadSupportInterface* createRobotSimThreadSupport(int numThreads)
{
b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("RobotSimThreads",
RobotThreadFunc,
RobotlsMemoryFunc,
numThreads);
b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
return threadSupport;
}
#elif defined( _WIN32)
#include "../MultiThreading/b3Win32ThreadSupport.h"
b3ThreadSupportInterface* createRobotSimThreadSupport(int numThreads)
{
b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("RobotSimThreads",RobotThreadFunc,RobotlsMemoryFunc,numThreads);
b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
return threadSupport;
}
#endif
struct RobotSimArgs
{
RobotSimArgs()
:m_physicsServerPtr(0)
{
}
b3CriticalSection* m_cs;
PhysicsServerSharedMemory* m_physicsServerPtr;
b3AlignedObjectArray<b3Vector3> m_positions;
};
struct RobotSimThreadLocalStorage
{
int threadId;
};
void RobotThreadFunc(void* userPtr,void* lsMemory)
{
printf("RobotThreadFunc thread started\n");
RobotSimThreadLocalStorage* localStorage = (RobotSimThreadLocalStorage*) lsMemory;
RobotSimArgs* args = (RobotSimArgs*) userPtr;
int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
if (init)
{
args->m_cs->lock();
args->m_cs->setSharedParam(0,eRobotSimIsInitialized);
args->m_cs->unlock();
do
{
//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
#if 0
double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
if (deltaTimeInSeconds<(1./260.))
{
if (deltaTimeInSeconds<.001)
continue;
}
clock.reset();
#endif //
args->m_physicsServerPtr->processClientCommands();
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateRobotSim);
} else
{
args->m_cs->lock();
args->m_cs->setSharedParam(0,eRobotSimInitializationFailed);
args->m_cs->unlock();
}
//do nothing
}
void* RobotlsMemoryFunc()
{
//don't create local store memory, just return 0
return new RobotSimThreadLocalStorage;
}
ATTRIBUTE_ALIGNED16(class) MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
b3CriticalSection* m_cs;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
GUIHelperInterface* m_childGuiHelper;
const unsigned char* m_texels;
int m_textureWidth;
int m_textureHeight;
int m_shapeIndex;
const float* m_position;
const float* m_quaternion;
const float* m_color;
const float* m_scaling;
const float* m_vertices;
int m_numvertices;
const int* m_indices;
int m_numIndices;
int m_primitiveType;
int m_textureId;
int m_instanceId;
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
m_texels(0),
m_textureId(-1)
{
m_childGuiHelper = guiHelper;;
}
virtual ~MultiThreadedOpenGLGuiHelper()
{
delete m_childGuiHelper;
}
void setCriticalSection(b3CriticalSection* cs)
{
m_cs = cs;
}
b3CriticalSection* getCriticalSection()
{
return m_cs;
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
btCollisionObject* m_obj;
btVector3 m_color2;
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
{
m_obj = obj;
m_color2 = color;
m_cs->lock();
m_cs->setSharedParam(1,eRobotSimGUIHelperCreateCollisionObjectGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
{
}
}
btCollisionShape* m_colShape;
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
m_colShape = collisionShape;
m_cs->lock();
m_cs->setSharedParam(1,eRobotSimGUIHelperCreateCollisionShapeGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
{
}
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
//this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
//the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
{
m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
}
}
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
{
m_childGuiHelper->render(0);
}
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
m_texels = texels;
m_textureWidth = width;
m_textureHeight = height;
m_cs->lock();
m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterTexture);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
{
}
return m_textureId;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
m_vertices = vertices;
m_numvertices = numvertices;
m_indices = indices;
m_numIndices = numIndices;
m_primitiveType = primitiveType;
m_textureId = textureId;
m_cs->lock();
m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterGraphicsShape);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
{
}
return m_shapeIndex;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
m_shapeIndex = shapeIndex;
m_position = position;
m_quaternion = quaternion;
m_color = color;
m_scaling = scaling;
m_cs->lock();
m_cs->setSharedParam(1,eRobotSimGUIHelperRegisterGraphicsInstance);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
{
}
return m_instanceId;
}
virtual void removeAllGraphicsInstances()
{
m_cs->lock();
m_cs->setSharedParam(1,eRobotSimGUIHelperRemoveAllGraphicsInstances);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eRobotSimGUIHelperIdle)
{
}
}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
}
virtual CommonParameterInterface* getParameterInterface()
{
return 0;
}
virtual CommonRenderInterface* getRenderInterface()
{
return 0;
}
virtual CommonGraphicsApp* getAppInterface()
{
return m_childGuiHelper->getAppInterface();
}
virtual void setUpAxis(int axis)
{
m_childGuiHelper->setUpAxis(axis);
}
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
{
}
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
{
if (width)
*width = 0;
if (height)
*height = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
}
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
};
struct b3RobotSimAPI_InternalData
{
//GUIHelperInterface* m_guiHelper;
PhysicsServerSharedMemory m_physicsServer;
b3PhysicsClientHandle m_physicsClient;
b3ThreadSupportInterface* m_threadSupport;
RobotSimArgs m_args[MAX_ROBOT_NUM_THREADS];
MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
bool m_connected;
b3RobotSimAPI_InternalData()
:m_multiThreadedHelper(0),
m_physicsClient(0),
m_connected(false)
{
}
};
b3RobotSimAPI::b3RobotSimAPI()
{
m_data = new b3RobotSimAPI_InternalData;
}
void b3RobotSimAPI::stepSimulation()
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3Assert(b3CanSubmitCommand(m_data->m_physicsClient));
if (b3CanSubmitCommand(m_data->m_physicsClient))
{
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, b3InitStepSimulationCommand(m_data->m_physicsClient));
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType==CMD_STEP_FORWARD_SIMULATION_COMPLETED);
}
}
void b3RobotSimAPI::setGravity(const b3Vector3& gravityAcceleration)
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetGravity(command, gravityAcceleration[0],gravityAcceleration[1],gravityAcceleration[2]);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
}
b3RobotSimAPI::~b3RobotSimAPI()
{
delete m_data;
}
void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
{
switch (m_data->m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
{
case eRobotSimGUIHelperCreateCollisionShapeGraphicsObject:
{
m_data->m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_data->m_multiThreadedHelper->m_colShape);
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperCreateCollisionObjectGraphicsObject:
{
m_data->m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_data->m_multiThreadedHelper->m_obj,
m_data->m_multiThreadedHelper->m_color2);
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperRegisterTexture:
{
m_data->m_multiThreadedHelper->m_textureId = m_data->m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_data->m_multiThreadedHelper->m_texels,
m_data->m_multiThreadedHelper->m_textureWidth,m_data->m_multiThreadedHelper->m_textureHeight);
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperRegisterGraphicsShape:
{
m_data->m_multiThreadedHelper->m_shapeIndex = m_data->m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
m_data->m_multiThreadedHelper->m_vertices,
m_data->m_multiThreadedHelper->m_numvertices,
m_data->m_multiThreadedHelper->m_indices,
m_data->m_multiThreadedHelper->m_numIndices,
m_data->m_multiThreadedHelper->m_primitiveType,
m_data->m_multiThreadedHelper->m_textureId);
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperRegisterGraphicsInstance:
{
m_data->m_multiThreadedHelper->m_instanceId = m_data->m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
m_data->m_multiThreadedHelper->m_shapeIndex,
m_data->m_multiThreadedHelper->m_position,
m_data->m_multiThreadedHelper->m_quaternion,
m_data->m_multiThreadedHelper->m_color,
m_data->m_multiThreadedHelper->m_scaling);
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperRemoveAllGraphicsInstances:
{
m_data->m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
int numRenderInstances = m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
b3Assert(numRenderInstances==0);
m_data->m_multiThreadedHelper->getCriticalSection()->lock();
m_data->m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eRobotSimGUIHelperIdle:
default:
{
}
}
#if 0
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
while (rtc.getTimeMilliseconds()<endTime)
{
m_physicsServer.processClientCommands();
}
} else
{
//for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
#endif
}
b3SharedMemoryStatusHandle b3RobotSimAPI::submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle)
{
int timeout = 1024*1024*1024;
b3SharedMemoryStatusHandle statusHandle=0;
b3SubmitClientCommand(physClient,commandHandle);
while ((statusHandle==0) && (timeout-- > 0))
{
statusHandle =b3ProcessServerStatus(physClient);
processMultiThreadedGraphicsRequests();
}
return (b3SharedMemoryStatusHandle) statusHandle;
}
int b3RobotSimAPI::getNumJoints(int bodyUniqueId) const
{
return b3GetNumJoints(m_data->m_physicsClient,bodyUniqueId);
}
bool b3RobotSimAPI::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo)
{
return (b3GetJointInfo(m_data->m_physicsClient,bodyUniqueId, jointIndex,jointInfo)!=0);
}
void b3RobotSimAPI::setJointMotorControl(int bodyUniqueId, int jointIndex, const b3JointMotorArgs& args)
{
b3SharedMemoryStatusHandle statusHandle;
switch (args.m_controlMode)
{
case CONTROL_MODE_VELOCITY:
{
b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_VELOCITY);
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_POSITION_VELOCITY_PD);
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
int qIndex = jointInfo.m_qIndex;
b3JointControlSetDesiredPosition(command,qIndex,args.m_targetPosition);
b3JointControlSetKp(command,uIndex,args.m_kp);
b3JointControlSetDesiredVelocity(command,uIndex,args.m_targetVelocity);
b3JointControlSetKd(command,uIndex,args.m_kd);
b3JointControlSetMaximumForce(command,uIndex,args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
break;
}
case CONTROL_MODE_TORQUE:
{
b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_data->m_physicsClient, CONTROL_MODE_TORQUE);
b3JointInfo jointInfo;
b3GetJointInfo(m_data->m_physicsClient, bodyUniqueId, jointIndex, &jointInfo);
int uIndex = jointInfo.m_uIndex;
b3JointControlSetDesiredForceTorque(command,uIndex,args.m_maxTorqueValue);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
break;
}
default:
{
b3Error("Unknown control command in b3RobotSimAPI::setJointMotorControl");
}
}
}
int b3RobotSimAPI::loadURDF(const b3RobotSimLoadURDFArgs& args)
{
int robotUniqueId = -1;
b3Assert(m_data->m_connected);
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command = b3LoadUrdfCommandInit(m_data->m_physicsClient, args.m_urdfFileName.c_str());
//setting the initial position, orientation and other arguments are optional
b3LoadUrdfCommandSetStartPosition(command, args.m_startPosition[0],
args.m_startPosition[1],
args.m_startPosition[2]);
b3LoadUrdfCommandSetStartOrientation(command,args.m_startOrientation[0]
,args.m_startOrientation[1]
,args.m_startOrientation[2]
,args.m_startOrientation[3]);
if (args.m_forceOverrideFixedBase)
{
b3LoadUrdfCommandSetUseFixedBase(command,true);
}
statusHandle = submitClientCommandAndWaitStatusMultiThreaded(m_data->m_physicsClient, command);
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType==CMD_URDF_LOADING_COMPLETED);
robotUniqueId = b3GetStatusBodyIndex(statusHandle);
}
return robotUniqueId;
}
bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper(guiHelper->getAppInterface(),guiHelper);
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(guiHelper->getAppInterface(),guiHelper);
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
for (int i=0;i<m_data->m_threadSupport->getNumTasks();i++)
{
RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*) m_data->m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
//storage->m_sharedMem = data->m_sharedMem;
}
for (int w=0;w<MAX_ROBOT_NUM_THREADS;w++)
{
m_data->m_args[w].m_cs = m_data->m_threadSupport->createCriticalSection();
m_data->m_args[w].m_cs->setSharedParam(0,eRobotSimIsUnInitialized);
int numMoving = 0;
m_data->m_args[w].m_positions.resize(numMoving);
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
int index = 0;
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &m_data->m_args[w], w);
while (m_data->m_args[w].m_cs->getSharedParam(0)==eRobotSimIsUnInitialized)
{
}
}
m_data->m_args[0].m_cs->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
m_data->m_connected = m_data->m_physicsServer.connectSharedMemory( m_data->m_multiThreadedHelper);
b3Assert(m_data->m_connected);
m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
int canSubmit = b3CanSubmitCommand(m_data->m_physicsClient);
b3Assert(canSubmit);
return m_data->m_connected && canSubmit;
}
void b3RobotSimAPI::disconnect()
{
for (int i=0;i<MAX_ROBOT_NUM_THREADS;i++)
{
m_data->m_args[i].m_cs->lock();
m_data->m_args[i].m_cs->setSharedParam(0,eRequestTerminateRobotSim);
m_data->m_args[i].m_cs->unlock();
}
int numActiveThreads = MAX_ROBOT_NUM_THREADS;
while (numActiveThreads)
{
int arg0,arg1;
if (m_data->m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
} else
{
}
};
printf("stopping threads\n");
delete m_data->m_threadSupport;
m_data->m_threadSupport = 0;
b3DisconnectSharedMemory(m_data->m_physicsClient);
m_data->m_physicsServer.disconnectSharedMemory(true);
m_data->m_connected = false;
}
void b3RobotSimAPI::renderScene()
{
if (m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
}
m_data->m_physicsServer.renderScene();
}

81
examples/RoboticsLearning/b3RobotSimAPI.h Normal file
View File

@@ -0,0 +1,81 @@
#ifndef B3_ROBOT_SIM_API_H
#define B3_ROBOT_SIM_API_H
///todo: remove those includes from this header
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/SharedMemoryPublic.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include <string>
struct b3RobotSimLoadURDFArgs
{
std::string m_urdfFileName;
b3Vector3 m_startPosition;
b3Quaternion m_startOrientation;
bool m_forceOverrideFixedBase;
b3RobotSimLoadURDFArgs(const std::string& urdfFileName)
:m_urdfFileName(urdfFileName),
m_startPosition(b3MakeVector3(0,0,0)),
m_startOrientation(b3Quaternion(0,0,0,1)),
m_forceOverrideFixedBase(false)
{
}
};
struct b3JointMotorArgs
{
int m_controlMode;
double m_targetPosition;
double m_kp;
double m_targetVelocity;
double m_kd;
double m_maxTorqueValue;
b3JointMotorArgs(int controlMode)
:m_controlMode(controlMode),
m_targetPosition(0),
m_kp(0.1),
m_targetVelocity(0),
m_kd(0.1),
m_maxTorqueValue(1000)
{
}
};
class b3RobotSimAPI
{
struct b3RobotSimAPI_InternalData* m_data;
void processMultiThreadedGraphicsRequests();
b3SharedMemoryStatusHandle submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle);
public:
b3RobotSimAPI();
virtual ~b3RobotSimAPI();
bool connect(struct GUIHelperInterface* guiHelper);
void disconnect();
int loadURDF(const struct b3RobotSimLoadURDFArgs& args);
int getNumJoints(int bodyUniqueId) const;
bool getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo* jointInfo);
void setJointMotorControl(int bodyUniqueId, int jointIndex, const struct b3JointMotorArgs& args);
void stepSimulation();
void setGravity(const b3Vector3& gravityAcceleration);
void renderScene();
};
#endif //B3_ROBOT_SIM_API_H

3
examples/RollingFrictionDemo/RollingFrictionDemo.cpp
View File

@@ -234,9 +234,8 @@ void RollingFrictionDemo::initPhysics()
{
btSerializer* s = new btDefaultSerializer;
m_dynamicsWorld->serialize(s);
b3ResourcePath p;
char resourcePath[1024];
if (p.findResourcePath("slope.bullet",resourcePath,1024))
if (b3ResourcePath::findResourcePath("slope.bullet",resourcePath,1024))
{
FILE* f = fopen(resourcePath,"wb");
fwrite(s->getBufferPointer(),s->getCurrentBufferSize(),1,f);

3
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -835,7 +835,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
if (m_options != eCLIENTEXAMPLE_SERVER)
{
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
//enqueueCommand(CMD_REQUEST_DEBUG_LINES);
}
}
}
@@ -855,3 +855,4 @@ class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOpt
}
return example;
}

2
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -659,6 +659,8 @@ bool PhysicsClientSharedMemory::canSubmitCommand() const {
}
struct SharedMemoryCommand* PhysicsClientSharedMemory::getAvailableSharedMemoryCommand() {
static int sequence = 0;
m_data->m_testBlock1->m_clientCommands[0].m_sequenceNumber = sequence++;
return &m_data->m_testBlock1->m_clientCommands[0];
}

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -10,7 +10,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "btBulletDynamicsCommon.h"
@@ -1760,6 +1760,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (m_data->m_verboseOutput)
{
b3Printf("Step simulation request");
b3Printf("CMD_STEP_FORWARD_SIMULATION clientCmd = %d\n", clientCmd.m_sequenceNumber);
}
///todo(erwincoumans) move this damping inside Bullet
for (int i=0;i<m_data->m_bodyHandles.size();i++)
@@ -1864,16 +1865,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION:
{
//clean up all data
if (m_data && m_data->m_guiHelper && m_data->m_guiHelper->getRenderInterface())
if (m_data && m_data->m_guiHelper)
{
m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
m_data->m_guiHelper->removeAllGraphicsInstances();
}
if (m_data)
{
m_data->m_visualConverter.resetAll();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
m_data->exitHandles();
m_data->initHandles();
@@ -2058,6 +2064,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_APPLY_EXTERNAL_FORCE:
{
if (m_data->m_verboseOutput)
{
b3Printf("CMD_APPLY_EXTERNAL_FORCE clientCmd = %d\n", clientCmd.m_sequenceNumber);
}
for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
{
InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);

