rename ObsoleteDemos back to Demos
fix some relative path issues for loading assets
This commit is contained in:
Erwin Coumans
627
Demos/Raytracer/Raytracer.cpp
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627
Demos/Raytracer/Raytracer.cpp
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@@ -0,0 +1,627 @@
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/*
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* Copyright (c) 2005 Erwin Coumans <www.erwincoumans.com>
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
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/*
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Raytracer uses the Convex rayCast to visualize the Collision Shapes/Minkowski Sum.
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Very basic raytracer, rendering into a texture.
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*/
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///Low level demo, doesn't include btBulletCollisionCommon.h
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#include "LinearMath/btQuaternion.h"
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#include "LinearMath/btTransform.h"
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#include "GL_ShapeDrawer.h"
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#include "GLDebugDrawer.h"
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#include "Raytracer.h"
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#include "GlutStuff.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
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#include "BulletCollision/CollisionShapes/btConeShape.h"
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#include "BulletCollision/CollisionShapes/btCylinderShape.h"
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#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
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#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
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#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
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#include "RenderTexture.h"
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static btVoronoiSimplexSolver simplexSolver;
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static float yaw=0.f,pitch=0.f,roll=0.f;
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static const int maxNumObjects = 4;
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static const int numObjects = 3;
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static btConvexShape* shapePtr[maxNumObjects];
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static btTransform transforms[maxNumObjects];
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renderTexture* raytracePicture = 0;
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//this applies to the raytracer virtual screen/image buffer
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static int screenWidth = 128;//256;
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//float aspectRatio = (3.f/4.f);
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static int screenHeight = 64;//256;//screenWidth * aspectRatio;
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GLuint glTextureId;
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btConeShape myCone(1,1);
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btSphereShape mysphere(1);
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btBoxShape mybox(btVector3(1,1,1));
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btCollisionWorld* m_collisionWorld = 0;
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///
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///
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///
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void Raytracer::initPhysics()
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{
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m_ele = 0;
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raytracePicture = new renderTexture(screenWidth,screenHeight);
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myCone.setMargin(0.2f);
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//choose shape
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shapePtr[0] = &myCone;
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shapePtr[1] = &mysphere;
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shapePtr[2] = &mybox;
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for (int i=0;i<numObjects;i++)
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{
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transforms[i].setIdentity();
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btVector3 pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
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transforms[i].setIdentity();
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transforms[i].setOrigin( pos );
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btQuaternion orn;
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if (i < 2)
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{
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orn.setEuler(yaw,pitch,roll);
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transforms[i].setRotation(orn);
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}
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}
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
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m_collisionWorld = new btCollisionWorld(m_dispatcher,m_overlappingPairCache,m_collisionConfiguration);
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for (int s=0;s<numObjects;s++)
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{
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btCollisionObject* obj = new btCollisionObject();
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obj->setCollisionShape(shapePtr[s]);
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obj->setWorldTransform(transforms[s]);
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m_collisionWorld->addCollisionObject(obj);
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}
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}
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Raytracer::~Raytracer()
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{
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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int i;
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for (i=m_collisionWorld->getNumCollisionObjects()-1; i>=0 ;i--)
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{
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btCollisionObject* obj = m_collisionWorld->getCollisionObjectArray()[i];
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m_collisionWorld->removeCollisionObject( obj );
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delete obj;
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}
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//delete collision world
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delete m_collisionWorld;
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//delete broadphase
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delete m_overlappingPairCache;
