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remove a few warnings, fix GLInstancingRenderer::drawLines

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2014-07-29 11:08:09 -07:00
parent c487170196
commit cac50c1a8e
5 changed files with 87 additions and 40 deletions
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44
btgui/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -92,7 +92,7 @@ struct b3GraphicsInstance
int m_vertexArrayOffset;
int m_primitiveType;
b3GraphicsInstance()
b3GraphicsInstance()
:m_cube_vao(-1),
m_index_vbo(-1),
m_texturehandle(0),
@@ -158,7 +158,7 @@ struct InternalDataRenderer : public GLInstanceRendererInternalData
int m_rightMouseButton;
GLuint m_defaultTexturehandle;
b3AlignedObjectArray<GLuint> m_textureHandles;
@@ -509,7 +509,7 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
void GLInstancingRenderer::writeTransforms()
{
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -517,7 +517,7 @@ void GLInstancingRenderer::writeTransforms()
glFlush();
b3Assert(glGetError() ==GL_NO_ERROR);
char* orgBase = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
if (orgBase)
@@ -661,7 +661,7 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
glBindTexture(GL_TEXTURE_2D,textureHandle);
b3Assert(glGetError() ==GL_NO_ERROR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width,height,0,GL_RGB,GL_UNSIGNED_BYTE,image);
@@ -863,7 +863,7 @@ void GLInstancingRenderer::init()
{
b3Assert(glGetError() ==GL_NO_ERROR);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
@@ -919,7 +919,7 @@ void GLInstancingRenderer::init()
glGenTextures(1,(GLuint*)&m_data->m_defaultTexturehandle);
glBindTexture(GL_TEXTURE_2D,m_data->m_defaultTexturehandle);
b3Assert(glGetError() ==GL_NO_ERROR);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256,256,0,GL_RGB,GL_UNSIGNED_BYTE,image);
glGenerateMipmap(GL_TEXTURE_2D);
@@ -1084,7 +1084,7 @@ void GLInstancingRenderer::updateCamera(int upAxis)
default:
b3Assert(0);
};
float m_frustumZNear=1;
float m_frustumZFar=10000.f;
@@ -1246,7 +1246,7 @@ void GLInstancingRenderer::getMouseDirection(float* dir, int x, int y)
#include "OpenGLTrueTypeFont/stb_image_write.h"
void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName, int numComponents)
{
b3Assert(glGetError() ==GL_NO_ERROR);
glPixelStorei(GL_PACK_ALIGNMENT,4);
@@ -1314,7 +1314,7 @@ void GLInstancingRenderer::renderScene()
if (useShadowMap)
{
renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
// glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
@@ -1335,7 +1335,7 @@ void GLInstancingRenderer::drawPoints(const float* positions, const float color[
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,0);
b3Assert(glGetError() ==GL_NO_ERROR);glUseProgram(linesShader);
glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &projectionMatrix[0]);
glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &modelviewMatrix[0]);
@@ -1383,7 +1383,7 @@ void GLInstancingRenderer::drawLines(const float* positions, const float color[4
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D,0);
b3Assert(glGetError() ==GL_NO_ERROR);glUseProgram(linesShader);
glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &projectionMatrix[0]);
glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &modelviewMatrix[0]);
@@ -1406,8 +1406,8 @@ void GLInstancingRenderer::drawLines(const float* positions, const float color[4
glEnableVertexAttribArray(0);
b3Assert(glGetError() ==GL_NO_ERROR);
int numFloats = pointStrideInBytes / sizeof(float);
glVertexAttribPointer(0, numFloats, GL_FLOAT, GL_FALSE, 0, 0);
int numFloats = 3;
glVertexAttribPointer(0, numFloats, GL_FLOAT, GL_FALSE, pointStrideInBytes, 0);
b3Assert(glGetError() ==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, linesIndexVbo);
@@ -1427,7 +1427,7 @@ void GLInstancingRenderer::drawLines(const float* positions, const float color[4
glBindVertexArray(0);
b3Assert(glGetError() ==GL_NO_ERROR);
glPointSize(1);
b3Assert(glGetError() ==GL_NO_ERROR);
b3Assert(glGetError() ==GL_NO_ERROR);
}
@@ -1439,7 +1439,7 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
glBindTexture(GL_TEXTURE_2D,0);
b3Assert(glGetError() ==GL_NO_ERROR);
glUseProgram(linesShader);
@@ -1505,13 +1505,13 @@ struct PointerCaster
int m_baseIndex;
GLvoid* m_pointer;
};
PointerCaster()
:m_pointer(0)
{
}
};
void GLInstancingRenderer::renderSceneInternal(int renderMode)
{
@@ -1593,7 +1593,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
//glCullFace(GL_BACK);
}
b3CreateOrtho(-shadowMapWorldSize,shadowMapWorldSize,-shadowMapWorldSize,shadowMapWorldSize,1,300,depthProjectionMatrix);//-14,14,-14,14,1,200, depthProjectionMatrix);
float depthViewMatrix[4][4];
b3Vector3 center = b3MakeVector3(0,0,0);
@@ -1692,12 +1692,12 @@ b3Assert(glGetError() ==GL_NO_ERROR);
int vertexStride = 9*sizeof(float);
PointerCaster vertex;
vertex.m_baseIndex = gfxObj->m_vertexArrayOffset*vertexStride;
glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer);
glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_maxShapeCapacityInBytes));
glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
PointerCaster uv;
uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex;

