created new Bullet 2 CPU BasicDemo, using the OpenGL 3 rendering. I will add picking soon. Hold ctrl/alt + mouse to move/zoom camera
remove reference to btGImpact (it is removed now)
This commit is contained in:
erwincoumans
@@ -15,59 +15,15 @@
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initOpenGL()
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initGlew()
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--links{"gwen"}
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links{"gwen", "OpenGL_Window","OpenGL_TrueTypeFont"}
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files {
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"**.cpp",
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"**.h",
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"../../src/Bullet3Common/**.cpp",
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"../../src/Bullet3Common/**.h",
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"../../btgui/OpenGLWindow/SimpleOpenGL3App.cpp",
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"../../btgui/OpenGLWindow/SimpleOpenGL3App.h",
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"../../btgui/OpenGLWindow/TwFonts.cpp",
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"../../btgui/OpenGLWindow/TwFonts.h",
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"../../btgui/OpenGLWindow/LoadShader.cpp",
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"../../btgui/OpenGLWindow/LoadShader.h",
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"../../btgui/OpenGLWindow/GLPrimitiveRenderer.cpp",
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"../../btgui/OpenGLWindow/GLPrimitiveRenderer.h",
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"../../btgui/OpenGLWindow/GwenOpenGL3CoreRenderer.h",
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"../../btgui/OpenGLWindow/GLInstancingRenderer.cpp",
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"../../btgui/OpenGLWindow/GLInstancingRenderer.h",
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"../../btgui/OpenGLWindow/GLRenderToTexture.cpp",
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"../../btgui/OpenGLWindow/GLRenderToTexture.h",
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"../../btgui/OpenGLWindow/TwFonts.cpp",
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"../../btgui/OpenGLWindow/TwFonts.h",
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"../../btgui/FontFiles/OpenSans.cpp",
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"../../btgui/OpenGLTrueTypeFont/fontstash.cpp",
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"../../btgui/OpenGLTrueTypeFont/fontstash.h",
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"../../btgui/OpenGLTrueTypeFont/opengl_fontstashcallbacks.cpp",
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"../../btgui/OpenGLTrueTypeFont/opengl_fontstashcallbacks.h",
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"../../btgui/Bullet3Common/**.cpp",
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"../../btgui/Bullet3Common/**.h",
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"../../btgui/Timing/b3Clock.cpp",
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"../../btgui/Timing/b3Clock.h"
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}
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if os.is("Windows") then
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files {
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"../../btgui/OpenGLWindow/Win32OpenGLWindow.cpp",
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"../../btgui/OpenGLWindow/Win32OpenGLWindow.h",
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"../../btgui/OpenGLWindow/Win32Window.cpp",
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"../../btgui/OpenGLWindow/Win32Window.h",
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}
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end
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if os.is("Linux") then
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links ("X11")
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files{
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"../../btgui/OpenGLWindow/X11OpenGLWindow.h",
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"../../btgui/OpenGLWindow/X11OpenGLWindow.cpp"
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}
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end
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if os.is("MacOSX") then
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links{"Cocoa.framework"}
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files{
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"../../btgui/OpenGLWindow/MacOpenGLWindow.mm",
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"../../btgui/OpenGLWindow/MacOpenGLWindow.h",
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}
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end
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217
Demos3/bullet2/BasicDemo/main.cpp
Normal file
217
Demos3/bullet2/BasicDemo/main.cpp
Normal file
@@ -0,0 +1,217 @@
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#define ARRAY_SIZE_X 5
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#define ARRAY_SIZE_Y 5
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#define ARRAY_SIZE_Z 5
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#include "OpenGLWindow/SimpleOpenGL3App.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "assert.h"
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#include <stdio.h>
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#include "btBulletDynamicsCommon.h"
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class Bullet2RigidBodyDemo
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{
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protected:
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btDiscreteDynamicsWorld* m_dynamicsWorld;
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btCollisionDispatcher* m_dispatcher;
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btBroadphaseInterface* m_bp;
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btCollisionConfiguration* m_config;
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btConstraintSolver* m_solver;
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public:
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Bullet2RigidBodyDemo()
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{
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m_config = 0;
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m_dispatcher = 0;
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m_bp = 0;
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m_solver = 0;
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m_dynamicsWorld = 0;
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}
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virtual void initPhysics()
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{
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m_config = new btDefaultCollisionConfiguration;
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m_dispatcher = new btCollisionDispatcher(m_config);
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m_bp = new btDbvtBroadphase();
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
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}
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virtual void exitPhysics()
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{
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delete m_dynamicsWorld;
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m_dynamicsWorld=0;
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delete m_solver;
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m_solver=0;
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delete m_bp;
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m_bp=0;
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delete m_dispatcher;
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m_dispatcher=0;
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delete m_config;
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m_config=0;
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}
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virtual ~Bullet2RigidBodyDemo()
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{
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btAssert(m_config == 0);
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btAssert(m_dispatcher == 0);
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btAssert(m_bp == 0);
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btAssert(m_solver == 0);
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btAssert(m_dynamicsWorld == 0);
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}
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};
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class BasicDemo : public Bullet2RigidBodyDemo
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{
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SimpleOpenGL3App* m_glApp;
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public:
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BasicDemo(SimpleOpenGL3App* app)
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:m_glApp(app)
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{
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}
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virtual ~BasicDemo()
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{
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}
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void initPhysics()
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{
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Bullet2RigidBodyDemo::initPhysics();
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//create ground
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int cubeShapeId = m_glApp->registerCubeShape();
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float pos[]={0,0,0};
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float orn[]={0,0,0,1};
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{
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float color[]={0.3,0.3,1,1};
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float halfExtents[]={50,50,50,1};
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
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btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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{
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float halfExtents[]={1,1,1,1};
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float color[]={0,1,0,1};
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass = 1.f;
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btVector3 localInertia;
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btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
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colShape ->calculateLocalInertia(mass,localInertia);
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(btVector3(
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btScalar(2.0*i),
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btScalar(20+2.0*k),
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btScalar(2.0*j)));
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m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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m_dynamicsWorld->addRigidBody(body);
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}
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}
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}
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}
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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void exitPhysics()
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{
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Bullet2RigidBodyDemo::exitPhysics();
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}
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void drawObjects()
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{
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//sync graphics -> physics world transforms
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{
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for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
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{
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btVector3 pos = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getOrigin();
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btQuaternion orn = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getRotation();
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m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,i);
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}
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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m_glApp->m_instancingRenderer->renderScene();
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}
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void stepSimulation()
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{
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m_dynamicsWorld->stepSimulation(1./60,0);
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}
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};
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int main(int argc, char* argv[])
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{
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float dt = 1./120.f;
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SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet 2 CPU BasicDemo",1024,768);
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app->m_instancingRenderer->setCameraDistance(40);
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app->m_instancingRenderer->setCameraPitch(0);
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app->m_instancingRenderer->setCameraTargetPosition(b3MakeVector3(0,0,0));
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BasicDemo* demo = new BasicDemo(app);
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demo->initPhysics();
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GLint err = glGetError();
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assert(err==GL_NO_ERROR);
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do
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{
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GLint err = glGetError();
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assert(err==GL_NO_ERROR);
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app->m_instancingRenderer->init();
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app->m_instancingRenderer->updateCamera();
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demo->stepSimulation();
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demo->drawObjects();
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app->drawGrid(10,0.01);
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char bla[1024];
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static int frameCount = 0;
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frameCount++;
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sprintf(bla,"Simulation frame %d", frameCount);
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app->drawText(bla,10,10);
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app->swapBuffer();
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} while (!app->m_window->requestedExit());
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demo->exitPhysics();
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delete demo;
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delete app;
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return 0;
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}
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38
Demos3/bullet2/BasicDemo/premake4.lua
Normal file
38
Demos3/bullet2/BasicDemo/premake4.lua
Normal file
@@ -0,0 +1,38 @@
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project "App2_BasicDemo"
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language "C++"
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kind "ConsoleApp"
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targetdir "../../../bin"
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includedirs {
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".",
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"../../../src",
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"../../../btgui"
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}
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initOpenGL()
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initGlew()
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links{"gwen", "BulletDynamics", "BulletCollision","LinearMath",
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"OpenGL_Window", "OpenGL_TrueTypeFont"
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}
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files {
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"**.cpp",
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"**.h",
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"../../../src/Bullet3Common/**.cpp",
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"../../../src/Bullet3Common/**.h",
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"../../../btgui/Timing/b3Clock.cpp",
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"../../../btgui/Timing/b3Clock.h"
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}
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if os.is("Linux") then
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links ("X11")
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end
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if os.is("MacOSX") then
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links{"Cocoa.framework"}
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end
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@@ -4,8 +4,7 @@
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language "C++"
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kind "ConsoleApp"
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targetdir "../../bin"
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kind "StaticLib"
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initOpenGL()
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@@ -16,49 +15,14 @@
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".."
