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refactor to allow various gfx backends (work-in-progress)

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This commit is contained in:
Erwin Coumans
2014-09-23 18:27:16 -07:00
parent 76f4bd9a9d
commit e314f56f9d
49 changed files with 1171 additions and 296 deletions
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2
Demos3/bullet2/BasicDemo/BasicDemo.cpp
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@@ -14,7 +14,7 @@
static const float scaling=0.35f;
BasicDemo::BasicDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup)
BasicDemo::BasicDemo(CommonGraphicsApp* app, CommonPhysicsSetup* physicsSetup)
:Bullet2RigidBodyDemo(app,physicsSetup)
{
}

4
Demos3/bullet2/BasicDemo/BasicDemo.h
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@@ -16,13 +16,13 @@ class BasicDemo : public Bullet2RigidBodyDemo
public:
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* MyCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new BasicDemoPhysicsSetup();
return new BasicDemo(app, physicsSetup);
}
BasicDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup);
BasicDemo(CommonGraphicsApp* app, CommonPhysicsSetup* physicsSetup);
virtual ~BasicDemo();
void createGround(int cubeShapeId);

14
Demos3/bullet2/BasicDemo/HingeDemo.h
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@@ -19,35 +19,35 @@ class HingeDemo : public BasicDemo
int m_hingeMethod;
public:
static BulletDemoInterface* FeatherstoneCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* FeatherstoneCreateFunc(CommonGraphicsApp* app)
{
return new HingeDemo(app, FEATHERSTONE_HINGE);
}
static BulletDemoInterface* DantzigCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* DantzigCreateFunc(CommonGraphicsApp* app)
{
return new HingeDemo(app, DANTZIG_HINGE);
}
static BulletDemoInterface* LemkeCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* LemkeCreateFunc(CommonGraphicsApp* app)
{
return new HingeDemo(app, LEMKE_HINGE);
}
static BulletDemoInterface* PGSCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* PGSCreateFunc(CommonGraphicsApp* app)
{
return new HingeDemo(app, PGS_HINGE);
}
static BulletDemoInterface* SICreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* SICreateFunc(CommonGraphicsApp* app)
{
return new HingeDemo(app, SI_HINGE);
}
static BulletDemoInterface* InertiaCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* InertiaCreateFunc(CommonGraphicsApp* app)
{
return new HingeDemo(app, INERTIA_HINGE);
}
HingeDemo(SimpleOpenGL3App* app, HINGE_CREATION_METHOD hingeMethod);
HingeDemo(CommonGraphicsApp* app, HINGE_CREATION_METHOD hingeMethod);
class btMultiBody* createFeatherstoneHinge(class btMultiBodyDynamicsWorld* world, const struct btMultiBodySettings2& settings);

4
Demos3/bullet2/ChainDemo/ChainDemo.h
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@@ -11,12 +11,12 @@ class ChainDemo : public Bullet2RigidBodyDemo
public:
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* MyCreateFunc(CommonGraphicsApp* app)
{
return new ChainDemo(app);
}
ChainDemo(SimpleOpenGL3App* app);
ChainDemo(CommonGraphicsApp* app);
virtual ~ChainDemo();
void createGround(int cubeShapeId);

