Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

move shaders to .glsl files and stringify to .h file.

Browse Source 
add crude screenshot facility (using F1 key), it can also be used for debugging
start with shadows using shadowmap, not working yet
add experimental 'ignore' body index in raycast, using b3HitInfo.m_m_hitResult2
This commit is contained in:
erwin coumans
2013-06-28 14:10:23 -07:00
parent bb723f9fd1
commit f2cc840c31
41 changed files with 2060 additions and 645 deletions
Download Patch File Download Diff File Expand all files Collapse all files

304
Demos3/GpuDemos/rigidbody/GpuConvexScene.cpp
View File

@@ -21,6 +21,7 @@
#include "Bullet3OpenCL/Raycast/b3GpuRaycast.h"
#include "Bullet3OpenCL/NarrowphaseCollision/b3ConvexUtility.h"
#include "OpenGLWindow/GLRenderToTexture.h"
void GpuConvexScene::setupScene(const ConstructionInfo& ci)
{
@@ -177,6 +178,7 @@ void GpuConvexScene::createStaticEnvironment(const ConstructionInfo& ci)
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int group=1;
int mask=1;
@@ -184,9 +186,9 @@ void GpuConvexScene::createStaticEnvironment(const ConstructionInfo& ci)
{
b3Vector4 scaling(400,1,400,1);
b3Vector4 scaling(400,400,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,0,0);
b3Vector3 position(0,-400,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color(0,0,1,1);
@@ -199,308 +201,28 @@ void GpuConvexScene::createStaticEnvironment(const ConstructionInfo& ci)
void GpuConvexPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
{
int index=0;
b3Vector3 normal(0,1,0);
float constant=0.f;
int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,0,0);
b3Quaternion orn(0,0,0,1);
// b3Quaternion orn(b3Vector3(1,0,0),0.3);
b3Vector4 color(0,0,1,1);
b3Vector4 scaling(100,0.001,100,1);
int strideInBytes = 9*sizeof(float);
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}
struct GpuRaytraceInternalData
{
GLuint* m_texId;
unsigned char* m_texels;
int textureWidth;
int textureHeight;
};
#include <string.h>
GpuRaytraceScene::GpuRaytraceScene()
{
m_raytraceData = new GpuRaytraceInternalData;
m_raytraceData->m_texId = new GLuint;
m_raytraceData->textureWidth = 512;//1024;//1024;
m_raytraceData->textureHeight = 512;//1024;
//create new texture
glGenTextures(1, m_raytraceData->m_texId);
GLenum err = glGetError();
assert(err==GL_NO_ERROR);
glBindTexture(GL_TEXTURE_2D, *m_raytraceData->m_texId);
m_raytraceData->m_texels = (unsigned char*)malloc(m_raytraceData->textureWidth*m_raytraceData->textureHeight*3);
memset(m_raytraceData->m_texels,0,m_raytraceData->textureWidth*m_raytraceData->textureHeight*3);
for (int i=0;i<m_raytraceData->textureWidth;i++)
{
for (int y=0;y<m_raytraceData->textureHeight;y++)
{
int color = 0;
if (y<m_raytraceData->textureHeight-1 && (y>0) && (i>0 && i<m_raytraceData->textureWidth-1))
color = 255;
m_raytraceData->m_texels[(i+m_raytraceData->textureWidth*y)*3+0] = color;
m_raytraceData->m_texels[(i+m_raytraceData->textureWidth*y)*3+1] = color;
m_raytraceData->m_texels[(i+m_raytraceData->textureWidth*y)*3+2] = color;
}
}
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_raytraceData->textureWidth, m_raytraceData->textureHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, m_raytraceData->m_texels);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
err = glGetError();
assert(err==GL_NO_ERROR);
}
GpuRaytraceScene::~GpuRaytraceScene()
{
glDeleteTextures(1,m_raytraceData->m_texId);
delete[] m_raytraceData->m_texels;
delete m_raytraceData;
}
int GpuRaytraceScene::createDynamicsObjects(const ConstructionInfo& ci)
{
float radius=1.f;
int colIndex = m_data->m_np->registerSphereShape(radius);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
int shapeId = registerGraphicsSphereShape(ci,radius,false);
int group=1;
int mask=1;
int index=0;
{
b3Vector4 colors[4] =
{
b3Vector4(1,0,0,1),
b3Vector4(0,1,0,1),
b3Vector4(0,1,1,1),
b3Vector4(1,1,0,1),
};
b3Vector4 scaling(400,400,400,1);
int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
b3Vector3 position(0,-400,0);
b3Quaternion orn(0,0,0,1);
int curColor = 0;
float scaling[4] = {1,1,1,1};
int prevBody = -1;
int insta = 0;
b3Vector4 color(0,0,1,1);
//int colIndex = m_data->m_np->registerSphereShape(1);
for (int i=0;i<10;i++)
//for (int i=0;i<ci.arraySizeX;i++)
{
//for (int j=0;j<ci.arraySizeY;j++)
for (int j=0;j<10;j++)
{
// for (int k=0;k<ci.arraySizeZ;k++)
for (int k=0;k<10;k++)
{
float mass = 1.f;
if (j==0)//ci.arraySizeY-1)
{
//mass=0.f;
}
b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
//b3Vector3 position(i*2.2,10+j*1.9,k*2.2);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = colors[curColor];
curColor++;
curColor&=3;
b3Vector4 scaling(1,1,1,1);
int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
if (prevBody>=0)
{
//b3Point2PointConstraint* p2p = new b3Point2PointConstraint(pid,prevBody,b3Vector3(0,-1.1,0),b3Vector3(0,1.1,0));
// m_data->m_rigidBodyPipeline->addConstraint(p2p);//,false);
}
prevBody = pid;
index++;
}
}
}
}
return index;
}
//create primary rays
b3AlignedObjectArray<b3RayInfo> rays;
void GpuRaytraceScene::renderScene()
{
//GpuBoxPlaneScene::renderScene();
B3_PROFILE("raytrace");
//raytrace into the texels
m_instancingRenderer->updateCamera();
//generate primary rays
{
B3_PROFILE("Generate primary rays");
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float farPlane = 1000.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float screenWidth = m_instancingRenderer->getScreenWidth();
float screenHeight = m_instancingRenderer->getScreenHeight();
float fov = 2. * atanf (tanFov);
float aspect = screenWidth / screenHeight;
b3Vector3 rayFrom, camTarget;
m_instancingRenderer->getCameraPosition(rayFrom);
m_instancingRenderer->getCameraTargetPosition(camTarget);
b3Vector3 rayForward = camTarget-rayFrom;
rayForward.normalize();
rayForward*= farPlane;
b3Vector3 rightOffset;
b3Vector3 vertical(0.f,1.f,0.f);
b3Vector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= aspect*2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
b3Vector3 rayToCenter = rayFrom + rayForward;
float texWidth = m_raytraceData->textureWidth;
float texHeight = m_raytraceData->textureHeight;
float widthFactor = (screenWidth/texWidth);
float heightFactor = (screenHeight/texHeight);
//should be screenwidth/height
b3Vector3 dHor = hor * 1./float(screenWidth);
b3Vector3 dVert = vertical * 1./float(screenHeight);
b3Transform rayFromTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(rayFrom);
b3Transform rayFromLocal;
b3Transform rayToLocal;
m_data->m_np->readbackAllBodiesToCpu();
//create primary rays
rays.resize(m_raytraceData->textureWidth*m_raytraceData->textureHeight);
b3Vector3 rayTo;
b3RayInfo ray;
{
for (int x=0;x<m_raytraceData->textureWidth;x++)
{
for (int y=0;y<m_raytraceData->textureHeight;y++)
{
rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += x * dHor*widthFactor;
rayTo -= y * dVert*heightFactor;
ray.m_from = rayFrom;
ray.m_to = rayTo;
rays[x+m_raytraceData->textureWidth*y] = ray;
}
}
}
}
b3AlignedObjectArray<b3RayHit> hits;
hits.resize(rays.size());
{
B3_PROFILE("init hits");
for (int i=0;i<hits.size();i++)
{
hits[i].m_hitFraction = 1.f;
}
}
//m_raycaster->castRaysHost(rays, hits, this->m_data->m_np->getNumRigidBodies(), m_data->m_np->getBodiesCpu(), m_data->m_np->getNumCollidablesGpu(), m_data->m_np->getCollidablesCpu());
m_raycaster->castRays(rays, hits, this->m_data->m_np->getNumRigidBodies(), m_data->m_np->getBodiesCpu(), m_data->m_np->getNumCollidablesGpu(), m_data->m_np->getCollidablesCpu(), m_data->m_np->getInternalData());
{
B3_PROFILE("write texels");
for (int i=0;i<hits.size();i++)
{
bool hit = hits[i].m_hitFraction < 1.f;
if (hit)
{
m_raytraceData->m_texels[(i)*3+0] = 128+128.f*hits[i].m_hitNormal.x;
m_raytraceData->m_texels[(i)*3+1] = 128+128.f*hits[i].m_hitNormal.y;
m_raytraceData->m_texels[(i)*3+2] = 128+128.f*hits[i].m_hitNormal.z;
} else
{
m_raytraceData->m_texels[(i)*3+0] = 0;
m_raytraceData->m_texels[(i)*3+1] = 0;
m_raytraceData->m_texels[(i)*3+2] = 0;
}
}
}
GLint err;
err = glGetError();
assert(err==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, *m_raytraceData->m_texId);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, m_raytraceData->textureWidth, m_raytraceData->textureHeight, 0, GL_RGB, GL_UNSIGNED_BYTE, m_raytraceData->m_texels);
err = glGetError();
assert(err==GL_NO_ERROR);
b3Assert(m_primRenderer);
float color[4] = {1,1,1,0.2};
//float rect[4] = {0,0,m_raytraceData->textureWidth,m_raytraceData->textureHeight};
float rect[4] = {0,0,m_instancingRenderer->getScreenWidth(),m_instancingRenderer->getScreenHeight()};
float u[2] = {0,1};
float v[2] = {0,1};
int useRGBA = 1;
m_primRenderer->drawTexturedRect(rect[0],rect[1],rect[2],rect[3],color,u[0],v[0],u[1],v[1], useRGBA);
err = glGetError();
assert(err==GL_NO_ERROR);
}

24
Demos3/GpuDemos/rigidbody/GpuConvexScene.h
View File

@@ -2,6 +2,8 @@
#define GPU_CONVEX_SCENE_H
#include "GpuRigidBodyDemo.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "Bullet3OpenCL/Raycast/b3RaycastInfo.h"
class GpuConvexScene : public GpuRigidBodyDemo
{
@@ -84,29 +86,7 @@ public:
};
class GpuRaytraceScene : public GpuBoxPlaneScene
{
protected:
struct GpuRaytraceInternalData* m_raytraceData;
public:
GpuRaytraceScene();
virtual ~GpuRaytraceScene();
virtual const char* getName()
{
return "GPURaytrace";
}
static GpuDemo* MyCreateFunc()
{
GpuDemo* demo = new GpuRaytraceScene;
return demo;
}
virtual int createDynamicsObjects(const ConstructionInfo& ci);
void renderScene();
};
#endif //GPU_CONVEX_SCENE_H

5
Demos3/GpuDemos/rigidbody/GpuRigidBodyDemo.cpp
View File

@@ -155,7 +155,7 @@ void GpuRigidBodyDemo::exitPhysics()
void GpuRigidBodyDemo::renderScene()
{
m_instancingRenderer->RenderScene();
m_instancingRenderer->renderScene();
}
void GpuRigidBodyDemo::clientMoveAndDisplay()
@@ -174,6 +174,9 @@ void GpuRigidBodyDemo::clientMoveAndDisplay()
numObjects = m_instancingRenderer->getInstanceCapacity();
}
GLint err = glGetError();
assert(err==GL_NO_ERROR);
b3Vector4* positions = 0;
if (animate && numObjects)
{