469 lines
11 KiB
C++
469 lines
11 KiB
C++
#include "CpuSoftBodyDemo.h"
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#include "OpenGLWindow/ShapeData.h"
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#include "OpenGLWindow/GLInstancingRenderer.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "OpenGLWindow/b3gWindowInterface.h"
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#include "OpenGLWindow/OpenGLInclude.h"
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#include "OpenGLWindow/GLInstanceRendererInternalData.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
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#include "CpuSoftBodyDemoInternalData.h"
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#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h"
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#include "stb_image/stb_image.h"
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#include "CpuSoftClothDemoInternalData.h"
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#include "ExplicitEuler.h"
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#include "PositionBasedDynamics.h"
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static b3KeyboardCallback oldCallback = 0;
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extern bool gReset;
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float clothWidth = 4;
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float clothHeight= 4;
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int width = 64;
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int height = 64;
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int numPoints = width*height;
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float clothMass = 100.f;
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CpuSoftBodyDemo::CpuSoftBodyDemo()
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:m_instancingRenderer(0),
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m_window(0)
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{
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m_data = new CpuSoftBodyDemoInternalData;
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}
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CpuSoftBodyDemo::~CpuSoftBodyDemo()
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{
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delete m_data;
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}
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static void PairKeyboardCallback(int key, int state)
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{
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if (key=='R' && state)
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{
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gReset = true;
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}
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//b3DefaultKeyboardCallback(key,state);
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oldCallback(key,state);
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}
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void CpuSoftBodyDemo::setupScene(const ConstructionInfo& ci)
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{
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}
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void CpuSoftBodyDemo::initPhysics(const ConstructionInfo& ci)
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{
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GLint err = glGetError();
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b3Assert(err==GL_NO_ERROR);
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if (ci.m_window)
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{
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m_window = ci.m_window;
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oldCallback = ci.m_window->getKeyboardCallback();
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ci.m_window->setKeyboardCallback(PairKeyboardCallback);
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}
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m_instancingRenderer = ci.m_instancingRenderer;
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setupScene(ci);
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err = glGetError();
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b3Assert(err==GL_NO_ERROR);
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m_instancingRenderer->writeTransforms();
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}
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void CpuSoftBodyDemo::exitPhysics()
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{
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m_window->setKeyboardCallback(oldCallback);
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}
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#include "Bullet3Common/shared/b3Float4.h"
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struct GraphicsVertex
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{
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float pos[4];
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float normal[3];
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float texcoord[2];
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};
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void CpuSoftClothDemo::renderScene()
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{
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//wireframe
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bool wireframe=false;
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if (wireframe)
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{
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m_instancingRenderer->init();
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m_instancingRenderer->updateCamera();
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m_instancingRenderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(1,0,0),b3MakeVector3(1,0,0,1),1);
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m_instancingRenderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(0,1,0),b3MakeVector3(0,1,0,1),1);
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m_instancingRenderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(0,0,1),b3MakeVector3(0,0,1,1),1);
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float color[4]={1,0,0,1};
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m_instancingRenderer->drawPoints(m_data->m_clothVertices,color,numPoints,sizeof(GraphicsVertex),2);
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} else
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{
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m_instancingRenderer->renderScene();
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}
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}
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void CpuSoftBodyDemo::renderScene()
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{
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m_instancingRenderer->renderScene();
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}
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void CpuSoftBodyDemo::clientMoveAndDisplay()
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{
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GLint err = glGetError();
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b3Assert(err==GL_NO_ERROR);
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}
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void CpuSoftClothDemo::clientMoveAndDisplay()
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{
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if (m_data->m_clothShapeIndex>=0 && m_data->m_clothVertices)
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{
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float deltaTime = 1./100.;//1./60.f;
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//float deltaTime = 1./60.f;
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//write positions
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int vertexStride =sizeof(GraphicsVertex);//9 * sizeof(float);
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int method = 1;
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switch (method)
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{
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case 0:
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ExplicitEuler::solveConstraints(m_clothData, (char*)m_data->m_clothVertices, vertexStride, deltaTime);
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break;
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case 1:
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PositionBasedDynamics::solveConstraints(m_clothData, (char*)m_data->m_clothVertices, vertexStride, deltaTime);
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break;
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default:
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b3Error("unknown method for CpuSoftClothDemo::solveConstraints");
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};
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//read positions