42
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
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@@ -48,7 +48,7 @@ static btVector4 colors[4] =
Bullet2MultiBodyDemo::Bullet2MultiBodyDemo(SimpleOpenGL3App* app)
Bullet2MultiBodyDemo::Bullet2MultiBodyDemo(CommonGraphicsApp* app)
:m_glApp(app),
m_pickedBody(0),
m_pickedConstraint(0),
@@ -97,7 +97,7 @@ Bullet2MultiBodyDemo::~Bullet2MultiBodyDemo()
btVector3 Bullet2MultiBodyDemo::getRayTo(int x,int y)
{
if (!m_glApp->m_instancingRenderer)
if (!m_glApp->m_renderer)
{
btAssert(0);
return btVector3(0,0,0);
@@ -110,8 +110,8 @@ btVector3 Bullet2MultiBodyDemo::getRayTo(int x,int y)
float fov = b3Scalar(2.0) * b3Atan(tanFov);
btVector3 camPos,camTarget;
m_glApp->m_instancingRenderer->getCameraPosition(camPos);
m_glApp->m_instancingRenderer->getCameraTargetPosition(camTarget);
m_glApp->m_renderer->getCameraPosition(camPos);
m_glApp->m_renderer->getCameraTargetPosition(camTarget);
btVector3 rayFrom = camPos;
btVector3 rayForward = (camTarget-camPos);
@@ -136,8 +136,8 @@ btVector3 Bullet2MultiBodyDemo::getRayTo(int x,int y)
vertical *= 2.f * farPlane * tanfov;
b3Scalar aspect;
float width = m_glApp->m_instancingRenderer->getScreenWidth();
float height = m_glApp->m_instancingRenderer->getScreenHeight();
float width = m_glApp->m_renderer->getScreenWidth();
float height = m_glApp->m_renderer->getScreenHeight();
aspect = width / height;
@@ -171,7 +171,7 @@ bool Bullet2MultiBodyDemo::mouseMoveCallback(float x,float y)
btVector3 rayFrom;
// btVector3 oldPivotInB = pickCon->getPivotInB();
btVector3 newPivotB;
m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
m_glApp->m_renderer->getCameraPosition(rayFrom);
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
dir *= m_oldPickingDist;
@@ -189,7 +189,7 @@ bool Bullet2MultiBodyDemo::mouseMoveCallback(float x,float y)
// btVector3 oldPivotInB = m_pickingMultiBodyPoint2Point->getPivotInB();
btVector3 newPivotB;
btVector3 camPos;
m_glApp->m_instancingRenderer->getCameraPosition(camPos);
m_glApp->m_renderer->getCameraPosition(camPos);
rayFrom = camPos;
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
@@ -210,7 +210,7 @@ bool Bullet2MultiBodyDemo::mouseButtonCallback(int button, int state, float x, f
if(button==0)// && (m_data->m_altPressed==0 && m_data->m_controlPressed==0))
{
btVector3 camPos;
m_glApp->m_instancingRenderer->getCameraPosition(camPos);
m_glApp->m_renderer->getCameraPosition(camPos);
btVector3 rayFrom = camPos;
btVector3 rayTo = getRayTo(x,y);
@@ -314,7 +314,7 @@ bool Bullet2MultiBodyDemo::mouseButtonCallback(int button, int state, float x, f
FeatherstoneDemo1::FeatherstoneDemo1(SimpleOpenGL3App* app)
FeatherstoneDemo1::FeatherstoneDemo1(CommonGraphicsApp* app)
:Bullet2MultiBodyDemo(app)
{
}
@@ -329,7 +329,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
int curColor=0;
int cubeShapeId = m_glApp->registerCubeShape();
int cubeShapeId = m_glApp->registerCubeShape(1,1,1);
int n_links = settings.m_numLinks;
float mass = 13.5*scaling;
@@ -458,7 +458,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
btVector4 color = colors[curColor++];
curColor&=3;
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),color,halfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),color,halfExtents);
col->setUserIndex(index);
@@ -503,7 +503,7 @@ btMultiBody* FeatherstoneDemo1::createFeatherstoneMultiBody(class btMultiBodyDyn
btVector4 color = colors[curColor++];
curColor&=3;
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),color,halfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),color,halfExtents);
col->setUserIndex(index);
@@ -530,7 +530,7 @@ void FeatherstoneDemo1::addBoxes_testMultiDof()
void FeatherstoneDemo1::createGround()
{
//create ground
int cubeShapeId = m_glApp->registerCubeShape();
int cubeShapeId = m_glApp->registerCubeShape(1,1,1);
//float pos[]={0,0,0};
//float orn[]={0,0,0,1};
@@ -555,7 +555,7 @@ void FeatherstoneDemo1::createGround()
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
body ->setUserIndex(index);
//add the body to the dynamics world
@@ -579,7 +579,7 @@ void FeatherstoneDemo1::initPhysics()
createFeatherstoneMultiBody(m_dynamicsWorld,settings);
m_glApp->m_instancingRenderer->writeTransforms();
m_glApp->m_renderer->writeTransforms();
}
@@ -602,13 +602,13 @@ void FeatherstoneDemo1::renderScene()
int index = col->getUserIndex();
if (index>=0)
{
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,index);
m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos,orn,index);
}
}
m_glApp->m_instancingRenderer->writeTransforms();
m_glApp->m_renderer->writeTransforms();
}
m_glApp->m_instancingRenderer->renderScene();
m_glApp->m_renderer->renderScene();
}
void FeatherstoneDemo1::physicsDebugDraw()
@@ -646,7 +646,7 @@ void FeatherstoneDemo1::stepSimulation(float deltaTime)
FeatherstoneDemo2::FeatherstoneDemo2(SimpleOpenGL3App* app)
FeatherstoneDemo2::FeatherstoneDemo2(CommonGraphicsApp* app)
:FeatherstoneDemo1(app)
{
}
@@ -1032,7 +1032,7 @@ void FeatherstoneDemo2::initPhysics()
//RagDoll2* doll = new RagDoll2(m_dynamicsWorld,offset,m_glApp);
m_glApp->m_instancingRenderer->writeTransforms();
m_glApp->m_renderer->writeTransforms();
}

