27aa959059
remove various vertex format structures and use GLInstanceVertex from #include "OpenGLWindow/GLInstanceGraphicsShape.h" btMultiBody::setupPrismatic takes an additional argument to allow a shift of inertia tensor, relative to the joint frame (link frame at q=0)
684 lines
17 KiB
C++
684 lines
17 KiB
C++
#include "OpenGLWindow/OpenGLInclude.h"
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//#include "OpenGL/gl.h"
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//#define USE_OPENGL2
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#include "OpenGLWindow/SimpleOpenGL2App.h"
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#include "OpenGLWindow/SimpleOpenGL3App.h"
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#include "OpenGLWindow/CommonRenderInterface.h"
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#ifdef __APPLE__
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#include "OpenGLWindow/MacOpenGLWindow.h"
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#else
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#include "GL/glew.h"
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#ifdef _WIN32
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#include "OpenGLWindow/Win32OpenGLWindow.h"
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#else
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//let's cross the fingers it is Linux/X11
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#include "OpenGLWindow/X11OpenGLWindow.h"
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#endif //_WIN32
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#endif//__APPLE__
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#include "Gwen/Renderers/OpenGL_DebugFont.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 "Bullet3AppSupport/gwenInternalData.h"
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#include "Bullet3AppSupport/gwenUserInterface.h"
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#include "BulletDemoEntries.h"
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#include "Bullet3AppSupport/b3Clock.h"
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#include "Bullet3AppSupport/GwenParameterInterface.h"
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#include "Bullet3AppSupport/GwenProfileWindow.h"
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#include "Bullet3AppSupport/GwenTextureWindow.h"
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#include "Bullet3AppSupport/GraphingTexture.h"
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#include "OpenGLWindow/SimpleCamera.h"
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#include "OpenGLWindow/SimpleOpenGL2Renderer.h"
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CommonGraphicsApp* app=0;
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b3gWindowInterface* s_window = 0;
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CommonParameterInterface* s_parameterInterface=0;
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CommonRenderInterface* s_instancingRenderer=0;
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#define DEMO_SELECTION_COMBOBOX 13
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const char* startFileName = "bulletDemo.txt";
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static GwenUserInterface* gui = 0;
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static int sCurrentDemoIndex = 0;
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static int sCurrentHightlighted = 0;
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static BulletDemoInterface* sCurrentDemo = 0;
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static b3AlignedObjectArray<const char*> allNames;
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bool drawGUI=true;
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extern bool useShadowMap;
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static bool visualWireframe=false;
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static bool renderVisualGeometry=true;
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static bool renderGrid = true;
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int gDebugDrawFlags = 0;
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static bool pauseSimulation=false;
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int midiBaseIndex = 176;
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extern bool gDisableDeactivation;
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//#include <float.h>
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//unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM);
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b3KeyboardCallback prevKeyboardCallback = 0;
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void MyKeyboardCallback(int key, int state)
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{
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//printf("key=%d, state=%d\n", key, state);
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bool handled = false;
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if (gui)
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{
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handled = gui->keyboardCallback(key, state);
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}
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if (!handled && sCurrentDemo)
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{
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handled = sCurrentDemo->keyboardCallback(key,state);
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}
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//checkout: is it desired to ignore keys, if the demo already handles them?
