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bullet3/Extras/GPUphysics/GPU_physics_demo.cpp

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#include "GPU_physics.h"
#include "fboSupport.h"
#include "shaderSupport.h"
#define TIMESTEP 0.016f
enum DebugOptions
{
DRAW_WITHOUT_SHADERS,
DRAW_WITHOUT_PHYSICS,
DRAW_ALL
} ;
inline float idToFloat ( int i, int j )
{
return float ( (i*2) & 255 ) + float ( (j*2) & 255 ) / 256.0f ;
}
static float *positionData = NULL ;
static float *rotationData = NULL ;
static bool noVertexTextureSupport = false ;
static DebugOptions debugOpt = DRAW_ALL ;
void checkVertexTextureSupport ( bool disableVertexTextureSupport )
{
GLint nVertTextures ;
GLint nFragTextures ;
GLint nCombTextures ;
glGetIntegerv ( GL_MAX_VERTEX_TEXTURE_IMAGE_UNITS, & nVertTextures ) ;
glGetIntegerv ( GL_MAX_TEXTURE_IMAGE_UNITS, & nFragTextures ) ;
glGetIntegerv ( GL_MAX_COMBINED_TEXTURE_IMAGE_UNITS, & nCombTextures ) ;
fprintf(stderr, "INFO: This hardware supports at most:\n"
" %2d vert texture samplers\n"
" %2d frag texture samplers\n"
" %2d total texture samplers\n",
nVertTextures, nFragTextures, nCombTextures ) ;
noVertexTextureSupport = ( nVertTextures < 2 ) ;
if ( noVertexTextureSupport && debugOpt != DRAW_WITHOUT_SHADERS )
{
fprintf ( stderr, "\n"
"********************************************\n"
"* *\n"
"* WARNING: This graphics card doesn't have *\n"
"* vertex shader texture support - a work- *\n"
"* around will be used - but this demo will *\n"
"* be much less impressive as a result! *\n"
"* *\n"
"********************************************\n\n" ) ;
}
if ( ! noVertexTextureSupport && disableVertexTextureSupport )
{
fprintf ( stderr, "WARNING: Vertex Texture Support has"
"been disabled from the command line.\n" ) ;
noVertexTextureSupport = true ;
}
}
float frand ( float max )
{
return (float)(rand() % 32767) * max / 32767.0f ;
}
static GLSL_ShaderPair *velocityGenerator ;
static GLSL_ShaderPair *positionGenerator ;
static GLSL_ShaderPair *grndCollisionGenerator ;
static GLSL_ShaderPair *forceGenerator ;
static GLSL_ShaderPair *cubeShader ;
static FrameBufferObject *position ;
static FrameBufferObject *rotation ;
static FrameBufferObject *velocity ;
static FrameBufferObject *rotvelocity ;
static FrameBufferObject *force ;
static FrameBufferObject *massSizeX ;
static FrameBufferObject *old ;
static FrameBufferObject *collisions ;
#define TEX_SIZE 128
#define NUM_CUBES ( TEX_SIZE * TEX_SIZE )
#define STRIPS_PER_CUBE 2
#define VERTS_PER_STRIP 8
#define NUM_VERTS ( NUM_CUBES * STRIPS_PER_CUBE * VERTS_PER_STRIP )
static GLuint vbo_vx = 0 ;
static GLuint vbo_tx = 0 ;
static GLuint vbo_co = 0 ;
static float vertices [ NUM_VERTS * 3 ] ;
static float texcoords [ NUM_VERTS * 2 ] ;
static float colours [ NUM_VERTS * 4 ] ;
static int starts [ NUM_CUBES * STRIPS_PER_CUBE ] ;
static int lengths [ NUM_CUBES * STRIPS_PER_CUBE ] ;
static int win_width = 640 ;
static int win_height = 480 ;
void keybd ( unsigned char, int, int )
{
exit ( 0 ) ;
}
void reshape ( int wid, int ht )
{
win_width = wid ;
win_height = ht ;
}
void initGLcontext ( int argc, char **argv,
void (*display)(void),
bool disableVertexTextureSupport )
{
glutInit ( &argc, argv ) ;
glutInitDisplayMode ( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE ) ;
glutInitWindowSize ( win_width, win_height ) ;
glutCreateWindow ( "Shader Math Demo" ) ;
glutDisplayFunc ( display ) ;
glutKeyboardFunc ( keybd ) ;
glutReshapeFunc ( reshape ) ;
glewInit () ;
checkVertexTextureSupport ( disableVertexTextureSupport ) ;
