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add basic debug drawing interface for btMultiBodyPoint2Point constraint

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add basic debug drawing drawText3D in SimpleOpenGL3App
remove a few warnings
add drawTexturedRect3D to GLPrimitiveRenderer to support debug drawing
This commit is contained in:
erwincoumans
2015-01-27 10:45:56 -08:00
parent 51f41d0cfc
commit bd16df8dd6
20 changed files with 611 additions and 191 deletions
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269
btgui/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -26,6 +26,7 @@
#include "OpenGLWindow/opengl_fontstashcallbacks.h"
#include <assert.h>
#include "OpenGLWindow/GLRenderToTexture.h"
#include "Bullet3Common/b3Quaternion.h"
#ifdef _WIN32
#define popen _popen
@@ -35,6 +36,7 @@
struct SimpleInternalData
{
GLuint m_fontTextureId;
GLuint m_largeFontTextureId;
struct sth_stash* m_fontStash;
OpenGL2RenderCallbacks* m_renderCallbacks;
int m_droidRegular;
@@ -48,8 +50,10 @@ struct SimpleInternalData
static SimpleOpenGL3App* gApp=0;
static void SimpleResizeCallback( float width, float height)
static void SimpleResizeCallback( float widthf, float heightf)
{
int width = (int)widthf;
int height = (int)heightf;
gApp->m_instancingRenderer->resize(width,height);
gApp->m_primRenderer->setScreenSize(width,height);
@@ -111,7 +115,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
m_window->setWindowTitle(title);
b3Assert(glGetError() ==GL_NO_ERROR);
b3Assert(glGetError() ==GL_NO_ERROR);
glClearColor(0.9,0.9,1,1);
m_window->startRendering();
@@ -156,6 +160,8 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
TwGenerateDefaultFonts();
m_data->m_fontTextureId = BindFont(g_DefaultNormalFont);
m_data->m_largeFontTextureId = BindFont(g_DefaultLargeFont);
{
@@ -189,12 +195,193 @@ struct sth_stash* SimpleOpenGL3App::getFontStash()
return m_data->m_fontStash;
}
void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
{
float viewMat[16];
float projMat[16];
m_instancingRenderer->getCameraViewMatrix(viewMat);
m_instancingRenderer->getCameraProjectionMatrix(projMat);
float camPos[4];
this->m_instancingRenderer->getCameraPosition(camPos);
b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);
float dist = (cp-p).length();
float dv = 0;//dist/1000.f;
//
//printf("str = %s\n",unicodeText);
float dx=0;
//int measureOnly=0;
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
int viewport[4]={0,0,m_instancingRenderer->getScreenWidth(),m_instancingRenderer->getScreenHeight()};
float posX = 450.f;
float posY = 100.f;
float winx,winy, winz;
if (!projectWorldCoordToScreen(worldPosX, worldPosY, worldPosZ,viewMat,projMat,viewport,&winx, &winy, &winz))
{
return;
}
posX = winx;
posY = m_instancingRenderer->getScreenHeight()/2+(m_instancingRenderer->getScreenHeight()/2)-winy;
if (0)//m_useTrueTypeFont)
{
bool measureOnly = false;
float fontSize= 32;//64;//512;//128;
sth_draw_text(m_data->m_fontStash,
m_data->m_droidRegular,fontSize,posX,posY,
txt,&dx, this->m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),measureOnly,m_window->getRetinaScale());
sth_end_draw(m_data->m_fontStash);
sth_flush_draw(m_data->m_fontStash);
} else
{
//float width = 0.f;
int pos=0;
//float color[]={0.2f,0.2,0.2f,1.f};
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,m_data->m_largeFontTextureId);
//float width = r.x;
//float extraSpacing = 0.;
float startX = posX;
float startY = posY-g_DefaultLargeFont->m_CharHeight;
while (txt[pos])
{
int c = txt[pos];
//r.h = g_DefaultNormalFont->m_CharHeight;
//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
float endX = startX+g_DefaultLargeFont->m_CharWidth[c];
float endY = posY;
float currentColor[]={1.f,0.2,0.2f,1.f};
// m_primRenderer->drawTexturedRect(startX, startY, endX, endY, currentColor,g_DefaultLargeFont->m_CharU0[c],g_DefaultLargeFont->m_CharV0[c],g_DefaultLargeFont->m_CharU1[c],g_DefaultLargeFont->m_CharV1[c]);
float u0 = g_DefaultLargeFont->m_CharU0[c];
float u1 = g_DefaultLargeFont->m_CharU1[c];
float v0 = g_DefaultLargeFont->m_CharV0[c];
float v1 = g_DefaultLargeFont->m_CharV1[c];