585
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1,5 +1,6 @@
//todo(erwincoumans): re-use the upcoming b3RobotSimAPI here
#include "PhysicsServerExample.h"
@@ -9,11 +10,369 @@
#include "SharedMemoryCommon.h"
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
void MotionThreadFunc(void* userPtr,void* lsMemory);
void* MotionlsMemoryFunc();
#define MAX_MOTION_NUM_THREADS 1
enum
{
numCubesX = 20,
numCubesY = 20
};
enum TestExampleBrowserCommunicationEnums
{
eRequestTerminateMotion= 13,
eMotionIsUnInitialized,
eMotionIsInitialized,
eMotionInitializationFailed,
eMotionHasTerminated
};
enum MultiThreadedGUIHelperCommunicationEnums
{
eGUIHelperIdle= 13,
eGUIHelperRegisterTexture,
eGUIHelperRegisterGraphicsShape,
eGUIHelperRegisterGraphicsInstance,
eGUIHelperCreateCollisionShapeGraphicsObject,
eGUIHelperCreateCollisionObjectGraphicsObject,
eGUIHelperRemoveAllGraphicsInstances,
};
#include <stdio.h>
//#include "BulletMultiThreaded/PlatformDefinitions.h"
#ifndef _WIN32
#include "../MultiThreading/b3PosixThreadSupport.h"
b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
{
b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("MotionThreads",
MotionThreadFunc,
MotionlsMemoryFunc,
numThreads);
b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
return threadSupport;
}
#elif defined( _WIN32)
#include "../MultiThreading/b3Win32ThreadSupport.h"
b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
{
b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("MotionThreads",MotionThreadFunc,MotionlsMemoryFunc,numThreads);
b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
return threadSupport;
}
#endif
struct MotionArgs
{
MotionArgs()
:m_physicsServerPtr(0)
{
}
b3CriticalSection* m_cs;
PhysicsServerSharedMemory* m_physicsServerPtr;
b3AlignedObjectArray<b3Vector3> m_positions;
};
struct MotionThreadLocalStorage
{
int threadId;
};
int skip = 0;
void MotionThreadFunc(void* userPtr,void* lsMemory)
{
printf("MotionThreadFunc thread started\n");
MotionThreadLocalStorage* localStorage = (MotionThreadLocalStorage*) lsMemory;
MotionArgs* args = (MotionArgs*) userPtr;
int workLeft = true;
b3Clock clock;
clock.reset();
bool init = true;
if (init)
{
args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionIsInitialized);
args->m_cs->unlock();
do
{
//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
#if 0
double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
if (deltaTimeInSeconds<(1./260.))
{
skip++;
if (deltaTimeInSeconds<.001)
continue;
}
clock.reset();
#endif
args->m_physicsServerPtr->processClientCommands();
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
} else
{
args->m_cs->lock();
args->m_cs->setSharedParam(0,eMotionInitializationFailed);
args->m_cs->unlock();
}
printf("finished, #skip = %d\n",skip);
skip=0;
//do nothing
}
void* MotionlsMemoryFunc()
{
//don't create local store memory, just return 0
return new MotionThreadLocalStorage;
}
class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
{
CommonGraphicsApp* m_app;
b3CriticalSection* m_cs;
public:
GUIHelperInterface* m_childGuiHelper;
const unsigned char* m_texels;
int m_textureWidth;
int m_textureHeight;
int m_shapeIndex;
const float* m_position;
const float* m_quaternion;
const float* m_color;
const float* m_scaling;
const float* m_vertices;
int m_numvertices;
const int* m_indices;
int m_numIndices;
int m_primitiveType;
int m_textureId;
int m_instanceId;
MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper)
:m_app(app)
,m_cs(0),
m_texels(0),
m_textureId(-1)
{
m_childGuiHelper = guiHelper;;
}
virtual ~MultiThreadedOpenGLGuiHelper()
{
delete m_childGuiHelper;
}
void setCriticalSection(b3CriticalSection* cs)
{
m_cs = cs;
}
b3CriticalSection* getCriticalSection()
{
return m_cs;
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
btCollisionObject* m_obj;
btVector3 m_color2;
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
{
m_obj = obj;
m_color2 = color;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateCollisionObjectGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
}
btCollisionShape* m_colShape;
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
m_colShape = collisionShape;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperCreateCollisionShapeGraphicsObject);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
//this check is to prevent a crash, in case we removed all graphics instances, but there are still physics objects.
//the check will be obsolete, once we have a better/safer way of synchronizing physics->graphics transforms
if ( m_childGuiHelper->getRenderInterface()->getTotalNumInstances()>0)
{
m_childGuiHelper->syncPhysicsToGraphics(rbWorld);
}
}
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
{
m_childGuiHelper->render(0);
}
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
m_texels = texels;
m_textureWidth = width;
m_textureHeight = height;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterTexture);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
return m_textureId;
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
m_vertices = vertices;
m_numvertices = numvertices;
m_indices = indices;
m_numIndices = numIndices;
m_primitiveType = primitiveType;
m_textureId = textureId;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsShape);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
return m_shapeIndex;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
m_shapeIndex = shapeIndex;
m_position = position;
m_quaternion = quaternion;
m_color = color;
m_scaling = scaling;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRegisterGraphicsInstance);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
return m_instanceId;
}
virtual void removeAllGraphicsInstances()
{
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperRemoveAllGraphicsInstances);
m_cs->unlock();
while (m_cs->getSharedParam(1)!=eGUIHelperIdle)
{
}
}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
}
virtual CommonParameterInterface* getParameterInterface()
{
return 0;
}
virtual CommonRenderInterface* getRenderInterface()
{
return 0;
}
virtual CommonGraphicsApp* getAppInterface()
{
return m_childGuiHelper->getAppInterface();
}
virtual void setUpAxis(int axis)
{
m_childGuiHelper->setUpAxis(axis);
}
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
{
}
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
{
if (width)
*width = 0;
if (height)
*height = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
}
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
};
class PhysicsServerExample : public SharedMemoryCommon
{
PhysicsServerSharedMemory m_physicsServer;
b3ThreadSupportInterface* m_threadSupport;
MotionArgs m_args[MAX_MOTION_NUM_THREADS];
MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper;
bool m_wantsShutdown;
bool m_isConnected;
@@ -23,7 +382,7 @@ class PhysicsServerExample : public SharedMemoryCommon
public:
PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0, int options=0);
PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
virtual ~PhysicsServerExample();
@@ -56,7 +415,7 @@ public:
virtual bool wantsTermination();
virtual bool isConnected();
virtual void renderScene();
virtual void exitPhysics(){}
virtual void exitPhysics();
virtual void physicsDebugDraw(int debugFlags);
@@ -71,7 +430,6 @@ public:
if (!renderer)
{
btAssert(0);
return false;
}
@@ -91,7 +449,6 @@ public:
if (!renderer)
{
btAssert(0);
return false;
}
@@ -134,7 +491,7 @@ public:
};
PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem, int options)
PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options)
:SharedMemoryCommon(helper),
m_physicsServer(sharedMem),
m_wantsShutdown(false),
@@ -142,6 +499,7 @@ m_isConnected(false),
m_replay(false),
m_options(options)
{
m_multiThreadedHelper = helper;
b3Printf("Started PhysicsServer\n");
}
@@ -165,22 +523,80 @@ void PhysicsServerExample::initPhysics()
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
#if 0
createEmptyDynamicsWorld();
//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
btVector3 grav(0,0,0);
grav[upAxis] = 0;//-9.8;
this->m_dynamicsWorld->setGravity(grav);
#endif
m_threadSupport = createMotionThreadSupport(MAX_MOTION_NUM_THREADS);
for (int i=0;i<m_threadSupport->getNumTasks();i++)
{
MotionThreadLocalStorage* storage = (MotionThreadLocalStorage*) m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
//storage->m_sharedMem = data->m_sharedMem;
}
for (int w=0;w<MAX_MOTION_NUM_THREADS;w++)
{
m_args[w].m_cs = m_threadSupport->createCriticalSection();
m_args[w].m_cs->setSharedParam(0,eMotionIsUnInitialized);
int numMoving = 0;
m_args[w].m_positions.resize(numMoving);
m_args[w].m_physicsServerPtr = &m_physicsServer;
int index = 0;
m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &this->m_args[w], w);
while (m_args[w].m_cs->getSharedParam(0)==eMotionIsUnInitialized)
{
}
}
m_args[0].m_cs->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->setCriticalSection(m_args[0].m_cs);
m_isConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
void PhysicsServerExample::exitPhysics()
{
for (int i=0;i<MAX_MOTION_NUM_THREADS;i++)
{
m_args[i].m_cs->lock();
m_args[i].m_cs->setSharedParam(0,eRequestTerminateMotion);
m_args[i].m_cs->unlock();
}
int numActiveThreads = MAX_MOTION_NUM_THREADS;
while (numActiveThreads)
{
int arg0,arg1;
if (m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
} else
{
}
};
printf("stopping threads\n");
delete m_threadSupport;
m_threadSupport = 0;
//m_physicsServer.resetDynamicsWorld();
}
bool PhysicsServerExample::wantsTermination()
{
return m_wantsShutdown;
@@ -190,6 +606,93 @@ bool PhysicsServerExample::wantsTermination()
void PhysicsServerExample::stepSimulation(float deltaTime)
{
//this->m_physicsServer.processClientCommands();
//check if any graphics related tasks are requested
switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
{
case eGUIHelperCreateCollisionShapeGraphicsObject:
{
m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperCreateCollisionObjectGraphicsObject:
{
m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
m_multiThreadedHelper->m_color2);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperRegisterTexture:
{
m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperRegisterGraphicsShape:
{
m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
m_multiThreadedHelper->m_vertices,
m_multiThreadedHelper->m_numvertices,
m_multiThreadedHelper->m_indices,
m_multiThreadedHelper->m_numIndices,
m_multiThreadedHelper->m_primitiveType,
m_multiThreadedHelper->m_textureId);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperRegisterGraphicsInstance:
{
m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
m_multiThreadedHelper->m_shapeIndex,
m_multiThreadedHelper->m_position,
m_multiThreadedHelper->m_quaternion,
m_multiThreadedHelper->m_color,
m_multiThreadedHelper->m_scaling);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperRemoveAllGraphicsInstances:
{
m_multiThreadedHelper->m_childGuiHelper->removeAllGraphicsInstances();
int numRenderInstances = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->getTotalNumInstances();
b3Assert(numRenderInstances==0);
m_multiThreadedHelper->getCriticalSection()->lock();
m_multiThreadedHelper->getCriticalSection()->setSharedParam(1,eGUIHelperIdle);
m_multiThreadedHelper->getCriticalSection()->unlock();
break;
}
case eGUIHelperIdle:
default:
{
}
}
#if 0
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
@@ -201,15 +704,59 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
}
} else
{
for (int i=0;i<10;i++)
//for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
#endif
{
if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
}
}
}
void PhysicsServerExample::renderScene()
{
///debug rendering
//m_args[0].m_cs->lock();
m_physicsServer.renderScene();
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
static int frameCount=0;
frameCount++;
char bla[1024];
sprintf(bla,"VR sub-title text test, frame %d", frameCount/2);
float pos[4];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
btTransform viewTr;
btScalar m[16];
float mf[16];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraViewMatrix(mf);
for (int i=0;i<16;i++)
{
m[i] = mf[i];
}
viewTr.setFromOpenGLMatrix(m);
btTransform viewTrInv = viewTr.inverse();
float upMag = -.6;
btVector3 side = viewTrInv.getBasis().getColumn(0);
btVector3 up = viewTrInv.getBasis().getColumn(1);
up+=0.35*side;
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
//btVector3 fwd = viewTrInv.getBasis().getColumn(2);
sprintf(bla,"VR line 2 sub-title text test, frame %d", frameCount/2);
upMag = -0.7;
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
}
//m_args[0].m_cs->unlock();
}
void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
@@ -290,7 +837,13 @@ extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem, options.m_option);
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper,
options.m_sharedMem,
options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);
@@ -306,3 +859,5 @@ class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOpt
return example;
}
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)

5
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -90,6 +90,11 @@ PhysicsServerSharedMemory::~PhysicsServerSharedMemory()
delete m_data;
}
void PhysicsServerSharedMemory::resetDynamicsWorld()
{
m_data->m_commandProcessor->deleteDynamicsWorld();
m_data->m_commandProcessor ->createEmptyDynamicsWorld();
}
void PhysicsServerSharedMemory::setSharedMemoryKey(int key)
{
m_data->m_sharedMemoryKey = key;

1
examples/SharedMemory/PhysicsServerSharedMemory.h
View File

@@ -43,6 +43,7 @@ public:
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
void resetDynamicsWorld();
};

204
examples/SharedMemory/premake4.lua
View File

@@ -15,7 +15,8 @@ links {
language "C++"
files {
myfiles =
{
"PhysicsClient.cpp",
"PhysicsClientSharedMemory.cpp",
"PhysicsClientExample.cpp",
@@ -24,7 +25,6 @@ files {
"PhysicsServerSharedMemory.h",
"PhysicsServer.cpp",
"PhysicsServer.h",
"main.cpp",
"PhysicsClientC_API.cpp",
"SharedMemoryCommands.h",
"SharedMemoryPublic.h",
@@ -84,3 +84,203 @@ files {
"../ThirdPartyLibs/stb_image/stb_image.cpp",
}
files {
myfiles,
"main.cpp",
}
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../MultiThreading/b3ThreadSupportInterface.h"
}
if os.is("Windows") then
files {
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.h"
}
--links {"winmm"}
--defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
end
if os.is("MacOSX") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
--defines {"__MACOSX_CORE__"}
end
project "App_SharedMemoryPhysics_GUI"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
myfiles,
"../StandaloneMain/main_opengl_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../MultiThreading/b3ThreadSupportInterface.h"
}
if os.is("Windows") then
files {
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.h"
}
--links {"winmm"}
--defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
end
if os.is("MacOSX") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
--defines {"__MACOSX_CORE__"}
end
if os.is("Windows") then
project "App_SharedMemoryPhysics_VR"
--for now, only enable VR under Windows, until compilation issues are resolved on Mac/Linux
defines {"B3_USE_STANDALONE_EXAMPLE","BT_ENABLE_VR"}
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
includedirs {
".","../../src", "../ThirdPartyLibs",
"../ThirdPartyLibs/openvr/headers",
"../ThirdPartyLibs/openvr/samples/shared"
}
links {
"Bullet3Common", "BulletDynamics","BulletCollision", "LinearMath","OpenGL_Window","openvr_api"
}
language "C++"
initOpenGL()
initGlew()
files
{
myfiles,
"../StandaloneMain/hellovr_opengl_main.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.h",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp",
"../ThirdPartyLibs/openvr/samples/shared/pathtools.h",
"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
}
if os.is("Windows") then
libdirs {"../ThirdPartyLibs/openvr/lib/win32"}
end
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
files {
"../MultiThreading/b3ThreadSupportInterface.cpp",
"../MultiThreading/b3ThreadSupportInterface.h"
}
if os.is("Windows") then
files {
"../MultiThreading/b3Win32ThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.h"
}
--links {"winmm"}
--defines {"__WINDOWS_MM__", "WIN32"}
end
if os.is("Linux") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
end
if os.is("MacOSX") then
files {
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3PosixThreadSupport.h"
}
links {"pthread"}
--links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
--defines {"__MACOSX_CORE__"}
end
end

2043
examples/StandaloneMain/hellovr_opengl_main.cpp Normal file
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30
examples/StandaloneMain/main_opengl_single_example.cpp
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@@ -17,14 +17,9 @@ subject to the following restrictions:
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "../Utils/b3Clock.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btHashMap.h"
#include "../OpenGLWindow/SimpleOpenGL3App.h"
@@ -32,6 +27,7 @@ subject to the following restrictions:
#include "../ExampleBrowser/OpenGLGuiHelper.h"
CommonExampleInterface* example;
int gSharedMemoryKey=-1;
b3MouseMoveCallback prevMouseMoveCallback = 0;
static void OnMouseMove( float x, float y)
@@ -57,6 +53,20 @@ static void OnMouseDown(int button, int state, float x, float y) {
}
}
class LessDummyGuiHelper : public DummyGUIHelper
{
CommonGraphicsApp* m_app;
public:
virtual CommonGraphicsApp* getAppInterface()
{
return m_app;
}
LessDummyGuiHelper(CommonGraphicsApp* app)
:m_app(app)
{
}
};
int main(int argc, char* argv[])
{
@@ -69,6 +79,8 @@ int main(int argc, char* argv[])
app->m_window->setMouseMoveCallback((b3MouseMoveCallback)OnMouseMove);
OpenGLGuiHelper gui(app,false);
//LessDummyGuiHelper gui(app);
//DummyGUIHelper gui;
CommonExampleOptions options(&gui);
@@ -76,12 +88,16 @@ int main(int argc, char* argv[])
example->initPhysics();
example->resetCamera();
b3Clock clock;
do
{
app->m_instancingRenderer->init();
app->m_instancingRenderer->updateCamera(app->getUpAxis());
example->stepSimulation(1./60.);
btScalar dtSec = btScalar(clock.getTimeInSeconds());
example->stepSimulation(dtSec);
clock.reset();
example->renderScene();