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//delete dispatcher
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delete m_dispatcher;
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delete m_collisionConfiguration;
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delete raytracePicture;
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raytracePicture=0;
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}
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//to be implemented by the demo
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void Raytracer::clientMoveAndDisplay()
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{
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displayCallback();
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}
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bool Raytracer::worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
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{
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struct AllRayResultCallback : public btCollisionWorld::RayResultCallback
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{
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AllRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld)
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:m_rayFromWorld(rayFromWorld),
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m_rayToWorld(rayToWorld)
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{
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}
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btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
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btVector3 m_rayToWorld;
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btVector3 m_hitNormalWorld;
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btVector3 m_hitPointWorld;
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virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace)
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{
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//caller already does the filter on the m_closestHitFraction
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btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
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m_closestHitFraction = rayResult.m_hitFraction;
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m_collisionObject = rayResult.m_collisionObject;
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if (normalInWorldSpace)
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{
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m_hitNormalWorld = rayResult.m_hitNormalLocal;
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} else
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{
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///need to transform normal into worldspace
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m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
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}
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m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
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return 1.f;
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}
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};
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AllRayResultCallback resultCallback(rayFrom,rayTo);
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// btCollisionWorld::ClosestRayResultCallback resultCallback(rayFrom,rayTo);
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m_collisionWorld->rayTest(rayFrom,rayTo,resultCallback);
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if (resultCallback.hasHit())
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{
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worldNormal = resultCallback.m_hitNormalWorld;
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return true;
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}
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return false;
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}
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bool Raytracer::singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
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{
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// btScalar closestHitResults = 1.f;
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btCollisionWorld::ClosestRayResultCallback resultCallback(rayFrom,rayTo);
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bool hasHit = false;
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btConvexCast::CastResult rayResult;
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btSphereShape pointShape(0.0f);
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btTransform rayFromTrans;
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btTransform rayToTrans;
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rayFromTrans.setIdentity();
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rayFromTrans.setOrigin(rayFrom);
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rayToTrans.setIdentity();
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rayToTrans.setOrigin(rayTo);
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for (int s=0;s<numObjects;s++)
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{
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//comment-out next line to get all hits, instead of just the closest hit
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//resultCallback.m_closestHitFraction = 1.f;
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//do some culling, ray versus aabb
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btVector3 aabbMin,aabbMax;
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shapePtr[s]->getAabb(transforms[s],aabbMin,aabbMax);
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btScalar hitLambda = 1.f;
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btVector3 hitNormal;
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btCollisionObject tmpObj;
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tmpObj.setWorldTransform(transforms[s]);
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if (btRayAabb(rayFrom,rayTo,aabbMin,aabbMax,hitLambda,hitNormal))
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{
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//reset previous result
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btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans, &tmpObj, shapePtr[s], transforms[s], resultCallback);
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if (resultCallback.hasHit())
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{
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//float fog = 1.f - 0.1f * rayResult.m_fraction;
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resultCallback.m_hitNormalWorld.normalize();//.m_normal.normalize();
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worldNormal = resultCallback.m_hitNormalWorld;
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//worldNormal = transforms[s].getBasis() *rayResult.m_normal;
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worldNormal.normalize();
