7a2a98078a
Revert definition for ATTRIBUTE_ALIGNED16, and try to force sizeof(btSolverConstraint) by using unions with btScalar, for non-btScalar data types. Use btAssert and not assert. Don't access btAlignedObjectArray elements, for zero sets
851 lines
23 KiB
C++
851 lines
23 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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#endif
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//think different
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#if defined(__APPLE__) && !defined (VMDMESA)
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#endif
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#include "GlutStuff.h"
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#include "GL_ShapeDrawer.h"
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#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
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#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btConeShape.h"
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#include "BulletCollision/CollisionShapes/btCylinderShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
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#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
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#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
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///
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#include "BulletCollision/CollisionShapes/btShapeHull.h"
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#include "LinearMath/btTransformUtil.h"
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#include "LinearMath/btIDebugDraw.h"
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//for debugmodes
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#include "BMF_Api.h"
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#include <stdio.h> //printf debugging
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//#define USE_DISPLAY_LISTS 1
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#ifdef USE_DISPLAY_LISTS
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#include <map>
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using namespace std;
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//Set for storing Display list per trimesh
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struct TRIMESH_KEY
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{
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btCollisionShape* m_shape;
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GLuint m_dlist;//OpenGL display list
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};
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typedef map<unsigned long,TRIMESH_KEY> TRIMESH_KEY_MAP;
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typedef pair<unsigned long,TRIMESH_KEY> TRIMESH_KEY_PAIR;
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TRIMESH_KEY_MAP g_display_lists;
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class GlDisplaylistDrawcallback : public btTriangleCallback
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{
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public:
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virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
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{
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btVector3 diff1 = triangle[1] - triangle[0];
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btVector3 diff2 = triangle[2] - triangle[0];
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btVector3 normal = diff1.cross(diff2);
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normal.normalize();
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glBegin(GL_TRIANGLES);
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glColor3f(1, 1, 1);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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//glColor3f(0, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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//glColor3f(0, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glEnd();
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/*glBegin(GL_LINES);
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glColor3f(1, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(1, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(1, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();*/
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}
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};
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GLuint OGL_get_displaylist_for_shape(btCollisionShape * shape)
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{
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TRIMESH_KEY_MAP::iterator map_iter;
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unsigned long key = (unsigned long)shape;
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map_iter = g_display_lists.find(key);
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if(map_iter!=g_display_lists.end())
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{
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return map_iter->second.m_dlist;
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}
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return 0;
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}
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void OGL_displaylist_clean()
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{
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TRIMESH_KEY_MAP::iterator map_iter,map_itend;
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map_iter = g_display_lists.begin();
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while(map_iter!=map_itend)
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{
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glDeleteLists(map_iter->second.m_dlist,1);
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map_iter++;
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}
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g_display_lists.clear();
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}
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void OGL_displaylist_register_shape(btCollisionShape * shape)
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{
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btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
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btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