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//if (handled)
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// return;
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if (key=='a' && state)
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{
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gDebugDrawFlags ^= btIDebugDraw::DBG_DrawAabb;
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}
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if (key=='c' && state)
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{
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gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraints;
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gDebugDrawFlags ^= btIDebugDraw::DBG_DrawContactPoints;
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}
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if (key == 'd' && state)
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{
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gDebugDrawFlags ^= btIDebugDraw::DBG_NoDeactivation;
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gDisableDeactivation = ((gDebugDrawFlags & btIDebugDraw::DBG_NoDeactivation) != 0);
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}
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if (key=='l' && state)
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{
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gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraintLimits;
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}
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if (key=='w' && state)
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{
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visualWireframe=!visualWireframe;
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gDebugDrawFlags ^= btIDebugDraw::DBG_DrawWireframe;
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}
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if (key=='v' && state)
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{
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renderVisualGeometry = !renderVisualGeometry;
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}
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if (key=='g' && state)
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{
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renderGrid = !renderGrid;
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}
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if (key=='i' && state)
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{
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pauseSimulation = !pauseSimulation;
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}
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if (key=='s' && state)
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{
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useShadowMap=!useShadowMap;
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}
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if (key==B3G_ESCAPE && s_window)
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{
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s_window->setRequestExit();
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}
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if (prevKeyboardCallback)
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prevKeyboardCallback(key,state);
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}
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b3MouseMoveCallback prevMouseMoveCallback = 0;
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static void MyMouseMoveCallback( float x, float y)
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{
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bool handled = false;
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if (sCurrentDemo)
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handled = sCurrentDemo->mouseMoveCallback(x,y);
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if (!handled && gui)
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handled = gui->mouseMoveCallback(x,y);
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if (!handled)
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{
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if (prevMouseMoveCallback)
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prevMouseMoveCallback(x,y);
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}
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}
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b3MouseButtonCallback prevMouseButtonCallback = 0;
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static void MyMouseButtonCallback(int button, int state, float x, float y)
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{
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bool handled = false;
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//try picking first
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if (sCurrentDemo)
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handled = sCurrentDemo->mouseButtonCallback(button,state,x,y);
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if (!handled && gui)
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handled = gui->mouseButtonCallback(button,state,x,y);
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if (!handled)
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{
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if (prevMouseButtonCallback )
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prevMouseButtonCallback (button,state,x,y);
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}
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// b3DefaultMouseButtonCallback(button,state,x,y);
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}
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#include <string.h>
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void openURDFDemo(const char* filename)
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{
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if (sCurrentDemo)
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{
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sCurrentDemo->exitPhysics();
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s_instancingRenderer->removeAllInstances();
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delete sCurrentDemo;
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sCurrentDemo=0;
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}
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s_parameterInterface->removeAllParameters();
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ImportUrdfSetup* physicsSetup = new ImportUrdfSetup();
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physicsSetup->setFileName(filename);
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sCurrentDemo = new BasicDemo(app, physicsSetup);
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app->setUpAxis(2);
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if (sCurrentDemo)
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{
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sCurrentDemo->initPhysics();
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}
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}
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void selectDemo(int demoIndex)
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{
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sCurrentDemoIndex = demoIndex;
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sCurrentHightlighted = demoIndex;
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int numDemos = sizeof(allDemos)/sizeof(BulletDemoEntry);
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if (demoIndex>numDemos)
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{
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demoIndex = 0;
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}
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if (sCurrentDemo)
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{
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sCurrentDemo->exitPhysics();
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s_instancingRenderer->removeAllInstances();
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delete sCurrentDemo;