10
examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
View File

@@ -105,9 +105,15 @@ public:
}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices,numvertices,indices,numIndices);
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);

35
examples/StandaloneMain/main_tinyrenderer_single_example.cpp
View File

@@ -37,6 +37,12 @@ static btVector4 sMyColors[4] =
//btVector4(1,1,0,1),
};
struct TinyRendererTexture
{
const unsigned char* m_texels;
int m_width;
int m_height;
};
struct TinyRendererGUIHelper : public GUIHelperInterface
{
@@ -45,6 +51,7 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
btHashMap<btHashInt,int> m_swInstances;
btHashMap<btHashInt,TinyRendererTexture> m_textures;
int m_swWidth;
int m_swHeight;
@@ -151,7 +158,8 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),
1,-1);
collisionShape->setUserIndex(shapeId);
}
}
@@ -249,18 +257,41 @@ struct TinyRendererGUIHelper : public GUIHelperInterface
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
virtual int registerTexture(const unsigned char* texels, int width, int height)
{
//do we need to make a copy?
int textureId = m_textures.size();
TinyRendererTexture t;
t.m_texels = texels;
t.m_width = width;
t.m_height = height;
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)
{
int shapeIndex = m_swRenderObjects.size();
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->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
return shapeIndex;
}
virtual void removeAllGraphicsInstances()
{
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
int colIndex = m_colObjUniqueIndex++;

27
examples/ThirdPartyLibs/openvr/LICENSE Normal file
View File

@@ -0,0 +1,27 @@
Copyright (c) 2015, Valve Corporation
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation and/or
other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

9
examples/ThirdPartyLibs/openvr/README Normal file
View File

@@ -0,0 +1,9 @@
OpenVR is an API and runtime that allows access to VR hardware from multiple
vendors without requiring that applications have specific knowledge of the
hardware they are targeting. This repository is an SDK that contains the API
and samples. The runtime is under SteamVR in Tools on Steam.
Documentation for the API is available in the wiki: https://github.com/ValveSoftware/openvr/wiki/API-Documentation
More information on OpenVR and SteamVR can be found on http://steamvr.com

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581
examples/ThirdPartyLibs/openvr/samples/shared/Matrices.cpp Normal file
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@@ -0,0 +1,581 @@
///////////////////////////////////////////////////////////////////////////////
// Matrice.cpp
// ===========
// NxN Matrix Math classes
//
// The elements of the matrix are stored as column major order.
// | 0 2 | | 0 3 6 | | 0 4 8 12 |
// | 1 3 | | 1 4 7 | | 1 5 9 13 |
// | 2 5 8 | | 2 6 10 14 |
// | 3 7 11 15 |
//
// AUTHOR: Song Ho Ahn (song.ahn@gmail.com)
// CREATED: 2005-06-24
// UPDATED: 2014-09-21
//
// Copyright (C) 2005 Song Ho Ahn
///////////////////////////////////////////////////////////////////////////////
#include <cmath>
#include <algorithm>
#include "Matrices.h"
const float DEG2RAD = 3.141593f / 180;
const float EPSILON = 0.00001f;
///////////////////////////////////////////////////////////////////////////////
// transpose 2x2 matrix
///////////////////////////////////////////////////////////////////////////////
Matrix2& Matrix2::transpose()
{
std::swap(m[1], m[2]);
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// return the determinant of 2x2 matrix
///////////////////////////////////////////////////////////////////////////////
float Matrix2::getDeterminant()
{
return m[0] * m[3] - m[1] * m[2];
}
///////////////////////////////////////////////////////////////////////////////
// inverse of 2x2 matrix
// If cannot find inverse, set identity matrix
///////////////////////////////////////////////////////////////////////////////
Matrix2& Matrix2::invert()
{
float determinant = getDeterminant();
if(fabs(determinant) <= EPSILON)
{
return identity();
}
float tmp = m[0]; // copy the first element
float invDeterminant = 1.0f / determinant;
m[0] = invDeterminant * m[3];
m[1] = -invDeterminant * m[1];
m[2] = -invDeterminant * m[2];
m[3] = invDeterminant * tmp;
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// transpose 3x3 matrix
///////////////////////////////////////////////////////////////////////////////
Matrix3& Matrix3::transpose()
{
std::swap(m[1], m[3]);
std::swap(m[2], m[6]);
std::swap(m[5], m[7]);
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// return determinant of 3x3 matrix
///////////////////////////////////////////////////////////////////////////////
float Matrix3::getDeterminant()
{
return m[0] * (m[4] * m[8] - m[5] * m[7]) -
m[1] * (m[3] * m[8] - m[5] * m[6]) +
m[2] * (m[3] * m[7] - m[4] * m[6]);
}
///////////////////////////////////////////////////////////////////////////////
// inverse 3x3 matrix
// If cannot find inverse, set identity matrix
///////////////////////////////////////////////////////////////////////////////
Matrix3& Matrix3::invert()
{
float determinant, invDeterminant;
float tmp[9];
tmp[0] = m[4] * m[8] - m[5] * m[7];
tmp[1] = m[2] * m[7] - m[1] * m[8];
tmp[2] = m[1] * m[5] - m[2] * m[4];
tmp[3] = m[5] * m[6] - m[3] * m[8];
tmp[4] = m[0] * m[8] - m[2] * m[6];
tmp[5] = m[2] * m[3] - m[0] * m[5];
tmp[6] = m[3] * m[7] - m[4] * m[6];
tmp[7] = m[1] * m[6] - m[0] * m[7];
tmp[8] = m[0] * m[4] - m[1] * m[3];
// check determinant if it is 0
determinant = m[0] * tmp[0] + m[1] * tmp[3] + m[2] * tmp[6];
if(fabs(determinant) <= EPSILON)
{
return identity(); // cannot inverse, make it idenety matrix
}
// divide by the determinant
invDeterminant = 1.0f / determinant;
m[0] = invDeterminant * tmp[0];
m[1] = invDeterminant * tmp[1];
m[2] = invDeterminant * tmp[2];
m[3] = invDeterminant * tmp[3];
m[4] = invDeterminant * tmp[4];
m[5] = invDeterminant * tmp[5];
m[6] = invDeterminant * tmp[6];
m[7] = invDeterminant * tmp[7];
m[8] = invDeterminant * tmp[8];
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// transpose 4x4 matrix
///////////////////////////////////////////////////////////////////////////////
Matrix4& Matrix4::transpose()
{
std::swap(m[1], m[4]);
std::swap(m[2], m[8]);
std::swap(m[3], m[12]);
std::swap(m[6], m[9]);
std::swap(m[7], m[13]);
std::swap(m[11], m[14]);
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// inverse 4x4 matrix
///////////////////////////////////////////////////////////////////////////////
Matrix4& Matrix4::invert()
{
// If the 4th row is [0,0,0,1] then it is affine matrix and
// it has no projective transformation.
if(m[3] == 0 && m[7] == 0 && m[11] == 0 && m[15] == 1)
this->invertAffine();
else
{
this->invertGeneral();
/*@@ invertProjective() is not optimized (slower than generic one)
if(fabs(m[0]*m[5] - m[1]*m[4]) > EPSILON)
this->invertProjective(); // inverse using matrix partition
else
this->invertGeneral(); // generalized inverse
*/
}
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// compute the inverse of 4x4 Euclidean transformation matrix
//
// Euclidean transformation is translation, rotation, and reflection.
// With Euclidean transform, only the position and orientation of the object
// will be changed. Euclidean transform does not change the shape of an object
// (no scaling). Length and angle are reserved.
//
// Use inverseAffine() if the matrix has scale and shear transformation.
//
// M = [ R | T ]
// [ --+-- ] (R denotes 3x3 rotation/reflection matrix)
// [ 0 | 1 ] (T denotes 1x3 translation matrix)
//
// y = M*x -> y = R*x + T -> x = R^-1*(y - T) -> x = R^T*y - R^T*T
// (R is orthogonal, R^-1 = R^T)
//
// [ R | T ]-1 [ R^T | -R^T * T ] (R denotes 3x3 rotation matrix)
// [ --+-- ] = [ ----+--------- ] (T denotes 1x3 translation)
// [ 0 | 1 ] [ 0 | 1 ] (R^T denotes R-transpose)
///////////////////////////////////////////////////////////////////////////////
Matrix4& Matrix4::invertEuclidean()
{
// transpose 3x3 rotation matrix part
// | R^T | 0 |
// | ----+-- |
// | 0 | 1 |
float tmp;
tmp = m[1]; m[1] = m[4]; m[4] = tmp;
tmp = m[2]; m[2] = m[8]; m[8] = tmp;
tmp = m[6]; m[6] = m[9]; m[9] = tmp;
// compute translation part -R^T * T
// | 0 | -R^T x |
// | --+------- |
// | 0 | 0 |
float x = m[12];
float y = m[13];
float z = m[14];
m[12] = -(m[0] * x + m[4] * y + m[8] * z);
m[13] = -(m[1] * x + m[5] * y + m[9] * z);
m[14] = -(m[2] * x + m[6] * y + m[10]* z);
// last row should be unchanged (0,0,0,1)
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// compute the inverse of a 4x4 affine transformation matrix
//
// Affine transformations are generalizations of Euclidean transformations.
// Affine transformation includes translation, rotation, reflection, scaling,
// and shearing. Length and angle are NOT preserved.
// M = [ R | T ]
// [ --+-- ] (R denotes 3x3 rotation/scale/shear matrix)
// [ 0 | 1 ] (T denotes 1x3 translation matrix)
//
// y = M*x -> y = R*x + T -> x = R^-1*(y - T) -> x = R^-1*y - R^-1*T
//
// [ R | T ]-1 [ R^-1 | -R^-1 * T ]
// [ --+-- ] = [ -----+---------- ]
// [ 0 | 1 ] [ 0 + 1 ]
///////////////////////////////////////////////////////////////////////////////
Matrix4& Matrix4::invertAffine()
{
// R^-1
Matrix3 r(m[0],m[1],m[2], m[4],m[5],m[6], m[8],m[9],m[10]);
r.invert();
m[0] = r[0]; m[1] = r[1]; m[2] = r[2];
m[4] = r[3]; m[5] = r[4]; m[6] = r[5];
m[8] = r[6]; m[9] = r[7]; m[10]= r[8];
// -R^-1 * T
float x = m[12];
float y = m[13];
float z = m[14];
m[12] = -(r[0] * x + r[3] * y + r[6] * z);
m[13] = -(r[1] * x + r[4] * y + r[7] * z);
m[14] = -(r[2] * x + r[5] * y + r[8] * z);
// last row should be unchanged (0,0,0,1)
//m[3] = m[7] = m[11] = 0.0f;
//m[15] = 1.0f;
return * this;
}
///////////////////////////////////////////////////////////////////////////////
// inverse matrix using matrix partitioning (blockwise inverse)
// It devides a 4x4 matrix into 4 of 2x2 matrices. It works in case of where
// det(A) != 0. If not, use the generic inverse method
// inverse formula.
// M = [ A | B ] A, B, C, D are 2x2 matrix blocks
// [ --+-- ] det(M) = |A| * |D - ((C * A^-1) * B)|
// [ C | D ]
//
// M^-1 = [ A' | B' ] A' = A^-1 - (A^-1 * B) * C'
// [ ---+--- ] B' = (A^-1 * B) * -D'
// [ C' | D' ] C' = -D' * (C * A^-1)
// D' = (D - ((C * A^-1) * B))^-1
//
// NOTE: I wrap with () if it it used more than once.
// The matrix is invertable even if det(A)=0, so must check det(A) before
// calling this function, and use invertGeneric() instead.
///////////////////////////////////////////////////////////////////////////////
Matrix4& Matrix4::invertProjective()
{
// partition
Matrix2 a(m[0], m[1], m[4], m[5]);
Matrix2 b(m[8], m[9], m[12], m[13]);
Matrix2 c(m[2], m[3], m[6], m[7]);
Matrix2 d(m[10], m[11], m[14], m[15]);
// pre-compute repeated parts
a.invert(); // A^-1
Matrix2 ab = a * b; // A^-1 * B
Matrix2 ca = c * a; // C * A^-1
Matrix2 cab = ca * b; // C * A^-1 * B
Matrix2 dcab = d - cab; // D - C * A^-1 * B
// check determinant if |D - C * A^-1 * B| = 0
//NOTE: this function assumes det(A) is already checked. if |A|=0 then,
// cannot use this function.
float determinant = dcab[0] * dcab[3] - dcab[1] * dcab[2];
if(fabs(determinant) <= EPSILON)
{
return identity();
}
// compute D' and -D'
Matrix2 d1 = dcab; // (D - C * A^-1 * B)
d1.invert(); // (D - C * A^-1 * B)^-1
Matrix2 d2 = -d1; // -(D - C * A^-1 * B)^-1
// compute C'
Matrix2 c1 = d2 * ca; // -D' * (C * A^-1)
// compute B'
Matrix2 b1 = ab * d2; // (A^-1 * B) * -D'
// compute A'
Matrix2 a1 = a - (ab * c1); // A^-1 - (A^-1 * B) * C'
// assemble inverse matrix
m[0] = a1[0]; m[4] = a1[2]; /*|*/ m[8] = b1[0]; m[12]= b1[2];
m[1] = a1[1]; m[5] = a1[3]; /*|*/ m[9] = b1[1]; m[13]= b1[3];
/*-----------------------------+-----------------------------*/
m[2] = c1[0]; m[6] = c1[2]; /*|*/ m[10]= d1[0]; m[14]= d1[2];
m[3] = c1[1]; m[7] = c1[3]; /*|*/ m[11]= d1[1]; m[15]= d1[3];
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// compute the inverse of a general 4x4 matrix using Cramer's Rule
// If cannot find inverse, return indentity matrix
// M^-1 = adj(M) / det(M)
///////////////////////////////////////////////////////////////////////////////
Matrix4& Matrix4::invertGeneral()
{
// get cofactors of minor matrices
float cofactor0 = getCofactor(m[5],m[6],m[7], m[9],m[10],m[11], m[13],m[14],m[15]);
float cofactor1 = getCofactor(m[4],m[6],m[7], m[8],m[10],m[11], m[12],m[14],m[15]);
float cofactor2 = getCofactor(m[4],m[5],m[7], m[8],m[9], m[11], m[12],m[13],m[15]);
float cofactor3 = getCofactor(m[4],m[5],m[6], m[8],m[9], m[10], m[12],m[13],m[14]);
// get determinant
float determinant = m[0] * cofactor0 - m[1] * cofactor1 + m[2] * cofactor2 - m[3] * cofactor3;
if(fabs(determinant) <= EPSILON)
{
return identity();
}
// get rest of cofactors for adj(M)
float cofactor4 = getCofactor(m[1],m[2],m[3], m[9],m[10],m[11], m[13],m[14],m[15]);
float cofactor5 = getCofactor(m[0],m[2],m[3], m[8],m[10],m[11], m[12],m[14],m[15]);
float cofactor6 = getCofactor(m[0],m[1],m[3], m[8],m[9], m[11], m[12],m[13],m[15]);
float cofactor7 = getCofactor(m[0],m[1],m[2], m[8],m[9], m[10], m[12],m[13],m[14]);
float cofactor8 = getCofactor(m[1],m[2],m[3], m[5],m[6], m[7], m[13],m[14],m[15]);
float cofactor9 = getCofactor(m[0],m[2],m[3], m[4],m[6], m[7], m[12],m[14],m[15]);
float cofactor10= getCofactor(m[0],m[1],m[3], m[4],m[5], m[7], m[12],m[13],m[15]);
float cofactor11= getCofactor(m[0],m[1],m[2], m[4],m[5], m[6], m[12],m[13],m[14]);
float cofactor12= getCofactor(m[1],m[2],m[3], m[5],m[6], m[7], m[9], m[10],m[11]);
float cofactor13= getCofactor(m[0],m[2],m[3], m[4],m[6], m[7], m[8], m[10],m[11]);
float cofactor14= getCofactor(m[0],m[1],m[3], m[4],m[5], m[7], m[8], m[9], m[11]);
float cofactor15= getCofactor(m[0],m[1],m[2], m[4],m[5], m[6], m[8], m[9], m[10]);
// build inverse matrix = adj(M) / det(M)
// adjugate of M is the transpose of the cofactor matrix of M
float invDeterminant = 1.0f / determinant;
m[0] = invDeterminant * cofactor0;
m[1] = -invDeterminant * cofactor4;
m[2] = invDeterminant * cofactor8;
m[3] = -invDeterminant * cofactor12;
m[4] = -invDeterminant * cofactor1;
m[5] = invDeterminant * cofactor5;
m[6] = -invDeterminant * cofactor9;
m[7] = invDeterminant * cofactor13;
m[8] = invDeterminant * cofactor2;
m[9] = -invDeterminant * cofactor6;
m[10]= invDeterminant * cofactor10;
m[11]= -invDeterminant * cofactor14;
m[12]= -invDeterminant * cofactor3;
m[13]= invDeterminant * cofactor7;
m[14]= -invDeterminant * cofactor11;
m[15]= invDeterminant * cofactor15;
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// return determinant of 4x4 matrix
///////////////////////////////////////////////////////////////////////////////
float Matrix4::getDeterminant()
{
return m[0] * getCofactor(m[5],m[6],m[7], m[9],m[10],m[11], m[13],m[14],m[15]) -
m[1] * getCofactor(m[4],m[6],m[7], m[8],m[10],m[11], m[12],m[14],m[15]) +
m[2] * getCofactor(m[4],m[5],m[7], m[8],m[9], m[11], m[12],m[13],m[15]) -
m[3] * getCofactor(m[4],m[5],m[6], m[8],m[9], m[10], m[12],m[13],m[14]);
}
///////////////////////////////////////////////////////////////////////////////
// compute cofactor of 3x3 minor matrix without sign
// input params are 9 elements of the minor matrix
// NOTE: The caller must know its sign.
///////////////////////////////////////////////////////////////////////////////
float Matrix4::getCofactor(float m0, float m1, float m2,
float m3, float m4, float m5,
float m6, float m7, float m8)
{
return m0 * (m4 * m8 - m5 * m7) -
m1 * (m3 * m8 - m5 * m6) +
m2 * (m3 * m7 - m4 * m6);
}
///////////////////////////////////////////////////////////////////////////////
// translate this matrix by (x, y, z)
///////////////////////////////////////////////////////////////////////////////
Matrix4& Matrix4::translate(const Vector3& v)
{
return translate(v.x, v.y, v.z);
}
Matrix4& Matrix4::translate(float x, float y, float z)
{
m[0] += m[3] * x; m[4] += m[7] * x; m[8] += m[11]* x; m[12]+= m[15]* x;
m[1] += m[3] * y; m[5] += m[7] * y; m[9] += m[11]* y; m[13]+= m[15]* y;
m[2] += m[3] * z; m[6] += m[7] * z; m[10]+= m[11]* z; m[14]+= m[15]* z;
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// uniform scale
///////////////////////////////////////////////////////////////////////////////
Matrix4& Matrix4::scale(float s)
{
return scale(s, s, s);
}
Matrix4& Matrix4::scale(float x, float y, float z)
{
m[0] *= x; m[4] *= x; m[8] *= x; m[12] *= x;
m[1] *= y; m[5] *= y; m[9] *= y; m[13] *= y;
m[2] *= z; m[6] *= z; m[10]*= z; m[14] *= z;
return *this;
}
///////////////////////////////////////////////////////////////////////////////
// build a rotation matrix with given angle(degree) and rotation axis, then
// multiply it with this object
///////////////////////////////////////////////////////////////////////////////
Matrix4& Matrix4::rotate(float angle, const Vector3& axis)
{
return rotate(angle, axis.x, axis.y, axis.z);
}
Matrix4& Matrix4::rotate(float angle, float x, float y, float z)
{
float c = cosf(angle * DEG2RAD); // cosine
float s = sinf(angle * DEG2RAD); // sine
float c1 = 1.0f - c; // 1 - c
float m0 = m[0], m4 = m[4], m8 = m[8], m12= m[12],
m1 = m[1], m5 = m[5], m9 = m[9], m13= m[13],
m2 = m[2], m6 = m[6], m10= m[10], m14= m[14];
// build rotation matrix
float r0 = x * x * c1 + c;
float r1 = x * y * c1 + z * s;
float r2 = x * z * c1 - y * s;
float r4 = x * y * c1 - z * s;
float r5 = y * y * c1 + c;
float r6 = y * z * c1 + x * s;
float r8 = x * z * c1 + y * s;
float r9 = y * z * c1 - x * s;
float r10= z * z * c1 + c;
// multiply rotation matrix
m[0] = r0 * m0 + r4 * m1 + r8 * m2;
m[1] = r1 * m0 + r5 * m1 + r9 * m2;
m[2] = r2 * m0 + r6 * m1 + r10* m2;
m[4] = r0 * m4 + r4 * m5 + r8 * m6;
m[5] = r1 * m4 + r5 * m5 + r9 * m6;
m[6] = r2 * m4 + r6 * m5 + r10* m6;
m[8] = r0 * m8 + r4 * m9 + r8 * m10;
m[9] = r1 * m8 + r5 * m9 + r9 * m10;
m[10]= r2 * m8 + r6 * m9 + r10* m10;
m[12]= r0 * m12+ r4 * m13+ r8 * m14;
m[13]= r1 * m12+ r5 * m13+ r9 * m14;
m[14]= r2 * m12+ r6 * m13+ r10* m14;
return *this;
}
Matrix4& Matrix4::rotateX(float angle)
{
float c = cosf(angle * DEG2RAD);
float s = sinf(angle * DEG2RAD);
float m1 = m[1], m2 = m[2],
m5 = m[5], m6 = m[6],
m9 = m[9], m10= m[10],
m13= m[13], m14= m[14];
m[1] = m1 * c + m2 *-s;
m[2] = m1 * s + m2 * c;
m[5] = m5 * c + m6 *-s;
m[6] = m5 * s + m6 * c;
m[9] = m9 * c + m10*-s;
m[10]= m9 * s + m10* c;
m[13]= m13* c + m14*-s;
m[14]= m13* s + m14* c;
return *this;
}
Matrix4& Matrix4::rotateY(float angle)
{
float c = cosf(angle * DEG2RAD);
float s = sinf(angle * DEG2RAD);
float m0 = m[0], m2 = m[2],
m4 = m[4], m6 = m[6],
m8 = m[8], m10= m[10],
m12= m[12], m14= m[14];
m[0] = m0 * c + m2 * s;
m[2] = m0 *-s + m2 * c;
m[4] = m4 * c + m6 * s;
m[6] = m4 *-s + m6 * c;
m[8] = m8 * c + m10* s;
m[10]= m8 *-s + m10* c;
m[12]= m12* c + m14* s;
m[14]= m12*-s + m14* c;
return *this;
}
Matrix4& Matrix4::rotateZ(float angle)
{
float c = cosf(angle * DEG2RAD);
float s = sinf(angle * DEG2RAD);
float m0 = m[0], m1 = m[1],
m4 = m[4], m5 = m[5],
m8 = m[8], m9 = m[9],
m12= m[12], m13= m[13];
m[0] = m0 * c + m1 *-s;
m[1] = m0 * s + m1 * c;
m[4] = m4 * c + m5 *-s;
m[5] = m4 * s + m5 * c;
m[8] = m8 * c + m9 *-s;
m[9] = m8 * s + m9 * c;
m[12]= m12* c + m13*-s;
m[13]= m12* s + m13* c;
return *this;
}