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}
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files {
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"main.cpp",
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files
|
||||
{
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"../FontFiles/OpenSans.cpp",
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"../OpenGLWindow/LoadShader.cpp",
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"../OpenGLWindow/LoadShader.h",
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"../../src/Bullet3Common/b3AlignedAllocator.cpp",
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"../../src/Bullet3Common/b3Logging.cpp",
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"../Timing/b3Quickprof.cpp",
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"../Timing/b3Quickprof.h" ,
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"../Timing/b3Clock.cpp",
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"../Timing/b3Clock.h" ,
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"fontstash.cpp",
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"fontstash.h",
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"opengl_fontstashcallbacks.cpp",
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"opengl_fontstashcallbacks.h",
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"stb_image_write.h",
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"stb_truetype.h",
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}
|
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if os.is("Windows") then
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files{
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"../OpenGLWindow/Win32OpenGLWindow.cpp",
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"../OpenGLWindow/Win32OpenGLWindow.h",
|
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"../OpenGLWindow/Win32Window.cpp",
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"../OpenGLWindow/Win32Window.h",
|
||||
}
|
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end
|
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if os.is("Linux") then
|
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links{"X11"}
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files{
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||||
"../OpenGLWindow/X11OpenGLWindow.h",
|
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"../OpenGLWindow/X11OpenGLWindow.cpp"
|
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}
|
||||
end
|
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|
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if os.is("MacOSX") then
|
||||
links { "Cocoa.framework" }
|
||||
files{
|
||||
"../OpenGLWindow/MacOpenGLWindow.h",
|
||||
"../OpenGLWindow/MacOpenGLWindow.mm",
|
||||
}
|
||||
|
||||
end
|
||||
}
|
||||
|
||||
|
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@@ -1,5 +1,5 @@
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#include "SimpleOpenGL3App.h"
|
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|
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#include "ShapeData.h"
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|
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#ifdef __APPLE__
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#include "OpenGLWindow/MacOpenGLWindow.h"
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@@ -171,8 +171,15 @@ void SimpleOpenGL3App::drawText( const char* txt, int posX, int posY)
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glDisable(GL_BLEND);
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}
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void SimpleOpenGL3App::drawGrid(int gridSize)
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int SimpleOpenGL3App::registerCubeShape()
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{
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int strideInBytes = 9*sizeof(float);
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int numVertices = sizeof(cube_vertices)/strideInBytes;
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int numIndices = sizeof(cube_indices)/sizeof(int);
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int shapeId = m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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return shapeId;
|
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}
|
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void SimpleOpenGL3App::drawGrid(int gridSize, float yOffset)
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{
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|
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b3Vector3 gridColor = b3MakeVector3(0.5,0.5,0.5);
|
||||
@@ -182,12 +189,12 @@ void SimpleOpenGL3App::drawGrid(int gridSize)
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GLint err = glGetError();
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b3Assert(err==GL_NO_ERROR);
|
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m_instancingRenderer->drawLine(b3MakeVector3(float(i),0,float(-gridSize)),b3MakeVector3(float(i),0,float(gridSize)),gridColor);
|
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m_instancingRenderer->drawLine(b3MakeVector3(float(i),yOffset,float(-gridSize)),b3MakeVector3(float(i),yOffset,float(gridSize)),gridColor);
|
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|
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err = glGetError();
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b3Assert(err==GL_NO_ERROR);
|
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|
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m_instancingRenderer->drawLine(b3MakeVector3(float(-gridSize),0,float(i)),b3MakeVector3(float(gridSize),0,float(i)),gridColor);
|
||||
m_instancingRenderer->drawLine(b3MakeVector3(float(-gridSize),yOffset,float(i)),b3MakeVector3(float(gridSize),yOffset,float(i)),gridColor);
|
||||
}
|
||||
|
||||
m_instancingRenderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(1,0,0),b3MakeVector3(1,0,0),3);
|
||||
|
||||
@@ -16,7 +16,9 @@ struct SimpleOpenGL3App
|
||||
SimpleOpenGL3App(const char* title, int width,int height);
|
||||
virtual ~SimpleOpenGL3App();
|
||||
|
||||
void drawGrid(int gridSize=10);
|
||||
int registerCubeShape();
|
||||
|
||||
void drawGrid(int gridSize=10, float yOffset=0.001);
|
||||
void swapBuffer();
|
||||
void drawText( const char* txt, int posX, int posY);
|
||||
|
||||
|
||||
@@ -1,375 +0,0 @@
|
||||
|
||||
#include "gwenWindow.h"
|
||||
|
||||
|
||||
#include "Gwen/Platform.h"
|
||||
#include "Gwen/Controls/TreeControl.h"
|
||||
#include "Gwen/Controls/RadioButtonController.h"
|
||||
#include "Gwen/Controls/VerticalSlider.h"
|
||||
#include "Gwen/Controls/HorizontalSlider.h"
|
||||
#include "Gwen/Controls/GroupBox.h"
|
||||
#include "Gwen/Controls/CheckBox.h"
|
||||
#include "Gwen/Controls/MenuStrip.h"
|
||||
|
||||
|
||||
#include "Gwen/Gwen.h"
|
||||
#include "Gwen/Align.h"
|
||||
#include "Gwen/Utility.h"
|
||||
#include "Gwen/Controls/WindowControl.h"
|
||||
#include "Gwen/Controls/TabControl.h"
|
||||
#include "Gwen/Controls/ListBox.h"
|
||||
|
||||
#include "Bullet3Common/b3Quickprof.h"
|
||||
#include "GwenOpenGL3CoreRenderer.h"
|
||||
#include "GLPrimitiveRenderer.h"
|
||||
|
||||
GLPrimitiveRenderer* primRenderer=0;
|
||||
GwenOpenGL3CoreRenderer* pRenderer = 0;
|
||||
//Gwen::Renderer::OpenGL_DebugFont * pRenderer =0;
|
||||
Gwen::Skin::Simple skin;
|
||||
Gwen::Controls::Canvas* pCanvas =0;
|
||||
class MyProfileWindow* profWindow = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
/*struct MyHander :public Gwen::Event::Handler
|
||||
{
|
||||
|
||||
MyHander (Application* app)
|
||||
:m_app(app)
|
||||
{
|
||||
}
|
||||
|
||||
void onButtonA( Gwen::Controls::Base* pControl )
|
||||
{
|
||||
OpenTissue::glut::toggleIdle();
|
||||
}
|
||||
|
||||
void SliderMoved(Gwen::Controls::Base* pControl )
|
||||
{
|
||||
Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl;
|
||||
this->m_app->scaleYoungModulus(pSlider->GetValue());
|
||||
// printf("Slider Value: %.2f", pSlider->GetValue() );
|
||||
}
|
||||
|
||||
|
||||
void OnCheckChangedStiffnessWarping (Gwen::Controls::Base* pControl)
|
||||
{
|
||||
Gwen::Controls::CheckBox* labeled = (Gwen::Controls::CheckBox* )pControl;
|
||||
bool checked = labeled->IsChecked();
|
||||
m_app->m_stiffness_warp_on = checked;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
*/
|
||||
|
||||
|
||||
|
||||
class MyProfileWindow : public Gwen::Controls::WindowControl
|
||||
{
|
||||
|
||||
// Gwen::Controls::TabControl* m_TabControl;
|
||||
//Gwen::Controls::ListBox* m_TextOutput;
|
||||
unsigned int m_iFrames;
|
||||
float m_fLastSecond;
|
||||
|
||||
Gwen::Controls::TreeNode* m_node;
|
||||
Gwen::Controls::TreeControl* m_ctrl;
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
void onButtonA( Gwen::Controls::Base* pControl )
|
||||
{
|
||||
// OpenTissue::glut::toggleIdle();
|
||||
}
|
||||
|
||||
void SliderMoved(Gwen::Controls::Base* pControl )
|
||||
{
|
||||
Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl;
|
||||
//this->m_app->scaleYoungModulus(pSlider->GetValue());
|
||||
// printf("Slider Value: %.2f", pSlider->GetValue() );
|
||||
}
|
||||
|
||||
|
||||
void OnCheckChangedStiffnessWarping (Gwen::Controls::Base* pControl)
|
||||
{
|
||||
Gwen::Controls::CheckBox* labeled = (Gwen::Controls::CheckBox* )pControl;
|
||||
bool checked = labeled->IsChecked();
|
||||
//m_app->m_stiffness_warp_on = checked;
|
||||
}
|
||||
public:
|
||||
|
||||
void MenuItemSelect(Gwen::Controls::Base* pControl)
|
||||
{
|
||||
if (Hidden())