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GlDisplaylistDrawcallback drawCallback;
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TRIMESH_KEY dlist;
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dlist.m_dlist = glGenLists(1);
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dlist.m_shape = shape;
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unsigned long key = (unsigned long)shape;
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g_display_lists.insert(TRIMESH_KEY_PAIR(key,dlist));
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glNewList(dlist.m_dlist,GL_COMPILE);
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// glEnable(GL_CULL_FACE);
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glCullFace(GL_BACK);
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if (shape->isConcave())
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{
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btConcaveShape* concaveMesh = (btConcaveShape*) shape;
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//todo pass camera, for some culling
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concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
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}
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// glDisable(GL_CULL_FACE);
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glEndList();
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}
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#endif //USE_DISPLAY_LISTS
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void GL_ShapeDrawer::drawCoordSystem() {
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glBegin(GL_LINES);
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glColor3f(1, 0, 0);
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glVertex3d(0, 0, 0);
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glVertex3d(1, 0, 0);
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glColor3f(0, 1, 0);
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glVertex3d(0, 0, 0);
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glVertex3d(0, 1, 0);
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glColor3f(0, 0, 1);
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glVertex3d(0, 0, 0);
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glVertex3d(0, 0, 1);
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glEnd();
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}
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class GlDrawcallback : public btTriangleCallback
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{
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public:
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bool m_wireframe;
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GlDrawcallback()
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:m_wireframe(false)
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{
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}
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virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
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{
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(void)triangleIndex;
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(void)partId;
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if (m_wireframe)
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{
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glBegin(GL_LINES);
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glColor3f(1, 0, 0);
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 1, 0);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 0, 1);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();
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} else
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{
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glBegin(GL_TRIANGLES);
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//glColor3f(1, 1, 1);
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();
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}
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}
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};
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class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
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{
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public:
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virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
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{
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(void)triangleIndex;
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(void)partId;
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glBegin(GL_TRIANGLES);//LINES);
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glColor3f(1, 0, 0);
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 1, 0);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 0, 1);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();
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}
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};
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void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis)
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{
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glPushMatrix();
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switch (upAxis)
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{
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case 0:
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glRotatef(-90.0, 0.0, 1.0, 0.0);
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glTranslatef(0.0, 0.0, -halfHeight);
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break;
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case 1:
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glRotatef(-90.0, 1.0, 0.0, 0.0);
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glTranslatef(0.0, 0.0, -halfHeight);
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break;
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case 2:
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glTranslatef(0.0, 0.0, -halfHeight);
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break;
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default:
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{
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btAssert(0);
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}
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}