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///////////////////////////////////////////////////////////////////////////////
// Matrice.h
// =========
// NxN Matrix Math classes
//
// The elements of the matrix are stored as column major order.
// | 0 2 | | 0 3 6 | | 0 4 8 12 |
// | 1 3 | | 1 4 7 | | 1 5 9 13 |
// | 2 5 8 | | 2 6 10 14 |
// | 3 7 11 15 |
//
// AUTHOR: Song Ho Ahn (song.ahn@gmail.com)
// CREATED: 2005-06-24
// UPDATED: 2013-09-30
//
// Copyright (C) 2005 Song Ho Ahn
///////////////////////////////////////////////////////////////////////////////
#ifndef MATH_MATRICES_H
#define MATH_MATRICES_H
#include <iostream>
#include <iomanip>
#include "Vectors.h"
///////////////////////////////////////////////////////////////////////////
// 2x2 matrix
///////////////////////////////////////////////////////////////////////////
class Matrix2
{
public:
// constructors
Matrix2(); // init with identity
Matrix2(const float src[4]);
Matrix2(float m0, float m1, float m2, float m3);
void set(const float src[4]);
void set(float m0, float m1, float m2, float m3);
void setRow(int index, const float row[2]);
void setRow(int index, const Vector2& v);
void setColumn(int index, const float col[2]);
void setColumn(int index, const Vector2& v);
const float* get() const;
float getDeterminant();
Matrix2& identity();
Matrix2& transpose(); // transpose itself and return reference
Matrix2& invert();
// operators
Matrix2 operator+(const Matrix2& rhs) const; // add rhs
Matrix2 operator-(const Matrix2& rhs) const; // subtract rhs
Matrix2& operator+=(const Matrix2& rhs); // add rhs and update this object
Matrix2& operator-=(const Matrix2& rhs); // subtract rhs and update this object
Vector2 operator*(const Vector2& rhs) const; // multiplication: v' = M * v
Matrix2 operator*(const Matrix2& rhs) const; // multiplication: M3 = M1 * M2
Matrix2& operator*=(const Matrix2& rhs); // multiplication: M1' = M1 * M2
bool operator==(const Matrix2& rhs) const; // exact compare, no epsilon
bool operator!=(const Matrix2& rhs) const; // exact compare, no epsilon
float operator[](int index) const; // subscript operator v[0], v[1]
float& operator[](int index); // subscript operator v[0], v[1]
friend Matrix2 operator-(const Matrix2& m); // unary operator (-)
friend Matrix2 operator*(float scalar, const Matrix2& m); // pre-multiplication
friend Vector2 operator*(const Vector2& vec, const Matrix2& m); // pre-multiplication
friend std::ostream& operator<<(std::ostream& os, const Matrix2& m);
protected:
private:
float m[4];
};
///////////////////////////////////////////////////////////////////////////
// 3x3 matrix
///////////////////////////////////////////////////////////////////////////
class Matrix3
{
public:
// constructors
Matrix3(); // init with identity
Matrix3(const float src[9]);
Matrix3(float m0, float m1, float m2, // 1st column
float m3, float m4, float m5, // 2nd column
float m6, float m7, float m8); // 3rd column
void set(const float src[9]);
void set(float m0, float m1, float m2, // 1st column
float m3, float m4, float m5, // 2nd column
float m6, float m7, float m8); // 3rd column
void setRow(int index, const float row[3]);
void setRow(int index, const Vector3& v);
void setColumn(int index, const float col[3]);
void setColumn(int index, const Vector3& v);
const float* get() const;
float getDeterminant();
Matrix3& identity();
Matrix3& transpose(); // transpose itself and return reference
Matrix3& invert();
// operators
Matrix3 operator+(const Matrix3& rhs) const; // add rhs
Matrix3 operator-(const Matrix3& rhs) const; // subtract rhs
Matrix3& operator+=(const Matrix3& rhs); // add rhs and update this object
Matrix3& operator-=(const Matrix3& rhs); // subtract rhs and update this object
Vector3 operator*(const Vector3& rhs) const; // multiplication: v' = M * v
Matrix3 operator*(const Matrix3& rhs) const; // multiplication: M3 = M1 * M2
Matrix3& operator*=(const Matrix3& rhs); // multiplication: M1' = M1 * M2
bool operator==(const Matrix3& rhs) const; // exact compare, no epsilon
bool operator!=(const Matrix3& rhs) const; // exact compare, no epsilon
float operator[](int index) const; // subscript operator v[0], v[1]
float& operator[](int index); // subscript operator v[0], v[1]
friend Matrix3 operator-(const Matrix3& m); // unary operator (-)
friend Matrix3 operator*(float scalar, const Matrix3& m); // pre-multiplication
friend Vector3 operator*(const Vector3& vec, const Matrix3& m); // pre-multiplication
friend std::ostream& operator<<(std::ostream& os, const Matrix3& m);
protected:
private:
float m[9];
};
///////////////////////////////////////////////////////////////////////////
// 4x4 matrix
///////////////////////////////////////////////////////////////////////////
class Matrix4
{
public:
// constructors
Matrix4(); // init with identity
Matrix4(const float src[16]);
Matrix4(float m00, float m01, float m02, float m03, // 1st column
float m04, float m05, float m06, float m07, // 2nd column
float m08, float m09, float m10, float m11, // 3rd column
float m12, float m13, float m14, float m15);// 4th column
void set(const float src[16]);
void set(float m00, float m01, float m02, float m03, // 1st column
float m04, float m05, float m06, float m07, // 2nd column
float m08, float m09, float m10, float m11, // 3rd column
float m12, float m13, float m14, float m15);// 4th column
void setRow(int index, const float row[4]);
void setRow(int index, const Vector4& v);
void setRow(int index, const Vector3& v);
void setColumn(int index, const float col[4]);
void setColumn(int index, const Vector4& v);
void setColumn(int index, const Vector3& v);
const float* get() const;
const float* getTranspose(); // return transposed matrix
float getDeterminant();
Matrix4& identity();
Matrix4& transpose(); // transpose itself and return reference
Matrix4& invert(); // check best inverse method before inverse
Matrix4& invertEuclidean(); // inverse of Euclidean transform matrix
Matrix4& invertAffine(); // inverse of affine transform matrix
Matrix4& invertProjective(); // inverse of projective matrix using partitioning
Matrix4& invertGeneral(); // inverse of generic matrix
// transform matrix
Matrix4& translate(float x, float y, float z); // translation by (x,y,z)
Matrix4& translate(const Vector3& v); //
Matrix4& rotate(float angle, const Vector3& axis); // rotate angle(degree) along the given axix
Matrix4& rotate(float angle, float x, float y, float z);
Matrix4& rotateX(float angle); // rotate on X-axis with degree
Matrix4& rotateY(float angle); // rotate on Y-axis with degree
Matrix4& rotateZ(float angle); // rotate on Z-axis with degree
Matrix4& scale(float scale); // uniform scale
Matrix4& scale(float sx, float sy, float sz); // scale by (sx, sy, sz) on each axis
// operators
Matrix4 operator+(const Matrix4& rhs) const; // add rhs
Matrix4 operator-(const Matrix4& rhs) const; // subtract rhs
Matrix4& operator+=(const Matrix4& rhs); // add rhs and update this object
Matrix4& operator-=(const Matrix4& rhs); // subtract rhs and update this object
Vector4 operator*(const Vector4& rhs) const; // multiplication: v' = M * v
Vector3 operator*(const Vector3& rhs) const; // multiplication: v' = M * v
Matrix4 operator*(const Matrix4& rhs) const; // multiplication: M3 = M1 * M2
Matrix4& operator*=(const Matrix4& rhs); // multiplication: M1' = M1 * M2
bool operator==(const Matrix4& rhs) const; // exact compare, no epsilon
bool operator!=(const Matrix4& rhs) const; // exact compare, no epsilon
float operator[](int index) const; // subscript operator v[0], v[1]
float& operator[](int index); // subscript operator v[0], v[1]
friend Matrix4 operator-(const Matrix4& m); // unary operator (-)
friend Matrix4 operator*(float scalar, const Matrix4& m); // pre-multiplication
friend Vector3 operator*(const Vector3& vec, const Matrix4& m); // pre-multiplication
friend Vector4 operator*(const Vector4& vec, const Matrix4& m); // pre-multiplication
friend std::ostream& operator<<(std::ostream& os, const Matrix4& m);
protected:
private:
float getCofactor(float m0, float m1, float m2,
float m3, float m4, float m5,
float m6, float m7, float m8);
float m[16];
float tm[16]; // transpose m
};
///////////////////////////////////////////////////////////////////////////
// inline functions for Matrix2
///////////////////////////////////////////////////////////////////////////
inline Matrix2::Matrix2()
{
// initially identity matrix
identity();
}
inline Matrix2::Matrix2(const float src[4])
{
set(src);
}
inline Matrix2::Matrix2(float m0, float m1, float m2, float m3)
{
set(m0, m1, m2, m3);
}
inline void Matrix2::set(const float src[4])
{
m[0] = src[0]; m[1] = src[1]; m[2] = src[2]; m[3] = src[3];
}
inline void Matrix2::set(float m0, float m1, float m2, float m3)
{
m[0]= m0; m[1] = m1; m[2] = m2; m[3]= m3;
}
inline void Matrix2::setRow(int index, const float row[2])
{
m[index] = row[0]; m[index + 2] = row[1];
}
inline void Matrix2::setRow(int index, const Vector2& v)
{
m[index] = v.x; m[index + 2] = v.y;
}
inline void Matrix2::setColumn(int index, const float col[2])
{
m[index*2] = col[0]; m[index*2 + 1] = col[1];
}
inline void Matrix2::setColumn(int index, const Vector2& v)
{
m[index*2] = v.x; m[index*2 + 1] = v.y;
}
inline const float* Matrix2::get() const
{
return m;
}
inline Matrix2& Matrix2::identity()
{
m[0] = m[3] = 1.0f;
m[1] = m[2] = 0.0f;
return *this;
}
inline Matrix2 Matrix2::operator+(const Matrix2& rhs) const
{
return Matrix2(m[0]+rhs[0], m[1]+rhs[1], m[2]+rhs[2], m[3]+rhs[3]);
}
inline Matrix2 Matrix2::operator-(const Matrix2& rhs) const
{
return Matrix2(m[0]-rhs[0], m[1]-rhs[1], m[2]-rhs[2], m[3]-rhs[3]);
}
inline Matrix2& Matrix2::operator+=(const Matrix2& rhs)
{
m[0] += rhs[0]; m[1] += rhs[1]; m[2] += rhs[2]; m[3] += rhs[3];
return *this;
}
inline Matrix2& Matrix2::operator-=(const Matrix2& rhs)
{
m[0] -= rhs[0]; m[1] -= rhs[1]; m[2] -= rhs[2]; m[3] -= rhs[3];
return *this;
}
inline Vector2 Matrix2::operator*(const Vector2& rhs) const
{
return Vector2(m[0]*rhs.x + m[2]*rhs.y, m[1]*rhs.x + m[3]*rhs.y);
}
inline Matrix2 Matrix2::operator*(const Matrix2& rhs) const
{
return Matrix2(m[0]*rhs[0] + m[2]*rhs[1], m[1]*rhs[0] + m[3]*rhs[1],
m[0]*rhs[2] + m[2]*rhs[3], m[1]*rhs[2] + m[3]*rhs[3]);
}
inline Matrix2& Matrix2::operator*=(const Matrix2& rhs)
{
*this = *this * rhs;
return *this;
}
inline bool Matrix2::operator==(const Matrix2& rhs) const
{
return (m[0] == rhs[0]) && (m[1] == rhs[1]) && (m[2] == rhs[2]) && (m[3] == rhs[3]);
}
inline bool Matrix2::operator!=(const Matrix2& rhs) const
{
return (m[0] != rhs[0]) || (m[1] != rhs[1]) || (m[2] != rhs[2]) || (m[3] != rhs[3]);
}
inline float Matrix2::operator[](int index) const
{
return m[index];
}
inline float& Matrix2::operator[](int index)
{
return m[index];
}
inline Matrix2 operator-(const Matrix2& rhs)
{
return Matrix2(-rhs[0], -rhs[1], -rhs[2], -rhs[3]);
}
inline Matrix2 operator*(float s, const Matrix2& rhs)
{
return Matrix2(s*rhs[0], s*rhs[1], s*rhs[2], s*rhs[3]);
}
inline Vector2 operator*(const Vector2& v, const Matrix2& rhs)
{
return Vector2(v.x*rhs[0] + v.y*rhs[1], v.x*rhs[2] + v.y*rhs[3]);
}
inline std::ostream& operator<<(std::ostream& os, const Matrix2& m)
{
os << std::fixed << std::setprecision(5);
os << "[" << std::setw(10) << m[0] << " " << std::setw(10) << m[2] << "]\n"
<< "[" << std::setw(10) << m[1] << " " << std::setw(10) << m[3] << "]\n";
os << std::resetiosflags(std::ios_base::fixed | std::ios_base::floatfield);
return os;
}
// END OF MATRIX2 INLINE //////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
// inline functions for Matrix3
///////////////////////////////////////////////////////////////////////////
inline Matrix3::Matrix3()
{
// initially identity matrix
identity();
}
inline Matrix3::Matrix3(const float src[9])
{
set(src);
}
inline Matrix3::Matrix3(float m0, float m1, float m2,
float m3, float m4, float m5,
float m6, float m7, float m8)
{
set(m0, m1, m2, m3, m4, m5, m6, m7, m8);
}
inline void Matrix3::set(const float src[9])
{
m[0] = src[0]; m[1] = src[1]; m[2] = src[2];
m[3] = src[3]; m[4] = src[4]; m[5] = src[5];
m[6] = src[6]; m[7] = src[7]; m[8] = src[8];
}