}
void initMotionTextures ()
{
if ( debugOpt == DRAW_WITHOUT_SHADERS ) return ;
position = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
rotation = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
old = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
if ( debugOpt == DRAW_WITHOUT_PHYSICS )
{
velocity = NULL ;
rotvelocity = NULL ;
force = NULL ;
massSizeX = NULL ;
collisions = NULL ;
}
else
{
velocity = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
rotvelocity = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
force = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
massSizeX = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 3, FBO_FLOAT ) ;
collisions = new FrameBufferObject ( TEX_SIZE, TEX_SIZE, 4, FBO_FLOAT ) ;
}
positionData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
rotationData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
float *velocityData ;
float *rotvelocityData ;
float *forceData ;
float *massSizeXData ;
float *collisionData ;
if ( debugOpt == DRAW_WITHOUT_PHYSICS )
{
velocityData = NULL ;
rotvelocityData = NULL ;
forceData = NULL ;
massSizeXData = NULL ;
collisionData = NULL ;
}
else
{
velocityData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
rotvelocityData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
forceData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
massSizeXData = new float [ TEX_SIZE * TEX_SIZE * 3 ] ;
collisionData = new float [ TEX_SIZE * TEX_SIZE * 4 ] ;
}
/* Give the objects some initial position, rotation, mass, force, etc */
for ( int i = 0 ; i < TEX_SIZE ; i++ )
for ( int j = 0 ; j < TEX_SIZE ; j++ )
{
/*
Start the cubes on a nice, regular 5m grid, 10m above the ground
centered around the origin
*/
positionData [ (i*TEX_SIZE + j) * 3 + 0 ] = 5.0f * (float) (TEX_SIZE/2 - i) ;
positionData [ (i*TEX_SIZE + j) * 3 + 1 ] = 10.0f ;
positionData [ (i*TEX_SIZE + j) * 3 + 2 ] = 5.0f * (float) (TEX_SIZE/2 - j) ;
/* Zero their rotations */
rotationData [ (i*TEX_SIZE + j) * 3 + 0 ] = 0.0f ;
rotationData [ (i*TEX_SIZE + j) * 3 + 1 ] = 0.0f ;
rotationData [ (i*TEX_SIZE + j) * 3 + 2 ] = 0.0f ;
if ( debugOpt != DRAW_WITHOUT_PHYSICS )
{
/* Random (but predominantly upwards) velocities. */
velocityData [ (i*TEX_SIZE + j) * 3 + 0 ] = frand ( 10.0f ) - 5.0f;
velocityData [ (i*TEX_SIZE + j) * 3 + 1 ] = frand ( 100.0f ) ;
velocityData [ (i*TEX_SIZE + j) * 3 + 2 ] = frand ( 10.0f ) - 5.0f;
/* Random rotational velocities */
rotvelocityData [ (i*TEX_SIZE + j) * 3 + 0 ] = frand ( 3.0f ) ;
rotvelocityData [ (i*TEX_SIZE + j) * 3 + 1 ] = frand ( 3.0f ) ;
rotvelocityData [ (i*TEX_SIZE + j) * 3 + 2 ] = frand ( 3.0f ) ;
/* Zero forces (just gravity) */
forceData [ (i*TEX_SIZE + j) * 3 + 0 ] = 0.0f ;
forceData [ (i*TEX_SIZE + j) * 3 + 1 ] = 0.0f ;
forceData [ (i*TEX_SIZE + j) * 3 + 2 ] = 0.0f ;
/* One kg in weight each */
massSizeXData [ (i*TEX_SIZE + j) * 3 + 0 ] = 0.0005f ; /* Mass */
massSizeXData [ (i*TEX_SIZE + j) * 3 + 1 ] = 1.0f ; /* Radius */
massSizeXData [ (i*TEX_SIZE + j) * 3 + 2 ] = 0.0f ; /* Unused */
/* Everyone collides with object 0, 1 and 2 */
/*SJB*/
collisionData [ (i*TEX_SIZE + j) * 3 + 0 ] = idToFloat ( 20, 20 ) ;
collisionData [ (i*TEX_SIZE + j) * 3 + 1 ] = idToFloat ( 20, 100 ) ;
collisionData [ (i*TEX_SIZE + j) * 3 + 2 ] = idToFloat ( 100, 20 ) ;
collisionData [ (i*TEX_SIZE + j) * 3 + 3 ] = idToFloat ( 100, 100 ) ;
}
}
if ( debugOpt != DRAW_WITHOUT_PHYSICS )
{
/*
Object zero is the 'null' object for collision detection
so put it far away and stop it from moving around.