12
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h
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@@ -33,7 +33,7 @@ class Bullet2MultiBodyDemo : public BulletDemoInterface
{
protected:
SimpleOpenGL3App* m_glApp;
CommonGraphicsApp* m_glApp;
class btRigidBody* m_pickedBody;
class btTypedConstraint* m_pickedConstraint;
@@ -53,7 +53,7 @@ protected:
//btAlignedObjectArray<btMultiBodyLinkCollider*> m_linkColliders;
public:
Bullet2MultiBodyDemo(SimpleOpenGL3App* app);
Bullet2MultiBodyDemo(CommonGraphicsApp* app);
virtual void initPhysics();
virtual void exitPhysics();
virtual ~Bullet2MultiBodyDemo();
@@ -71,11 +71,11 @@ class FeatherstoneDemo1 : public Bullet2MultiBodyDemo
public:
FeatherstoneDemo1(SimpleOpenGL3App* app);
FeatherstoneDemo1(CommonGraphicsApp* app);
virtual ~FeatherstoneDemo1();
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* MyCreateFunc(CommonGraphicsApp* app)
{
return new FeatherstoneDemo1(app);
}
@@ -100,11 +100,11 @@ class FeatherstoneDemo2 : public FeatherstoneDemo1
public:
FeatherstoneDemo2(SimpleOpenGL3App* app);
FeatherstoneDemo2(CommonGraphicsApp* app);
virtual ~FeatherstoneDemo2();
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* MyCreateFunc(CommonGraphicsApp* app)
{
return new FeatherstoneDemo2(app);
}

20
Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp
View File

@@ -32,7 +32,7 @@ static float friction = 1.;
MultiDofDemo::MultiDofDemo(SimpleOpenGL3App* app)
MultiDofDemo::MultiDofDemo(CommonGraphicsApp* app)
:FeatherstoneDemo1(app)
{
}
@@ -75,8 +75,8 @@ void MultiDofDemo::initPhysics()
if(g_firstInit)
{
this->m_glApp->m_instancingRenderer->setCameraDistance(btScalar(10.*scaling));
this->m_glApp->m_instancingRenderer->setCameraPitch(50);
this->m_glApp->m_renderer->setCameraDistance(btScalar(10.*scaling));
this->m_glApp->m_renderer->setCameraPitch(50);
g_firstInit = false;
}
///collision configuration contains default setup for memory, collision setup
@@ -159,7 +159,7 @@ void MultiDofDemo::initPhysics()
///
addColliders_testMultiDof(mbC, world, baseHalfExtents, linkHalfExtents);
int cubeShapeId = m_glApp->registerCubeShape();
int cubeShapeId = m_glApp->registerCubeShape(1,1,1);
/////////////////////////////////////////////////////////////////
btScalar groundHeight = -51.55;
if (!multibodyOnly)
@@ -183,7 +183,7 @@ void MultiDofDemo::initPhysics()
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body,1,1+2);//,1,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),btVector4(0,1,0,1),groundHalfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),btVector4(0,1,0,1),groundHalfExtents);
body->setUserIndex(index);
@@ -223,12 +223,12 @@ void MultiDofDemo::initPhysics()
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),btVector4(1,1,0,1),halfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),btVector4(1,1,0,1),halfExtents);
body->setUserIndex(index);
}
m_glApp->m_instancingRenderer->writeTransforms();
m_glApp->m_renderer->writeTransforms();
/////////////////////////////////////////////////////////////////
}
@@ -295,7 +295,7 @@ btMultiBody* MultiDofDemo::createFeatherstoneMultiBody_testMultiDof(btMultiBodyD
void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents)
{
int cubeShapeId = m_glApp->registerCubeShape();
int cubeShapeId = m_glApp->registerCubeShape(1,1,1);
btAlignedObjectArray<btQuaternion> world_to_local;
world_to_local.resize(pMultiBody->getNumLinks() + 1);
@@ -325,7 +325,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
pWorld->addCollisionObject(col, 2,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),baseHalfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),baseHalfExtents);
col->setUserIndex(index);
@@ -363,7 +363,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
col->setWorldTransform(tr);
col->setFriction(friction);
pWorld->addCollisionObject(col,2,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),linkHalfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),linkHalfExtents);
col->setUserIndex(index);