inline void Matrix3::set(float m0, float m1, float m2,
float m3, float m4, float m5,
float m6, float m7, float m8)
{
m[0] = m0; m[1] = m1; m[2] = m2;
m[3] = m3; m[4] = m4; m[5] = m5;
m[6] = m6; m[7] = m7; m[8] = m8;
}
inline void Matrix3::setRow(int index, const float row[3])
{
m[index] = row[0]; m[index + 3] = row[1]; m[index + 6] = row[2];
}
inline void Matrix3::setRow(int index, const Vector3& v)
{
m[index] = v.x; m[index + 3] = v.y; m[index + 6] = v.z;
}
inline void Matrix3::setColumn(int index, const float col[3])
{
m[index*3] = col[0]; m[index*3 + 1] = col[1]; m[index*3 + 2] = col[2];
}
inline void Matrix3::setColumn(int index, const Vector3& v)
{
m[index*3] = v.x; m[index*3 + 1] = v.y; m[index*3 + 2] = v.z;
}
inline const float* Matrix3::get() const
{
return m;
}
inline Matrix3& Matrix3::identity()
{
m[0] = m[4] = m[8] = 1.0f;
m[1] = m[2] = m[3] = m[5] = m[6] = m[7] = 0.0f;
return *this;
}
inline Matrix3 Matrix3::operator+(const Matrix3& rhs) const
{
return Matrix3(m[0]+rhs[0], m[1]+rhs[1], m[2]+rhs[2],
m[3]+rhs[3], m[4]+rhs[4], m[5]+rhs[5],
m[6]+rhs[6], m[7]+rhs[7], m[8]+rhs[8]);
}
inline Matrix3 Matrix3::operator-(const Matrix3& rhs) const
{
return Matrix3(m[0]-rhs[0], m[1]-rhs[1], m[2]-rhs[2],
m[3]-rhs[3], m[4]-rhs[4], m[5]-rhs[5],
m[6]-rhs[6], m[7]-rhs[7], m[8]-rhs[8]);
}
inline Matrix3& Matrix3::operator+=(const Matrix3& rhs)
{
m[0] += rhs[0]; m[1] += rhs[1]; m[2] += rhs[2];
m[3] += rhs[3]; m[4] += rhs[4]; m[5] += rhs[5];
m[6] += rhs[6]; m[7] += rhs[7]; m[8] += rhs[8];
return *this;
}
inline Matrix3& Matrix3::operator-=(const Matrix3& rhs)
{
m[0] -= rhs[0]; m[1] -= rhs[1]; m[2] -= rhs[2];
m[3] -= rhs[3]; m[4] -= rhs[4]; m[5] -= rhs[5];
m[6] -= rhs[6]; m[7] -= rhs[7]; m[8] -= rhs[8];
return *this;
}
inline Vector3 Matrix3::operator*(const Vector3& rhs) const
{
return Vector3(m[0]*rhs.x + m[3]*rhs.y + m[6]*rhs.z,
m[1]*rhs.x + m[4]*rhs.y + m[7]*rhs.z,
m[2]*rhs.x + m[5]*rhs.y + m[8]*rhs.z);
}
inline Matrix3 Matrix3::operator*(const Matrix3& rhs) const
{
return Matrix3(m[0]*rhs[0] + m[3]*rhs[1] + m[6]*rhs[2], m[1]*rhs[0] + m[4]*rhs[1] + m[7]*rhs[2], m[2]*rhs[0] + m[5]*rhs[1] + m[8]*rhs[2],
m[0]*rhs[3] + m[3]*rhs[4] + m[6]*rhs[5], m[1]*rhs[3] + m[4]*rhs[4] + m[7]*rhs[5], m[2]*rhs[3] + m[5]*rhs[4] + m[8]*rhs[5],
m[0]*rhs[6] + m[3]*rhs[7] + m[6]*rhs[8], m[1]*rhs[6] + m[4]*rhs[7] + m[7]*rhs[8], m[2]*rhs[6] + m[5]*rhs[7] + m[8]*rhs[8]);
}
inline Matrix3& Matrix3::operator*=(const Matrix3& rhs)
{
*this = *this * rhs;
return *this;
}
inline bool Matrix3::operator==(const Matrix3& rhs) const
{
return (m[0] == rhs[0]) && (m[1] == rhs[1]) && (m[2] == rhs[2]) &&
(m[3] == rhs[3]) && (m[4] == rhs[4]) && (m[5] == rhs[5]) &&
(m[6] == rhs[6]) && (m[7] == rhs[7]) && (m[8] == rhs[8]);
}
inline bool Matrix3::operator!=(const Matrix3& rhs) const
{
return (m[0] != rhs[0]) || (m[1] != rhs[1]) || (m[2] != rhs[2]) ||
(m[3] != rhs[3]) || (m[4] != rhs[4]) || (m[5] != rhs[5]) ||
(m[6] != rhs[6]) || (m[7] != rhs[7]) || (m[8] != rhs[8]);
}
inline float Matrix3::operator[](int index) const
{
return m[index];
}
inline float& Matrix3::operator[](int index)
{
return m[index];
}
inline Matrix3 operator-(const Matrix3& rhs)
{
return Matrix3(-rhs[0], -rhs[1], -rhs[2], -rhs[3], -rhs[4], -rhs[5], -rhs[6], -rhs[7], -rhs[8]);
}
inline Matrix3 operator*(float s, const Matrix3& rhs)
{
return Matrix3(s*rhs[0], s*rhs[1], s*rhs[2], s*rhs[3], s*rhs[4], s*rhs[5], s*rhs[6], s*rhs[7], s*rhs[8]);
}
inline Vector3 operator*(const Vector3& v, const Matrix3& m)
{
return Vector3(v.x*m[0] + v.y*m[1] + v.z*m[2], v.x*m[3] + v.y*m[4] + v.z*m[5], v.x*m[6] + v.y*m[7] + v.z*m[8]);
}
inline std::ostream& operator<<(std::ostream& os, const Matrix3& m)
{
os << std::fixed << std::setprecision(5);
os << "[" << std::setw(10) << m[0] << " " << std::setw(10) << m[3] << " " << std::setw(10) << m[6] << "]\n"
<< "[" << std::setw(10) << m[1] << " " << std::setw(10) << m[4] << " " << std::setw(10) << m[7] << "]\n"
<< "[" << std::setw(10) << m[2] << " " << std::setw(10) << m[5] << " " << std::setw(10) << m[8] << "]\n";
os << std::resetiosflags(std::ios_base::fixed | std::ios_base::floatfield);
return os;
}
// END OF MATRIX3 INLINE //////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////
// inline functions for Matrix4
///////////////////////////////////////////////////////////////////////////
inline Matrix4::Matrix4()
{
// initially identity matrix
identity();
}
inline Matrix4::Matrix4(const float src[16])
{
set(src);
}
inline Matrix4::Matrix4(float m00, float m01, float m02, float m03,
float m04, float m05, float m06, float m07,
float m08, float m09, float m10, float m11,
float m12, float m13, float m14, float m15)
{
set(m00, m01, m02, m03, m04, m05, m06, m07, m08, m09, m10, m11, m12, m13, m14, m15);
}
inline void Matrix4::set(const float src[16])
{
m[0] = src[0]; m[1] = src[1]; m[2] = src[2]; m[3] = src[3];
m[4] = src[4]; m[5] = src[5]; m[6] = src[6]; m[7] = src[7];
m[8] = src[8]; m[9] = src[9]; m[10]= src[10]; m[11]= src[11];
m[12]= src[12]; m[13]= src[13]; m[14]= src[14]; m[15]= src[15];
}
inline void Matrix4::set(float m00, float m01, float m02, float m03,
float m04, float m05, float m06, float m07,
float m08, float m09, float m10, float m11,
float m12, float m13, float m14, float m15)
{
m[0] = m00; m[1] = m01; m[2] = m02; m[3] = m03;
m[4] = m04; m[5] = m05; m[6] = m06; m[7] = m07;
m[8] = m08; m[9] = m09; m[10]= m10; m[11]= m11;
m[12]= m12; m[13]= m13; m[14]= m14; m[15]= m15;
}
inline void Matrix4::setRow(int index, const float row[4])
{
m[index] = row[0]; m[index + 4] = row[1]; m[index + 8] = row[2]; m[index + 12] = row[3];
}
inline void Matrix4::setRow(int index, const Vector4& v)
{
m[index] = v.x; m[index + 4] = v.y; m[index + 8] = v.z; m[index + 12] = v.w;
}
inline void Matrix4::setRow(int index, const Vector3& v)
{
m[index] = v.x; m[index + 4] = v.y; m[index + 8] = v.z;
}
inline void Matrix4::setColumn(int index, const float col[4])
{
m[index*4] = col[0]; m[index*4 + 1] = col[1]; m[index*4 + 2] = col[2]; m[index*4 + 3] = col[3];
}
inline void Matrix4::setColumn(int index, const Vector4& v)
{
m[index*4] = v.x; m[index*4 + 1] = v.y; m[index*4 + 2] = v.z; m[index*4 + 3] = v.w;
}
inline void Matrix4::setColumn(int index, const Vector3& v)
{
m[index*4] = v.x; m[index*4 + 1] = v.y; m[index*4 + 2] = v.z;
}
inline const float* Matrix4::get() const
{
return m;
}
inline const float* Matrix4::getTranspose()
{
tm[0] = m[0]; tm[1] = m[4]; tm[2] = m[8]; tm[3] = m[12];
tm[4] = m[1]; tm[5] = m[5]; tm[6] = m[9]; tm[7] = m[13];
tm[8] = m[2]; tm[9] = m[6]; tm[10]= m[10]; tm[11]= m[14];
tm[12]= m[3]; tm[13]= m[7]; tm[14]= m[11]; tm[15]= m[15];
return tm;
}
inline Matrix4& Matrix4::identity()
{
m[0] = m[5] = m[10] = m[15] = 1.0f;
m[1] = m[2] = m[3] = m[4] = m[6] = m[7] = m[8] = m[9] = m[11] = m[12] = m[13] = m[14] = 0.0f;
return *this;
}
inline Matrix4 Matrix4::operator+(const Matrix4& rhs) const
{
return Matrix4(m[0]+rhs[0], m[1]+rhs[1], m[2]+rhs[2], m[3]+rhs[3],
m[4]+rhs[4], m[5]+rhs[5], m[6]+rhs[6], m[7]+rhs[7],
m[8]+rhs[8], m[9]+rhs[9], m[10]+rhs[10], m[11]+rhs[11],
m[12]+rhs[12], m[13]+rhs[13], m[14]+rhs[14], m[15]+rhs[15]);
}
inline Matrix4 Matrix4::operator-(const Matrix4& rhs) const
{
return Matrix4(m[0]-rhs[0], m[1]-rhs[1], m[2]-rhs[2], m[3]-rhs[3],
m[4]-rhs[4], m[5]-rhs[5], m[6]-rhs[6], m[7]-rhs[7],
m[8]-rhs[8], m[9]-rhs[9], m[10]-rhs[10], m[11]-rhs[11],
m[12]-rhs[12], m[13]-rhs[13], m[14]-rhs[14], m[15]-rhs[15]);
}
inline Matrix4& Matrix4::operator+=(const Matrix4& rhs)
{
m[0] += rhs[0]; m[1] += rhs[1]; m[2] += rhs[2]; m[3] += rhs[3];
m[4] += rhs[4]; m[5] += rhs[5]; m[6] += rhs[6]; m[7] += rhs[7];
m[8] += rhs[8]; m[9] += rhs[9]; m[10]+= rhs[10]; m[11]+= rhs[11];
m[12]+= rhs[12]; m[13]+= rhs[13]; m[14]+= rhs[14]; m[15]+= rhs[15];
return *this;
}
inline Matrix4& Matrix4::operator-=(const Matrix4& rhs)
{
m[0] -= rhs[0]; m[1] -= rhs[1]; m[2] -= rhs[2]; m[3] -= rhs[3];
m[4] -= rhs[4]; m[5] -= rhs[5]; m[6] -= rhs[6]; m[7] -= rhs[7];
m[8] -= rhs[8]; m[9] -= rhs[9]; m[10]-= rhs[10]; m[11]-= rhs[11];
m[12]-= rhs[12]; m[13]-= rhs[13]; m[14]-= rhs[14]; m[15]-= rhs[15];
return *this;
}
inline Vector4 Matrix4::operator*(const Vector4& rhs) const
{
return Vector4(m[0]*rhs.x + m[4]*rhs.y + m[8]*rhs.z + m[12]*rhs.w,
m[1]*rhs.x + m[5]*rhs.y + m[9]*rhs.z + m[13]*rhs.w,
m[2]*rhs.x + m[6]*rhs.y + m[10]*rhs.z + m[14]*rhs.w,
m[3]*rhs.x + m[7]*rhs.y + m[11]*rhs.z + m[15]*rhs.w);
}
inline Vector3 Matrix4::operator*(const Vector3& rhs) const
{
return Vector3(m[0]*rhs.x + m[4]*rhs.y + m[8]*rhs.z,
m[1]*rhs.x + m[5]*rhs.y + m[9]*rhs.z,
m[2]*rhs.x + m[6]*rhs.y + m[10]*rhs.z);
}
inline Matrix4 Matrix4::operator*(const Matrix4& n) const
{
return Matrix4(m[0]*n[0] + m[4]*n[1] + m[8]*n[2] + m[12]*n[3], m[1]*n[0] + m[5]*n[1] + m[9]*n[2] + m[13]*n[3], m[2]*n[0] + m[6]*n[1] + m[10]*n[2] + m[14]*n[3], m[3]*n[0] + m[7]*n[1] + m[11]*n[2] + m[15]*n[3],
m[0]*n[4] + m[4]*n[5] + m[8]*n[6] + m[12]*n[7], m[1]*n[4] + m[5]*n[5] + m[9]*n[6] + m[13]*n[7], m[2]*n[4] + m[6]*n[5] + m[10]*n[6] + m[14]*n[7], m[3]*n[4] + m[7]*n[5] + m[11]*n[6] + m[15]*n[7],
m[0]*n[8] + m[4]*n[9] + m[8]*n[10] + m[12]*n[11], m[1]*n[8] + m[5]*n[9] + m[9]*n[10] + m[13]*n[11], m[2]*n[8] + m[6]*n[9] + m[10]*n[10] + m[14]*n[11], m[3]*n[8] + m[7]*n[9] + m[11]*n[10] + m[15]*n[11],
m[0]*n[12] + m[4]*n[13] + m[8]*n[14] + m[12]*n[15], m[1]*n[12] + m[5]*n[13] + m[9]*n[14] + m[13]*n[15], m[2]*n[12] + m[6]*n[13] + m[10]*n[14] + m[14]*n[15], m[3]*n[12] + m[7]*n[13] + m[11]*n[14] + m[15]*n[15]);
}
inline Matrix4& Matrix4::operator*=(const Matrix4& rhs)
{
*this = *this * rhs;
return *this;
}
inline bool Matrix4::operator==(const Matrix4& n) const
{
return (m[0] == n[0]) && (m[1] == n[1]) && (m[2] == n[2]) && (m[3] == n[3]) &&
(m[4] == n[4]) && (m[5] == n[5]) && (m[6] == n[6]) && (m[7] == n[7]) &&
(m[8] == n[8]) && (m[9] == n[9]) && (m[10]== n[10]) && (m[11]== n[11]) &&
(m[12]== n[12]) && (m[13]== n[13]) && (m[14]== n[14]) && (m[15]== n[15]);
}
inline bool Matrix4::operator!=(const Matrix4& n) const
{
return (m[0] != n[0]) || (m[1] != n[1]) || (m[2] != n[2]) || (m[3] != n[3]) ||
(m[4] != n[4]) || (m[5] != n[5]) || (m[6] != n[6]) || (m[7] != n[7]) ||
(m[8] != n[8]) || (m[9] != n[9]) || (m[10]!= n[10]) || (m[11]!= n[11]) ||
(m[12]!= n[12]) || (m[13]!= n[13]) || (m[14]!= n[14]) || (m[15]!= n[15]);
}
inline float Matrix4::operator[](int index) const
{
return m[index];
}
inline float& Matrix4::operator[](int index)
{
return m[index];
}
inline Matrix4 operator-(const Matrix4& rhs)
{
return Matrix4(-rhs[0], -rhs[1], -rhs[2], -rhs[3], -rhs[4], -rhs[5], -rhs[6], -rhs[7], -rhs[8], -rhs[9], -rhs[10], -rhs[11], -rhs[12], -rhs[13], -rhs[14], -rhs[15]);
}
inline Matrix4 operator*(float s, const Matrix4& rhs)
{
return Matrix4(s*rhs[0], s*rhs[1], s*rhs[2], s*rhs[3], s*rhs[4], s*rhs[5], s*rhs[6], s*rhs[7], s*rhs[8], s*rhs[9], s*rhs[10], s*rhs[11], s*rhs[12], s*rhs[13], s*rhs[14], s*rhs[15]);
}
inline Vector4 operator*(const Vector4& v, const Matrix4& m)
{
return Vector4(v.x*m[0] + v.y*m[1] + v.z*m[2] + v.w*m[3], v.x*m[4] + v.y*m[5] + v.z*m[6] + v.w*m[7], v.x*m[8] + v.y*m[9] + v.z*m[10] + v.w*m[11], v.x*m[12] + v.y*m[13] + v.z*m[14] + v.w*m[15]);
}
inline Vector3 operator*(const Vector3& v, const Matrix4& m)
{
return Vector3(v.x*m[0] + v.y*m[1] + v.z*m[2], v.x*m[4] + v.y*m[5] + v.z*m[6], v.x*m[8] + v.y*m[9] + v.z*m[10]);
}
inline std::ostream& operator<<(std::ostream& os, const Matrix4& m)
{
os << std::fixed << std::setprecision(5);
os << "[" << std::setw(10) << m[0] << " " << std::setw(10) << m[4] << " " << std::setw(10) << m[8] << " " << std::setw(10) << m[12] << "]\n"
<< "[" << std::setw(10) << m[1] << " " << std::setw(10) << m[5] << " " << std::setw(10) << m[9] << " " << std::setw(10) << m[13] << "]\n"
<< "[" << std::setw(10) << m[2] << " " << std::setw(10) << m[6] << " " << std::setw(10) << m[10] << " " << std::setw(10) << m[14] << "]\n"
<< "[" << std::setw(10) << m[3] << " " << std::setw(10) << m[7] << " " << std::setw(10) << m[11] << " " << std::setw(10) << m[15] << "]\n";
os << std::resetiosflags(std::ios_base::fixed | std::ios_base::floatfield);
return os;
}
// END OF MATRIX4 INLINE //////////////////////////////////////////////////////
#endif