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GLUquadricObj *quadObj = gluNewQuadric();
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//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
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//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
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//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
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gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
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gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
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gluDisk(quadObj,0,radius,15, 10);
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gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
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glTranslatef(0.0, 0.0, 2.*halfHeight);
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glRotatef(-180.0, 0.0, 1.0, 0.0);
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gluDisk(quadObj,0,radius,15, 10);
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glPopMatrix();
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gluDeleteQuadric(quadObj);
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}
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GL_ShapeDrawer::ShapeCache* GL_ShapeDrawer::cache(btConvexShape* shape)
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{
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ShapeCache* sc=(ShapeCache*)shape->getUserPointer();
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if(!sc)
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{
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sc=new(btAlignedAlloc(sizeof(ShapeCache),16)) ShapeCache(shape);
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sc->m_shapehull.buildHull(shape->getMargin());
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m_shapecaches.push_back(sc);
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shape->setUserPointer(sc);
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/* Build edges */
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const int ni=sc->m_shapehull.numIndices();
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const int nv=sc->m_shapehull.numVertices();
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const unsigned int* pi=sc->m_shapehull.getIndexPointer();
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const btVector3* pv=sc->m_shapehull.getVertexPointer();
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btAlignedObjectArray<ShapeCache::Edge*> edges;
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sc->m_edges.reserve(ni);
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edges.resize(nv*nv,0);
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for(int i=0;i<ni;i+=3)
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{
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const unsigned int* ti=pi+i;
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const btVector3 nrm=cross(pv[ti[1]]-pv[ti[0]],pv[ti[2]]-pv[ti[0]]).normalized();
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for(int j=2,k=0;k<3;j=k++)
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{
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const unsigned int a=ti[j];
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const unsigned int b=ti[k];
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ShapeCache::Edge*& e=edges[btMin(a,b)*nv+btMax(a,b)];
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if(!e)
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{
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sc->m_edges.push_back(ShapeCache::Edge());
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e=&sc->m_edges[sc->m_edges.size()-1];
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e->n[0]=nrm;e->n[1]=-nrm;
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e->v[0]=a;e->v[1]=b;
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}
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else
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{
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e->n[1]=nrm;
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}
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}
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}
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}
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return(sc);
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}
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void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
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{
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glPushMatrix();
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btglMultMatrix(m);
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if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
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{
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const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
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const btConvexShape* convexShape = scalingShape->getChildShape();
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float scalingFactor = (float)scalingShape->getUniformScalingFactor();
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{
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btScalar tmpScaling[4][4]={{scalingFactor,0,0,0},
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{0,scalingFactor,0,0},
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{0,0,scalingFactor,0},
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{0,0,0,1}};
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drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax);
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}
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glPopMatrix();
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return;
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}
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if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
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{
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
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for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
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{
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btTransform childTrans = compoundShape->getChildTransform(i);
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const btCollisionShape* colShape = compoundShape->getChildShape(i);