|
||||
{
|
||||
SetHidden(false);
|
||||
} else
|
||||
{
|
||||
SetHidden(true);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
MyProfileWindow ( Gwen::Controls::Base* pParent)
|
||||
: Gwen::Controls::WindowControl( pParent )
|
||||
{
|
||||
SetTitle( L"FEM Settings" );
|
||||
|
||||
SetSize( 450, 150 );
|
||||
this->SetPos(10,40);
|
||||
|
||||
// this->Dock( Gwen::Pos::Bottom);
|
||||
|
||||
|
||||
|
||||
{
|
||||
m_ctrl = new Gwen::Controls::TreeControl( this );
|
||||
m_node = m_ctrl->AddNode( L"Total Parent Time" );
|
||||
|
||||
|
||||
//Gwen::Controls::TreeNode* pNode = ctrl->AddNode( L"Node Two" );
|
||||
//pNode->AddNode( L"Node Two Inside" );
|
||||
//pNode->AddNode( L"Eyes" );
|
||||
//pNode->AddNode( L"Brown" )->AddNode( L"Node Two Inside" )->AddNode( L"Eyes" )->AddNode( L"Brown" );
|
||||
//Gwen::Controls::TreeNode* node = ctrl->AddNode( L"Node Three" );
|
||||
|
||||
|
||||
|
||||
//m_ctrl->Dock(Gwen::Pos::Bottom);
|
||||
|
||||
m_ctrl->ExpandAll();
|
||||
m_ctrl->SetBounds( this->GetInnerBounds().x,this->GetInnerBounds().y,this->GetInnerBounds().w,this->GetInnerBounds().h);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
float dumpRecursive(b3ProfileIterator* profileIterator, Gwen::Controls::TreeNode* parentNode)
|
||||
{
|
||||
profileIterator->First();
|
||||
if (profileIterator->Is_Done())
|
||||
return 0.f;
|
||||
|
||||
float accumulated_time=0,parent_time = profileIterator->Is_Root() ? b3ProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
|
||||
int i;
|
||||
int frames_since_reset = b3ProfileManager::Get_Frame_Count_Since_Reset();
|
||||
|
||||
//printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time );
|
||||
float totalTime = 0.f;
|
||||
|
||||
|
||||
int numChildren = 0;
|
||||
Gwen::UnicodeString txt;
|
||||
std::vector<Gwen::Controls::TreeNode*> nodes;
|
||||
|
||||
for (i = 0; !profileIterator->Is_Done(); i++,profileIterator->Next())
|
||||
{
|
||||
numChildren++;
|
||||
float current_total_time = profileIterator->Get_Current_Total_Time();
|
||||
accumulated_time += current_total_time;
|
||||
double fraction = parent_time > B3_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
|
||||
|
||||
Gwen::String name(profileIterator->Get_Current_Name());
|
||||
#ifdef _WIN32
|
||||
Gwen::UnicodeString uname = Gwen::Utility::StringToUnicode(name);
|
||||
|
||||
txt = Gwen::Utility::Format(L"%s (%.2f %%) :: %.3f ms / frame (%d calls)",uname.c_str(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls());
|
||||
|
||||
#else
|
||||
txt = Gwen::Utility::Format(L"%s (%.2f %%) :: %.3f ms / frame (%d calls)",name.c_str(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls());
|
||||
|
||||
#endif
|
||||
|
||||
Gwen::Controls::TreeNode* childNode = (Gwen::Controls::TreeNode*)profileIterator->Get_Current_UserPointer();
|
||||
if (!childNode)
|
||||
{
|
||||
childNode = parentNode->AddNode(L"");
|
||||
profileIterator->Set_Current_UserPointer(childNode);
|
||||
}
|
||||
childNode->SetText(txt);
|
||||
nodes.push_back(childNode);
|
||||
|
||||
totalTime += current_total_time;
|
||||
//recurse into children
|
||||
}
|
||||
|
||||
for (i=0;i<numChildren;i++)
|
||||
{
|
||||
profileIterator->Enter_Child(i);
|
||||
Gwen::Controls::TreeNode* curNode = nodes[i];
|
||||
|
||||
dumpRecursive(profileIterator, curNode);
|
||||
|
||||
profileIterator->Enter_Parent();
|
||||
}
|
||||
return accumulated_time;
|
||||
|
||||
}
|
||||
|
||||
void UpdateText(b3ProfileIterator* profileIterator, bool idle)
|
||||
{
|
||||
|
||||
static bool update=true;
|
||||
|
||||
m_ctrl->SetBounds(0,0,this->GetInnerBounds().w,this->GetInnerBounds().h);
|
||||
|
||||
// if (!update)
|
||||
// return;
|
||||
update=false;
|
||||
|
||||
|
||||
static int test = 1;
|
||||
test++;
|
||||
|
||||
static double time_since_reset = 0.f;
|
||||
if (!idle)
|
||||
{
|
||||
time_since_reset = b3ProfileManager::Get_Time_Since_Reset();
|
||||
}
|
||||
|
||||
//Gwen::UnicodeString txt = Gwen::Utility::Format( L"FEM Settings %i fps", test );
|
||||
{
|
||||
//recompute profiling data, and store profile strings
|
||||
|
||||
char blockTime[128];
|
||||
|
||||
double totalTime = 0;
|
||||
|
||||
int frames_since_reset = b3ProfileManager::Get_Frame_Count_Since_Reset();
|
||||
|
||||
profileIterator->First();
|
||||
|
||||
double parent_time = profileIterator->Is_Root() ? time_since_reset : profileIterator->Get_Current_Parent_Total_Time();
|
||||
|
||||
|
||||
Gwen::Controls::TreeNode* curParent = m_node;
|
||||
|
||||
double accumulated_time = dumpRecursive(profileIterator,m_node);
|
||||
|
||||
const char* name = profileIterator->Get_Current_Parent_Name();
|
||||
#ifdef _WIN32
|
||||
Gwen::UnicodeString uname = Gwen::Utility::StringToUnicode(name);
|
||||
Gwen::UnicodeString txt = Gwen::Utility::Format( L"Profiling: %s total time: %.3f ms, unaccounted %.3f %% :: %.3f ms", uname.c_str(), parent_time ,
|
||||
parent_time > B3_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
|
||||
#else
|
||||
Gwen::UnicodeString txt = Gwen::Utility::Format( L"Profiling: %s total time: %.3f ms, unaccounted %.3f %% :: %.3f ms", name, parent_time ,
|
||||
parent_time > B3_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
|
||||
#endif
|
||||
//sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---", profileIterator->Get_Current_Parent_Name(), parent_time );
|
||||
//displayProfileString(xOffset,yStart,blockTime);
|
||||
m_node->SetText(txt);
|
||||
|
||||
|
||||
//printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:",);
|
||||
|
||||
|
||||
}
|
||||
|
||||
static bool once1 = true;
|
||||
if (once1)
|
||||
{
|
||||
once1 = false;
|
||||
m_ctrl->ExpandAll();
|
||||
}
|
||||
|
||||
}
|
||||
void PrintText( const Gwen::UnicodeString& str )
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void Render( Gwen::Skin::Base* skin )
|
||||
{
|
||||
m_iFrames++;
|
||||
|
||||
if ( m_fLastSecond < Gwen::Platform::GetTimeInSeconds() )
|
||||
{
|
||||
SetTitle( Gwen::Utility::Format( L"Profiler %i fps", m_iFrames ) );
|
||||
|
||||
m_fLastSecond = Gwen::Platform::GetTimeInSeconds() + 1.0f;
|
||||
m_iFrames = 0;
|
||||
}
|
||||
|
||||
Gwen::Controls::WindowControl::Render( skin );
|
||||
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
struct MyTestMenuBar : public Gwen::Controls::MenuStrip
|
||||
{
|
||||
MyProfileWindow* m_profileWindow;
|
||||
|
||||
|
||||
MyTestMenuBar(Gwen::Controls::Base* pParent, MyProfileWindow* profileWindow)
|
||||
:Gwen::Controls::MenuStrip(pParent),
|
||||
m_profileWindow(profileWindow)
|
||||
{
|
||||
// Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
|
||||
{
|
||||
Gwen::Controls::MenuItem* pRoot = AddItem( L"File" );
|
||||
|
||||
pRoot = AddItem( L"View" );
|
||||
// Gwen::Event::Handler* handler = GWEN_MCALL(&MyTestMenuBar::MenuItemSelect );
|
||||
pRoot->GetMenu()->AddItem( L"Profiler",m_profileWindow,(Gwen::Event::Handler::Function)&MyProfileWindow::MenuItemSelect);
|
||||
|
||||
/* pRoot->GetMenu()->AddItem( L"New", L"test16.png", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
pRoot->GetMenu()->AddItem( L"Load", L"test16.png", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
pRoot->GetMenu()->AddItem( L"Save", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
pRoot->GetMenu()->AddItem( L"Save As..", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
pRoot->GetMenu()->AddItem( L"Quit", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
*/
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
void setupGUI(int width, int height, sth_stash* font, float retinaScale,GLPrimitiveRenderer* primRender)
|
||||
{
|
||||
primRenderer = primRender;
|
||||
pRenderer = new GwenOpenGL3CoreRenderer(primRenderer,font,width,height, retinaScale);
|
||||
if (primRenderer)
|
||||
primRenderer->setScreenSize(width,height);
|
||||
|
||||
// pRenderer = new Gwen::Renderer::OpenGL_DebugFont();
|
||||
skin.SetRender( pRenderer );
|
||||
|
||||
pCanvas = new Gwen::Controls::Canvas( &skin );
|
||||
pCanvas->SetSize( width,height);
|
||||
pCanvas->SetDrawBackground( false);
|
||||
pCanvas->SetBackgroundColor( Gwen::Color( 150, 170, 170, 255 ) );
|
||||
// pCanvas->SetScale(.5);
|
||||
//MyWindow* window = new MyWindow(pCanvas);
|
||||
profWindow = new MyProfileWindow(pCanvas);
|
||||
|
||||
MyTestMenuBar* menubar = new MyTestMenuBar(pCanvas, profWindow);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void resizeGUI(int width, int height)
|
||||
{
|
||||
pCanvas->SetSize(width,height);
|
||||
pRenderer->resize(width,height);
|
||||
primRenderer->setScreenSize(width,height);
|
||||
}
|
||||
|
||||
void processProfileData(b3ProfileIterator* iterator, bool idle)
|
||||
{
|
||||
if (profWindow)
|
||||
{
|
||||
|
||||
profWindow->UpdateText(iterator, idle);
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,24 +0,0 @@
|
||||
|
||||
#ifndef MY_GWEN_WINDOW_H
|
||||
#define MY_GWEN_WINDOW_H
|
||||
|
||||
|
||||
#include "Gwen/Gwen.h"
|
||||
#include "Gwen/Controls/Button.h"
|
||||
#include "Gwen/Skins/Simple.h"
|
||||
#include "Gwen/Renderers/OpenGL_DebugFont.h"
|
||||
|
||||
struct sth_stash;
|
||||
|
||||
extern class GwenOpenGL3CoreRenderer* pRenderer;
|
||||
//extern Gwen::Renderer::OpenGL_DebugFont * pRenderer;
|
||||
extern Gwen::Skin::Simple skin;
|
||||
extern Gwen::Controls::Canvas* pCanvas;
|
||||
|
||||
class GLPrimitiveRenderer;
|
||||
|
||||
void setupGUI(int width, int height, sth_stash* font, float retinaScale,GLPrimitiveRenderer* primRender);
|
||||
void processProfileData(class b3ProfileIterator* iterator, bool idle);
|
||||
void resizeGUI(int width, int height);
|
||||
|
||||
#endif //MY_GWEN_WINDOW_H
|
||||
@@ -1,516 +0,0 @@
|
||||
/*
|
||||
Copyright (c) 2012 Advanced Micro Devices, Inc.