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hasHit = true;
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}
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}
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}
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return hasHit;
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}
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bool Raytracer::lowlevelRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
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{
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btScalar closestHitResults = 1.f;
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bool hasHit = false;
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btConvexCast::CastResult rayResult;
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btSphereShape pointShape(0.0f);
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btTransform rayFromTrans;
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btTransform rayToTrans;
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rayFromTrans.setIdentity();
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rayFromTrans.setOrigin(rayFrom);
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rayToTrans.setIdentity();
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rayToTrans.setOrigin(rayTo);
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for (int s=0;s<numObjects;s++)
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{
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//do some culling, ray versus aabb
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btVector3 aabbMin,aabbMax;
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shapePtr[s]->getAabb(transforms[s],aabbMin,aabbMax);
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btScalar hitLambda = 1.f;
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btVector3 hitNormal;
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btCollisionObject tmpObj;
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tmpObj.setWorldTransform(transforms[s]);
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if (btRayAabb(rayFrom,rayTo,aabbMin,aabbMax,hitLambda,hitNormal))
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{
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//reset previous result
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//choose the continuous collision detection method
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btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
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//btGjkConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
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//btContinuousConvexCollision convexCaster(&pointShape,shapePtr[s],&simplexSolver,0);
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if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
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{
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if (rayResult.m_fraction < closestHitResults)
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{
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closestHitResults = rayResult.m_fraction;
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worldNormal = transforms[s].getBasis() *rayResult.m_normal;
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worldNormal.normalize();
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hasHit = true;
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}
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}
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}
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}
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return hasHit;
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}
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void Raytracer::displayCallback()
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{
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updateCamera();
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for (int i=0;i<numObjects;i++)
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{
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transforms[i].setIdentity();
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btVector3 pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
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transforms[i].setOrigin( pos );
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btQuaternion orn;
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if (i < 2)
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{
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orn.setEuler(yaw,pitch,roll);
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transforms[i].setRotation(orn);
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}
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}
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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if (!m_initialized)
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{
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m_initialized = true;
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glGenTextures(1, &glTextureId);
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}
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glBindTexture(GL_TEXTURE_2D,glTextureId );
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glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
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glDisable(GL_TEXTURE_2D);
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glDisable(GL_BLEND);
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btVector4 rgba(1.f,0.f,0.f,0.5f);
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float fov = 2.0 * atanf (tanFov);
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btVector3 rayFrom = getCameraPosition();
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btVector3 rayForward = getCameraTargetPosition()-getCameraPosition();
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rayForward.normalize();
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float farPlane = 600.f;
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rayForward*= farPlane;
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btVector3 rightOffset;
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btVector3 vertical(0.f,1.f,0.f);
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btVector3 hor;
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hor = rayForward.cross(vertical);
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hor.normalize();
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vertical = hor.cross(rayForward);
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vertical.normalize();
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float tanfov = tanf(0.5f*fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
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btVector3 rayToCenter = rayFrom + rayForward;
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btVector3 dHor = hor * 1.f/float(screenWidth);
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btVector3 dVert = vertical * 1.f/float(screenHeight);
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btTransform rayFromTrans;