*/
positionData [ 0 ] = 10.0f ;
positionData [ 1 ] = 10.0f ;
positionData [ 2 ] = 10.0f ;
velocityData [ 0 ] = 0.0f ;
velocityData [ 1 ] = 0.0f ;
velocityData [ 2 ] = 0.0f ;
massSizeXData [ 0 ] = 10000000.0f ; /* Mass */
massSizeXData [ 1 ] = 0.00000001f ; /* Radius */
massSizeXData [ 2 ] = 0.0f ; /* Unused */
collisionData [ 0 ] = 128.5 ; /* Not collide with self! */
collisionData [ 1 ] = 128.5 ;
collisionData [ 2 ] = 128.5 ;
collisionData [ 3 ] = 128.5 ;
}
/* Initialise the textures */
position -> fillTexture ( positionData ) ;
rotation -> fillTexture ( rotationData ) ;
old -> fillTexture ( positionData ) ; // Doesn't really need it...
if ( debugOpt != DRAW_WITHOUT_PHYSICS )
{
velocity -> fillTexture ( velocityData ) ;
rotvelocity -> fillTexture ( rotvelocityData ) ;
force -> fillTexture ( forceData ) ;
massSizeX -> fillTexture ( massSizeXData ) ;
collisions -> fillTexture ( collisionData ) ;
}
}
void initPhysicsShaders ()
{
if ( debugOpt == DRAW_WITHOUT_SHADERS ||
debugOpt == DRAW_WITHOUT_PHYSICS )
return ;
/*
The velocity generator shader calculates:
velocity = old_velocity + delta_T * ( F / m ) ;
*/
velocityGenerator = new GLSL_ShaderPair (
"VelocityGenerator",
NULL, NULL,
"uniform vec4 g_dt ;"
"uniform sampler2D old_velocity ;"
"uniform sampler2D force ;"
"uniform sampler2D massSizeX ;"
"void main() {"
" gl_FragColor = vec4 ("
" texture2D ( old_velocity, gl_TexCoord[0].st ).xyz +"
" g_dt.w * ( g_dt.xyz +"
" texture2D ( force , gl_TexCoord[0].st ).xyz /"
" texture2D ( massSizeX , gl_TexCoord[0].st ).x),"
" 1.0 ) ; }",
"VelocityGenerator Frag Shader" ) ;
assert ( velocityGenerator -> compiledOK () ) ;
/*
The position generater shader calculates:
position = old_position + delta_T * velocity ;
It's also used to update the rotational velocity.