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examples/ThirdPartyLibs/openvr/samples/shared/Vectors.h Normal file
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///////////////////////////////////////////////////////////////////////////////
// Vectors.h
// =========
// 2D/3D/4D vectors
//
// AUTHOR: Song Ho Ahn (song.ahn@gmail.com)
// CREATED: 2007-02-14
// UPDATED: 2013-01-20
//
// Copyright (C) 2007-2013 Song Ho Ahn
///////////////////////////////////////////////////////////////////////////////
#ifndef VECTORS_H_DEF
#define VECTORS_H_DEF
#include <cmath>
#include <iostream>
///////////////////////////////////////////////////////////////////////////////
// 2D vector
///////////////////////////////////////////////////////////////////////////////
struct Vector2
{
float x;
float y;
// ctors
Vector2() : x(0), y(0) {};
Vector2(float x, float y) : x(x), y(y) {};
// utils functions
void set(float x, float y);
float length() const; //
float distance(const Vector2& vec) const; // distance between two vectors
Vector2& normalize(); //
float dot(const Vector2& vec) const; // dot product
bool equal(const Vector2& vec, float e) const; // compare with epsilon
// operators
Vector2 operator-() const; // unary operator (negate)
Vector2 operator+(const Vector2& rhs) const; // add rhs
Vector2 operator-(const Vector2& rhs) const; // subtract rhs
Vector2& operator+=(const Vector2& rhs); // add rhs and update this object
Vector2& operator-=(const Vector2& rhs); // subtract rhs and update this object
Vector2 operator*(const float scale) const; // scale
Vector2 operator*(const Vector2& rhs) const; // multiply each element
Vector2& operator*=(const float scale); // scale and update this object
Vector2& operator*=(const Vector2& rhs); // multiply each element and update this object
Vector2 operator/(const float scale) const; // inverse scale
Vector2& operator/=(const float scale); // scale and update this object
bool operator==(const Vector2& rhs) const; // exact compare, no epsilon
bool operator!=(const Vector2& rhs) const; // exact compare, no epsilon
bool operator<(const Vector2& rhs) const; // comparison for sort
float operator[](int index) const; // subscript operator v[0], v[1]
float& operator[](int index); // subscript operator v[0], v[1]
friend Vector2 operator*(const float a, const Vector2 vec);
friend std::ostream& operator<<(std::ostream& os, const Vector2& vec);
};
///////////////////////////////////////////////////////////////////////////////
// 3D vector
///////////////////////////////////////////////////////////////////////////////
struct Vector3
{
float x;
float y;
float z;
// ctors
Vector3() : x(0), y(0), z(0) {};
Vector3(float x, float y, float z) : x(x), y(y), z(z) {};
// utils functions
void set(float x, float y, float z);
float length() const; //
float distance(const Vector3& vec) const; // distance between two vectors
Vector3& normalize(); //
float dot(const Vector3& vec) const; // dot product
Vector3 cross(const Vector3& vec) const; // cross product
bool equal(const Vector3& vec, float e) const; // compare with epsilon
// operators
Vector3 operator-() const; // unary operator (negate)
Vector3 operator+(const Vector3& rhs) const; // add rhs
Vector3 operator-(const Vector3& rhs) const; // subtract rhs
Vector3& operator+=(const Vector3& rhs); // add rhs and update this object
Vector3& operator-=(const Vector3& rhs); // subtract rhs and update this object
Vector3 operator*(const float scale) const; // scale
Vector3 operator*(const Vector3& rhs) const; // multiplay each element
Vector3& operator*=(const float scale); // scale and update this object
Vector3& operator*=(const Vector3& rhs); // product each element and update this object
Vector3 operator/(const float scale) const; // inverse scale
Vector3& operator/=(const float scale); // scale and update this object
bool operator==(const Vector3& rhs) const; // exact compare, no epsilon
bool operator!=(const Vector3& rhs) const; // exact compare, no epsilon
bool operator<(const Vector3& rhs) const; // comparison for sort
float operator[](int index) const; // subscript operator v[0], v[1]
float& operator[](int index); // subscript operator v[0], v[1]
friend Vector3 operator*(const float a, const Vector3 vec);
friend std::ostream& operator<<(std::ostream& os, const Vector3& vec);
};
///////////////////////////////////////////////////////////////////////////////
// 4D vector
///////////////////////////////////////////////////////////////////////////////
struct Vector4
{
float x;
float y;
float z;
float w;
// ctors
Vector4() : x(0), y(0), z(0), w(0) {};
Vector4(float x, float y, float z, float w) : x(x), y(y), z(z), w(w) {};
// utils functions
void set(float x, float y, float z, float w);
float length() const; //
float distance(const Vector4& vec) const; // distance between two vectors
Vector4& normalize(); //
float dot(const Vector4& vec) const; // dot product
bool equal(const Vector4& vec, float e) const; // compare with epsilon
// operators
Vector4 operator-() const; // unary operator (negate)
Vector4 operator+(const Vector4& rhs) const; // add rhs
Vector4 operator-(const Vector4& rhs) const; // subtract rhs
Vector4& operator+=(const Vector4& rhs); // add rhs and update this object
Vector4& operator-=(const Vector4& rhs); // subtract rhs and update this object
Vector4 operator*(const float scale) const; // scale
Vector4 operator*(const Vector4& rhs) const; // multiply each element
Vector4& operator*=(const float scale); // scale and update this object
Vector4& operator*=(const Vector4& rhs); // multiply each element and update this object
Vector4 operator/(const float scale) const; // inverse scale
Vector4& operator/=(const float scale); // scale and update this object
bool operator==(const Vector4& rhs) const; // exact compare, no epsilon
bool operator!=(const Vector4& rhs) const; // exact compare, no epsilon
bool operator<(const Vector4& rhs) const; // comparison for sort
float operator[](int index) const; // subscript operator v[0], v[1]
float& operator[](int index); // subscript operator v[0], v[1]
friend Vector4 operator*(const float a, const Vector4 vec);
friend std::ostream& operator<<(std::ostream& os, const Vector4& vec);
};
// fast math routines from Doom3 SDK
inline float invSqrt(float x)
{
float xhalf = 0.5f * x;
int i = *(int*)&x; // get bits for floating value
i = 0x5f3759df - (i>>1); // gives initial guess
x = *(float*)&i; // convert bits back to float
x = x * (1.5f - xhalf*x*x); // Newton step
return x;
}
///////////////////////////////////////////////////////////////////////////////
// inline functions for Vector2
///////////////////////////////////////////////////////////////////////////////
inline Vector2 Vector2::operator-() const {
return Vector2(-x, -y);
}
inline Vector2 Vector2::operator+(const Vector2& rhs) const {
return Vector2(x+rhs.x, y+rhs.y);
}
inline Vector2 Vector2::operator-(const Vector2& rhs) const {
return Vector2(x-rhs.x, y-rhs.y);
}
inline Vector2& Vector2::operator+=(const Vector2& rhs) {
x += rhs.x; y += rhs.y; return *this;
}
inline Vector2& Vector2::operator-=(const Vector2& rhs) {
x -= rhs.x; y -= rhs.y; return *this;
}
inline Vector2 Vector2::operator*(const float a) const {
return Vector2(x*a, y*a);
}
inline Vector2 Vector2::operator*(const Vector2& rhs) const {
return Vector2(x*rhs.x, y*rhs.y);
}
inline Vector2& Vector2::operator*=(const float a) {
x *= a; y *= a; return *this;
}
inline Vector2& Vector2::operator*=(const Vector2& rhs) {
x *= rhs.x; y *= rhs.y; return *this;
}
inline Vector2 Vector2::operator/(const float a) const {
return Vector2(x/a, y/a);
}
inline Vector2& Vector2::operator/=(const float a) {
x /= a; y /= a; return *this;
}
inline bool Vector2::operator==(const Vector2& rhs) const {
return (x == rhs.x) && (y == rhs.y);
}
inline bool Vector2::operator!=(const Vector2& rhs) const {
return (x != rhs.x) || (y != rhs.y);
}
inline bool Vector2::operator<(const Vector2& rhs) const {
if(x < rhs.x) return true;
if(x > rhs.x) return false;
if(y < rhs.y) return true;
if(y > rhs.y) return false;
return false;
}
inline float Vector2::operator[](int index) const {
return (&x)[index];
}
inline float& Vector2::operator[](int index) {
return (&x)[index];
}
inline void Vector2::set(float x, float y) {
this->x = x; this->y = y;
}
inline float Vector2::length() const {
return sqrtf(x*x + y*y);
}
inline float Vector2::distance(const Vector2& vec) const {
return sqrtf((vec.x-x)*(vec.x-x) + (vec.y-y)*(vec.y-y));
}
inline Vector2& Vector2::normalize() {
//@@const float EPSILON = 0.000001f;
float xxyy = x*x + y*y;
//@@if(xxyy < EPSILON)
//@@ return *this;
//float invLength = invSqrt(xxyy);
float invLength = 1.0f / sqrtf(xxyy);
x *= invLength;
y *= invLength;
return *this;
}
inline float Vector2::dot(const Vector2& rhs) const {
return (x*rhs.x + y*rhs.y);
}
inline bool Vector2::equal(const Vector2& rhs, float epsilon) const {
return fabs(x - rhs.x) < epsilon && fabs(y - rhs.y) < epsilon;
}
inline Vector2 operator*(const float a, const Vector2 vec) {
return Vector2(a*vec.x, a*vec.y);
}
inline std::ostream& operator<<(std::ostream& os, const Vector2& vec) {
os << "(" << vec.x << ", " << vec.y << ")";
return os;
}
// END OF VECTOR2 /////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
// inline functions for Vector3
///////////////////////////////////////////////////////////////////////////////
inline Vector3 Vector3::operator-() const {
return Vector3(-x, -y, -z);
}
inline Vector3 Vector3::operator+(const Vector3& rhs) const {
return Vector3(x+rhs.x, y+rhs.y, z+rhs.z);
}
inline Vector3 Vector3::operator-(const Vector3& rhs) const {
return Vector3(x-rhs.x, y-rhs.y, z-rhs.z);
}
inline Vector3& Vector3::operator+=(const Vector3& rhs) {
x += rhs.x; y += rhs.y; z += rhs.z; return *this;
}
inline Vector3& Vector3::operator-=(const Vector3& rhs) {
x -= rhs.x; y -= rhs.y; z -= rhs.z; return *this;
}
inline Vector3 Vector3::operator*(const float a) const {
return Vector3(x*a, y*a, z*a);
}
inline Vector3 Vector3::operator*(const Vector3& rhs) const {
return Vector3(x*rhs.x, y*rhs.y, z*rhs.z);
}
inline Vector3& Vector3::operator*=(const float a) {
x *= a; y *= a; z *= a; return *this;
}
inline Vector3& Vector3::operator*=(const Vector3& rhs) {
x *= rhs.x; y *= rhs.y; z *= rhs.z; return *this;
}
inline Vector3 Vector3::operator/(const float a) const {
return Vector3(x/a, y/a, z/a);
}
inline Vector3& Vector3::operator/=(const float a) {
x /= a; y /= a; z /= a; return *this;
}
inline bool Vector3::operator==(const Vector3& rhs) const {
return (x == rhs.x) && (y == rhs.y) && (z == rhs.z);
}
inline bool Vector3::operator!=(const Vector3& rhs) const {
return (x != rhs.x) || (y != rhs.y) || (z != rhs.z);
}
inline bool Vector3::operator<(const Vector3& rhs) const {
if(x < rhs.x) return true;
if(x > rhs.x) return false;
if(y < rhs.y) return true;
if(y > rhs.y) return false;
if(z < rhs.z) return true;
if(z > rhs.z) return false;
return false;
}
inline float Vector3::operator[](int index) const {
return (&x)[index];
}
inline float& Vector3::operator[](int index) {
return (&x)[index];
}
inline void Vector3::set(float x, float y, float z) {
this->x = x; this->y = y; this->z = z;
}
inline float Vector3::length() const {
return sqrtf(x*x + y*y + z*z);
}
inline float Vector3::distance(const Vector3& vec) const {
return sqrtf((vec.x-x)*(vec.x-x) + (vec.y-y)*(vec.y-y) + (vec.z-z)*(vec.z-z));
}
inline Vector3& Vector3::normalize() {
//@@const float EPSILON = 0.000001f;
float xxyyzz = x*x + y*y + z*z;
//@@if(xxyyzz < EPSILON)
//@@ return *this; // do nothing if it is ~zero vector
//float invLength = invSqrt(xxyyzz);
float invLength = 1.0f / sqrtf(xxyyzz);
x *= invLength;
y *= invLength;
z *= invLength;
return *this;
}
inline float Vector3::dot(const Vector3& rhs) const {
return (x*rhs.x + y*rhs.y + z*rhs.z);
}
inline Vector3 Vector3::cross(const Vector3& rhs) const {
return Vector3(y*rhs.z - z*rhs.y, z*rhs.x - x*rhs.z, x*rhs.y - y*rhs.x);
}
inline bool Vector3::equal(const Vector3& rhs, float epsilon) const {
return fabs(x - rhs.x) < epsilon && fabs(y - rhs.y) < epsilon && fabs(z - rhs.z) < epsilon;
}
inline Vector3 operator*(const float a, const Vector3 vec) {
return Vector3(a*vec.x, a*vec.y, a*vec.z);
}
inline std::ostream& operator<<(std::ostream& os, const Vector3& vec) {
os << "(" << vec.x << ", " << vec.y << ", " << vec.z << ")";
return os;
}
// END OF VECTOR3 /////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
// inline functions for Vector4
///////////////////////////////////////////////////////////////////////////////
inline Vector4 Vector4::operator-() const {
return Vector4(-x, -y, -z, -w);
}
inline Vector4 Vector4::operator+(const Vector4& rhs) const {
return Vector4(x+rhs.x, y+rhs.y, z+rhs.z, w+rhs.w);
}
inline Vector4 Vector4::operator-(const Vector4& rhs) const {
return Vector4(x-rhs.x, y-rhs.y, z-rhs.z, w-rhs.w);
}
inline Vector4& Vector4::operator+=(const Vector4& rhs) {
x += rhs.x; y += rhs.y; z += rhs.z; w += rhs.w; return *this;
}
inline Vector4& Vector4::operator-=(const Vector4& rhs) {
x -= rhs.x; y -= rhs.y; z -= rhs.z; w -= rhs.w; return *this;
}
inline Vector4 Vector4::operator*(const float a) const {
return Vector4(x*a, y*a, z*a, w*a);
}
inline Vector4 Vector4::operator*(const Vector4& rhs) const {
return Vector4(x*rhs.x, y*rhs.y, z*rhs.z, w*rhs.w);
}
inline Vector4& Vector4::operator*=(const float a) {
x *= a; y *= a; z *= a; w *= a; return *this;
}
inline Vector4& Vector4::operator*=(const Vector4& rhs) {
x *= rhs.x; y *= rhs.y; z *= rhs.z; w *= rhs.w; return *this;
}
inline Vector4 Vector4::operator/(const float a) const {
return Vector4(x/a, y/a, z/a, w/a);
}
inline Vector4& Vector4::operator/=(const float a) {
x /= a; y /= a; z /= a; w /= a; return *this;
}
inline bool Vector4::operator==(const Vector4& rhs) const {
return (x == rhs.x) && (y == rhs.y) && (z == rhs.z) && (w == rhs.w);
}
inline bool Vector4::operator!=(const Vector4& rhs) const {
return (x != rhs.x) || (y != rhs.y) || (z != rhs.z) || (w != rhs.w);
}
inline bool Vector4::operator<(const Vector4& rhs) const {
if(x < rhs.x) return true;
if(x > rhs.x) return false;
if(y < rhs.y) return true;
if(y > rhs.y) return false;
if(z < rhs.z) return true;
if(z > rhs.z) return false;
if(w < rhs.w) return true;
if(w > rhs.w) return false;
return false;
}
inline float Vector4::operator[](int index) const {
return (&x)[index];
}
inline float& Vector4::operator[](int index) {
return (&x)[index];
}
inline void Vector4::set(float x, float y, float z, float w) {
this->x = x; this->y = y; this->z = z; this->w = w;
}
inline float Vector4::length() const {
return sqrtf(x*x + y*y + z*z + w*w);
}
inline float Vector4::distance(const Vector4& vec) const {
return sqrtf((vec.x-x)*(vec.x-x) + (vec.y-y)*(vec.y-y) + (vec.z-z)*(vec.z-z) + (vec.w-w)*(vec.w-w));
}
inline Vector4& Vector4::normalize() {
//NOTE: leave w-component untouched
//@@const float EPSILON = 0.000001f;
float xxyyzz = x*x + y*y + z*z;
//@@if(xxyyzz < EPSILON)
//@@ return *this; // do nothing if it is zero vector
//float invLength = invSqrt(xxyyzz);
float invLength = 1.0f / sqrtf(xxyyzz);
x *= invLength;
y *= invLength;
z *= invLength;
return *this;
}
inline float Vector4::dot(const Vector4& rhs) const {
return (x*rhs.x + y*rhs.y + z*rhs.z + w*rhs.w);
}
inline bool Vector4::equal(const Vector4& rhs, float epsilon) const {
return fabs(x - rhs.x) < epsilon && fabs(y - rhs.y) < epsilon &&
fabs(z - rhs.z) < epsilon && fabs(w - rhs.w) < epsilon;
}
inline Vector4 operator*(const float a, const Vector4 vec) {
return Vector4(a*vec.x, a*vec.y, a*vec.z, a*vec.w);
}
inline std::ostream& operator<<(std::ostream& os, const Vector4& vec) {
os << "(" << vec.x << ", " << vec.y << ", " << vec.z << ", " << vec.w << ")";
return os;
}
// END OF VECTOR4 /////////////////////////////////////////////////////////////
#endif