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
//Originally written by Erwin Coumans
|
||||
|
||||
//
|
||||
//#include "vld.h"
|
||||
#ifndef __APPLE__
|
||||
#include <GL/glew.h>
|
||||
#endif
|
||||
#include <assert.h>
|
||||
|
||||
#include "GLInstancingRenderer.h"
|
||||
|
||||
#ifdef __APPLE__
|
||||
#include "MacOpenGLWindow.h"
|
||||
#elif _WIN32
|
||||
#include "Win32OpenGLWindow.h"
|
||||
#elif __linux
|
||||
#include "X11OpenGLWindow.h"
|
||||
#endif
|
||||
|
||||
#include "GLPrimitiveRenderer.h"
|
||||
|
||||
extern char OpenSansData[];
|
||||
|
||||
#include "renderscene.h"
|
||||
|
||||
|
||||
#include "Bullet3Common/b3Quickprof.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
|
||||
#include "Bullet3Common/b3CommandLineArgs.h"
|
||||
|
||||
#include "../OpenGLTrueTypeFont/fontstash.h"
|
||||
#include "../OpenGLTrueTypeFont/opengl_fontstashcallbacks.h"
|
||||
|
||||
bool printStats = false;
|
||||
bool pauseSimulation = false;
|
||||
bool shootObject = false;
|
||||
|
||||
|
||||
bool useInterop = false;
|
||||
|
||||
extern int NUM_OBJECTS_X;
|
||||
extern int NUM_OBJECTS_Y;
|
||||
extern int NUM_OBJECTS_Z;
|
||||
extern bool keepStaticObjects;
|
||||
extern float X_GAP;
|
||||
extern float Y_GAP;
|
||||
extern float Z_GAP;
|
||||
|
||||
const char* fileName="../../bin/1000 stack.bullet";
|
||||
void Usage()
|
||||
{
|
||||
printf("\nprogram.exe [--pause_simulation=<0 or 1>] [--load_bulletfile=test.bullet] [--enable_interop=<0 or 1>] [--enable_gpusap=<0 or 1>] [--enable_convexheightfield=<0 or 1>] [--enable_static=<0 or 1>] [--x_dim=<int>] [--y_dim=<num>] [--z_dim=<int>] [--x_gap=<float>] [--y_gap=<float>] [--z_gap=<float>]\n");
|
||||
};
|
||||
|
||||
|
||||
#include "gwenWindow.h"
|
||||
|
||||
|
||||
void MyMouseButtonCallback(int button, int state, float x, float y)
|
||||
{
|
||||
//b3DefaultMouseCallback(button,state,x,y);
|
||||
|
||||
if (pCanvas)
|
||||
{
|
||||
bool handled = pCanvas->InputMouseMoved(x,y,x, y);
|
||||
|
||||
if (button>=0)
|
||||
{
|
||||
handled = pCanvas->InputMouseButton(button,state);
|
||||
if (handled)
|
||||
{
|
||||
if (!state)
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int g_OpenGLWidth = 1024;//650;
|
||||
int g_OpenGLHeight =800;
|
||||
|
||||
void MyResizeCallback(float width, float height)
|
||||
{
|
||||
g_OpenGLWidth = width;
|
||||
g_OpenGLHeight = height;
|
||||
if (pCanvas)
|
||||
{
|
||||
pCanvas->SetSize(width,height);
|
||||
resizeGUI(width,height);
|
||||
}
|
||||
}
|
||||
|
||||
void MyMouseMoveCallback( float x, float y)
|
||||
{
|
||||
//b3DefaultMouseCallback(button,state,x,y);
|
||||
|
||||
static int m_lastmousepos[2] = {0,0};
|
||||
static bool isInitialized = false;
|
||||
if (pCanvas)
|
||||
{
|
||||
if (!isInitialized)
|
||||
{
|
||||
isInitialized = true;
|
||||
m_lastmousepos[0] = x+1;
|
||||
m_lastmousepos[1] = y+1;
|
||||
}
|
||||
bool handled = pCanvas->InputMouseMoved(x,y,m_lastmousepos[0],m_lastmousepos[1]);
|
||||
}
|
||||
}
|
||||
|
||||
int droidRegular;//, droidItalic, droidBold, droidJapanese, dejavu;
|
||||
|
||||
sth_stash* initFont(GLPrimitiveRenderer* primRender)
|
||||
{
|
||||
GLint err;
|
||||
|
||||
struct sth_stash* stash = 0;
|
||||
int datasize;
|
||||
|
||||
float sx,sy,dx,dy,lh;
|
||||
GLuint texture;
|
||||
OpenGL2RenderCallbacks* renderCallbacks = new OpenGL2RenderCallbacks(primRender);
|
||||
stash = sth_create(512,512,renderCallbacks);//256,256);//,1024);//512,512);
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
if (!stash)
|
||||
{
|
||||
fprintf(stderr, "Could not create stash.\n");
|
||||
return 0;
|
||||
}
|
||||
#ifdef LOAD_FONT_FROM_FILE
|
||||
unsigned char* data;
|
||||
const char* fontPaths[]={
|
||||
"./",
|
||||
"../../bin/",
|
||||
"../bin/",
|
||||
"bin/"
|
||||
};
|
||||
|
||||
int numPaths=sizeof(fontPaths)/sizeof(char*);
|
||||
|
||||
// Load the first truetype font from memory (just because we can).
|
||||
|
||||
FILE* fp = 0;
|
||||
const char* fontPath ="./";
|
||||
char fullFontFileName[1024];
|
||||
|
||||
for (int i=0;i<numPaths;i++)
|
||||
{
|
||||
|
||||
fontPath = fontPaths[i];
|
||||
//sprintf(fullFontFileName,"%s%s",fontPath,"OpenSans.ttf");//"DroidSerif-Regular.ttf");
|
||||
sprintf(fullFontFileName,"%s%s",fontPath,"DroidSerif-Regular.ttf");//OpenSans.ttf");//"DroidSerif-Regular.ttf");
|
||||
fp = fopen(fullFontFileName, "rb");
|
||||
if (fp)
|
||||
break;
|
||||
}
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
assert(fp);
|
||||
if (fp)
|
||||
{
|
||||
fseek(fp, 0, SEEK_END);
|
||||
datasize = (int)ftell(fp);
|
||||
fseek(fp, 0, SEEK_SET);
|
||||
data = (unsigned char*)malloc(datasize);
|
||||
if (data == NULL)
|
||||
{
|
||||
assert(0);
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
fread(data, 1, datasize, fp);
|
||||
fclose(fp);
|
||||
fp = 0;
|
||||
}
|
||||
if (!(droidRegular = sth_add_font_from_memory(stash, data)))
|
||||
{
|
||||
assert(0);
|
||||
return 0;
|
||||
}
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
// Load the remaining truetype fonts directly.
|
||||
sprintf(fullFontFileName,"%s%s",fontPath,"DroidSerif-Italic.ttf");
|
||||
|
||||
if (!(droidItalic = sth_add_font(stash,fullFontFileName)))
|
||||
{
|
||||
assert(0);
|
||||
return 0;
|
||||
}
|
||||
sprintf(fullFontFileName,"%s%s",fontPath,"DroidSerif-Bold.ttf");
|
||||
|
||||
if (!(droidBold = sth_add_font(stash,fullFontFileName)))
|
||||
{
|
||||
assert(0);
|
||||
return 0;
|
||||
}
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
sprintf(fullFontFileName,"%s%s",fontPath,"DroidSansJapanese.ttf");
|
||||
if (!(droidJapanese = sth_add_font(stash,fullFontFileName)))
|
||||
{
|
||||
assert(0);
|
||||
return 0;
|
||||
}
|
||||
#else//LOAD_FONT_FROM_FILE
|
||||
char* data2 = OpenSansData;
|
||||
unsigned char* data = (unsigned char*) data2;
|
||||
if (!(droidRegular = sth_add_font_from_memory(stash, data)))
|
||||
{
|
||||
printf("error!\n");
|
||||
}
|
||||
#endif//LOAD_FONT_FROM_FILE
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
return stash;
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
|
||||
b3CommandLineArgs args(argc,argv);
|
||||
|
||||
if (args.CheckCmdLineFlag("help"))
|
||||
{
|
||||
Usage();
|
||||
return 0;
|
||||
}
|
||||
|
||||
args.GetCmdLineArgument("enable_interop", useInterop);
|
||||
printf("useInterop=%d\n",useInterop);
|
||||
|
||||
|
||||
|
||||
args.GetCmdLineArgument("pause_simulation", pauseSimulation);
|
||||
printf("pause_simulation=%d\n",pauseSimulation);
|
||||
args.GetCmdLineArgument("x_dim", NUM_OBJECTS_X);
|
||||
args.GetCmdLineArgument("y_dim", NUM_OBJECTS_Y);
|
||||
args.GetCmdLineArgument("z_dim", NUM_OBJECTS_Z);
|
||||
|
||||
args.GetCmdLineArgument("x_gap", X_GAP);
|
||||
args.GetCmdLineArgument("y_gap", Y_GAP);
|
||||
args.GetCmdLineArgument("z_gap", Z_GAP);
|
||||
printf("x_dim=%d, y_dim=%d, z_dim=%d\n",NUM_OBJECTS_X,NUM_OBJECTS_Y,NUM_OBJECTS_Z);
|
||||
printf("x_gap=%f, y_gap=%f, z_gap=%f\n",X_GAP,Y_GAP,Z_GAP);
|
||||
|
||||
args.GetCmdLineArgument("enable_static", keepStaticObjects);
|
||||
printf("enable_static=%d\n",keepStaticObjects);
|
||||
|
||||
|
||||
char* tmpfile = 0;
|
||||
args.GetCmdLineArgument("load_bulletfile", tmpfile );
|
||||
if (tmpfile)
|
||||
fileName = tmpfile;
|
||||
|
||||
printf("load_bulletfile=%s\n",fileName);
|
||||
|
||||
|
||||
printf("\n");
|
||||
b3gDefaultOpenGLWindow* window = new b3gDefaultOpenGLWindow();
|
||||
b3gWindowConstructionInfo wci;
|
||||
wci.m_width = g_OpenGLWidth;
|
||||
wci.m_height = g_OpenGLHeight;
|
||||
|
||||
window->createWindow(wci);
|
||||
window->setWindowTitle("render test");
|
||||
|
||||
|
||||
|
||||
float retinaScale = 1;
|
||||
|
||||
#ifndef __APPLE__
|
||||
GLenum err = glewInit();
|
||||
#else
|
||||
retinaScale = window->getRetinaScale();
|
||||
#endif
|
||||
|
||||
window->runMainLoop();
|
||||
window->startRendering();
|
||||
window->endRendering();
|
||||
|
||||
int maxObjectCapacity=128*1024;
|
||||
GLInstancingRenderer render(maxObjectCapacity);
|
||||
|
||||
GLPrimitiveRenderer* primRenderer = new GLPrimitiveRenderer(g_OpenGLWidth,g_OpenGLHeight);
|
||||
|
||||
sth_stash* stash = initFont(primRenderer);
|
||||
|
||||
render.InitShaders();
|
||||
|
||||
|
||||
createSceneProgrammatically(render);
|
||||
|
||||
|
||||
render.writeTransforms();
|
||||
|
||||
window->runMainLoop();
|
||||
|
||||
window->setMouseButtonCallback(MyMouseButtonCallback);
|
||||
window->setMouseMoveCallback(MyMouseMoveCallback);
|
||||
window->setResizeCallback(MyResizeCallback);
|
||||
window->setKeyboardCallback(b3DefaultKeyboardCallback);
|
||||
window->setWheelCallback(b3DefaultWheelCallback);
|
||||
|
||||
|
||||
//GLPrimitiveRenderer* pprender = new GLPrimitiveRenderer(g_OpenGLWidth,g_OpenGLHeight);
|
||||
|
||||
glUseProgram(0);
|
||||
|
||||
|
||||
|
||||
|
||||
////////////////////////////////
|
||||
|
||||
/////////////////////////////////////
|
||||
|
||||
|
||||
if (pCanvas)
|
||||
{
|
||||
pCanvas->SetSize(g_OpenGLWidth,g_OpenGLHeight);
|
||||
}
|
||||
setupGUI(g_OpenGLWidth,g_OpenGLHeight,stash,retinaScale,primRenderer);
|
||||
class b3ProfileIterator* m_profileIterator;
|
||||
m_profileIterator = b3ProfileManager::Get_Iterator();
|
||||
|
||||
glClearColor(1,1,1,1);
|
||||
while (!window->requestedExit())
|
||||
{
|
||||
b3ProfileManager::Reset();
|
||||
|
||||
{
|
||||
B3_PROFILE("loop");
|
||||
|
||||
|
||||
|
||||
|
||||
{
|
||||
B3_PROFILE("startRendering");
|
||||
window->startRendering();
|
||||
}
|
||||
render.RenderScene();
|
||||
glFinish();
|
||||
float col[4]={0,1,0,1};
|
||||
// pprender->drawRect(10,50,120,60,col);
|
||||
// glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
|
||||
//glEnable(GL_TEXTURE_2D);
|
||||
|
||||
float x = 10;
|
||||
float y=220;
|
||||
float dx=0;
|
||||
if (1)
|
||||
{
|
||||
B3_PROFILE("font sth_draw_text");
|
||||
|
||||
glEnable(GL_BLEND);
|
||||
GLint err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
|
||||
glDisable(GL_CULL_FACE);
|
||||
|
||||
sth_begin_draw(stash);
|
||||
sth_flush_draw(stash);
|
||||
sth_draw_text(stash, droidRegular,20.f, x, y, "Non-retina font rendering !@#$", &dx,g_OpenGLWidth,g_OpenGLHeight,0,1);//retinaScale);
|
||||
if (retinaScale!=1.f)
|
||||
sth_draw_text(stash, droidRegular,20.f*retinaScale, x, y+20, "Retina font rendering!@#$", &dx,g_OpenGLWidth,g_OpenGLHeight,0,retinaScale);
|
||||
sth_flush_draw(stash);
|
||||
|
||||
sth_end_draw(stash);
|
||||
}
|
||||
|
||||
if (1)
|
||||
{
|
||||
B3_PROFILE("gwen RenderCanvas");
|
||||
|
||||
if (pCanvas)
|
||||
{
|
||||
glEnable(GL_BLEND);
|
||||
GLint err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
//glColor4ub(255,0,0,255);
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
|
||||
|
||||
// saveOpenGLState(width,height);//m_glutScreenWidth,m_glutScreenHeight);
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
glDisable(GL_CULL_FACE);
|
||||
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
glEnable(GL_BLEND);
|
||||
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
|
||||
|
||||
pCanvas->RenderCanvas();
|
||||
//restoreOpenGLState();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
window->endRendering();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
b3ProfileManager::Increment_Frame_Counter();
|
||||
|
||||
|
||||
|
||||
static bool printStats = true;
|
||||
|
||||
|
||||
if (printStats && !pauseSimulation)
|
||||
{
|
||||
static int count = 0;
|
||||
count--;
|
||||
if (count<0)
|
||||
{
|
||||
count = 100;
|
||||
{
|
||||
//B3_PROFILE("processProfileData");
|
||||
processProfileData(m_profileIterator,false);
|
||||
}
|
||||
//b3ProfileManager::dumpAll();
|
||||
//printStats = false;
|
||||
} else
|
||||
{
|
||||
// printf(".");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
//delete pprender;
|
||||
// render.CleanupShaders();
|
||||
window->closeWindow();
|
||||
|
||||
delete window;
|
||||
|
||||
|
||||
|
||||
return 0;
|
||||
|
||||
|
||||
}
|
||||
@@ -1,14 +1,11 @@
|
||||
|
||||
|
||||
project "OpenGL_rendertest"
|
||||
|
||||
project "OpenGL_Window"
|
||||
|
||||
language "C++"
|
||||
|
||||
kind "ConsoleApp"
|
||||
kind "StaticLib"
|
||||
targetdir "../../bin"
|
||||
|
||||
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
@@ -17,61 +14,36 @@
|
||||
"../../src",
|
||||
}
|
||||
|
||||
links {
|
||||
"gwen"
|
||||
}
|
||||
--links {
|
||||
--}
|
||||
|
||||
files {
|
||||
"main.cpp",
|
||||
"renderscene.cpp",
|
||||
"renderscene.h",
|
||||
"GLInstancingRenderer.cpp",
|
||||
"GLInstancingRenderer.h",
|
||||
"GLPrimitiveRenderer.h",
|
||||
"GLPrimitiveRenderer.cpp",
|
||||
"SimpleOpenGL3App.cpp",
|
||||
"SimpleOpenGL3App.h",
|
||||
"LoadShader.cpp",
|
||||
"LoadShader.h",
|
||||
"gwenWindow.cpp",
|
||||
"gwenWindow.h",
|
||||
"TwFonts.cpp",
|
||||
"TwFonts.h",
|
||||
"GwenOpenGL3CoreRenderer.h",
|
||||
"../FontFiles/OpenSans.cpp",
|
||||
"../OpenGLTrueTypeFont/fontstash.cpp",
|
||||
"../OpenGLTrueTypeFont/fontstash.h",
|
||||
"../OpenGLTrueTypeFont/opengl_fontstashcallbacks.cpp",
|
||||
"../OpenGLTrueTypeFont/opengl_fontstashcallbacks.h",
|
||||
"../../src/Bullet3Geometry/b3ConvexHullComputer.cpp",
|
||||
"../../src/Bullet3Geometry/b3ConvexHullComputer.h",
|
||||
"../../src/Bullet3Common/b3AlignedAllocator.cpp",
|
||||
"../Timing/b3Quickprof.cpp",
|
||||
"../Timing/b3Quickprof.h",
|
||||
"../Timing/b3Clock.cpp",
|
||||
"../Timing/b3Clock.h",
|
||||
"**.cpp",
|
||||
"**.h",
|
||||
"**.c"
|
||||
}
|
||||
|
||||
if os.is("Windows") then
|
||||
files{
|
||||
if not os.is("Windows") then
|
||||
excludes {
|
||||
"Win32OpenGLWindow.cpp",
|
||||
"Win32OpenGLWindow.h",
|
||||
"Win32Window.cpp",
|
||||
"Win32Window.h",
|
||||
}
|
||||
end
|
||||
if os.is("Linux") then
|
||||
files {
|
||||
if not os.is("Linux") then
|
||||
excludes {
|
||||
"X11OpenGLWindow.cpp",
|
||||
"X11OpenGLWindows.h"
|
||||
}
|
||||
end
|
||||
if os.is("MacOSX") then
|
||||
links{"Cocoa.framework"}
|
||||
files
|
||||
else
|
||||
excludes
|
||||
{
|
||||
"../OpenGLWindow/MacOpenGLWindow.h",
|
||||
"../OpenGLWindow/MacOpenGLWindow.mm",
|
||||
}
|
||||
"../OpenGLWindow/MacOpenGLWindow.h",
|
||||
"../OpenGLWindow/MacOpenGLWindow.mm",
|
||||
}
|
||||
end
|
||||
|
||||
|
||||
@@ -1,199 +0,0 @@
|
||||
int NUM_OBJECTS_X = 35;
|
||||
int NUM_OBJECTS_Y = 35;
|
||||
int NUM_OBJECTS_Z = 35;
|
||||
|
||||
|
||||
float X_GAP = 2.3f;
|
||||
float Y_GAP = 2.f;
|
||||
float Z_GAP = 2.3f;
|
||||
|
||||
bool keepStaticObjects = false;
|
||||
#include <stdio.h>
|
||||
|
||||
#include "OpenGLInclude.h"
|
||||
|
||||
#include "renderscene.h"
|
||||
|
||||
#include "GLInstancingRenderer.h"
|
||||
//#include "LinearMath/b3Quickprof.h"
|
||||
#include "Bullet3Common/b3Quaternion.h"
|
||||
#include "Bullet3Common/b3Matrix3x3.h"
|
||||
//#include "../opencl/gpu_rigidbody_pipeline/b3ConvexUtility.h"
|
||||
#include "ShapeData.h"
|
||||
///work-in-progress
|
||||
///This ReadBulletSample is kept as simple as possible without dependencies to the Bullet SDK.