*/
positionGenerator = new GLSL_ShaderPair (
"PositionGenerator",
NULL, NULL,
"uniform float delta_T ;"
"uniform sampler2D old_position ;"
"uniform sampler2D velocity ;"
"void main() {"
" gl_FragColor = vec4 ("
" texture2D ( old_position, gl_TexCoord[0].st ).xyz +"
" texture2D ( velocity , gl_TexCoord[0].st ).xyz *"
" delta_T,"
" 1.0 ) ; }",
"PositionGenerator Frag Shader" ) ;
assert ( positionGenerator -> compiledOK () ) ;
forceGenerator = new GLSL_ShaderPair (
"ForceGenerator",
NULL, NULL,
"uniform sampler2D position ;"
"uniform sampler2D collisions ;"
"void main() {"
" vec3 pos = texture2D ( position , gl_TexCoord[0].st ).xyz ;"
" vec4 coll = texture2D ( collisions, gl_TexCoord[0].st ).xyzw ;"
" vec2 ctc ;"
" vec3 rel ;"
" float lrel ;"
" vec3 force = vec3 ( 0.0, 0.0, 0.0 ) ;"
/* First 'collision' */
" ctc = vec2 ( coll.x / 256.0, coll.x ) ;"
" rel = pos - texture2D ( position, ctc ).xyz ;"
" lrel = max ( length ( rel ), 0.001 ) ;"
" force += (rel/lrel) * -1.0 / (lrel) ;"
/* Second 'collision' */
" ctc = vec2 ( coll.y / 256.0, coll.y ) ;"
" rel = pos - texture2D ( position, ctc ).xyz ;"
" lrel = max ( length ( rel ), 0.001 ) ;"
" force += (rel/lrel) * -1.0 / (lrel) ;"
/* Third 'collision' */
" ctc = vec2 ( coll.z / 256.0, coll.z ) ;"
" rel = pos - texture2D ( position, ctc ).xyz ;"
" lrel = max ( length ( rel ), 0.001 ) ;"
" force += (rel/lrel) * -1.0 / (lrel) ;"
/* Fourth 'collision' */
" ctc = vec2 ( coll.w / 256.0, coll.w ) ;"
" rel = pos - texture2D ( position, ctc ).xyz ;"
" lrel = max ( length ( rel ), 0.001 ) ;"
" force += (rel/lrel) * -1.0 / (lrel) ;"
/* Write out results */
" gl_FragColor = vec4 ( force, 1.0 ) ;"
"}",
"ForceCollisionGenerator Frag Shader" ) ;
assert ( forceGenerator -> compiledOK () ) ;
grndCollisionGenerator = new GLSL_ShaderPair (
"GroundCollisionGenerator",
NULL, NULL,
"uniform sampler2D position ;"
"uniform sampler2D old_velocity ;"
"void main() {"
" vec3 pos = texture2D ( position , gl_TexCoord[0].st ).xyz ;"
" vec3 vel = texture2D ( old_velocity, gl_TexCoord[0].st ).xyz ;"
" if ( pos [ 1 ] < 0.0 ) vel *= vec3(0.90,-0.90,0.90) ;"
" gl_FragColor = vec4 ( vel, 1.0 ) ; }",
"GroundCollisionGenerator Frag Shader" ) ;
assert ( grndCollisionGenerator -> compiledOK () ) ;
}
void initCubeVBO ()
{
float *p = vertices ;
float *t = texcoords ;
float *c = colours ;
int nverts = 0 ;
for ( int k = 0 ;
k < (noVertexTextureSupport ? 1 : NUM_CUBES) * STRIPS_PER_CUBE ; k++ )
{
starts [ k ] = k * VERTS_PER_STRIP ;
lengths [ k ] = VERTS_PER_STRIP ;
}
for ( int i = 0 ; i < (noVertexTextureSupport ? 1 : TEX_SIZE) ; i++ )
for ( int j = 0 ; j < (noVertexTextureSupport ? 1 : TEX_SIZE) ; j++ )
{
int n = i * TEX_SIZE + j ;
/*
I use the colour data to set which cube is which in
the physics textures.