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rayFromTrans.setIdentity();
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rayFromTrans.setOrigin(rayFrom);
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btTransform rayFromLocal;
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btTransform rayToLocal;
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int x;
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///clear texture
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for (x=0;x<screenWidth;x++)
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{
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for (int y=0;y<screenHeight;y++)
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{
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btVector4 rgba(0.2f,0.2f,0.2f,1.f);
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raytracePicture->setPixel(x,y,rgba);
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}
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}
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#if 1
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btVector3 rayTo;
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btTransform colObjWorldTransform;
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colObjWorldTransform.setIdentity();
|
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int mode = 0;
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for (x=0;x<screenWidth;x++)
|
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{
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||||
for (int y=0;y<screenHeight;y++)
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{
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rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += x * dHor;
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rayTo -= y * dVert;
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btVector3 worldNormal(0,0,0);
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btVector3 worldPoint(0,0,0);
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bool hasHit = false;
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int mode = 0;
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switch (mode)
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{
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||||
case 0:
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hasHit = lowlevelRaytest(rayFrom,rayTo,worldNormal,worldPoint);
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break;
|
||||
case 1:
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hasHit = singleObjectRaytest(rayFrom,rayTo,worldNormal,worldPoint);
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break;
|
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case 2:
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hasHit = worldRaytest(rayFrom,rayTo,worldNormal,worldPoint);
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||||
break;
|
||||
default:
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
if (hasHit)
|
||||
{
|
||||
float lightVec0 = worldNormal.dot(btVector3(0,-1,-1));//0.4f,-1.f,-0.4f));
|
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float lightVec1= worldNormal.dot(btVector3(-1,0,-1));//-0.4f,-1.f,-0.4f));
|
||||
|
||||
|
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rgba = btVector4(lightVec0,lightVec1,0,1.f);
|
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rgba.setMin(btVector3(1,1,1));
|
||||
rgba.setMax(btVector3(0.2,0.2,0.2));
|
||||
rgba[3] = 1.f;
|
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raytracePicture->setPixel(x,y,rgba);
|
||||
} else
|
||||
{
|
||||
// btVector4 rgba = raytracePicture->getPixel(x,y);
|
||||
}
|
||||
if (!rgba.length2())
|
||||
{
|
||||
raytracePicture->setPixel(x,y,btVector4(1,1,1,1));
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
extern unsigned char sFontData[];
|
||||
if (0)
|
||||
{
|
||||
|
||||
const char* text="ABC abc 123 !@#";
|
||||
int x=0;
|
||||
for (int cc = 0;cc<strlen(text);cc++)
|
||||
{
|
||||
|
||||
char testChar = text[cc];//'b';
|
||||
char ch = testChar-32;
|
||||
int startx=ch%16;
|
||||
int starty=ch/16;
|
||||
|
||||
|
||||
//for (int i=0;i<256;i++)
|
||||
for (int i=startx*16;i<(startx*16+16);i++)
|
||||
{
|
||||
int y=0;
|
||||
//for (int j=0;j<256;j++)
|
||||
//for (int j=0;j<256;j++)
|
||||
for (int j=starty*16;j<(starty*16+16);j++)
|
||||
{
|
||||
|
||||
btVector4 rgba(0,0,0,1);
|
||||
rgba[0] = (sFontData[i*3+255*256*3-(256*j)*3])/255.f;
|
||||
//rgba[0] += (sFontData[(i+1)*3+255*256*3-(256*j)*3])/255.*0.25f;
|
||||
//rgba[0] += (sFontData[(i)*3+255*256*3-(256*j+1)*3])/255.*0.25f;
|
||||
//rgba[0] += (sFontData[(i+1)*3+255*256*3-(256*j+1)*3])/255.*0.25;
|
||||
|
||||
//if (rgba[0]!=0.f)
|
||||
{
|
||||
rgba[1]=rgba[0];
|
||||
rgba[2]=rgba[0];
|
||||
rgba[3]=1.f;
|
||||
|
||||
//raytracePicture->setPixel(x,y,rgba);
|
||||
raytracePicture->addPixel(x,y,rgba);
|
||||
}
|
||||
y++;
|
||||
}
|
||||
x++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//raytracePicture->grapicalPrintf("CCD RAYTRACER",sFontData);
|
||||
char buffer[256];
|
||||
sprintf(buffer,"%d rays",screenWidth*screenHeight*numObjects);
|
||||
//sprintf(buffer,"Toggle",screenWidth*screenHeight*numObjects);
|
||||
//sprintf(buffer,"TEST",screenWidth*screenHeight*numObjects);
|
||||
//raytracePicture->grapicalPrintf(buffer,sFontData,0,10);//&BMF_font_helv10,0,10);
|
||||
raytracePicture->grapicalPrintf(buffer,sFontData,0,0);//&BMF_font_helv10,0,10);
|
||||
|
||||
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glPushMatrix();
|
||||
glLoadIdentity();
|
||||
glFrustum(-1.0,1.0,-1.0,1.0,3,2020.0);
|
||||
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
glPushMatrix();
|
||||
glLoadIdentity(); // reset The Modelview Matrix
|
||||
glTranslatef(0.0f,0.0f,-3.1f); // Move Into The Screen 5 Units
|
||||
|
||||
|
||||
|
||||
glEnable(GL_TEXTURE_2D);
|
||||
glBindTexture(GL_TEXTURE_2D,glTextureId );
|
||||
|
||||
const unsigned char *ptr = raytracePicture->getBuffer();
|
||||
glTexImage2D(GL_TEXTURE_2D,
|
||||
0,
|
||||
GL_RGBA,
|
||||
raytracePicture->getWidth(),raytracePicture->getHeight(),
|
||||
0,
|
||||
GL_RGBA,
|
||||
GL_UNSIGNED_BYTE,
|
||||
ptr);
|
||||
|
||||
|
||||
glEnable (GL_BLEND);
|
||||
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
glColor4f (1,1,1,1); // alpha=0.5=half visible
|
||||
|
||||
glBegin(GL_QUADS);
|
||||
glTexCoord2f(0.0f, 0.0f);
|
||||
glVertex2f(-1,1);
|
||||
glTexCoord2f(1.0f, 0.0f);
|
||||
glVertex2f(1,1);
|
||||
glTexCoord2f(1.0f, 1.0f);
|
||||
glVertex2f(1,-1);
|
||||
glTexCoord2f(0.0f, 1.0f);
|
||||
glVertex2f(-1,-1);
|
||||
glEnd();
|
||||
|
||||
|
||||
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
glPopMatrix();
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glPopMatrix();
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
|
||||
|
||||
glDisable(GL_TEXTURE_2D);
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
|
||||
GL_ShapeDrawer::drawCoordSystem();
|
||||
|
||||
|
||||
|
||||
{
|
||||
for (int i=0;i<numObjects;i++)
|
||||
{
|
||||
btVector3 aabbMin,aabbMax;
|
||||
shapePtr[i]->getAabb(transforms[i],aabbMin,aabbMax);
|
||||
}
|
||||
}
|
||||
|
||||
glPushMatrix();
|
||||
|
||||
|
||||
|
||||
|
||||
glPopMatrix();
|
||||
|
||||
pitch += 0.005f;
|
||||
yaw += 0.01f;
|
||||
m_azi += 1.f;
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user