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//========= Copyright Valve Corporation ============//
#include "pathtools.h"
//#include "hmdplatform_private.h"
//#include "vrcommon/strtools.h"
#if defined( _WIN32)
#include <Windows.h>
#include <direct.h>
#include <Shobjidl.h>
#include <KnownFolders.h>
#elif defined OSX
#include <mach-o/dyld.h>
#include <dlfcn.h>
#include "osxfilebridge.h"
#define _S_IFDIR S_IFDIR // really from tier0/platform.h which we dont have yet
#define _MAX_PATH MAX_PATH // yet another form of _PATH define we use
#elif defined(LINUX)
#include <dlfcn.h>
#include <stdio.h>
#endif
#include <sys/stat.h>
#include <algorithm>
/** Returns the path (including filename) to the current executable */
std::string Path_GetExecutablePath()
{
bool bSuccess = false;
char rchPath[ 1024 ];
size_t nBuff = sizeof(rchPath);
#if defined( _WIN32 )
bSuccess = ::GetModuleFileNameA(NULL, rchPath, (DWORD)nBuff) > 0;
#elif defined OSX
uint32_t _nBuff = nBuff;
bSuccess = _NSGetExecutablePath(rchPath, &_nBuff) == 0;
rchPath[nBuff-1] = '\0';
#elif defined LINUX
ssize_t nRead = readlink("/proc/self/exe", rchPath, nBuff-1 );
if ( nRead != -1 )
{
rchPath[ nRead ] = 0;
bSuccess = true;
}
else
{
rchPath[ 0 ] = '\0';
}
#else
AssertMsg( false, "Implement Plat_GetExecutablePath" );
#endif
if( bSuccess )
return rchPath;
else
return "";
}
/** Returns the path of the current working directory */
std::string Path_GetWorkingDirectory()
{
std::string sPath;
char buf[ 1024 ];
#if defined( _WIN32 )
sPath = _getcwd( buf, sizeof( buf ) );
#else
sPath = getcwd( buf, sizeof( buf ) );
#endif
return sPath;
}
/** Sets the path of the current working directory. Returns true if this was successful. */
bool Path_SetWorkingDirectory( const std::string & sPath )
{
bool bSuccess;
#if defined( _WIN32 )
bSuccess = 0 == _chdir( sPath.c_str() );
#else
bSuccess = 0 == chdir( sPath.c_str() );
#endif
return bSuccess;
}
std::string Path_GetModulePath()
{
#if defined( _WIN32 )
char path[32768];
HMODULE hm = NULL;
if (!GetModuleHandleExA(GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS,
(LPCSTR) &Path_GetModulePath,
&hm))
{
int ret = GetLastError();
fprintf(stderr, "GetModuleHandle returned %d\n", ret);
return "";
}
GetModuleFileNameA(hm, path, sizeof(path));
FreeLibrary( hm );
return path;
#else
Dl_info dl_info;
dladdr((void *)Path_GetModulePath, &dl_info);
return dl_info.dli_fname;
#endif
}
/** Returns the specified path without its filename */
std::string Path_StripFilename( const std::string & sPath, char slash )
{
if( slash == 0 )
slash = Path_GetSlash();
std::string::size_type n = sPath.find_last_of( slash );
if( n == std::string::npos )
return sPath;
else
return std::string( sPath.begin(), sPath.begin() + n );
}
/** returns just the filename from the provided full or relative path. */
std::string Path_StripDirectory( const std::string & sPath, char slash )
{
if( slash == 0 )
slash = Path_GetSlash();
std::string::size_type n = sPath.find_last_of( slash );
if( n == std::string::npos )
return sPath;
else
return std::string( sPath.begin() + n + 1, sPath.end() );
}
/** returns just the filename with no extension of the provided filename.
* If there is a path the path is left intact. */
std::string Path_StripExtension( const std::string & sPath )
{
for( std::string::const_reverse_iterator i = sPath.rbegin(); i != sPath.rend(); i++ )
{
if( *i == '.' )
{
return std::string( sPath.begin(), i.base() - 1 );
}
// if we find a slash there is no extension
if( *i == '\\' || *i == '/' )
break;
}
// we didn't find an extension
return sPath;
}
bool Path_IsAbsolute( const std::string & sPath )
{
if( sPath.empty() )
return false;
if( sPath.find( ':' ) != std::string::npos )
return true;
if( sPath[0] == '\\' || sPath[0] == '/' )
return true;
return false;
}
/** Makes an absolute path from a relative path and a base path */
std::string Path_MakeAbsolute( const std::string & sRelativePath, const std::string & sBasePath, char slash )
{
if( slash == 0 )
slash = Path_GetSlash();
if( Path_IsAbsolute( sRelativePath ) )
return sRelativePath;
else
{
if( !Path_IsAbsolute( sBasePath ) )
return "";
std::string sCompacted = Path_Compact( Path_Join( sBasePath, sRelativePath, slash ), slash );
if( Path_IsAbsolute( sCompacted ) )
return sCompacted;
else
return "";
}
}
/** Fixes the directory separators for the current platform */
std::string Path_FixSlashes( const std::string & sPath, char slash )
{
if( slash == 0 )
slash = Path_GetSlash();
std::string sFixed = sPath;
for( std::string::iterator i = sFixed.begin(); i != sFixed.end(); i++ )
{
if( *i == '/' || *i == '\\' )
*i = slash;
}
return sFixed;
}
char Path_GetSlash()
{
#if defined(_WIN32)
return '\\';
#else
return '/';
#endif
}
/** Jams two paths together with the right kind of slash */
std::string Path_Join( const std::string & first, const std::string & second, char slash )
{
if( slash == 0 )
slash = Path_GetSlash();
// only insert a slash if we don't already have one
std::string::size_type nLen = first.length();
#if defined(_WIN32)
if( first.back() == '\\' || first.back() == '/' )
nLen--;
#else
char last_char = first[first.length()-1];
if (last_char == '\\' || last_char == '/')
nLen--;
#endif
return first.substr( 0, nLen ) + std::string( 1, slash ) + second;
}
std::string Path_Join( const std::string & first, const std::string & second, const std::string & third, char slash )
{
return Path_Join( Path_Join( first, second, slash ), third, slash );
}
std::string Path_Join( const std::string & first, const std::string & second, const std::string & third, const std::string &fourth, char slash )
{
return Path_Join( Path_Join( Path_Join( first, second, slash ), third, slash ), fourth, slash );
}
std::string Path_Join(
const std::string & first,
const std::string & second,
const std::string & third,
const std::string & fourth,
const std::string & fifth,
char slash )
{
return Path_Join( Path_Join( Path_Join( Path_Join( first, second, slash ), third, slash ), fourth, slash ), fifth, slash );
}
/** Removes redundant <dir>/.. elements in the path. Returns an empty path if the
* specified path has a broken number of directories for its number of ..s */
std::string Path_Compact( const std::string & sRawPath, char slash )
{
if( slash == 0 )
slash = Path_GetSlash();
std::string sPath = Path_FixSlashes( sRawPath, slash );
std::string sSlashString( 1, slash );
// strip out all /./
for( std::string::size_type i = 0; (i + 3) < sPath.length(); )
{
if( sPath[ i ] == slash && sPath[ i+1 ] == '.' && sPath[ i+2 ] == slash )
{
sPath.replace( i, 3, sSlashString );
}
else
{
++i;
}
}
// get rid of trailing /. but leave the path separator
if( sPath.length() > 2 )
{
std::string::size_type len = sPath.length();
if( sPath[ len-1 ] == '.' && sPath[ len-2 ] == slash )
{
// sPath.pop_back();
sPath[len-1] = 0; // for now, at least
}
}
// get rid of leading ./
if( sPath.length() > 2 )
{
if( sPath[ 0 ] == '.' && sPath[ 1 ] == slash )
{
sPath.replace( 0, 2, "" );
}
}
// each time we encounter .. back up until we've found the previous directory name
// then get rid of both
std::string::size_type i = 0;
while( i < sPath.length() )
{
if( i > 0 && sPath.length() - i >= 2
&& sPath[i] == '.'
&& sPath[i+1] == '.'
&& ( i + 2 == sPath.length() || sPath[ i+2 ] == slash )
&& sPath[ i-1 ] == slash )
{
// check if we've hit the start of the string and have a bogus path
if( i == 1 )
return "";
// find the separator before i-1
std::string::size_type iDirStart = i-2;
while( iDirStart > 0 && sPath[ iDirStart - 1 ] != slash )
--iDirStart;
// remove everything from iDirStart to i+2
sPath.replace( iDirStart, (i - iDirStart) + 3, "" );
// start over
i = 0;
}
else
{
++i;
}
}
return sPath;
}
#define MAX_UNICODE_PATH 32768
#define MAX_UNICODE_PATH_IN_UTF8 ( MAX_UNICODE_PATH * 4 )
/** Returns the path to the current DLL or exe */
std::string GetThisModulePath()
{
// gets the path of vrclient.dll itself
#ifdef WIN32
HMODULE hmodule = NULL;
::GetModuleHandleEx(GET_MODULE_HANDLE_EX_FLAG_FROM_ADDRESS | GET_MODULE_HANDLE_EX_FLAG_UNCHANGED_REFCOUNT, reinterpret_cast<LPCTSTR>(GetThisModulePath), &hmodule);
wchar_t *pwchPath = new wchar_t[MAX_UNICODE_PATH];
char *pchPath = new char[ MAX_UNICODE_PATH_IN_UTF8 ];
::GetModuleFileNameW( hmodule, pwchPath, MAX_UNICODE_PATH );
WideCharToMultiByte( CP_UTF8, 0, pwchPath, -1, pchPath, MAX_UNICODE_PATH_IN_UTF8, NULL, NULL );
delete[] pwchPath;
std::string sPath = pchPath;
delete [] pchPath;
return sPath;
#elif defined( OSX ) || defined( LINUX )
// get the addr of a function in vrclient.so and then ask the dlopen system about it
Dl_info info;
dladdr( (void *)GetThisModulePath, &info );
return info.dli_fname;
#endif
}
/** returns true if the specified path exists and is a directory */
bool Path_IsDirectory( const std::string & sPath )
{
std::string sFixedPath = Path_FixSlashes( sPath );
if( sFixedPath.empty() )
return false;
char cLast = sFixedPath[ sFixedPath.length() - 1 ];
if( cLast == '/' || cLast == '\\' )
sFixedPath.erase( sFixedPath.end() - 1, sFixedPath.end() );
// see if the specified path actually exists.
struct stat buf;
if ( stat ( sFixedPath.c_str(), &buf ) == -1)
{
return false;
}
#if defined(LINUX)
return S_ISDIR( buf.st_mode );
#else
return ( buf.st_mode & _S_IFDIR ) != 0;
#endif
}
//-----------------------------------------------------------------------------
// Purpose: returns true if the the path exists
//-----------------------------------------------------------------------------
bool Path_Exists( const std::string & sPath )
{
std::string sFixedPath = Path_FixSlashes( sPath );
if( sFixedPath.empty() )
return false;
struct stat buf;
if ( stat ( sFixedPath.c_str(), &buf ) == -1)
{
return false;
}
return true;
}
//-----------------------------------------------------------------------------
// Purpose: helper to find a directory upstream from a given path
//-----------------------------------------------------------------------------
std::string Path_FindParentDirectoryRecursively( const std::string &strStartDirectory, const std::string &strDirectoryName )
{
std::string strFoundPath = "";
std::string strCurrentPath = Path_FixSlashes( strStartDirectory );
if ( strCurrentPath.length() == 0 )
return "";
bool bExists = Path_Exists( strCurrentPath );
std::string strCurrentDirectoryName = Path_StripDirectory( strCurrentPath );
if ( bExists && stricmp( strCurrentDirectoryName.c_str(), strDirectoryName.c_str() ) == 0 )
return strCurrentPath;
while( bExists && strCurrentPath.length() != 0 )
{
strCurrentPath = Path_StripFilename( strCurrentPath );
strCurrentDirectoryName = Path_StripDirectory( strCurrentPath );
bExists = Path_Exists( strCurrentPath );
if ( bExists && stricmp( strCurrentDirectoryName.c_str(), strDirectoryName.c_str() ) == 0 )
return strCurrentPath;
}
return "";
}
//-----------------------------------------------------------------------------
// Purpose: helper to find a subdirectory upstream from a given path
//-----------------------------------------------------------------------------
std::string Path_FindParentSubDirectoryRecursively( const std::string &strStartDirectory, const std::string &strDirectoryName )
{
std::string strFoundPath = "";
std::string strCurrentPath = Path_FixSlashes( strStartDirectory );
if ( strCurrentPath.length() == 0 )
return "";
bool bExists = Path_Exists( strCurrentPath );
while( bExists && strCurrentPath.length() != 0 )
{
strCurrentPath = Path_StripFilename( strCurrentPath );
bExists = Path_Exists( strCurrentPath );
if( Path_Exists( Path_Join( strCurrentPath, strDirectoryName ) ) )
{
strFoundPath = Path_Join( strCurrentPath, strDirectoryName );
break;
}
}
return strFoundPath;
}
//-----------------------------------------------------------------------------
// Purpose: reading and writing files in the vortex directory
//-----------------------------------------------------------------------------
unsigned char * Path_ReadBinaryFile( const std::string &strFilename, int *pSize )
{
FILE *f;
#if defined( POSIX )
f = fopen( strFilename.c_str(), "rb" );
#else
errno_t err = fopen_s(&f, strFilename.c_str(), "rb");
if ( err != 0 )
{
f = NULL;
}
#endif
unsigned char* buf = NULL;
if ( f != NULL )
{
fseek(f, 0, SEEK_END);
int size = ftell(f);
fseek(f, 0, SEEK_SET);
buf = new unsigned char[size];
if (buf && fread(buf, size, 1, f) == 1)
{
if (pSize)
*pSize = size;
}
else
{
delete[] buf;
buf = 0;
}
fclose(f);
}
return buf;
}
std::string Path_ReadTextFile( const std::string &strFilename )
{
// doing it this way seems backwards, but I don't
// see an easy way to do this with C/C++ style IO
// that isn't worse...
int size;
unsigned char* buf = Path_ReadBinaryFile( strFilename, &size );
if (!buf)
return "";
// convert CRLF -> LF
int outsize = 1;
for (int i=1; i < size; i++)
{
if (buf[i] == '\n' && buf[i-1] == '\r') // CRLF
buf[outsize-1] = '\n'; // ->LF
else
buf[outsize++] = buf[i]; // just copy
}
std::string ret((char *)buf, (char *)(buf + outsize));
delete[] buf;
return ret;
}
bool Path_WriteStringToTextFile( const std::string &strFilename, const char *pchData )
{
FILE *f;
#if defined( POSIX )
f = fopen( strFilename.c_str(), "w" );
#else
errno_t err = fopen_s(&f, strFilename.c_str(), "w");
if ( err != 0 )
{
f = NULL;
}
#endif
bool ok = false;
if ( f != NULL )
{
ok = fputs( pchData, f) >= 0;
fclose(f);
}
return ok;
}