*/
for ( int k = 0 ; k < STRIPS_PER_CUBE * VERTS_PER_STRIP ; k++ )
{
*t++ = ((float)i+0.5f)/(float)TEX_SIZE ;
*t++ = ((float)j+0.5f)/(float)TEX_SIZE ;
if ( (i==20||i==100) && (j==20||j==100) )
{
*c++ = 1.0f ;
*c++ = 0.0f ;
*c++ = 0.0f ;
*c++ = 1.0f ;
}
else
{
*c++ = 0.0f ;
*c++ = frand ( 1.0f ) ;
*c++ = frand ( 1.0f ) ;
*c++ = 1.0f ;
}
}
float dx, dy, dz ;
if ( debugOpt == DRAW_WITHOUT_SHADERS )
{
dx = 5.0f * (float) (TEX_SIZE/2 - i) ;
dy = 10.0f ;
dz = 5.0f * (float) (TEX_SIZE/2 - j) ;
}
else
{
dx = 0.0f ;
dy = 0.0f ;
dz = 0.0f ;
}
*p++ = -1 + dx ; *p++ = -1 + dy ; *p++ = -1 + dz ;
*p++ = +1 + dx ; *p++ = -1 + dy ; *p++ = -1 + dz ;
*p++ = -1 + dx ; *p++ = +1 + dy ; *p++ = -1 + dz ;
*p++ = +1 + dx ; *p++ = +1 + dy ; *p++ = -1 + dz ;
*p++ = -1 + dx ; *p++ = +1 + dy ; *p++ = +1 + dz ;
*p++ = +1 + dx ; *p++ = +1 + dy ; *p++ = +1 + dz ;
*p++ = -1 + dx ; *p++ = -1 + dy ; *p++ = +1 + dz ;
*p++ = +1 + dx ; *p++ = -1 + dy ; *p++ = +1 + dz ;
*p++ = -1 + dx ; *p++ = +1 + dy ; *p++ = -1 + dz ;
*p++ = -1 + dx ; *p++ = +1 + dy ; *p++ = +1 + dz ;
*p++ = -1 + dx ; *p++ = -1 + dy ; *p++ = -1 + dz ;
*p++ = -1 + dx ; *p++ = -1 + dy ; *p++ = +1 + dz ;
*p++ = +1 + dx ; *p++ = -1 + dy ; *p++ = -1 + dz ;
*p++ = +1 + dx ; *p++ = -1 + dy ; *p++ = +1 + dz ;
*p++ = +1 + dx ; *p++ = +1 + dy ; *p++ = -1 + dz ;
*p++ = +1 + dx ; *p++ = +1 + dy ; *p++ = +1 + dz ;
nverts += STRIPS_PER_CUBE * VERTS_PER_STRIP ;
}
glGenBuffersARB ( 1, & vbo_vx ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_vx ) ;
glBufferDataARB ( GL_ARRAY_BUFFER_ARB, nverts * 3 * sizeof(float),
vertices, GL_STATIC_DRAW_ARB ) ;
glGenBuffersARB ( 1, & vbo_tx ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_tx ) ;
glBufferDataARB ( GL_ARRAY_BUFFER_ARB, nverts * 2 * sizeof(float),
texcoords, GL_STATIC_DRAW_ARB ) ;
glGenBuffersARB ( 1, & vbo_co ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_co ) ;
glBufferDataARB ( GL_ARRAY_BUFFER_ARB, nverts * 4 * sizeof(float),
colours, GL_STATIC_DRAW_ARB ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, 0 ) ;
if ( debugOpt == DRAW_WITHOUT_SHADERS )
cubeShader = NULL ;
else
{
//the filenames have additional path to make it easier for some platforms
if ( noVertexTextureSupport )
cubeShader = new GLSL_ShaderPair ( "CubeShader", "cubeShaderNoTexture.vert",
"cubeShader.frag" ) ;
else
cubeShader = new GLSL_ShaderPair ( "CubeShader", "cubeShader.vert",
"cubeShader.frag" ) ;
assert ( cubeShader -> compiledOK () ) ;
}
}
void drawCubesTheHardWay ()
{
/*
Without vertex texture support, we have to read the position/rotation
data back from the hardware every frame and render each cube individually.