float color[4] = {currentColor[0],currentColor[1],currentColor[2],currentColor[3]};
float x0 = startX;
float x1 = endX;
float y0 = startY;
float y1 = endY;
int screenWidth = m_instancingRenderer->getScreenWidth();
int screenHeight = m_instancingRenderer->getScreenHeight();
float z = 2.f*winz-1.f;//*(far
float identity[16]={1,0,0,0,
0,1,0,0,
0,0,1,0,
0,0,0,1};
PrimVertex vertexData[4] = {
{ PrimVec4(-1.f+2.f*x0/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)},
{ PrimVec4(-1.f+2.f*x0/float(screenWidth), 1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)},
{ PrimVec4( -1.f+2.f*x1/float(screenWidth), 1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)},
{ PrimVec4( -1.f+2.f*x1/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0)}
};
m_primRenderer->drawTexturedRect3D(vertexData[0],vertexData[1],vertexData[2],vertexData[3],identity,identity,false);
//DrawTexturedRect(0,r,g_DefaultNormalFont->m_CharU0[c],g_DefaultNormalFont->m_CharV0[c],g_DefaultNormalFont->m_CharU1[c],g_DefaultNormalFont->m_CharV1[c]);
// DrawFilledRect(r);
startX = endX;
//startY = endY;
pos++;
}
glBindTexture(GL_TEXTURE_2D,0);
}
glDisable(GL_BLEND);
#if 0
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
int pos=0;
//float color[]={0.2f,0.2,0.2f,1.f};
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,m_data->m_largeFontTextureId);
//float width = r.x;
//float extraSpacing = 0.;
float startX = posX;
float startY = posY;
while (txt[pos])
{
float scaling = 0.02;
int c = txt[pos];
//r.h = g_DefaultNormalFont->m_CharHeight;
//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
float endX = startX-float(g_DefaultLargeFont->m_CharWidth[c])*scaling;
float endY = startY-float(g_DefaultLargeFont->m_CharHeight)*scaling;
float currentColor[]={0.2f,0.2,0.2f,1.f};
float u0 = g_DefaultLargeFont->m_CharU0[c];
float v0 = g_DefaultLargeFont->m_CharV0[c];
float u1 = g_DefaultLargeFont->m_CharU1[c];
float v1 = g_DefaultLargeFont->m_CharV1[c];
float color[4] = {0,0,0,1};
PrimVertex vertexData[4] = {
{ PrimVec4(startX, startY, 0, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)},
{ PrimVec4(startX, endY, 0 , 1.f), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)},
{ PrimVec4(endX, endY,0.f, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)},
{ PrimVec4(endX,startY, 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0)}
};
float viewMat[16];
float projMat[16];
m_instancingRenderer->getCameraViewMatrix(viewMat);
m_instancingRenderer->getCameraProjectionMatrix(projMat);
m_primRenderer->drawTexturedRect3D(vertexData[0],vertexData[1],vertexData[2],vertexData[3],viewMat,projMat,false);
//DrawTexturedRect(0,r,g_DefaultNormalFont->m_CharU0[c],g_DefaultNormalFont->m_CharV0[c],g_DefaultNormalFont->m_CharU1[c],g_DefaultNormalFont->m_CharV1[c]);
// DrawFilledRect(r);
startX = endX;
//startY = endY;
pos++;
}
glBindTexture(GL_TEXTURE_2D,0);
glDisable(GL_BLEND);
#endif
}
void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi)
{
float posX = (float)posXi;
float posY = (float) posYi;
//
@@ -213,9 +400,15 @@ void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
bool measureOnly = false;
float fontSize= 64;//512;//128;
int bla=0;
float bla2=1;
sth_draw_text(m_data->m_fontStash,
m_data->m_droidRegular,fontSize,posX,posY,
txt,&dx, this->m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),measureOnly,m_window->getRetinaScale());
txt,&dx, this->m_instancingRenderer->getScreenWidth(),
this->m_instancingRenderer->getScreenHeight(),
measureOnly,
m_window->getRetinaScale());
sth_end_draw(m_data->m_fontStash);
sth_flush_draw(m_data->m_fontStash);
} else
@@ -224,13 +417,13 @@ void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
int pos=0;
//float color[]={0.2f,0.2,0.2f,1.f};
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,m_data->m_fontTextureId);
glBindTexture(GL_TEXTURE_2D,m_data->m_largeFontTextureId);
//float width = r.x;
//float extraSpacing = 0.;
int startX = posX;
int startY = posY;
float startX = posX;
float startY = posY;
while (txt[pos])
@@ -238,13 +431,13 @@ void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
int c = txt[pos];
//r.h = g_DefaultNormalFont->m_CharHeight;
//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