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m_instancingRenderer->updateShape(m_data->m_clothShapeIndex,m_data->m_clothVertices);
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}
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}
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CpuSoftClothDemo::CpuSoftClothDemo()
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{
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m_clothData = new CpuSoftClothDemoInternalData();
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}
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CpuSoftClothDemo::~CpuSoftClothDemo()
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{
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delete m_clothData;
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}
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unsigned char* CpuSoftClothDemo::loadImage(const char* fileName, int& width, int& height, int& n)
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{
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unsigned char *data = stbi_load(fileName, &width, &height, &n, 0);
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if (data)
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{
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GLubyte* image=new GLubyte[512*256*4];
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for(int y=0;y<256;++y)
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{
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const int t=y>>4;
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GLubyte* pi=image+y*512*3;
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for(int x=0;x<512;++x)
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{
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const int s=x>>5;
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const GLubyte b=180;
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GLubyte c=b+((s+t&1)&1)*(255-b);
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pi[0]=pi[1]=pi[2]=c;pi+=3;
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}
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}
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{
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for (int i=0;i<width;i++)
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{
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for (int j=0;j<height;j++)
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{
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int offsetx = (512-width)/2;
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int offsety = (256-height)/2;
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GLubyte* pi=image+((j+offsety)*512+i+offsetx)*3;
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const GLubyte* src=data+(j*width+i)*4;
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pi[0] = src[0];
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pi[1] = src[1];
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pi[2] = src[2];
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}
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}
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}
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width = 512;
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height = 256;
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return image;
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}
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return 0;
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}
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void CpuSoftClothDemo::setupScene(const ConstructionInfo& ci)
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{
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GLint err = glGetError();
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b3Assert(err==GL_NO_ERROR);
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if (0)
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{
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//draw a fixed ground box
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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 = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
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b3Vector3 position = b3MakeVector3(0,-50,0);//((j+1)&1)+i*2.2,1+j*2.,((j+1)&1)+k*2.2);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 scaling=b3MakeVector4(100,1,100,1);
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float color[4]={0.8,0.8,0.8,1};
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int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
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}
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GraphicsVertex* cpu_buffer = new GraphicsVertex[width*height];
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memset(cpu_buffer, 0, width*height*sizeof(GraphicsVertex));
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int numVertices = 0;
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// Initial test data for rendering
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for(int y = 0; y < height; y++)
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{
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for(int x = 0; x < width; x++)
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{
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float posX = (x/((float)(width-1)))*(clothWidth);
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float posZ = ((y-height/2.f)/((float)(height-1)))*(clothHeight);
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cpu_buffer[y*width+x].pos[0] = 0;
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cpu_buffer[y*width+x].pos[1] = -posX;
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cpu_buffer[y*width+x].pos[2] = posZ;
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cpu_buffer[y*width+x].pos[3] = 0.f;
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cpu_buffer[y*width+x].normal[0] = 1;
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cpu_buffer[y*width+x].normal[1] = 0;
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cpu_buffer[y*width+x].normal[2] = 0;
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cpu_buffer[y*width+x].texcoord[0] = 1*x/((float)(width-1));
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cpu_buffer[y*width+x].texcoord[1] = (1.f-4*y/((float)(height-1)));
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numVertices++;
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}
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}
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err = glGetError();
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b3Assert(err==GL_NO_ERROR);
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int numIndices = 0;
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// Generate and fill index array for rendering
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int* indices = new int[width*3*2+2 + height*width*3*2];
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for(int y = 0; y < height-1; y++)
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{
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for(int x = 0; x < width-1; x++)
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{
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// *3 indices/triangle, *2 triangles/quad
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int baseIndex = (x + y*(width-1))*3*2;
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indices[baseIndex] = x + y*width;
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indices[baseIndex+1] = x+1 + y*width;
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indices[baseIndex+2] = x+width + y*width;
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indices[baseIndex+3] = x + 1 + y*width;
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indices[baseIndex+4] = x+(width+1) + y*width;
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indices[baseIndex+5] = x+width + y*width;
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numIndices+=6;
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}
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}
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int num_barrel_vertices = sizeof(barrel_vertices)/(9*sizeof(float));
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int num_barrel_indices = sizeof(barrel_indices)/sizeof(int);
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int textureIndex = -1;
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{
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int width,height,n;
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FILE* f = fopen("test.tst","wb");
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fclose(f);
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const char* filename = "data/bullet_logo.png";
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const unsigned char* image=0;
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const char* prefix[]={"./","../","../../","../../../","../../../../"};
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int numprefix = sizeof(prefix)/sizeof(const char*);
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for (int i=0;!image && i<numprefix;i++)