*/
float p0 = positionData [ 0 ] ;
float p1 = positionData [ 1 ] ;
float p2 = positionData [ 2 ] ;
position -> fetchTexture ( positionData ) ;
rotation -> fetchTexture ( rotationData ) ;
if ( positionData [ 0 ] == p0 &&
positionData [ 1 ] == p1 &&
positionData [ 2 ] == p2 )
{
fprintf ( stderr, "WARNING: If nothing seems to be working, you may\n"
"have an old version of the nVidia driver.\n"
"Version 76.76 is known to be bad.\n" ) ;
}
cubeShader -> use () ; /* Math = Cube shader */
glPushClientAttrib ( GL_CLIENT_VERTEX_ARRAY_BIT ) ;
glDisableClientState ( GL_TEXTURE_COORD_ARRAY ) ;
glEnableClientState ( GL_COLOR_ARRAY ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_co ) ;
glColorPointer ( 4, GL_FLOAT, 0, vbo_co ? NULL : colours ) ;
glEnableClientState ( GL_VERTEX_ARRAY ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_vx ) ;
glVertexPointer ( 3, GL_FLOAT, 0, vbo_vx ? NULL : vertices ) ;
for ( int i = 0 ; i < TEX_SIZE ; i++ )
for ( int j = 0 ; j < TEX_SIZE ; j++ )
{
float *pos = & positionData [ (i*TEX_SIZE + j) * 3 ] ;
float *rot = & rotationData [ (i*TEX_SIZE + j) * 3 ] ;
glPushMatrix () ;
glTranslatef ( pos [ 0 ], pos [ 1 ], pos [ 2 ] ) ;
glRotatef ( rot [ 0 ] * 180.0f / 3.14159f, 0, 1, 0 ) ;
glRotatef ( rot [ 1 ] * 180.0f / 3.14159f, 1, 0, 0 ) ;
glRotatef ( rot [ 2 ] * 180.0f / 3.14159f, 0, 0, 1 ) ;
glMultiDrawArraysEXT ( GL_TRIANGLE_STRIP, (GLint*)starts, (GLint*)lengths,
STRIPS_PER_CUBE ) ;
glPopMatrix () ;
}
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, 0 ) ;
glPopClientAttrib () ;
}
void drawCubeVBO ()
{
/*
With vertex texture support, we can leave the position/rotation
data on the hardware and render all of the cubes in one big VBO!
*/
if ( debugOpt != DRAW_WITHOUT_SHADERS )
{
cubeShader -> use () ; /* Math = Cube shader */
cubeShader -> applyTexture ( "position", position, 0 ) ;
cubeShader -> applyTexture ( "rotation", rotation, 1 ) ;
}
glPushClientAttrib ( GL_CLIENT_VERTEX_ARRAY_BIT ) ;
glEnableClientState ( GL_TEXTURE_COORD_ARRAY ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_tx ) ;
glTexCoordPointer ( 2, GL_FLOAT, 0, vbo_tx ? NULL : texcoords ) ;
glEnableClientState ( GL_COLOR_ARRAY ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_co ) ;
glColorPointer ( 4, GL_FLOAT, 0, vbo_co ? NULL : colours ) ;
glEnableClientState ( GL_VERTEX_ARRAY ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_vx ) ;
glVertexPointer ( 3, GL_FLOAT, 0, vbo_vx ? NULL : vertices ) ;
glMultiDrawArraysEXT ( GL_TRIANGLE_STRIP, (GLint*)starts, (GLint*)lengths,
NUM_CUBES * STRIPS_PER_CUBE ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, 0 ) ;
glPopClientAttrib () ;
}
void drawCubes ()
{
glMatrixMode ( GL_PROJECTION ) ;
glLoadIdentity () ;
glFrustum ( -1.0f, 1.0f,
-1.0f / ((float)win_width/(float)win_height),
1.0f / ((float)win_width/(float)win_height),
1.0f, 1000000.0f) ;
glMatrixMode ( GL_MODELVIEW ) ;
glLoadIdentity () ;
glTranslatef ( 10.0, -100.0, -500.0 ) ;
glRotatef ( 20.0, 1.0, 0.0, 0.0 ) ;
glEnable ( GL_DEPTH_TEST ) ;
glEnable ( GL_CULL_FACE ) ;
glCullFace ( GL_FRONT ) ;
glClearColor ( 0.7f, 0.7f, 0.7f, 1.0f ) ;
glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT ) ;
if ( noVertexTextureSupport )