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sCurrentDemo=0;
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}
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if (allDemos[demoIndex].m_createFunc)
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{
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s_parameterInterface->removeAllParameters();
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sCurrentDemo = (*allDemos[demoIndex].m_createFunc)(app);
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if (sCurrentDemo)
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{
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if (gui)
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{
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bool isLeft = true;
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gui->setStatusBarMessage("Status: OK", false);
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}
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sCurrentDemo->initPhysics();
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}
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}
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}
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void MyComboBoxCallback(int comboId, const char* item)
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{
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//printf("comboId = %d, item = %s\n",comboId, item);
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if (comboId==DEMO_SELECTION_COMBOBOX)
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{
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//find selected item
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for (int i=0;i<allNames.size();i++)
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{
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if (strcmp(item,allNames[i])==0)
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{
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selectDemo(i);
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saveCurrentDemoEntry(sCurrentDemoIndex,startFileName);
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break;
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}
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}
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}
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}
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void MyStatusBarPrintf(const char* msg)
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{
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printf("b3Printf: %s\n", msg);
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if (gui)
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{
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bool isLeft = true;
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gui->setStatusBarMessage(msg,isLeft);
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}
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}
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void MyStatusBarWarning(const char* msg)
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{
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printf("Warning: %s\n", msg);
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if (gui)
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{
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bool isLeft = false;
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gui->setStatusBarMessage(msg,isLeft);
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}
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}
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struct MyMenuItemHander :public Gwen::Event::Handler
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{
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int m_buttonId;
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MyMenuItemHander( int buttonId)
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:m_buttonId(buttonId)
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{
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}
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void onButtonA(Gwen::Controls::Base* pControl)
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{
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//const Gwen::String& name = pControl->GetName();
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Gwen::Controls::TreeNode* node = (Gwen::Controls::TreeNode*)pControl;
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// Gwen::Controls::Label* l = node->GetButton();
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Gwen::UnicodeString la = node->GetButton()->GetText();// node->GetButton()->GetName();// GetText();
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Gwen::String laa = Gwen::Utility::UnicodeToString(la);
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// const char* ha = laa.c_str();
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//printf("selected %s\n", ha);
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//int dep = but->IsDepressed();
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//int tog = but->GetToggleState();
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// if (m_data->m_toggleButtonCallback)
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// (*m_data->m_toggleButtonCallback)(m_buttonId, tog);
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}
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void onButtonB(Gwen::Controls::Base* pControl)
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{
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Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
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Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
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Gwen::String laa = Gwen::Utility::UnicodeToString(la);
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//const char* ha = laa.c_str();
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selectDemo(sCurrentHightlighted);
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saveCurrentDemoEntry(sCurrentDemoIndex, startFileName);
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}
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void onButtonC(Gwen::Controls::Base* pControl)
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{
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// Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
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// Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
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// Gwen::String laa = Gwen::Utility::UnicodeToString(la);
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// const char* ha = laa.c_str();
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// printf("onButtonC ! %s\n", ha);
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}
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void onButtonD(Gwen::Controls::Base* pControl)
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{
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/* Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
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Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
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Gwen::String laa = Gwen::Utility::UnicodeToString(la);
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const char* ha = laa.c_str();
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*/
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// printf("onKeyReturn ! \n");
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selectDemo(sCurrentHightlighted);
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saveCurrentDemoEntry(sCurrentDemoIndex, startFileName);
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}
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void onButtonE(Gwen::Controls::Base* pControl)
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{
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// printf("select %d\n",m_buttonId);
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sCurrentHightlighted = m_buttonId;
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}
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void onButtonF(Gwen::Controls::Base* pControl)
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{
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//printf("selection changed!\n");
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}
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void onButtonG(Gwen::Controls::Base* pControl)
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{
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//printf("onButtonG !\n");
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}
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};
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#include "Bullet3Common/b3HashMap.h"
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struct GL3TexLoader : public MyTextureLoader
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{
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b3HashMap<b3HashString,GLint> m_hashMap;
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virtual void LoadTexture( Gwen::Texture* pTexture )
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{
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Gwen::String namestr = pTexture->name.Get();
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const char* n = namestr.c_str();
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GLint* texIdPtr = m_hashMap[n];
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if (texIdPtr)
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{
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pTexture->m_intData = *texIdPtr;
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}
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}
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virtual void FreeTexture( Gwen::Texture* pTexture )
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{
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}
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};
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void fileOpenCallback()
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{
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char filename[1024];
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int len = s_window->fileOpenDialog(filename,1024);
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if (len)
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{
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//todo(erwincoumans) check if it is actually URDF
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//printf("file open:%s\n", filename);
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openURDFDemo(filename);
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}
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}
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extern float shadowMapWorldSize;
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int main(int argc, char* argv[])
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{
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shadowMapWorldSize = 25;
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b3Clock clock;
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//float dt = 1./120.f;
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int width = 1024;
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int height=768;
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// wci.m_resizeCallback = MyResizeCallback;
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SimpleOpenGL3App* simpleApp=0;
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bool useOpenGL2=false;
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if (useOpenGL2)
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{
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app = new SimpleOpenGL2App("AllBullet2Demos",width,height);
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app->m_renderer = new SimpleOpenGL2Renderer(width,height);
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} else
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{
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simpleApp = new SimpleOpenGL3App("AllBullet2Demos",width,height);
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app = simpleApp;
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}
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s_instancingRenderer = app->m_renderer;
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s_window = app->m_window;
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prevMouseMoveCallback = s_window->getMouseMoveCallback();
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s_window->setMouseMoveCallback(MyMouseMoveCallback);
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prevMouseButtonCallback = s_window->getMouseButtonCallback();
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s_window->setMouseButtonCallback(MyMouseButtonCallback);
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prevKeyboardCallback = s_window->getKeyboardCallback();
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s_window->setKeyboardCallback(MyKeyboardCallback);
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app->m_renderer->setCameraDistance(13);
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app->m_renderer->setCameraPitch(0);
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app->m_renderer->setCameraTargetPosition(0,0,0);
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b3SetCustomWarningMessageFunc(MyStatusBarWarning);
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b3SetCustomPrintfFunc(MyStatusBarPrintf);
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/*
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SimpleOpenGL3App* app = new SimpleOpenGL3App("AllBullet2Demos",width,height);
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s_instancingRenderer->setCameraDistance(13);
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s_instancingRenderer->setCameraPitch(0);
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s_instancingRenderer->setCameraTargetPosition(0,0,0);
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s_window->setMouseMoveCallback(MyMouseMoveCallback);
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s_window->setMouseButtonCallback(MyMouseButtonCallback);
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s_window->setKeyboardCallback(MyKeyboardCallback);
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*/
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assert(glGetError()==GL_NO_ERROR);
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gui = new GwenUserInterface;
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GL3TexLoader* myTexLoader = new GL3TexLoader;
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Gwen::Renderer::Base* gwenRenderer = 0;
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if (useOpenGL2)
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{
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gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
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} else
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{
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sth_stash* fontstash=simpleApp->getFontStash();
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gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer,fontstash,width,height,s_window->getRetinaScale(),myTexLoader);
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}
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//
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gui->init(width,height,gwenRenderer,s_window->getRetinaScale());
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// gui->getInternalData()->m_explorerPage
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Gwen::Controls::TreeControl* tree = gui->getInternalData()->m_explorerTreeCtrl;
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//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
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MyProfileWindow* profWindow = setupProfileWindow(gui->getInternalData());
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profileWindowSetVisible(profWindow,false);
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gui->setFocus();
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#if 0
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{