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btScalar childMat[16];
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childTrans.getOpenGLMatrix(childMat);
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drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax);
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}
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} else
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{
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if(m_textureenabled&&(!m_textureinitialized))
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{
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GLubyte* image=new GLubyte[256*256*3];
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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*256*3;
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for(int x=0;x<256;++x)
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{
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const int s=x>>4;
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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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glGenTextures(1,(GLuint*)&m_texturehandle);
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glBindTexture(GL_TEXTURE_2D,m_texturehandle);
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glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE);
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glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
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glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR);
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glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT);
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glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT);
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gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image);
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delete[] image;
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glMatrixMode(GL_TEXTURE);
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glLoadIdentity();
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glScalef(0.025,0.025,0.025);
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static const GLfloat planex[]={1,0,0,0};
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static const GLfloat planey[]={0,1,0,0};
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static const GLfloat planez[]={0,0,1,0};
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glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
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glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
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glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
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glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
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glEnable(GL_TEXTURE_GEN_S);
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glEnable(GL_TEXTURE_GEN_T);
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glEnable(GL_TEXTURE_GEN_R);
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m_textureinitialized=true;
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}
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//drawCoordSystem();
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//glPushMatrix();
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glEnable(GL_COLOR_MATERIAL);
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if(m_textureenabled)
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{
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glEnable(GL_TEXTURE_2D);
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glBindTexture(GL_TEXTURE_2D,m_texturehandle);
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} else
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{
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glDisable(GL_TEXTURE_2D);
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}
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glColor3f(color.x(),color.y(), color.z());
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bool useWireframeFallback = true;
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if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
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{
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///you can comment out any of the specific cases, and use the default
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///the benefit of 'default' is that it approximates the actual collision shape including collision margin
|
|
int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType();
|
|
switch (shapetype)
|
|
{
|
|
case BOX_SHAPE_PROXYTYPE:
|
|
{
|
|
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
|
|
btVector3 halfExtent = boxShape->getHalfExtentsWithMargin();
|
|
glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
|
|
glutSolidCube(1.0);
|
|
useWireframeFallback = false;
|
|
break;
|
|
}
|
|
|
|
|
|
case SPHERE_SHAPE_PROXYTYPE:
|
|
{
|
|
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
|
|
float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
|
|
glutSolidSphere(radius,10,10);
|
|
useWireframeFallback = false;
|
|
break;
|
|
}
|
|
|
|
case CONE_SHAPE_PROXYTYPE:
|
|
{
|
|
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
|
|
int upIndex = coneShape->getConeUpIndex();
|
|
float radius = coneShape->getRadius();//+coneShape->getMargin();
|
|
float height = coneShape->getHeight();//+coneShape->getMargin();
|
|
switch (upIndex)
|
|
{
|
|
case 0:
|
|
glRotatef(90.0, 0.0, 1.0, 0.0);
|
|
break;
|
|
case 1:
|
|
glRotatef(-90.0, 1.0, 0.0, 0.0);
|
|
break;
|
|
case 2:
|
|
break;
|
|
default:
|
|
{
|
|
}
|
|
};
|
|
|
|
glTranslatef(0.0, 0.0, -0.5*height);
|
|
glutSolidCone(radius,height,10,10);
|
|
useWireframeFallback = false;
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
case STATIC_PLANE_PROXYTYPE:
|
|
{
|
|
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
|
|
btScalar planeConst = staticPlaneShape->getPlaneConstant();
|
|
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
|
|
btVector3 planeOrigin = planeNormal * planeConst;
|
|
btVector3 vec0,vec1;
|
|
btPlaneSpace1(planeNormal,vec0,vec1);
|
|
btScalar vecLen = 100.f;
|
|
btVector3 pt0 = planeOrigin + vec0*vecLen;
|
|
btVector3 pt1 = planeOrigin - vec0*vecLen;
|
|
btVector3 pt2 = planeOrigin + vec1*vecLen;
|
|
btVector3 pt3 = planeOrigin - vec1*vecLen;
|
|
glBegin(GL_LINES);
|
|
glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ());