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{
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char relativeFileName[1024];
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sprintf(relativeFileName,"%s%s",prefix[i],filename);
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image = loadImage(relativeFileName,width,height,n);
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}
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b3Assert(image);
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if (image)
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{
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textureIndex = ci.m_instancingRenderer->registerTexture(image,width,height);
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}
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}
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// int shapeIndex = ci.m_instancingRenderer->registerShape(barrel_vertices,num_barrel_vertices,barrel_indices,num_barrel_indices);
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err = glGetError();
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b3Assert(err==GL_NO_ERROR);
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m_data->m_clothVertices = &cpu_buffer[0].pos[0];
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int shapeIndex = ci.m_instancingRenderer->registerShape(&cpu_buffer[0].pos[0],numVertices,indices,numIndices,B3_GL_TRIANGLES,textureIndex);
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m_data->m_clothShapeIndex = shapeIndex;
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err = glGetError();
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b3Assert(err==GL_NO_ERROR);
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float pos[4] = {0,0,0,0};
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float orn[4] = {0,0,0,1};
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float color[4] = {1,1,1,1};
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float scaling[4] = {10,10,10,1};
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ci.m_instancingRenderer->registerGraphicsInstance(shapeIndex,pos,orn,color,scaling);
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ci.m_instancingRenderer->setCameraDistance(24);
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ci.m_instancingRenderer->setCameraTargetPosition(pos);
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err = glGetError();
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b3Assert(err==GL_NO_ERROR);
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int numParticles = width*height;
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m_clothData->m_forces.resize(numParticles);
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m_clothData->m_velocities.resize(numParticles);
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m_clothData->m_particleMasses.resize(numParticles);
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for(int y = 0; y < height; y++)
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{
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for(int x = 0; x < width; x++)
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{
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float mass = clothMass/numParticles;
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if (x==0 && y==(height-1))
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mass=0.f;
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if (x==0 && y==0)
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mass=0.f;
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int index = x+width*y;
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m_clothData->m_particleMasses[index] = mass;
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}
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}
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ClothMaterial mat;
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mat.m_stiffness = 0.5;
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mat.m_damping = -0.25;
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m_clothData->m_materials.push_back(mat);
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//add springs
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for (int x=0;x<width-1;x++)
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{
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for (int y=0;y<height;y++)
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{
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ClothSpring spring;
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int indexA = x+y*width;
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int indexB = x+1+y*width;
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spring.m_particleIndexA = indexA;
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spring.m_particleIndexB = indexB;
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spring.m_material = 0;
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const b3Vector3& posA = (const b3Vector3&) cpu_buffer[indexA].pos;
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const b3Vector3& posB = (const b3Vector3&) cpu_buffer[indexB].pos;
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spring.m_restLength = (posA-posB).length();
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m_clothData->m_springs.push_back(spring);
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}
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}
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for (int x=0;x<width;x++)
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{
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for (int y=0;y<height-1;y++)
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{
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ClothSpring spring;
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int indexA = x+y*width;
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int indexB = x+(y+1)*width;
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spring.m_particleIndexA = indexA;
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spring.m_particleIndexB = indexB;
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spring.m_material = 0;
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const b3Vector3& posA = (const b3Vector3&) cpu_buffer[indexA].pos;
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const b3Vector3& posB = (const b3Vector3&) cpu_buffer[indexB].pos;
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spring.m_restLength = (posA-posB).length();
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m_clothData->m_springs.push_back(spring);
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}
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}
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for (int x=0;x<width-1;x++)
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{
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for (int y=0;y<height-1;y++)
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{
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{
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ClothSpring spring;
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int indexA = x+y*width;
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int indexB = (x+1)+(y+1)*width;
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spring.m_particleIndexA = indexA;
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spring.m_particleIndexB = indexB;
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spring.m_material = 0;
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const b3Vector3& posA = (const b3Vector3&) cpu_buffer[indexA].pos;
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const b3Vector3& posB = (const b3Vector3&) cpu_buffer[indexB].pos;
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spring.m_restLength = (posA-posB).length();
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m_clothData->m_springs.push_back(spring);
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}
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{
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ClothSpring spring;
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int indexA = x+1+y*width;
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int indexB = (x)+(y+1)*width;
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spring.m_particleIndexA = indexA;
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spring.m_particleIndexB = indexB;
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spring.m_material = 0;
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const b3Vector3& posA = (const b3Vector3&) cpu_buffer[indexA].pos;
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const b3Vector3& posB = (const b3Vector3&) cpu_buffer[indexB].pos;
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spring.m_restLength = (posA-posB).length();
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m_clothData->m_springs.push_back(spring);
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}
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}
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}
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}
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