int endX = startX+g_DefaultNormalFont->m_CharWidth[c];
int endY = startY+g_DefaultNormalFont->m_CharHeight;
float endX = startX+g_DefaultLargeFont->m_CharWidth[c];
float endY = startY+g_DefaultLargeFont->m_CharHeight;
float currentColor[]={0.2f,0.2,0.2f,1.f};
m_primRenderer->drawTexturedRect(startX, startY, endX, endY, currentColor,g_DefaultNormalFont->m_CharU0[c],g_DefaultNormalFont->m_CharV0[c],g_DefaultNormalFont->m_CharU1[c],g_DefaultNormalFont->m_CharV1[c]);
m_primRenderer->drawTexturedRect(startX, startY, endX, endY, currentColor,g_DefaultLargeFont->m_CharU0[c],g_DefaultLargeFont->m_CharV0[c],g_DefaultLargeFont->m_CharU1[c],g_DefaultLargeFont->m_CharV1[c]);
//DrawTexturedRect(0,r,g_DefaultNormalFont->m_CharU0[c],g_DefaultNormalFont->m_CharV0[c],g_DefaultNormalFont->m_CharU1[c],g_DefaultNormalFont->m_CharV1[c]);
// DrawFilledRect(r);
@@ -290,11 +483,45 @@ int SimpleOpenGL3App::registerCubeShape(float halfExtentsX,float halfExtentsY, f
verts[i].u = cube_vertices[i*9+7];
verts[i].v = cube_vertices[i*9+8];
}
int shapeId = m_instancingRenderer->registerShape(&verts[0].x,numVertices,cube_indices,numIndices);
return shapeId;
}
void SimpleOpenGL3App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
{
b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
cubeExtents[m_data->m_upAxis] = 0;
int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
b3Quaternion orn(0,0,0,1);
b3Vector3 center=b3MakeVector3(0,0,0,1);
b3Vector3 scaling=b3MakeVector3(1,1,1,1);
for ( int i = 0; i < cells_x; i++)
{
for (int j = 0; j < cells_z; j++)
{
float* color =0;
if ((i + j) % 2 == 0)
{
color = (float*)color0;
} else {
color = (float*)color1;
}
if (this->m_data->m_upAxis==1)
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, 0.f, (j + 0.5f) - cells_z * 0.5f);
} else
{
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,0.f );
}
m_instancingRenderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
}
}
}
int SimpleOpenGL3App::registerGraphicsSphereShape(float radius, bool usePointSprites, int largeSphereThreshold, int mediumSphereThreshold)
{
@@ -459,10 +686,10 @@ static void writeTextureToFile(int textureWidth, int textureHeight, const char*
{
for (int i=0;i<textureWidth;i++)
{
pixels[(j*textureWidth+i)*numComponents] = orgPixels[(j*textureWidth+i)*numComponents]*255.f;
pixels[(j*textureWidth+i)*numComponents+1]=orgPixels[(j*textureWidth+i)*numComponents+1]*255.f;
pixels[(j*textureWidth+i)*numComponents+2]=orgPixels[(j*textureWidth+i)*numComponents+2]*255.f;
pixels[(j*textureWidth+i)*numComponents+3]=orgPixels[(j*textureWidth+i)*numComponents+3]*255.f;
pixels[(j*textureWidth+i)*numComponents] = char(orgPixels[(j*textureWidth+i)*numComponents]*255.f);
pixels[(j*textureWidth+i)*numComponents+1]=char(orgPixels[(j*textureWidth+i)*numComponents+1]*255.f);
pixels[(j*textureWidth+i)*numComponents+2]=char(orgPixels[(j*textureWidth+i)*numComponents+2]*255.f);
pixels[(j*textureWidth+i)*numComponents+3]=char(orgPixels[(j*textureWidth+i)*numComponents+3]*255.f);
}
}
@@ -508,8 +735,8 @@ void SimpleOpenGL3App::swapBuffer()
m_window->endRendering();
if (m_data->m_frameDumpPngFileName)
{
writeTextureToFile(m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth(),
m_window->getRetinaScale()*this->m_instancingRenderer->getScreenHeight(),m_data->m_frameDumpPngFileName,
writeTextureToFile((int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth(),
(int) m_window->getRetinaScale()*this->m_instancingRenderer->getScreenHeight(),m_data->m_frameDumpPngFileName,
m_data->m_ffmpegFile);
//m_data->m_renderTexture->disable();
//if (m_data->m_ffmpegFile==0)
@@ -522,8 +749,8 @@ void SimpleOpenGL3App::swapBuffer()
// see also http://blog.mmacklin.com/2013/06/11/real-time-video-capture-with-ffmpeg/
void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
{
int width = m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
int height = m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight();
int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
int height = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight();
char cmd[8192];
sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "