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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
erwin coumans
2016-05-19 09:19:44 -07:00
parent b961545292 9cc028d44c
commit f4775c360f
35 changed files with 8120 additions and 268 deletions
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4
data/cube.mtl
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@@ -9,6 +9,6 @@ newmtl cube
Kd 0.5880 0.5880 0.5880
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka cube.png
map_Kd cube.png
map_Ka cube.tga
map_Kd cube_diffuse.tga

11
data/textured_sphere.mtl Normal file
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@@ -0,0 +1,11 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd checker_grid.jpg

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data/textured_sphere_flat.obj Normal file
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11
data/textured_sphere_smooth.mtl Normal file
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@@ -0,0 +1,11 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd checker_huge.gif

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data/textured_sphere_smooth.obj Normal file
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5
examples/CommonInterfaces/CommonGraphicsAppInterface.h
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@@ -15,10 +15,10 @@ struct DrawGridData
int upAxis;
float gridColor[4];
DrawGridData()
DrawGridData(int upAxis=1)
:gridSize(10),
upOffset(0.001f),
upAxis(1)
upAxis(upAxis)
{
gridColor[0] = 0.6f;
gridColor[1] = 0.6f;
@@ -119,6 +119,7 @@ struct CommonGraphicsApp
virtual void swapBuffer() = 0;
virtual void drawText( const char* txt, int posX, int posY) = 0;
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0;
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)=0;
virtual int registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1) = 0;

2
examples/CommonInterfaces/CommonParameterInterface.h
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@@ -40,12 +40,14 @@ struct ButtonParams
const char* m_name;
int m_buttonId;
void* m_userPointer;
bool m_isTrigger;
ButtonParamChangedCallback m_callback;
ButtonParams(const char* name, int buttonId, bool isTrigger)
:m_name(name),
m_buttonId(buttonId),
m_userPointer(0),
m_isTrigger(isTrigger),
m_callback(0)
{
}

8
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -230,15 +230,21 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Experiments"),
ExampleEntry(1,"Robot Control", "Create a physics client and server to create and control robots.",
PhysicsClientCreateFunc, eCLIENTEXAMPLE_SERVER),
ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
ExampleEntry(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
#ifdef ENABLE_LUA
ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
LuaDemoCreateFunc),

6
examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
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@@ -141,6 +141,7 @@ void GwenParameterInterface::registerButtonParameter(ButtonParams& params)
MyButtonEventHandler* handler = new MyButtonEventHandler(params.m_callback,params.m_buttonId,params.m_userPointer);
button->SetText(params.m_name);
button->onPress.Add( handler, &MyButtonEventHandler::onButtonPress );
button->SetIsToggle(params.m_isTrigger);
m_paramInternalData->m_buttons.push_back(button);
m_paramInternalData->m_buttonEventHandlers.push_back(handler);
@@ -190,8 +191,8 @@ void GwenParameterInterface::registerComboBox(ComboBoxParams& params)
combobox->onSelection.Add(handler,&MyComboBoxHander2::onSelect);
int ypos = m_gwenInternalData->m_curYposition;
m_gwenInternalData->m_curYposition+=22;
combobox->SetPos(10, ypos );
combobox->SetWidth( 100 );
combobox->SetPos(5, ypos );
combobox->SetWidth( 220 );
//box->SetPos(120,130);
for (int i=0;i<params.m_numItems;i++)
{
@@ -202,6 +203,7 @@ void GwenParameterInterface::registerComboBox(ComboBoxParams& params)
}
void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)

3
examples/ExampleBrowser/InProcessExampleBrowser.cpp
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@@ -125,6 +125,9 @@ static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
ExampleEntryPhysicsServer(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
ExampleEntryPhysicsServer(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
ExampleEntryPhysicsServer(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",

78
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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@@ -12,9 +12,14 @@
#include "stb_image/stb_image.h"
int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName, CommonRenderInterface* renderer)
bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
{
int shapeId = -1;
meshData.m_gfxShape = 0;
meshData.m_textureImage = 0;
meshData.m_textureHeight = 0;
meshData.m_textureWidth = 0;
char relativeFileName[1024];
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
@@ -22,22 +27,13 @@ int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName
char pathPrefix[1024];
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
btVector3 shift(0,0,0);
// int index=10;
{
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
int textureIndex = -1;
//try to load some texture
for (int i=0;i<shapes.size();i++)
@@ -48,7 +44,7 @@ int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName
int width,height,n;
const char* filename = shape.material.diffuse_texname.c_str();
const unsigned char* image=0;
unsigned char* image=0;
const char* prefix[]={ pathPrefix,"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numprefix = sizeof(prefix)/sizeof(const char*);
@@ -61,37 +57,59 @@ int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName
if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
{
image = stbi_load(relativeFileName, &width, &height, &n, 3);
meshData.m_textureImage = image;
if (image)
{
meshData.m_textureWidth = width;
meshData.m_textureHeight = height;
} else
{
meshData.m_textureWidth = 0;
meshData.m_textureHeight = 0;
}
} else
{
b3Warning("not found %s\n",relativeFileName);
}
}
if (image)
{
textureIndex = renderer->registerTexture(image,width,height);
if (textureIndex>=0)
{
break;
}
}
}
meshData.m_gfxShape = gfxShape;
return true;
}
shapeId = renderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices,B3_GL_TRIANGLES,textureIndex);
}
}
else
{
b3Warning("Cannot find %s\n", fileName.c_str());
}
return shapeId;
return false;
}
int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName, CommonRenderInterface* renderer)
{
int shapeId = -1;
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
{
int textureIndex = 0;
if (meshData.m_textureImage)
{
textureIndex = renderer->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
}
shapeId = renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
meshData.m_gfxShape->m_numIndices,
B3_GL_TRIANGLES,
textureIndex);
delete meshData.m_gfxShape;
delete meshData.m_textureImage;
}
return shapeId;
}

11
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
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@@ -3,11 +3,22 @@
#include <string>
struct b3ImportMeshData
{
struct GLInstanceGraphicsShape* m_gfxShape;
unsigned char* m_textureImage;//in 3 component 8-bit RGB data
int m_textureWidth;
int m_textureHeight;
};
class b3ImportMeshUtility
{
public:
static int loadAndRegisterMeshFromFile(const std::string& fileName, class CommonRenderInterface* renderer);
static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData);
};

1
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -186,6 +186,7 @@ public:
{
return m_sdfModels.size();
}
return 0;
}
void activateModel(int modelIndex);

1
examples/OpenGLWindow/SimpleOpenGL2App.h
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@@ -18,6 +18,7 @@ public:
virtual void swapBuffer();
virtual void drawText( const char* txt, int posX, int posY);
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA){};
virtual void setBackgroundColor(float red, float green, float blue);
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)
{

12
examples/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -425,6 +425,18 @@ void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi)
glDisable(GL_BLEND);
}
void SimpleOpenGL3App::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
{
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
m_primRenderer->drawTexturedRect(x0,y0,x1,y1,color,u0,v0,u1,v1,useRGBA);
glDisable(GL_BLEND);
}
struct GfxVertex
{
float x,y,z,w;

1
examples/OpenGLWindow/SimpleOpenGL3App.h
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@@ -32,6 +32,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
virtual void swapBuffer();
virtual void drawText( const char* txt, int posX, int posY);
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA);
struct sth_stash* getFontStash();

227
examples/RenderingExamples/TinyRendererSetup.cpp
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@@ -6,25 +6,26 @@
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../TinyRenderer/TinyRenderer.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
//#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
//#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
//#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btBulletCollisionCommon.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../ExampleBrowser/CollisionShape2TriangleMesh.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
struct TinyRendererSetup : public CommonExampleInterface
{
struct GUIHelperInterface* m_guiHelper;
struct CommonGraphicsApp* m_app;
struct TinyRendererSetupInternalData* m_internalData;
bool m_useSoftware;
TinyRendererSetup(struct CommonGraphicsApp* app);
TinyRendererSetup(struct GUIHelperInterface* guiHelper);
virtual ~TinyRendererSetup();
@@ -48,12 +49,16 @@ struct TinyRendererSetup : public CommonExampleInterface
virtual void renderScene()
{
}
void selectRenderer(int rendererIndex)
{
m_useSoftware = (rendererIndex==0);
}
};
struct TinyRendererSetupInternalData
{
int m_canvasIndex;
struct Common2dCanvasInterface* m_canvas;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
@@ -70,42 +75,20 @@ struct TinyRendererSetupInternalData
btScalar m_roll;
btScalar m_yaw;
int m_textureHandle;
TinyRendererSetupInternalData(int width, int height)
:m_canvasIndex(-1),
m_canvas(0),
m_roll(0),
:m_roll(0),
m_pitch(0),
m_yaw(0),
m_width(width),
m_height(height),
m_rgbColorBuffer(width,height,TGAImage::RGB)
m_rgbColorBuffer(width,height,TGAImage::RGB),
m_textureHandle(0)
{
btConeShape* cone = new btConeShape(1,1);
btSphereShape* sphere = new btSphereShape(1);
btBoxShape* box = new btBoxShape (btVector3(1,1,1));
m_shapePtr.push_back(cone);
m_shapePtr.push_back(sphere);
m_shapePtr.push_back(box);
m_depthBuffer.resize(m_width*m_height);
for (int i=0;i<m_shapePtr.size();i++)
{
TinyRenderObjectData* ob = new TinyRenderObjectData(m_width,m_height,m_rgbColorBuffer,m_depthBuffer);
btAlignedObjectArray<btVector3> vertexPositions;
btAlignedObjectArray<btVector3> vertexNormals;
btAlignedObjectArray<int> indicesOut;
btTransform ident;
ident.setIdentity();
CollisionShape2TriangleMesh(m_shapePtr[i],ident,vertexPositions,vertexNormals,indicesOut);
m_renderObjects.push_back(ob);
ob->registerMesh2(vertexPositions,vertexNormals,indicesOut);
}
//ob->registerMeshShape(
updateTransforms();
}
void updateTransforms()
{
@@ -114,7 +97,8 @@ struct TinyRendererSetupInternalData
for (int i=0;i<numObjects;i++)
{
m_transforms[i].setIdentity();
btVector3 pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
//btVector3 pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
btVector3 pos(0.f,+i*2.5f, 0.f);
m_transforms[i].setIdentity();
m_transforms[i].setOrigin( pos );
btQuaternion orn;
@@ -130,48 +114,114 @@ struct TinyRendererSetupInternalData
};
TinyRendererSetup::TinyRendererSetup(struct CommonGraphicsApp* app)
TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
{
m_app = app;
m_internalData = new TinyRendererSetupInternalData(128,128);
m_useSoftware = false;
m_guiHelper = gui;
m_app = gui->getAppInterface();
m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight());
m_app->m_renderer->enableBlend(true);
const char* fileName = "textured_sphere_smooth.obj";//cube.obj";
{
{
int shapeId = -1;
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
{
int textureIndex = -1;
if (meshData.m_textureImage)
{
textureIndex = m_guiHelper->getRenderInterface()->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
}
shapeId = m_guiHelper->getRenderInterface()->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
meshData.m_gfxShape->m_numIndices,
B3_GL_TRIANGLES,
textureIndex);
float position[4]={0,0,0,1};
float orn[4]={0,0,0,1};
float color[4]={1,1,1,1};
float scaling[4]={1,1,1,1};
m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_guiHelper->getRenderInterface()->writeTransforms();
m_internalData->m_shapePtr.push_back(0);
TinyRenderObjectData* ob = new TinyRenderObjectData(m_internalData->m_width,m_internalData->m_height,
m_internalData->m_rgbColorBuffer,
m_internalData->m_depthBuffer);
//ob->loadModel("cube.obj");
const int* indices = &meshData.m_gfxShape->m_indices->at(0);
ob->registerMeshShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
indices,
meshData.m_gfxShape->m_numIndices, meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
m_internalData->m_renderObjects.push_back(ob);
delete meshData.m_gfxShape;
delete meshData.m_textureImage;
}
}
}
}
TinyRendererSetup::~TinyRendererSetup()
{
m_app->m_renderer->enableBlend(false);
delete m_internalData;
}
const char* items[] = {"Software", "OpenGL"};
void TinyRendererComboCallback(int combobox, const char* item, void* userPointer)
{
TinyRendererSetup* cl = (TinyRendererSetup*) userPointer;
b3Assert(cl);
int index=-1;
int numItems = sizeof(items)/sizeof(char*);
for (int i=0;i<numItems;i++)
{
if (!strcmp(item,items[i]))
{
index = i;
}
}
cl->selectRenderer(index);
}
void TinyRendererSetup::initPhysics()
{
//request a visual bitma/texture we can render to
m_app->setUpAxis(2);
m_internalData->m_canvas = m_app->m_2dCanvasInterface;
if (m_internalData->m_canvas)
{
m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("tinyrenderer",m_internalData->m_width,m_internalData->m_height);
for (int i=0;i<m_internalData->m_width;i++)
{
for (int j=0;j<m_internalData->m_height;j++)
{
unsigned char red=255;
unsigned char green=255;
unsigned char blue=255;
unsigned char alpha=255;
m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
}
}
m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
//int bitmapId = gfxBridge.createRenderBitmap(width,height);
}
CommonRenderInterface* render = m_app->m_renderer;
m_internalData->m_textureHandle = render->registerTexture(m_internalData->m_rgbColorBuffer.buffer(),m_internalData->m_width,m_internalData->m_height);
ComboBoxParams comboParams;
comboParams.m_userPointer = this;
comboParams.m_numItems=sizeof(items)/sizeof(char*);
comboParams.m_startItem = 1;
comboParams.m_items=items;
comboParams.m_callback =TinyRendererComboCallback;
m_guiHelper->getParameterInterface()->registerComboBox( comboParams);
}
@@ -180,22 +230,29 @@ void TinyRendererSetup::initPhysics()
void TinyRendererSetup::exitPhysics()
{
if (m_internalData->m_canvas && m_internalData->m_canvasIndex>=0)
{
m_internalData->m_canvas->destroyCanvas(m_internalData->m_canvasIndex);
}
}
void TinyRendererSetup::stepSimulation(float deltaTime)
{
m_internalData->updateTransforms();
if (!m_useSoftware)
{
for (int i=0;i<m_internalData->m_transforms.size();i++)
{
m_guiHelper->getRenderInterface()->writeSingleInstanceTransformToCPU(m_internalData->m_transforms[i].getOrigin(),m_internalData->m_transforms[i].getRotation(),i);
}
m_guiHelper->getRenderInterface()->writeTransforms();
m_guiHelper->getRenderInterface()->renderScene();
} else
{
TGAColor clearColor;
clearColor.bgra[0] = 255;
clearColor.bgra[1] = 255;
clearColor.bgra[2] = 255;
clearColor.bgra[0] = 200;
clearColor.bgra[1] = 200;
clearColor.bgra[2] = 200;
clearColor.bgra[3] = 255;
for(int y=0;y<m_internalData->m_height;++y)
{
@@ -209,8 +266,10 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
ATTRIBUTE_ALIGNED16(btScalar modelMat2[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
ATTRIBUTE_ALIGNED16(float projMat[16]);
CommonRenderInterface* render = this->m_app->m_renderer;
render->getActiveCamera()->getCameraViewMatrix(viewMat);
render->getActiveCamera()->getCameraProjectionMatrix(projMat);
@@ -227,27 +286,27 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
{
m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]);
m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i+4*j];
float eye[4];
float center[4];
render->getActiveCamera()->getCameraPosition(eye);
render->getActiveCamera()->getCameraTargetPosition(center);
m_internalData->m_renderObjects[o]->m_eye.setValue(eye[0],eye[1],eye[2]);
m_internalData->m_renderObjects[o]->m_center.setValue(center[0],center[1],center[2]);
}
}
TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
}
for(int y=0;y<m_internalData->m_height;++y)
{
for(int x=0;x<m_internalData->m_width;++x)
{
const TGAColor& color = m_internalData->m_rgbColorBuffer.get(x,y);
m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,(m_internalData->m_height-1-y),
color.bgra[2],color.bgra[1],color.bgra[0],255);
//m_app->drawText("hello",500,500);
render->activateTexture(m_internalData->m_textureHandle);
render->updateTexture(m_internalData->m_textureHandle,m_internalData->m_rgbColorBuffer.buffer());
float color[4] = {1,1,1,1};
m_app->drawTexturedRect(0,0,m_app->m_window->getWidth(), m_app->m_window->getHeight(),color,0,0,1,1,true);
}
}
//m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,y,255,0,0,255);
m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
}
void TinyRendererSetup::physicsDebugDraw(int debugDrawFlags)
{
@@ -275,5 +334,5 @@ void TinyRendererSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
CommonExampleInterface* TinyRendererCreateFunc(struct CommonExampleOptions& options)
{
return new TinyRendererSetup(options.m_guiHelper->getAppInterface());
return new TinyRendererSetup(options.m_guiHelper);
}

31
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -676,3 +676,34 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
}
}
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
return (b3SharedMemoryCommandHandle) command;
}
void b3RequestCameraImageSetResolution(b3SharedMemoryCommandHandle command, int pixelWidth, int pixelHeight)
{
}
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16])
{
}
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
if (cl)
{
}
}

6
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -65,6 +65,12 @@ b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle
///status CMD_DEBUG_LINES_COMPLETED
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
void b3RequestCameraImageSetResolution(b3SharedMemoryCommandHandle command, int pixelWidth, int pixelHeight);
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

84
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -11,7 +11,7 @@
#include "PhysicsLoopBackC_API.h"
#include "PhysicsDirectC_API.h"
#include "PhysicsClientC_API.h"
#include "PhysicsServerSharedMemory.h"
struct MyMotorInfo2
{
btScalar m_velTarget;
@@ -29,6 +29,9 @@ class PhysicsClientExample : public SharedMemoryCommon
protected:
b3PhysicsClientHandle m_physicsClientHandle;
//this m_physicsServer is only used when option eCLIENTEXAMPLE_SERVER is enabled
PhysicsServerSharedMemory m_physicsServer;
bool m_wantsTermination;
btAlignedObjectArray<int> m_userCommandRequests;
int m_sharedMemoryKey;
@@ -38,15 +41,18 @@ protected:
void createButtons();
public:
//@todo, add accessor methods
// MyMotorInfo2 m_motorTargetVelocities[MAX_NUM_MOTORS];
MyMotorInfo2 m_motorTargetPositions[MAX_NUM_MOTORS];
int m_numMotors;
int m_options;
bool m_isOptionalServerConnected;
public:
PhysicsClientExample(GUIHelperInterface* helper);
PhysicsClientExample(GUIHelperInterface* helper, int options);
virtual ~PhysicsClientExample();
virtual void initPhysics();
@@ -93,6 +99,11 @@ public:
virtual void exitPhysics(){};
virtual void renderScene()
{
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_physicsServer.renderScene();
}
b3DebugLines debugLines;
b3GetDebugLines(m_physicsClientHandle,&debugLines);
int numLines = debugLines.m_numDebugLines;
@@ -153,7 +164,13 @@ public:
b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
}
}
virtual void physicsDebugDraw(int debugFlags){}
virtual void physicsDebugDraw(int debugFlags)
{
if (m_options==eCLIENTEXAMPLE_SERVER)
{
m_physicsServer.physicsDebugDraw(debugFlags);
}
}
virtual bool mouseMoveCallback(float x,float y){return false;};
virtual bool mouseButtonCallback(int button, int state, float x, float y){return false;}
virtual bool keyboardCallback(int key, int state){return false;}
@@ -352,7 +369,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: {
b3SharedMemoryCommandHandle commandHandle = b3InitPhysicsParamCommand(m_physicsClientHandle);
b3PhysicsParamSetGravity(commandHandle, 0.0, 0.0, -9.8);
b3SubmitClientCommandAndWaitStatus(m_physicsClientHandle, commandHandle);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
@@ -365,14 +382,16 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper, int options)
:SharedMemoryCommon(helper),
m_physicsClientHandle(0),
m_wantsTermination(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_numMotors(0)
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false)
{
b3Printf("Started PhysicsClientExample\n");
}
@@ -384,6 +403,12 @@ PhysicsClientExample::~PhysicsClientExample()
b3ProcessServerStatus(m_physicsClientHandle);
b3DisconnectSharedMemory(m_physicsClientHandle);
}
if (m_options == eCLIENTEXAMPLE_SERVER)
{
bool deInitializeSharedMemory = true;
m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
}
b3Printf("~PhysicsClientExample\n");
}
@@ -406,7 +431,10 @@ void PhysicsClientExample::createButtons()
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
if (m_options!=eCLIENTEXAMPLE_SERVER)
{
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
}
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
@@ -477,6 +505,11 @@ void PhysicsClientExample::initPhysics()
m_selectedBody = -1;
m_prevSelectedBody = -1;
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
//m_physicsClientHandle = b3ConnectPhysicsDirect();
@@ -491,6 +524,15 @@ void PhysicsClientExample::initPhysics()
void PhysicsClientExample::stepSimulation(float deltaTime)
{
if (m_options == eCLIENTEXAMPLE_SERVER)
{
for (int i=0;i<100;i++)
{
m_physicsServer.processClientCommands();
}
}
if (m_prevSelectedBody != m_selectedBody)
{
createButtons();
@@ -564,10 +606,29 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
m_selectedBody = -1;
m_numMotors=0;
createButtons();
b3SharedMemoryCommandHandle commandHandle = b3InitResetSimulationCommand(m_physicsClientHandle);
if (m_options == eCLIENTEXAMPLE_SERVER)
{
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
while (!b3CanSubmitCommand(m_physicsClientHandle))
{
m_physicsServer.processClientCommands();
b3SharedMemoryStatusHandle status = b3ProcessServerStatus(m_physicsClientHandle);
bool hasStatus = (status != 0);
if (hasStatus)
{
int statusType = b3GetStatusType(status);
b3Printf("Status after reset: %d",statusType);
}
}
} else
{
prepareAndSubmitCommand(commandId);
}
} else
{
prepareAndSubmitCommand(commandId);
}
} else
{
@@ -575,7 +636,10 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
enqueueCommand(CMD_SEND_DESIRED_STATE);
enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
if (m_options != eCLIENTEXAMPLE_SERVER)
{
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
}
//enqueueCommand(CMD_REQUEST_ACTUAL_STATE);
}
}
@@ -589,7 +653,7 @@ extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options)
{
PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper);
PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper, options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);

7
examples/SharedMemory/PhysicsClientExample.h
View File

@@ -1,6 +1,13 @@
#ifndef PHYSICS_CLIENT_EXAMPLE_H
#define PHYSICS_CLIENT_EXAMPLE_H
enum ClientExampleOptions
{
eCLIENTEXAMPLE_LOOPBACK=1,
eCLIENTEAXMPLE_DIRECT=2,
eCLIENTEXAMPLE_SERVER=3,
};
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options);
#endif//PHYSICS_CLIENT_EXAMPLE_H

7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -962,6 +962,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_REQUEST_CAMERA_IMAGE_DATA:
{
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
}
case CMD_LOAD_URDF:
{

20
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -19,10 +19,11 @@ class PhysicsServerExample : public SharedMemoryCommon
bool m_isConnected;
btClock m_clock;
bool m_replay;
int m_options;
public:
PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0);
PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0, int options=0);
virtual ~PhysicsServerExample();
@@ -133,12 +134,13 @@ public:
};
PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem)
PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem, int options)
:SharedMemoryCommon(helper),
m_physicsServer(sharedMem),
m_wantsShutdown(false),
m_isConnected(false),
m_replay(false)
m_replay(false),
m_options(options)
{
b3Printf("Started PhysicsServer\n");
}
@@ -188,11 +190,7 @@ bool PhysicsServerExample::wantsTermination()
void PhysicsServerExample::stepSimulation(float deltaTime)
{
if (m_replay)
{
for (int i=0;i<100;i++)
m_physicsServer.processClientCommands();
} else
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
@@ -201,6 +199,10 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
{
m_physicsServer.processClientCommands();
}
} else
{
for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
}
@@ -288,7 +290,7 @@ extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem);
PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem, options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);

1
examples/SharedMemory/PhysicsServerExample.h
View File

@@ -5,6 +5,7 @@ enum PhysicsServerOptions
{
PHYSICS_SERVER_ENABLE_COMMAND_LOGGING=1,
PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG=2,
PHYSICS_SERVER_USE_RTC_CLOCK = 4,
};
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options);

10
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -23,6 +23,7 @@ enum EnumSharedMemoryClientCommand
CMD_PICK_BODY,
CMD_MOVE_PICKED_BODY,
CMD_REMOVE_PICKING_CONSTRAINT_BODY,
CMD_REQUEST_CAMERA_IMAGE_DATA,
CMD_MAX_CLIENT_COMMANDS
};
@@ -105,6 +106,14 @@ struct b3DebugLines
const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'.
};
struct b3CameraImageData
{
int m_pixelWidth;
int m_pixelHeight;
const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
};
///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w
@@ -127,4 +136,5 @@ enum {
CONTROL_MODE_POSITION_VELOCITY_PD,
};
#endif//SHARED_MEMORY_PUBLIC_H

35
examples/TinyRenderer/TinyRenderer.cpp
View File

@@ -70,7 +70,8 @@ struct Shader : public IShader {
Vec3f n = (B*m_model->normal(uv)).normalize();
float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.3f),1.f);
float diff = 1;//b3Min(b3Max(0.f, n*0.3f),1.f);
//float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.3f),1.f);
//float diff = b3Max(0.f, n*m_light_dir_local);
color = m_model->diffuse(uv)*diff;
@@ -90,11 +91,13 @@ m_userIndex(-1)
{
Vec3f eye(1,1,3);
Vec3f center(0,0,0);
Vec3f up(0,1,0);
Vec3f up(0,0,1);
m_modelMatrix = Matrix::identity();
m_viewMatrix = lookat(eye, center, up);
m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
//m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
//m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
m_viewportMatrix = viewport(0,0,width,height);
m_projectionMatrix = projection(-1.f/(eye-center).norm());
}
@@ -113,16 +116,23 @@ void TinyRenderObjectData::loadModel(const char* fileName)
}
void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices)
void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices,
unsigned char* textureImage, int textureWidth, int textureHeight)
{
if (0==m_model)
{
m_model = new Model();
if (textureImage)
{
m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
} else
{
char relativeFileName[1024];
if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
{
m_model->loadDiffuseTexture(relativeFileName);
}
}
for (int i=0;i<numVertices;i++)
{
@@ -223,6 +233,20 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
if (0==model)
return;
Vec3f eye(renderData.m_eye[0],renderData.m_eye[1],renderData.m_eye[2]);
Vec3f center(renderData.m_center[0],renderData.m_center[1],renderData.m_center[2]);
Vec3f up(0,0,1);
//renderData.m_viewMatrix = lookat(eye, center, up);
int width = renderData.m_width;
int height = renderData.m_height;
//renderData.m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
renderData.m_viewportMatrix = viewport(0,0,renderData.m_width,renderData.m_height);
//renderData.m_projectionMatrix = projection(-1.f/(eye-center).norm());
b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
TGAImage& frame = renderData.m_rgbColorBuffer;
@@ -233,7 +257,10 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix);
for (int i=0; i<model->nfaces(); i++) {
for (int j=0; j<3; j++) {
shader.vertex(i, j);
}

6
examples/TinyRenderer/TinyRenderer.h
View File

@@ -17,6 +17,9 @@ struct TinyRenderObjectData
Matrix m_projectionMatrix;
Matrix m_viewportMatrix;
btVector3 m_eye;
btVector3 m_center;
//Model (vertices, indices, textures, shader)
Matrix m_modelMatrix;
class Model* m_model;
@@ -33,7 +36,8 @@ struct TinyRenderObjectData
void loadModel(const char* fileName);
void createCube(float HalfExtentsX,float HalfExtentsY,float HalfExtentsZ);
void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices);
void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices,
unsigned char* textureImage=0, int textureWidth=0, int textureHeight=0);
void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals,btAlignedObjectArray<int>& indices);

22
examples/TinyRenderer/model.cpp
View File

@@ -49,6 +49,28 @@ Model::Model():verts_(), faces_(), norms_(), uv_(), diffusemap_(), normalmap_(),
{
}
void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight)
{
diffusemap_ = TGAImage(textureWidth, textureHeight, TGAImage::RGB);
for (int i=0;i<textureWidth;i++)
{
for (int j=0;j<textureHeight;j++)
{
TGAColor color;
color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
color.bgra[3] = 255;
color.bytespp = 3;
diffusemap_.set(i,j,color);
}
}
diffusemap_.flip_vertically();
}
void Model::loadDiffuseTexture(const char* relativeFileName)
{
diffusemap_.read_tga_file(relativeFileName);

1
examples/TinyRenderer/model.h
View File

@@ -19,6 +19,7 @@ public:
Model(const char *filename);
Model();
void loadDiffuseTexture(const char* relativeFileName);
void setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight);
void addVertex(float x,float y,float z, float normalX, float normalY, float normalZ, float u, float v);
void addTriangle(int vertexposIndex0, int normalIndex0, int uvIndex0,
int vertexposIndex1, int normalIndex1, int uvIndex1,

6
examples/TinyRenderer/our_gl.cpp
View File

@@ -93,8 +93,10 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
Vec3f bc_clip = Vec3f(bc_screen.x/pts[0][3], bc_screen.y/pts[1][3], bc_screen.z/pts[2][3]);
bc_clip = bc_clip/(bc_clip.x+bc_clip.y+bc_clip.z);
float frag_depth = clipc[2]*bc_clip;
if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 || zbuffer[P.x+P.y*image.get_width()]>frag_depth) continue;
float frag_depth = -1*(clipc[2]*bc_clip);
if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 ||
zbuffer[P.x+P.y*image.get_width()]>frag_depth)
continue;
bool discard = shader.fragment(bc_clip, color);
if (!discard) {
zbuffer[P.x+P.y*image.get_width()] = frag_depth;

47
examples/pybullet/CMakeLists.txt
View File

@@ -8,7 +8,50 @@ INCLUDE_DIRECTORIES(
SET(pybullet_SRCS
pybullet.c
../../examples/ExampleBrowser/ExampleEntries.cpp
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
IF(WIN32)
@@ -23,7 +66,7 @@ ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})
TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})

6
examples/pybullet/pybullet.c
View File

@@ -329,8 +329,14 @@ initpybullet(void)
SpamMethods, "Python bindings for Bullet");
#endif
#if PY_MAJOR_VERSION >= 3
if (m == NULL)
return m;
#else
if (m == NULL)
return;
#endif
PyModule_AddIntConstant (m, "SHARED_MEMORY", eCONNECT_SHARED_MEMORY); // user read
PyModule_AddIntConstant (m, "DIRECT", eCONNECT_DIRECT); // user read

2
src/LinearMath/btScalar.h
View File

@@ -104,7 +104,7 @@ inline int btGetVersion()
#ifdef BT_DEBUG
#ifdef _MSC_VER
#include <stdio.h>
#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak(); }}
#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }}
#else//_MSC_VER
#include <assert.h>
#define btAssert assert