|
||||
///It can be used to load .bullet data for other physics SDKs
|
||||
///For a more complete example how to load and convert Bullet data using the Bullet SDK check out
|
||||
///the Bullet/Demos/SerializeDemo and Bullet/Serialize/BulletWorldImporter
|
||||
|
||||
|
||||
//using namespace Bullet;
|
||||
|
||||
struct GraphicsVertex
|
||||
{
|
||||
float xyzw[4];
|
||||
float normal[3];
|
||||
float uv[2];
|
||||
};
|
||||
struct GraphicsShape
|
||||
{
|
||||
const float* m_vertices;
|
||||
int m_numvertices;
|
||||
const int* m_indices;
|
||||
int m_numIndices;
|
||||
float m_scaling[4];
|
||||
};
|
||||
|
||||
struct InstanceGroup
|
||||
{
|
||||
// Bullet::b3CollisionShapeData* m_shape;
|
||||
int m_collisionShapeIndex;
|
||||
|
||||
// b3AlignedObjectArray<bParse::bStructHandle*> m_rigidBodies;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
#define MY_UNITSPHERE_POINTS 42
|
||||
|
||||
static b3Vector3 sUnitSpherePoints[MY_UNITSPHERE_POINTS] =
|
||||
{
|
||||
b3Vector3(b3Scalar(0.000000) , b3Scalar(-0.000000),b3Scalar(-1.000000)),
|
||||
b3Vector3(b3Scalar(0.723608) , b3Scalar(-0.525725),b3Scalar(-0.447219)),
|
||||
b3Vector3(b3Scalar(-0.276388) , b3Scalar(-0.850649),b3Scalar(-0.447219)),
|
||||
b3Vector3(b3Scalar(-0.894426) , b3Scalar(-0.000000),b3Scalar(-0.447216)),
|
||||
b3Vector3(b3Scalar(-0.276388) , b3Scalar(0.850649),b3Scalar(-0.447220)),
|
||||
b3Vector3(b3Scalar(0.723608) , b3Scalar(0.525725),b3Scalar(-0.447219)),
|
||||
b3Vector3(b3Scalar(0.276388) , b3Scalar(-0.850649),b3Scalar(0.447220)),
|
||||
b3Vector3(b3Scalar(-0.723608) , b3Scalar(-0.525725),b3Scalar(0.447219)),
|
||||
b3Vector3(b3Scalar(-0.723608) , b3Scalar(0.525725),b3Scalar(0.447219)),
|
||||
b3Vector3(b3Scalar(0.276388) , b3Scalar(0.850649),b3Scalar(0.447219)),
|
||||
b3Vector3(b3Scalar(0.894426) , b3Scalar(0.000000),b3Scalar(0.447216)),
|
||||
b3Vector3(b3Scalar(-0.000000) , b3Scalar(0.000000),b3Scalar(1.000000)),
|
||||
b3Vector3(b3Scalar(0.425323) , b3Scalar(-0.309011),b3Scalar(-0.850654)),
|
||||
b3Vector3(b3Scalar(-0.162456) , b3Scalar(-0.499995),b3Scalar(-0.850654)),
|
||||
b3Vector3(b3Scalar(0.262869) , b3Scalar(-0.809012),b3Scalar(-0.525738)),
|
||||
b3Vector3(b3Scalar(0.425323) , b3Scalar(0.309011),b3Scalar(-0.850654)),
|
||||
b3Vector3(b3Scalar(0.850648) , b3Scalar(-0.000000),b3Scalar(-0.525736)),
|
||||
b3Vector3(b3Scalar(-0.525730) , b3Scalar(-0.000000),b3Scalar(-0.850652)),
|
||||
b3Vector3(b3Scalar(-0.688190) , b3Scalar(-0.499997),b3Scalar(-0.525736)),
|
||||
b3Vector3(b3Scalar(-0.162456) , b3Scalar(0.499995),b3Scalar(-0.850654)),
|
||||
b3Vector3(b3Scalar(-0.688190) , b3Scalar(0.499997),b3Scalar(-0.525736)),
|
||||
b3Vector3(b3Scalar(0.262869) , b3Scalar(0.809012),b3Scalar(-0.525738)),
|
||||
b3Vector3(b3Scalar(0.951058) , b3Scalar(0.309013),b3Scalar(0.000000)),
|
||||
b3Vector3(b3Scalar(0.951058) , b3Scalar(-0.309013),b3Scalar(0.000000)),
|
||||
b3Vector3(b3Scalar(0.587786) , b3Scalar(-0.809017),b3Scalar(0.000000)),
|
||||
b3Vector3(b3Scalar(0.000000) , b3Scalar(-1.000000),b3Scalar(0.000000)),
|
||||
b3Vector3(b3Scalar(-0.587786) , b3Scalar(-0.809017),b3Scalar(0.000000)),
|
||||
b3Vector3(b3Scalar(-0.951058) , b3Scalar(-0.309013),b3Scalar(-0.000000)),
|
||||
b3Vector3(b3Scalar(-0.951058) , b3Scalar(0.309013),b3Scalar(-0.000000)),
|
||||
b3Vector3(b3Scalar(-0.587786) , b3Scalar(0.809017),b3Scalar(-0.000000)),
|
||||
b3Vector3(b3Scalar(-0.000000) , b3Scalar(1.000000),b3Scalar(-0.000000)),
|
||||
b3Vector3(b3Scalar(0.587786) , b3Scalar(0.809017),b3Scalar(-0.000000)),
|
||||
b3Vector3(b3Scalar(0.688190) , b3Scalar(-0.499997),b3Scalar(0.525736)),
|
||||
b3Vector3(b3Scalar(-0.262869) , b3Scalar(-0.809012),b3Scalar(0.525738)),
|
||||
b3Vector3(b3Scalar(-0.850648) , b3Scalar(0.000000),b3Scalar(0.525736)),
|
||||
b3Vector3(b3Scalar(-0.262869) , b3Scalar(0.809012),b3Scalar(0.525738)),
|
||||
b3Vector3(b3Scalar(0.688190) , b3Scalar(0.499997),b3Scalar(0.525736)),
|
||||
b3Vector3(b3Scalar(0.525730) , b3Scalar(0.000000),b3Scalar(0.850652)),
|
||||
b3Vector3(b3Scalar(0.162456) , b3Scalar(-0.499995),b3Scalar(0.850654)),
|
||||
b3Vector3(b3Scalar(-0.425323) , b3Scalar(-0.309011),b3Scalar(0.850654)),
|
||||
b3Vector3(b3Scalar(-0.425323) , b3Scalar(0.309011),b3Scalar(0.850654)),
|
||||
b3Vector3(b3Scalar(0.162456) , b3Scalar(0.499995),b3Scalar(0.850654))
|
||||
};
|
||||
|
||||
|
||||
void createSceneProgrammatically(GLInstancingRenderer& renderer)
|
||||
{
|
||||
int strideInBytes = sizeof(float)*9;
|
||||
|
||||
bool noHeightField = false;
|
||||
int barrelShapeIndex = -1;
|
||||
int cubeShapeIndex = -1;
|
||||
int tetraShapeIndex = -1;
|
||||
|
||||
float position[4]={0,0,0,0};
|
||||
b3Quaternion born(b3Vector3(1,0,0),B3_PI*0.25*0.5);
|
||||
|
||||
float orn[4] = {0,0,0,1};
|
||||
// float rotOrn[4] = {born.getX(),born.getY(),born.getZ(),born.getW()};//
|
||||
float rotOrn[4] ={0,0,0,1};
|
||||
|
||||
|
||||
float color[4] = {1,1,1,1};
|
||||
int index=0;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
float cubeScaling[4] = {1,1,1,1};
|
||||
{
|
||||
int numVertices = sizeof(cube_vertices)/strideInBytes;
|
||||
int numIndices = sizeof(cube_indices)/sizeof(int);
|
||||
cubeShapeIndex = renderer.registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if (1)
|
||||
for (int i=0;i<NUM_OBJECTS_X;i++)
|
||||
{
|
||||
for (int j=0;j<NUM_OBJECTS_Y;j++)
|
||||
{
|
||||
int k=0;
|
||||
|
||||
for (;k<NUM_OBJECTS_Z;k++)
|
||||
{
|
||||
|
||||
float mass = 1.f;//j? 1.f : 0.f;
|
||||
|
||||
position[0]=(i*X_GAP-NUM_OBJECTS_X/2)+(j&1);
|
||||
position[1]=1+(j*Y_GAP);//-NUM_OBJECTS_Y/2);
|
||||
position[2]=(k*Z_GAP-NUM_OBJECTS_Z/2)+(j&1);
|
||||
position[3] = 0.f;
|
||||
|
||||
renderer.registerGraphicsInstance(cubeShapeIndex,position,rotOrn,color,cubeScaling);
|
||||
|
||||
index++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
|
||||
{
|
||||
int numVertices = sizeof(tetra_vertices)/strideInBytes;
|
||||
int numIndices = sizeof(tetra_indices)/sizeof(int);
|
||||
tetraShapeIndex = renderer.registerShape(&tetra_vertices[0],numVertices,tetra_indices,numIndices);
|
||||
}
|
||||
|
||||
{
|
||||
float groundScaling[4] = {2.5,2,2.5,1};
|
||||
|
||||
for (int i=0;i<50;i++)
|
||||
for (int j=0;j<50;j++)
|
||||
if (1)
|
||||
{
|
||||
void* ptr = (void*) index;
|
||||
float posnew[4];
|
||||
posnew[0] = i*5.0-120;
|
||||
posnew[1] = 0;
|
||||
posnew[2] = j*5.0-120;
|
||||
posnew[3] = 1.f;
|
||||
|
||||
color[0] = 1.f;
|
||||
color[1] = 0.f;
|
||||
color[2] = 0.f;
|
||||
renderer.registerGraphicsInstance(tetraShapeIndex,posnew,orn,color,groundScaling);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
@@ -1,7 +0,0 @@
|
||||
|
||||
#ifndef RENDER_SCENE_H
|
||||
#define RENDER_SCENE_H
|
||||
|
||||
void createSceneProgrammatically(class GLInstancingRenderer& renderer);
|
||||
|
||||
#endif//
|
||||
@@ -88,6 +88,8 @@
|
||||
|
||||
include "../Demos3/Wavefront"
|
||||
include "../btgui/MultiThreading"
|
||||
include "../btgui/OpenGLWindow"
|
||||
|
||||
include "../Demos3/ImplicitCloth"
|
||||
include "../Demos3/SimpleOpenGL3"
|
||||