98
examples/ThirdPartyLibs/openvr/samples/shared/pathtools.h Normal file
View File

@@ -0,0 +1,98 @@
//========= Copyright Valve Corporation ============//
#pragma once
#include <string>
/** Returns the path (including filename) to the current executable */
std::string Path_GetExecutablePath();
/** Returns the path of the current working directory */
std::string Path_GetWorkingDirectory();
/** Sets the path of the current working directory. Returns true if this was successful. */
bool Path_SetWorkingDirectory( const std::string & sPath );
/** returns the path (including filename) of the current shared lib or DLL */
std::string Path_GetModulePath();
/** Returns the specified path without its filename.
* If slash is unspecified the native path separator of the current platform
* will be used. */
std::string Path_StripFilename( const std::string & sPath, char slash = 0 );
/** returns just the filename from the provided full or relative path. */
std::string Path_StripDirectory( const std::string & sPath, char slash = 0 );
/** returns just the filename with no extension of the provided filename.
* If there is a path the path is left intact. */
std::string Path_StripExtension( const std::string & sPath );
/** Returns true if the path is absolute */
bool Path_IsAbsolute( const std::string & sPath );
/** Makes an absolute path from a relative path and a base path */
std::string Path_MakeAbsolute( const std::string & sRelativePath, const std::string & sBasePath, char slash = 0 );
/** Fixes the directory separators for the current platform.
* If slash is unspecified the native path separator of the current platform
* will be used. */
std::string Path_FixSlashes( const std::string & sPath, char slash = 0 );
/** Returns the path separator for the current platform */
char Path_GetSlash();
/** Jams two paths together with the right kind of slash */
std::string Path_Join( const std::string & first, const std::string & second, char slash = 0 );
std::string Path_Join( const std::string & first, const std::string & second, const std::string & third, char slash = 0 );
std::string Path_Join( const std::string & first, const std::string & second, const std::string & third, const std::string &fourth, char slash = 0 );
std::string Path_Join(
const std::string & first,
const std::string & second,
const std::string & third,
const std::string & fourth,
const std::string & fifth,
char slash = 0 );
/** Removes redundant <dir>/.. elements in the path. Returns an empty path if the
* specified path has a broken number of directories for its number of ..s.
* If slash is unspecified the native path separator of the current platform
* will be used. */
std::string Path_Compact( const std::string & sRawPath, char slash = 0 );
/** returns true if the specified path exists and is a directory */
bool Path_IsDirectory( const std::string & sPath );
/** Returns the path to the current DLL or exe */
std::string GetThisModulePath();
/** returns true if the the path exists */
bool Path_Exists( const std::string & sPath );
/** Helper functions to find parent directories or subdirectories of parent directories */
std::string Path_FindParentDirectoryRecursively( const std::string &strStartDirectory, const std::string &strDirectoryName );
std::string Path_FindParentSubDirectoryRecursively( const std::string &strStartDirectory, const std::string &strDirectoryName );
/** Path operations to read or write text/binary files */
unsigned char * Path_ReadBinaryFile( const std::string &strFilename, int *pSize );
std::string Path_ReadTextFile( const std::string &strFilename );
bool Path_WriteStringToTextFile( const std::string &strFilename, const char *pchData );
//-----------------------------------------------------------------------------
#if defined(_WIN32)
#define DYNAMIC_LIB_EXT ".dll"
#ifdef _WIN64
#define PLATSUBDIR "win64"
#else
#define PLATSUBDIR "win32"
#endif
#elif defined(OSX)
#define DYNAMIC_LIB_EXT ".dylib"
#define PLATSUBDIR "osx32"
#elif defined(LINUX)
#define DYNAMIC_LIB_EXT ".so"
#define PLATSUBDIR "linux32"
#else
#warning "Unknown platform for PLATSUBDIR"
#define PLATSUBDIR "unknown_platform"
#endif

15
examples/Utils/b3Clock.cpp
View File

@@ -166,7 +166,7 @@ unsigned long int b3Clock::getTimeMilliseconds()
/// Returns the time in us since the last call to reset or since
/// the Clock was created.
unsigned long int b3Clock::getTimeMicroseconds()
unsigned long long int b3Clock::getTimeMicroseconds()
{
#ifdef B3_USE_WINDOWS_TIMERS
LARGE_INTEGER currentTime;
@@ -175,14 +175,14 @@ unsigned long int b3Clock::getTimeMicroseconds()
m_data->mStartTime.QuadPart;
// Compute the number of millisecond ticks elapsed.
unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
unsigned long long msecTicks = (unsigned long long)(1000 * elapsedTime /
m_data->mClockFrequency.QuadPart);
// Check for unexpected leaps in the Win32 performance counter.
// (This is caused by unexpected data across the PCI to ISA
// bridge, aka south bridge. See Microsoft KB274323.)
unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
signed long msecOff = (signed long)(msecTicks - elapsedTicks);
unsigned long long elapsedTicks = GetTickCount() - m_data->mStartTick;
signed long long msecOff = (signed long)(msecTicks - elapsedTicks);
if (msecOff < -100 || msecOff > 100)
{
// Adjust the starting time forwards.
@@ -197,7 +197,7 @@ unsigned long int b3Clock::getTimeMicroseconds()
m_data->mPrevElapsedTime = elapsedTime;
// Convert to microseconds.
unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime /
unsigned long long usecTicks = (unsigned long)(1000000 * elapsedTime /
m_data->mClockFrequency.QuadPart);
return usecTicks;
@@ -222,3 +222,8 @@ unsigned long int b3Clock::getTimeMicroseconds()
#endif
}
double b3Clock::getTimeInSeconds()
{
return double(getTimeMicroseconds()/1.e6);
}

7
examples/Utils/b3Clock.h
View File

@@ -22,7 +22,12 @@ public:
/// Returns the time in us since the last call to reset or since
/// the Clock was created.
unsigned long int getTimeMicroseconds();
unsigned long long int getTimeMicroseconds();
/// Returns the time in seconds since the last call to reset or since
/// the Clock was created.
double getTimeInSeconds();
private:
struct b3ClockData* m_data;
};

2
examples/Utils/b3ResourcePath.cpp
View File

@@ -4,7 +4,7 @@
#include <mach-o/dyld.h> /* _NSGetExecutablePath */
#else
#ifdef _WIN32
#include <Windows.h>
#include <windows.h>
#else
//not Mac, not Windows, let's cross the fingers it is Linux :-)
#include <unistd.h>

5
examples/Vehicles/Hinge2Vehicle.cpp
View File

@@ -568,11 +568,6 @@ void Hinge2Vehicle::renderScene()
m_guiHelper->render(m_dynamicsWorld);
ATTRIBUTE_ALIGNED16(btScalar) m[16];
int i;
btVector3 wheelColor(1,0,0);
btVector3 worldBoundsMin,worldBoundsMax;

99
examples/pybullet/pybullet.c
View File

@@ -172,6 +172,8 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
&startOrnX,&startOrnY,&startOrnZ, &startOrnW))
return NULL;
}
if (strlen(urdfFileName))
{
// printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW);
@@ -190,6 +192,10 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
return NULL;
}
bodyIndex = b3GetStatusBodyIndex(statusHandle);
} else
{
PyErr_SetString(SpamError, "Empty filename, method expects 1, 4 or 8 arguments.");
return NULL;
}
return PyLong_FromLong(bodyIndex);
}
@@ -368,8 +374,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
{
case CONTROL_MODE_VELOCITY:
{
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue);
double kd = gains;
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue);
b3JointControlSetKd(commandHandle,info.m_uIndex,kd);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
break;
@@ -383,8 +389,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue);
double kp = gains;
b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue);
b3JointControlSetKp(commandHandle,info.m_uIndex,kp);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
break;
@@ -942,6 +948,32 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
return 0;
}
// internal function to set a float vector[3]
// used to initialize camera position with
// a view and projection matrix in renderImage()
//
// // Args:
// matrix - float[16] which will be set by values from objMat
static int pybullet_internalSetVector(PyObject* objMat, float vector[3])
{
int i, len;
PyObject* seq;
seq = PySequence_Fast(objMat, "expected a sequence");
len = PySequence_Size(objMat);
if (len==3)
{
for (i = 0; i < len; i++)
{
vector[i] = pybullet_internalGetFloatFromSequence(seq,i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
return 0;
}
// Render an image from the current timestep of the simulation
//
// Examples:
@@ -961,11 +993,22 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
///request an image from a simulated camera, using a software renderer.
struct b3CameraImageData imageData;
PyObject* objViewMat,* objProjMat;
PyObject* objCameraPos,*objTargetPos,* objCameraUp;
int width, height;
int size= PySequence_Size(args);
float viewMatrix[16];
float projectionMatrix[16];
float cameraPos[3];
float targetPos[3];
float cameraUp[3];
float left, right, bottom, top, aspect;
float nearVal, farVal;
// float nearVal = .001;
// float farVal = 1000;
// inialize cmd
b3SharedMemoryCommandHandle command;
@@ -1001,6 +1044,47 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args)
}
}
if (size==7) // set camera resoluation and view and projection matrix
{
if (PyArg_ParseTuple(args, "iiOOOii", &width, &height, &objCameraPos, &objTargetPos, &objCameraUp, &nearVal, &farVal))
{
b3RequestCameraImageSetPixelResolution(command,width,height);
if (pybullet_internalSetVector(objCameraPos, cameraPos) &&
pybullet_internalSetVector(objTargetPos, targetPos) &&
pybullet_internalSetVector(objCameraUp, cameraUp))
{
// printf("\ncamera pos:\n");
// for(int i =0;i<3; i++) {
// printf(" %f", cameraPos[i]);
// }
//
// printf("\ntargetPos pos:\n");
// for(int i =0;i<3; i++) {
// printf(" %f", targetPos[i]);
// }
//
// printf("\ncameraUp pos:\n");
// for(int i =0;i<3; i++) {
// printf(" %f", cameraUp[i]);
// }
// printf("\n");
b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp);
// printf("\n");
}
aspect = width/height;
left = -aspect * nearVal;
right = aspect * nearVal;
bottom = -nearVal;
top = nearVal;
b3RequestCameraImageSetProjectionMatrix(command, left, right, bottom, top, nearVal, farVal);
// printf("\n");
}
}
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;
@@ -1186,10 +1270,12 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "flag has to be either WORLD_FRAME or LINK_FRAME");
return NULL;
}
{
b3SharedMemoryStatusHandle statusHandle;
b3SharedMemoryCommandHandle command = b3ApplyExternalForceCommandInit(sm);
b3ApplyExternalTorque(command,objectUniqueId,-1,torque, flags);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
}
}
@@ -1305,12 +1391,13 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
{
double rpy[3];
double sarg;
sqx = quat[0] * quat[0];
sqy = quat[1] * quat[1];
sqz = quat[2] * quat[2];
squ = quat[3] * quat[3];
rpy[0] = atan2(2 * (quat[1]*quat[2] + quat[3]*quat[0]), squ - sqx - sqy + sqz);
double sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
rpy[1] = sarg <= -1.0 ? -0.5*3.141592538 : (sarg >= 1.0 ? 0.5*3.141592538 : asin(sarg));
rpy[2] = atan2(2 * (quat[0]*quat[1] + quat[3]*quat[2]), squ + sqx - sqy - sqz);
{
@@ -1381,7 +1468,7 @@ static PyMethodDef SpamMethods[] = {
"for objectUniqueId, linkIndex (-1 for base/root link) apply a torque [x,y,z] in Cartesian coordinates, flag to select TORQUE_IN_LINK_FRAME or TORQUE_IN_WORLD_FRAME coordinates"},
{"renderImage", pybullet_renderImage, METH_VARARGS,
"Render an image (given the pixel resolution width & height and camera view & projection matrices), and return the 8-8-8bit RGB pixel data and floating point depth values"},
"Render an image (given the pixel resolution width, height, camera view matrix, projection matrix, near, and far values), and return the 8-8-8bit RGB pixel data and floating point depth values"},
{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
"Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to quaternion [x,y,z,w]"},
@@ -1397,6 +1484,10 @@ static PyMethodDef SpamMethods[] = {
//collision info
//raycast info
//applyBaseForce
//applyLinkForce
{NULL, NULL, 0, NULL} /* Sentinel */
};

2
src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h
View File

@@ -965,8 +965,6 @@ inline void b3DynamicBvh::rayTestInternal( const b3DbvtNode* root,
B3_DBVT_CHECKTYPE
if(root)
{
b3Vector3 resultNormal;
int depth=1;
int treshold=B3_DOUBLE_STACKSIZE-2;
b3AlignedObjectArray<const b3DbvtNode*>& stack = m_rayTestStack;

5
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
View File

@@ -692,8 +692,6 @@ static bool findSeparatingAxis( const b3ConvexPolyhedronData& hullA, const b3Con
}
}
b3Vector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
int curEdgeEdge = 0;
// Test edges
for(int e0=0;e0<hullA.m_numUniqueEdges;e0++)
@@ -1292,7 +1290,6 @@ int clipHullHullSingle(
B3_PROFILE("overlap");
float4 normalOnSurfaceB = (float4&)hostNormal;
float4 centerOut;
b3Int4 contactIdx;
contactIdx.x = 0;
@@ -2777,8 +2774,6 @@ int computeContactConvexConvex2(
hullB = convexShapes[colB.m_shapeIndex];
//printf("numvertsB = %d\n",hullB.m_numVertices);
float4 contactsOut[MAX_VERTS];
int contactCapacity = MAX_VERTS;
int numContactsOut=0;

2
src/Bullet3OpenCL/NarrowphaseCollision/b3QuantizedBvh.cpp
View File

@@ -619,8 +619,8 @@ void b3QuantizedBvh::walkStacklessQuantizedTreeAgainstRay(b3NodeOverlapCallback*
/* Add box cast extents */
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
b3Vector3 normal;
#if 0
b3Vector3 normal;
bool ra2 = b3RayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
bool ra = b3RayAabb (raySource, rayTarget, bounds[0], bounds[1], param, normal);
if (ra2 != ra)

20
src/Bullet3Serialize/Bullet2FileLoader/b3DNA.cpp
View File

@@ -389,15 +389,7 @@ void bDNA::init(char *data, int len, bool swap)
}
{
nr= (long)cp;
//long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
cp = b3AlignPointer(cp,4);
/*
@@ -425,16 +417,8 @@ void bDNA::init(char *data, int len, bool swap)
cp++;
}
{
nr= (long)cp;
// long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
cp = b3AlignPointer(cp,4);
/*
TLEN (4 bytes)

22
src/Bullet3Serialize/Bullet2FileLoader/b3File.cpp
View File

@@ -428,16 +428,7 @@ void bFile::swapDNA(char* ptr)
}
{
nr= (long)cp;
//long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
cp = b3AlignPointer(cp,4);
/*
TYPE (4 bytes)
@@ -465,16 +456,7 @@ void bFile::swapDNA(char* ptr)
cp++;
}
{
nr= (long)cp;
// long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
cp = b3AlignPointer(cp,4);
/*
TLEN (4 bytes)

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