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MyGraphInput input(gui->getInternalData());
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input.m_width=300;
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input.m_height=300;
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input.m_xPos = 0;
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input.m_yPos = height-input.m_height;
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input.m_name="Test Graph1";
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input.m_texName = "graph1";
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GraphingTexture* gt = new GraphingTexture;
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gt->create(256,256);
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int texId = gt->getTextureId();
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myTexLoader->m_hashMap.insert("graph1", texId);
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//MyGraphWindow* gw =
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setupTextureWindow(input);
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}
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if (1)
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{
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MyGraphInput input(gui->getInternalData());
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input.m_width=300;
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input.m_height=300;
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input.m_xPos = width-input.m_width;
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input.m_yPos = height-input.m_height;
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input.m_name="Test Graph2";
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input.m_texName = "graph2";
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GraphingTexture* gt = new GraphingTexture;
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int texWidth = 512;
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int texHeight = 512;
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gt->create(texWidth,texHeight);
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for (int i=0;i<texWidth;i++)
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{
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for (int j=0;j<texHeight;j++)
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{
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gt->setPixel(i,j,0,0,0,255);
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}
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}
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gt->uploadImageData();
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int texId = gt->getTextureId();
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input.m_xPos = width-input.m_width;
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myTexLoader->m_hashMap.insert("graph2", texId);
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//MyGraphWindow* gw =
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setupTextureWindow(input);
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}
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//destroyTextureWindow(gw);
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#endif
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s_parameterInterface = app->m_parameterInterface = new GwenParameterInterface(gui->getInternalData());
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//gui->getInternalData()->m_demoPage;
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int numDemos = sizeof(allDemos)/sizeof(BulletDemoEntry);
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//char nodeText[1024];
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//int curDemo = 0;
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int selectedDemo = loadCurrentDemoEntry(startFileName);
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Gwen::Controls::TreeNode* curNode = tree;
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MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
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tree->onReturnKeyDown.Add(handler2, &MyMenuItemHander::onButtonD);
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for (int d = 0; d<numDemos; d++)
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{
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// sprintf(nodeText, "Node %d", i);
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Gwen::UnicodeString nodeUText = Gwen::Utility::StringToUnicode(allDemos[d].m_name);
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if (allDemos[d].m_menuLevel==1)
|
|
{
|
|
Gwen::Controls::TreeNode* pNode = curNode->AddNode(nodeUText);
|
|
if (d == selectedDemo)
|
|
{
|
|
pNode->SetSelected(true);
|
|
tree->ExpandAll();
|
|
selectDemo(d);
|
|
|
|
|
|
}
|
|
MyMenuItemHander* handler = new MyMenuItemHander(d);
|
|
pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonA);
|
|
pNode->GetButton()->onDoubleClick.Add(handler, &MyMenuItemHander::onButtonB);
|
|
pNode->GetButton()->onDown.Add(handler, &MyMenuItemHander::onButtonC);
|
|
pNode->onSelect.Add(handler, &MyMenuItemHander::onButtonE);
|
|
pNode->onReturnKeyDown.Add(handler, &MyMenuItemHander::onButtonG);
|
|
pNode->onSelectChange.Add(handler, &MyMenuItemHander::onButtonF);
|
|
// pNode->onKeyReturn.Add(handler, &MyMenuItemHander::onButtonD);
|
|
// pNode->GetButton()->onKeyboardReturn.Add(handler, &MyMenuItemHander::onButtonD);
|
|
// pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonD);
|
|
// pNode->onKeyboardPressed.Add(handler, &MyMenuItemHander::onButtonD);
|
|
// pNode->OnKeyPress
|
|
}
|
|
else
|
|
{
|
|
curNode = tree->AddNode(nodeUText);
|
|
}
|
|
}
|
|
|
|
/* for (int i=0;i<numDemos;i++)
|
|
{
|
|
allNames.push_back(allDemos[i].m_name);
|
|
}
|
|
*/
|
|
//selectDemo(loadCurrentDemoEntry(startFileName));
|
|
/*
|
|
gui->registerComboBox(DEMO_SELECTION_COMBOBOX,allNames.size(),&allNames[0],sCurrentDemoIndex);
|
|
|
|
//const char* names2[] = {"comboF", "comboG","comboH"};
|
|
//gui->registerComboBox(2,3,&names2[0],0);
|
|
|
|
gui->setComboBoxCallback(MyComboBoxCallback);
|
|
*/
|
|
unsigned long int prevTimeInMicroseconds = clock.getTimeMicroseconds();
|
|
|
|
gui->registerFileOpenCallback(fileOpenCallback);
|
|
|
|
do
|
|
{
|
|
|
|
assert(glGetError()==GL_NO_ERROR);
|
|
s_instancingRenderer->init();
|
|
DrawGridData dg;
|
|
dg.upAxis = app->getUpAxis();
|
|
|
|
{
|
|
BT_PROFILE("Update Camera");
|
|
s_instancingRenderer->updateCamera(dg.upAxis);
|
|
}
|
|
|
|
if (renderGrid)
|
|
{
|
|
BT_PROFILE("Draw Grid");
|
|
app->drawGrid(dg);
|
|
}
|
|
static int frameCount = 0;
|
|
frameCount++;
|
|
|
|
if (0)
|
|
{
|
|
BT_PROFILE("Draw frame counter");
|
|
char bla[1024];
|
|
sprintf(bla,"Frame %d", frameCount);
|
|
app->drawText(bla,10,10);
|
|
}
|
|
|
|
if (sCurrentDemo)
|
|
{
|
|
if (!pauseSimulation)
|
|
{
|
|
unsigned long int curTimeInMicroseconds = clock.getTimeMicroseconds();
|
|
unsigned long int diff = curTimeInMicroseconds-prevTimeInMicroseconds;
|
|
float deltaTimeInSeconds = (diff)*1.e-6;
|
|
//printf("---------------------------------------------------\n");
|
|
//printf("Framecount = %d\n",frameCount);
|
|
|
|
sCurrentDemo->stepSimulation(deltaTimeInSeconds);//1./60.f);
|
|
prevTimeInMicroseconds = curTimeInMicroseconds;
|
|
}
|
|
|
|
if (renderVisualGeometry)
|
|
{
|
|
if (visualWireframe)
|
|
{
|
|
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
|
|
}
|
|
BT_PROFILE("Render Scene");
|
|
sCurrentDemo->renderScene();
|
|
}
|
|
{
|
|
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
|
|
sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
|
|
}
|
|
}
|
|
|
|
static int toggle = 1;
|
|
if (1)
|
|
{
|
|
if (!pauseSimulation)
|
|
processProfileData(profWindow,false);
|
|
{
|
|
if (useOpenGL2)
|
|
{
|
|
saveOpenGLState(width,height);
|
|
}
|
|
BT_PROFILE("Draw Gwen GUI");
|
|
gui->draw(s_instancingRenderer->getScreenWidth(),s_instancingRenderer->getScreenHeight());
|
|
if (useOpenGL2)
|
|
{
|
|
restoreOpenGLState();
|
|
}
|
|
}
|
|
}
|
|
toggle=1-toggle;
|
|
{
|
|
BT_PROFILE("Sync Parameters");
|
|
s_parameterInterface->syncParameters();
|
|
}
|
|
{
|
|
BT_PROFILE("Swap Buffers");
|
|
app->swapBuffer();
|
|
}
|
|
|
|
gui->forceUpdateScrollBars();
|
|
} while (!s_window->requestedExit());
|
|
|
|
// selectDemo(0);
|
|
delete gui;
|
|
delete app;
|
|
return 0;
|
|
}
|