4
Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.h
View File

@@ -9,11 +9,11 @@ class MultiDofDemo : public FeatherstoneDemo1
public:
MultiDofDemo(SimpleOpenGL3App* app);
MultiDofDemo(CommonGraphicsApp* app);
virtual ~MultiDofDemo();
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* MyCreateFunc(CommonGraphicsApp* app)
{
return new MultiDofDemo(app);
}

12
Demos3/bullet2/LuaDemo/LuaPhysicsSetup.cpp
View File

@@ -27,7 +27,7 @@ static btVector4 colors[4] =
btVector4(1,1,0,1),
};
LuaPhysicsSetup::LuaPhysicsSetup(class SimpleOpenGL3App* app)
LuaPhysicsSetup::LuaPhysicsSetup(struct CommonGraphicsApp* app)
:m_glApp(app),
m_config(0),
m_dispatcher(0),
@@ -93,7 +93,7 @@ static int gCreateCubeShape(lua_State *L)
btCollisionShape* colShape = new btBoxShape(halfExtents);
CustomShapeData* shapeData = new CustomShapeData();
shapeData->m_shapeIndex = sLuaDemo->m_glApp->registerCubeShape();
shapeData->m_shapeIndex = sLuaDemo->m_glApp->registerCubeShape(1,1,1);
shapeData->m_localScaling = halfExtents;
colShape->setUserPointer(shapeData);
@@ -252,7 +252,7 @@ static int gCreateRigidBody (lua_State *L)
if (shapeData)
{
rbd ->m_graphicsInstanceIndex = sLuaDemo->m_glApp->m_instancingRenderer->registerGraphicsInstance(shapeData->m_shapeIndex,startTransform.getOrigin(),startTransform.getRotation(),color,shapeData->m_localScaling);
rbd ->m_graphicsInstanceIndex = sLuaDemo->m_glApp->m_renderer->registerGraphicsInstance(shapeData->m_shapeIndex,startTransform.getOrigin(),startTransform.getRotation(),color,shapeData->m_localScaling);
body->setUserIndex(rbd->m_graphicsInstanceIndex);
}
}
@@ -389,7 +389,7 @@ void LuaPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
b3Error("Cannot find Lua file%s\n",sLuaFileName);
}
m_glApp->m_instancingRenderer->writeTransforms();
m_glApp->m_renderer->writeTransforms();
}
@@ -447,10 +447,10 @@ void LuaPhysicsSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
int index = colObj->getUserIndex();
if (index >= 0)
{
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos, orn, index);
m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
}
}
m_glApp->m_instancingRenderer->writeTransforms();
m_glApp->m_renderer->writeTransforms();
}
btRigidBody* LuaPhysicsSetup::createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color)

4
Demos3/bullet2/LuaDemo/LuaPhysicsSetup.h
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@@ -9,7 +9,7 @@
struct LuaPhysicsSetup : public CommonPhysicsSetup
{
LuaPhysicsSetup(class SimpleOpenGL3App* app);
LuaPhysicsSetup(struct CommonGraphicsApp* app);
virtual ~LuaPhysicsSetup();
class btDefaultCollisionConfiguration* m_config;
@@ -17,7 +17,7 @@ struct LuaPhysicsSetup : public CommonPhysicsSetup
class btDbvtBroadphase* m_bp;
class btNNCGConstraintSolver* m_solver;
class btDiscreteDynamicsWorld* m_dynamicsWorld;
class SimpleOpenGL3App* m_glApp;
struct CommonGraphicsApp* m_glApp;
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);

4
Demos3/bullet2/RagdollDemo/RagdollDemo.h
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@@ -6,13 +6,13 @@
#include "../BasicDemo/BasicDemo.h"
struct BulletDemoInterface;
struct SimpleOpenGL3App;
struct CommonGraphicsApp;
class RagDollSetup : public CommonRigidBodySetup
{
public:
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
static BulletDemoInterface* MyCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new RagDollSetup();
return new BasicDemo(app, physicsSetup);