|
||||
@@ -109,6 +111,11 @@ include "../Demos3/SimpleOpenGL3"
|
||||
include "../test/OpenCL/RadixSortBenchmark"
|
||||
|
||||
|
||||
include "../src/BulletDynamics"
|
||||
include "../src/BulletCollision"
|
||||
include "../src/LinearMath"
|
||||
include "../Demos3/bullet2/BasicDemo"
|
||||
|
||||
include "../src/Bullet3Dynamics"
|
||||
include "../src/Bullet3Common"
|
||||
include "../src/Bullet3Geometry"
|
||||
|
||||
@@ -34,7 +34,7 @@ subject to the following restrictions:
|
||||
#include "LinearMath/btSerializer.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
|
||||
#include "BulletCollision/Gimpact/btGImpactShape.h"
|
||||
|
||||
//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
|
||||
|
||||
|
||||
@@ -387,14 +387,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
|
||||
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
|
||||
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
|
||||
}
|
||||
else if(collisionShape->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
|
||||
{
|
||||
btGImpactMeshShape* concaveShape = (btGImpactMeshShape*)collisionShape;
|
||||
|
||||
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
|
||||
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
|
||||
concaveShape->processAllTrianglesRay(&rcb,rayFromLocal,rayToLocal);
|
||||
}else
|
||||
else
|
||||
{
|
||||
//generic (slower) case
|
||||
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
|
||||
|
||||
@@ -1,405 +0,0 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
/*
|
||||
Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
|
||||
Work in progress, functionality will be added on demand.
|
||||
|
||||
If possible, use the richer Bullet C++ API, by including <src/btBulletDynamicsCommon.h>
|
||||
*/
|
||||
|
||||
#include "Bullet-C-Api.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btScalar.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
|
||||
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
|
||||
|
||||
|
||||
/*
|
||||
Create and Delete a Physics SDK
|
||||
*/
|
||||
|
||||
struct btPhysicsSdk
|
||||
{
|
||||
|
||||
// btDispatcher* m_dispatcher;
|
||||
// btOverlappingPairCache* m_pairCache;
|
||||
// btConstraintSolver* m_constraintSolver
|
||||
|
||||
btVector3 m_worldAabbMin;
|
||||
btVector3 m_worldAabbMax;
|
||||
|
||||
|
||||
//todo: version, hardware/optimization settings etc?
|
||||
btPhysicsSdk()
|
||||
:m_worldAabbMin(-1000,-1000,-1000),
|
||||
m_worldAabbMax(1000,1000,1000)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
plPhysicsSdkHandle plNewBulletSdk()
|
||||
{
|
||||
void* mem = btAlignedAlloc(sizeof(btPhysicsSdk),16);
|
||||
return (plPhysicsSdkHandle)new (mem)btPhysicsSdk;
|
||||
}
|
||||
|
||||
void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk)
|
||||
{
|
||||
btPhysicsSdk* phys = reinterpret_cast<btPhysicsSdk*>(physicsSdk);
|
||||
btAlignedFree(phys);
|
||||
}
|
||||
|
||||
|
||||
/* Dynamics World */
|
||||
plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle)
|
||||
{
|
||||
btPhysicsSdk* physicsSdk = reinterpret_cast<btPhysicsSdk*>(physicsSdkHandle);
|
||||
void* mem = btAlignedAlloc(sizeof(btDefaultCollisionConfiguration),16);
|
||||
btDefaultCollisionConfiguration* collisionConfiguration = new (mem)btDefaultCollisionConfiguration();
|
||||
mem = btAlignedAlloc(sizeof(btCollisionDispatcher),16);
|
||||
btDispatcher* dispatcher = new (mem)btCollisionDispatcher(collisionConfiguration);
|
||||
mem = btAlignedAlloc(sizeof(btAxisSweep3),16);
|
||||
btBroadphaseInterface* pairCache = new (mem)btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax);
|
||||
mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16);
|
||||
btConstraintSolver* constraintSolver = new(mem) btSequentialImpulseConstraintSolver();
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btDiscreteDynamicsWorld),16);
|
||||
return (plDynamicsWorldHandle) new (mem)btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
|
||||
}
|
||||
void plDeleteDynamicsWorld(plDynamicsWorldHandle world)
|
||||
{
|
||||
//todo: also clean up the other allocations, axisSweep, pairCache,dispatcher,constraintSolver,collisionConfiguration
|
||||
btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
|
||||
btAlignedFree(dynamicsWorld);
|
||||
}
|
||||
|
||||
void plStepSimulation(plDynamicsWorldHandle world, plReal timeStep)
|
||||
{
|
||||
btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
|
||||
btAssert(dynamicsWorld);
|
||||
dynamicsWorld->stepSimulation(timeStep);
|
||||
}
|
||||
|
||||
void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
|
||||
{
|
||||
btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
|
||||
btAssert(dynamicsWorld);
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
|
||||
dynamicsWorld->addRigidBody(body);
|
||||
}
|
||||
|
||||
void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
|
||||
{
|
||||
btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
|
||||
btAssert(dynamicsWorld);
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
|
||||
dynamicsWorld->removeRigidBody(body);
|
||||
}
|
||||
|
||||
/* Rigid Body */
|
||||
|
||||
plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape )
|
||||
{
|
||||
btTransform trans;
|
||||
trans.setIdentity();
|
||||
btVector3 localInertia(0,0,0);
|
||||
btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
|
||||
btAssert(shape);
|
||||
if (mass)
|
||||
{
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
}
|
||||
void* mem = btAlignedAlloc(sizeof(btRigidBody),16);
|
||||
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0,shape,localInertia);
|
||||
btRigidBody* body = new (mem)btRigidBody(rbci);
|
||||
body->setWorldTransform(trans);
|
||||
body->setUserPointer(user_data);
|
||||
return (plRigidBodyHandle) body;
|
||||
}
|
||||
|
||||
void plDeleteRigidBody(plRigidBodyHandle cbody)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody);
|
||||
btAssert(body);
|
||||
btAlignedFree( body);
|
||||
}
|
||||
|
||||
|
||||
/* Collision Shape definition */
|
||||
|
||||
plCollisionShapeHandle plNewSphereShape(plReal radius)
|
||||
{
|
||||
void* mem = btAlignedAlloc(sizeof(btSphereShape),16);
|
||||
return (plCollisionShapeHandle) new (mem)btSphereShape(radius);
|
||||
|
||||
}
|
||||
|
||||
plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z)
|
||||
{
|
||||
void* mem = btAlignedAlloc(sizeof(btBoxShape),16);
|
||||
return (plCollisionShapeHandle) new (mem)btBoxShape(btVector3(x,y,z));
|
||||
}
|
||||
|
||||
plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height)
|
||||
{
|
||||
//capsule is convex hull of 2 spheres, so use btMultiSphereShape
|
||||
|
||||
const int numSpheres = 2;
|
||||
btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)};
|
||||
btScalar radi[numSpheres] = {radius,radius};
|
||||
void* mem = btAlignedAlloc(sizeof(btMultiSphereShape),16);
|
||||
return (plCollisionShapeHandle) new (mem)btMultiSphereShape(positions,radi,numSpheres);
|
||||
}
|
||||
plCollisionShapeHandle plNewConeShape(plReal radius, plReal height)
|
||||
{
|
||||