drawCubesTheHardWay () ;
else
drawCubeVBO () ;
}
void display ( void )
{
FrameBufferObject *tmp ;
if ( debugOpt != DRAW_WITHOUT_SHADERS &&
debugOpt != DRAW_WITHOUT_PHYSICS )
{
/* Do some simple physics calculations in four stages */
forceGenerator -> use () ;
forceGenerator -> applyTexture ( "position" , position , 0 ) ;
forceGenerator -> applyTexture ( "collisions", collisions, 1 ) ;
force -> paint () ;
/* Copy old velocity into old. */
tmp = old ;
old = velocity ;
velocity = tmp ;
velocityGenerator -> use () ;
velocityGenerator -> applyTexture ( "old_velocity", old , 0 ) ;
velocityGenerator -> applyTexture ( "force" , force , 1 ) ;
velocityGenerator -> applyTexture ( "massSizeX" , massSizeX, 2 ) ;
velocityGenerator -> setUniform4f ( "g_dt", 0.0f, -9.8f, 0.0f, TIMESTEP ) ;
velocity -> paint () ;
/* Copy old position into old. */
tmp = old ;
old = position ;
position = tmp ;
positionGenerator -> use () ;
positionGenerator -> applyTexture ( "old_position", old , 0 ) ;
positionGenerator -> applyTexture ( "velocity" , velocity, 1 ) ;
positionGenerator -> setUniform1f ( "delta_T", TIMESTEP ) ;
position -> paint () ;
/* Copy old velocity into old. */
tmp = old ;
old = velocity ;
velocity = tmp ;
grndCollisionGenerator -> use () ;
grndCollisionGenerator -> applyTexture ( "position" , position, 0 ) ;
grndCollisionGenerator -> applyTexture ( "old_velocity", old , 1 ) ;
velocity -> paint () ;
/* Copy old rotation into old. */
tmp = old ;
old = rotation ;
rotation = tmp ;
positionGenerator -> use () ;
positionGenerator -> applyTexture ( "old_position", old , 0 ) ;
positionGenerator -> applyTexture ( "velocity" , rotvelocity, 1 ) ;
positionGenerator -> setUniform1f ( "delta_T", TIMESTEP ) ;
rotation -> paint () ;
/* Now render the scene using the results */
restoreFrameBuffer () ;
}
glViewport ( 0, 0, win_width, win_height ) ;
drawCubes () ;
/* All done! */
glutSwapBuffers () ;
glutPostRedisplay () ;
}
void help ()
{
fprintf ( stderr, "GPUphysics: Usage -\n\n" ) ;
fprintf ( stderr, " GPUphysics_demo [-c][-p][-v][-a][-v]\n\n" ) ;
fprintf ( stderr, "Where:\n" ) ;
fprintf ( stderr, " -s -- Draw with shaders at all\n" ) ;
fprintf ( stderr, " -p -- Draw with shaders but no physics\n" ) ;
fprintf ( stderr, " -a -- Draw with all features enabled [default]\n" ) ;
fprintf ( stderr, " -v -- Disable vertex textures even if "
"they are supported in hardware\n" ) ;
fprintf ( stderr, "\n" ) ;
}
int main ( int argc, char **argv )
{
bool disableVertexTextureSupport = false ;
debugOpt = DRAW_ALL ;
for ( int i = 1 ; i < argc ; i++ )
{
if ( argv [ i ][ 0 ] == '-' || argv [ i ][ 0 ] == '+' )
for ( int j = 1 ; argv[i][j] != '\0' ; j++ )
switch ( argv [ i ][ j ] )
{
case 's' : debugOpt = DRAW_WITHOUT_SHADERS ; break ;
case 'p' : debugOpt = DRAW_WITHOUT_PHYSICS ; break ;
case 'a' : debugOpt = DRAW_ALL ; break ;
case 'v' : disableVertexTextureSupport = true ; break ;
default : help () ; exit ( 0 ) ;
}
else
{
help () ;
exit ( 0 ) ;
}
}
initGLcontext ( argc, argv, display, disableVertexTextureSupport ) ;
initMotionTextures () ;
initPhysicsShaders () ;
initCubeVBO () ;
glutMainLoop () ;
return 0 ;
}
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