41
btgui/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -20,8 +20,8 @@
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Logging.h"
#include "../btgui/OpenGLTrueTypeFont/fontstash.h"
#include "../btgui/OpenGLWindow/TwFonts.h"
#include "OpenGLTrueTypeFont/fontstash.h"
#include "OpenGLWindow/TwFonts.h"
#include "OpenGLTrueTypeFont/opengl_fontstashcallbacks.h"
#include <assert.h>
@@ -81,7 +81,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
b3Assert(glGetError() ==GL_NO_ERROR);
glClearColor(1,1,1,1);
glClearColor(0.9,0.9,1,1);
m_window->startRendering();
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -91,7 +91,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
glewExperimental = GL_TRUE;
#endif
if (glewInit() != GLEW_OK)
exit(1); // or handle the error in a nicer way
if (!GLEW_VERSION_2_1) // check that the machine supports the 2.1 API.
@@ -99,7 +99,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
#endif
glGetError();//don't remove this call, it is needed for Ubuntu
b3Assert(glGetError() ==GL_NO_ERROR);
m_primRenderer = new GLPrimitiveRenderer(width,height);
@@ -125,9 +125,9 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
{
m_data->m_renderCallbacks = new OpenGL2RenderCallbacks(m_primRenderer);
m_data->m_fontStash = sth_create(512,512,m_data->m_renderCallbacks);//256,256);//,1024);//512,512);
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -137,7 +137,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
b3Warning("Could not create stash");
//fprintf(stderr, "Could not create stash.\n");
}
char* data2 = OpenSansData;
unsigned char* data = (unsigned char*) data2;
@@ -302,11 +302,20 @@ int SimpleOpenGL3App::registerGraphicsSphereShape(float radius, bool usePointSpr
return graphicsShapeIndex;
}
void SimpleOpenGL3App::drawGrid(int gridSize, float upOffset, int upAxis)
void SimpleOpenGL3App::drawGrid(DrawGridData data)
{
int gridSize = data.gridSize;
float upOffset = data.upOffset;
int upAxis = data.upAxis;
float gridColor[4];
gridColor[0] = data.gridColor[0];
gridColor[1] = data.gridColor[1];
gridColor[2] = data.gridColor[2];
gridColor[3] = data.gridColor[3];
int sideAxis=-1;
int forwardAxis=-1;
switch (upAxis)
{
case 1:
@@ -320,8 +329,8 @@ void SimpleOpenGL3App::drawGrid(int gridSize, float upOffset, int upAxis)
default:
b3Assert(0);
};
b3Vector3 gridColor = b3MakeVector3(0.5,0.5,0.5);
//b3Vector3 gridColor = b3MakeVector3(0.5,0.5,0.5);
b3AlignedObjectArray<unsigned int> indices;
b3AlignedObjectArray<b3Vector3> vertices;
int lineIndex=0;
@@ -346,7 +355,7 @@ void SimpleOpenGL3App::drawGrid(int gridSize, float upOffset, int upAxis)
b3Assert(glGetError() ==GL_NO_ERROR);
{
b3Assert(glGetError() ==GL_NO_ERROR);
b3Vector3 from=b3MakeVector3(0,0,0);
from[sideAxis] = float(-gridSize);
@@ -360,12 +369,12 @@ void SimpleOpenGL3App::drawGrid(int gridSize, float upOffset, int upAxis)
indices.push_back(lineIndex++);
vertices.push_back(to);
indices.push_back(lineIndex++);
m_instancingRenderer->drawLine(from,to,gridColor);
m_instancingRenderer->drawLine(from,to,gridColor);
}
}
/*m_instancingRenderer->drawLines(&vertices[0].x,
gridColor,
vertices.size(),sizeof(b3Vector3),&indices[0],indices.size(),1);

23
btgui/OpenGLWindow/SimpleOpenGL3App.h
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@@ -5,6 +5,25 @@
#include "OpenGLWindow/GLPrimitiveRenderer.h"
#include "OpenGLWindow/b3gWindowInterface.h"
struct DrawGridData
{
int gridSize;
float upOffset;
int upAxis;
float gridColor[4];
DrawGridData()
:gridSize(10),
upOffset(0.001f),
upAxis(1)
{
gridColor[0] = 0.6f;
gridColor[1] = 0.6f;
gridColor[2] = 0.6f;
gridColor[3] = 1.f;
}
};
struct SimpleOpenGL3App
{
struct SimpleInternalData* m_data;
@@ -15,11 +34,11 @@ struct SimpleOpenGL3App
SimpleOpenGL3App(const char* title, int width,int height);
virtual ~SimpleOpenGL3App();
int registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f);
int registerGraphicsSphereShape(float radius, bool usePointSprites=true, int largeSphereThreshold=100, int mediumSphereThreshold=10);
void drawGrid(int gridSize=10, float upOffset=0.001, int upAxis=1);
void drawGrid(DrawGridData data=DrawGridData());
void swapBuffer();
void drawText( const char* txt, int posX, int posY);
struct sth_stash* getFontStash();

14
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -819,6 +819,9 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
break;
}
default:
{
}
}
@@ -1329,6 +1332,10 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
break;
}
default:
{
}
}
//determine h*D^{-1}
@@ -2589,6 +2596,10 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd
break;
}
#endif
default:
{
}
}
m_links[i].updateCacheMultiDof(pq);
@@ -2709,6 +2720,9 @@ void btMultiBody::filConstraintJacobianMultiDof(int link,
break;
}
#endif
default:
{
}
}
}

5
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -507,6 +507,11 @@ struct btMultibodyLink
break;
}
#endif
default:
{
//invalid type
btAssert(0);
}
}
}
};