void* mem = btAlignedAlloc(sizeof(btConeShape),16);
|
||||
return (plCollisionShapeHandle) new (mem)btConeShape(radius,height);
|
||||
}
|
||||
|
||||
plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height)
|
||||
{
|
||||
void* mem = btAlignedAlloc(sizeof(btCylinderShape),16);
|
||||
return (plCollisionShapeHandle) new (mem)btCylinderShape(btVector3(radius,height,radius));
|
||||
}
|
||||
|
||||
/* Convex Meshes */
|
||||
plCollisionShapeHandle plNewConvexHullShape()
|
||||
{
|
||||
void* mem = btAlignedAlloc(sizeof(btConvexHullShape),16);
|
||||
return (plCollisionShapeHandle) new (mem)btConvexHullShape();
|
||||
}
|
||||
|
||||
|
||||
/* Concave static triangle meshes */
|
||||
plMeshInterfaceHandle plNewMeshInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
plCollisionShapeHandle plNewCompoundShape()
|
||||
{
|
||||
void* mem = btAlignedAlloc(sizeof(btCompoundShape),16);
|
||||
return (plCollisionShapeHandle) new (mem)btCompoundShape();
|
||||
}
|
||||
|
||||
void plAddChildShape(plCollisionShapeHandle compoundShapeHandle,plCollisionShapeHandle childShapeHandle, plVector3 childPos,plQuaternion childOrn)
|
||||
{
|
||||
btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>(compoundShapeHandle);
|
||||
btAssert(colShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE);
|
||||
btCompoundShape* compoundShape = reinterpret_cast<btCompoundShape*>(colShape);
|
||||
btCollisionShape* childShape = reinterpret_cast<btCollisionShape*>(childShapeHandle);
|
||||
btTransform localTrans;
|
||||
localTrans.setIdentity();
|
||||
localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
|
||||
localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
|
||||
compoundShape->addChildShape(localTrans,childShape);
|
||||
}
|
||||
|
||||
void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient)
|
||||
{
|
||||
btQuaternion orn;
|
||||
orn.setEuler(yaw,pitch,roll);
|
||||
orient[0] = orn.getX();
|
||||
orient[1] = orn.getY();
|
||||
orient[2] = orn.getZ();
|
||||
orient[3] = orn.getW();
|
||||
|
||||
}
|
||||
|
||||
|
||||
// extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
|
||||
// extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
|
||||
|
||||
|
||||
void plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z)
|
||||
{
|
||||
btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>( cshape);
|
||||
(void)colShape;
|
||||
btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE);
|
||||
btConvexHullShape* convexHullShape = reinterpret_cast<btConvexHullShape*>( cshape);
|
||||
convexHullShape->addPoint(btVector3(x,y,z));
|
||||
|
||||
}
|
||||
|
||||
void plDeleteShape(plCollisionShapeHandle cshape)
|
||||
{
|
||||
btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
|
||||
btAssert(shape);
|
||||
btAlignedFree(shape);
|
||||
}
|
||||
void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling)
|
||||
{
|
||||
btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
|
||||
btAssert(shape);
|
||||
btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]);
|
||||
shape->setLocalScaling(scaling);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void plSetPosition(plRigidBodyHandle object, const plVector3 position)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
btVector3 pos(position[0],position[1],position[2]);
|
||||
btTransform worldTrans = body->getWorldTransform();
|
||||
worldTrans.setOrigin(pos);
|
||||
body->setWorldTransform(worldTrans);
|
||||
}
|
||||
|
||||
void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
btQuaternion orn(orientation[0],orientation[1],orientation[2],orientation[3]);
|
||||
btTransform worldTrans = body->getWorldTransform();
|
||||
worldTrans.setRotation(orn);
|
||||
body->setWorldTransform(worldTrans);
|
||||
}
|
||||
|
||||
void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
btTransform& worldTrans = body->getWorldTransform();
|
||||
worldTrans.setFromOpenGLMatrix(matrix);
|
||||
}
|
||||
|
||||
void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
body->getWorldTransform().getOpenGLMatrix(matrix);
|
||||
|
||||
}
|
||||
|
||||
void plGetPosition(plRigidBodyHandle object,plVector3 position)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
const btVector3& pos = body->getWorldTransform().getOrigin();
|
||||
position[0] = pos.getX();
|
||||
position[1] = pos.getY();
|
||||
position[2] = pos.getZ();
|
||||
}
|
||||
|
||||
void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation)
|
||||
{
|
||||
btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
|
||||
btAssert(body);
|
||||
const btQuaternion& orn = body->getWorldTransform().getRotation();
|
||||
orientation[0] = orn.getX();
|
||||
orientation[1] = orn.getY();
|
||||
orientation[2] = orn.getZ();
|
||||
orientation[3] = orn.getW();
|
||||
}
|
||||
|
||||
|
||||
|
||||
//plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
|
||||
|
||||
// extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
|
||||
|
||||
double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3])
|
||||
{
|
||||
btVector3 vp(p1[0], p1[1], p1[2]);
|
||||
btTriangleShape trishapeA(vp,
|
||||
btVector3(p2[0], p2[1], p2[2]),
|
||||
btVector3(p3[0], p3[1], p3[2]));
|
||||
trishapeA.setMargin(0.000001f);
|
||||
btVector3 vq(q1[0], q1[1], q1[2]);
|
||||
btTriangleShape trishapeB(vq,
|
||||
btVector3(q2[0], q2[1], q2[2]),
|
||||
btVector3(q3[0], q3[1], q3[2]));
|
||||
trishapeB.setMargin(0.000001f);
|
||||
|
||||
// btVoronoiSimplexSolver sGjkSimplexSolver;
|
||||
// btGjkEpaPenetrationDepthSolver penSolverPtr;
|
||||
|
||||
static btSimplexSolverInterface sGjkSimplexSolver;
|
||||
sGjkSimplexSolver.reset();
|
||||
|
||||
static btGjkEpaPenetrationDepthSolver Solver0;
|
||||
static btMinkowskiPenetrationDepthSolver Solver1;
|
||||
|
||||
btConvexPenetrationDepthSolver* Solver = NULL;
|
||||
|
||||
Solver = &Solver1;
|
||||
|
||||
btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,Solver);
|
||||
|
||||
convexConvex.m_catchDegeneracies = 1;
|
||||
|
||||
// btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,0);
|
||||
|
||||
btPointCollector gjkOutput;
|
||||
btGjkPairDetector::ClosestPointInput input;
|
||||
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
|
||||
input.m_transformA = tr;
|
||||
input.m_transformB = tr;
|
||||
|
||||
convexConvex.getClosestPoints(input, gjkOutput, 0);
|
||||
|
||||
|
||||
if (gjkOutput.m_hasResult)
|
||||
{
|
||||
|
||||
pb[0] = pa[0] = gjkOutput.m_pointInWorld[0];
|
||||
pb[1] = pa[1] = gjkOutput.m_pointInWorld[1];
|
||||
pb[2] = pa[2] = gjkOutput.m_pointInWorld[2];
|
||||
|
||||
pb[0]+= gjkOutput.m_normalOnBInWorld[0] * gjkOutput.m_distance;
|
||||
pb[1]+= gjkOutput.m_normalOnBInWorld[1] * gjkOutput.m_distance;
|
||||
pb[2]+= gjkOutput.m_normalOnBInWorld[2] * gjkOutput.m_distance;
|
||||
|
||||
normal[0] = gjkOutput.m_normalOnBInWorld[0];
|
||||
normal[1] = gjkOutput.m_normalOnBInWorld[1];
|
||||
normal[2] = gjkOutput.m_normalOnBInWorld[2];
|
||||
|
||||
return gjkOutput.m_distance;
|
||||
}
|
||||
return -1.0f;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user