|
|
glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ());
|
|
glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ());
|
|
glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ());
|
|
glEnd();
|
|
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
case CYLINDER_SHAPE_PROXYTYPE:
|
|
{
|
|
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
|
|
int upAxis = cylinder->getUpAxis();
|
|
|
|
|
|
float radius = cylinder->getRadius();
|
|
float halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
|
|
|
|
drawCylinder(radius,halfHeight,upAxis);
|
|
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
|
|
|
|
if (shape->isConvex())
|
|
{
|
|
ShapeCache* sc=cache((btConvexShape*)shape);
|
|
#if 0
|
|
btConvexShape* convexShape = (btConvexShape*)shape;
|
|
if (!shape->getUserPointer())
|
|
{
|
|
//create a hull approximation
|
|
void* mem = btAlignedAlloc(sizeof(btShapeHull),16);
|
|
btShapeHull* hull = new(mem) btShapeHull(convexShape);
|
|
|
|
///cleanup memory
|
|
m_shapeHulls.push_back(hull);
|
|
|
|
btScalar margin = shape->getMargin();
|
|
hull->buildHull(margin);
|
|
convexShape->setUserPointer(hull);
|
|
|
|
|
|
// printf("numTriangles = %d\n", hull->numTriangles ());
|
|
// printf("numIndices = %d\n", hull->numIndices ());
|
|
// printf("numVertices = %d\n", hull->numVertices ());
|
|
|
|
|
|
}
|
|
#endif
|
|
|
|
|
|
|
|
//if (shape->getUserPointer())
|
|
{
|
|
//glutSolidCube(1.0);
|
|
btShapeHull* hull = &sc->m_shapehull/*(btShapeHull*)shape->getUserPointer()*/;
|
|
|
|
|
|
if (hull->numTriangles () > 0)
|
|
{
|
|
int index = 0;
|
|
const unsigned int* idx = hull->getIndexPointer();
|
|
const btVector3* vtx = hull->getVertexPointer();
|
|
|
|
glBegin (GL_TRIANGLES);
|
|
|
|
for (int i = 0; i < hull->numTriangles (); i++)
|
|
{
|
|
int i1 = index++;
|
|
int i2 = index++;
|
|
int i3 = index++;
|
|
btAssert(i1 < hull->numIndices () &&
|
|
i2 < hull->numIndices () &&
|
|
i3 < hull->numIndices ());
|
|
|
|
int index1 = idx[i1];
|
|
int index2 = idx[i2];
|
|
int index3 = idx[i3];
|
|
btAssert(index1 < hull->numVertices () &&
|
|
index2 < hull->numVertices () &&
|
|
index3 < hull->numVertices ());
|
|
|
|
btVector3 v1 = vtx[index1];
|
|
btVector3 v2 = vtx[index2];
|
|
btVector3 v3 = vtx[index3];
|
|
btVector3 normal = (v3-v1).cross(v2-v1);
|
|
normal.normalize ();
|
|
|
|
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
|
|
glVertex3f (v1.x(), v1.y(), v1.z());
|
|
glVertex3f (v2.x(), v2.y(), v2.z());
|
|
glVertex3f (v3.x(), v3.y(), v3.z());
|
|
|
|
}
|
|
glEnd ();
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/// for polyhedral shapes
|
|
if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))
|
|
{
|
|
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
|
|
|
|
{
|
|
glRasterPos3f(0.0, 0.0, 0.0);
|
|
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
|
|
|
|
glColor3f(1.f, 1.f, 1.f);
|
|
int i;
|
|
for (i=0;i<polyshape->getNumVertices();i++)
|
|
{
|
|
btVector3 vtx;
|
|
polyshape->getVertex(i,vtx);
|
|
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
|
|
char buf[12];
|
|
sprintf(buf," %d",i);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
}
|
|
|
|
for (i=0;i<polyshape->getNumPlanes();i++)
|
|
{
|
|
btVector3 normal;
|
|
btVector3 vtx;
|
|
polyshape->getPlane(normal,vtx,i);
|
|
btScalar d = vtx.dot(normal);
|
|
|
|
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
|
|
char buf[12];
|
|
sprintf(buf," plane %d",i);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
|
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
#ifdef USE_DISPLAY_LISTS
|
|
|
|
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
|
|
{
|
|
GLuint dlist = OGL_get_displaylist_for_shape((btCollisionShape * )shape);
|
|
if (dlist)
|
|
{
|
|
glCallList(dlist);
|
|
}
|
|
else
|
|
{
|
|
#else
|
|
if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
|
|
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
|
|
|
|
GlDrawcallback drawCallback;
|
|
drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
|
|
|
|
concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
|
|
|
|
}
|
|
#endif
|
|
|
|
#ifdef USE_DISPLAY_LISTS
|
|
}
|
|
}
|
|
#endif
|
|
|
|
/*
|
|
if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
|
|
|
|
//todo: pass camera for some culling
|
|
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
|
|
btVector3 aabbMin(-btScalar(1e30),-btScalar(1e30),-btScalar(1e30));
|
|
TriangleGlDrawcallback drawCallback;
|
|
convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
|
|
|
|
}
|
|
*/
|
|
|
|
|
|
|
|
glDisable(GL_DEPTH_TEST);
|
|
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
|
|
if (debugMode&btIDebugDraw::DBG_DrawText)
|
|
{
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getName());
|
|
}
|
|
|
|
if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
|
|
{
|
|
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
|
|
}
|
|
glEnable(GL_DEPTH_TEST);
|
|
|
|
// glPopMatrix();
|
|
if(m_textureenabled) glDisable(GL_TEXTURE_2D);
|
|
}
|
|
glPopMatrix();
|
|
|
|
}
|
|
|
|
//
|
|
void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
|
|
{
|
|
glPushMatrix();
|
|
btglMultMatrix(m);
|
|
if(shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
|
|
{
|
|
const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
|
|
const btConvexShape* convexShape = scalingShape->getChildShape();
|
|
float scalingFactor = (float)scalingShape->getUniformScalingFactor();
|
|
btScalar tmpScaling[4][4]={ {scalingFactor,0,0,0},
|
|
{0,scalingFactor,0,0},
|
|
{0,0,scalingFactor,0},
|
|
{0,0,0,1}};
|
|
drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax);
|
|
glPopMatrix();
|
|
return;
|
|
}
|
|
else if(shape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
|
|
{
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
|
|
for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
|
|
{
|
|
btTransform childTrans = compoundShape->getChildTransform(i);
|
|
const btCollisionShape* colShape = compoundShape->getChildShape(i);
|
|
btScalar childMat[16];
|
|
childTrans.getOpenGLMatrix(childMat);
|
|
drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
bool useWireframeFallback = true;
|
|
if (shape->isConvex())
|
|
{
|
|
ShapeCache* sc=cache((btConvexShape*)shape);
|
|
btShapeHull* hull =&sc->m_shapehull;
|
|
glBegin(GL_QUADS);
|
|
for(int i=0;i<sc->m_edges.size();++i)
|
|
{
|
|
const btScalar d=dot(sc->m_edges[i].n[0],extrusion);
|
|
if((d*dot(sc->m_edges[i].n[1],extrusion))<0)
|
|
{
|
|
const int q= d<0?1:0;
|
|
const btVector3& a= hull->getVertexPointer()[sc->m_edges[i].v[q]];
|
|
const btVector3& b= hull->getVertexPointer()[sc->m_edges[i].v[1-q]];
|
|
glVertex3f(a[0],a[1],a[2]);
|
|
glVertex3f(b[0],b[1],b[2]);
|
|
glVertex3f(b[0]+extrusion[0],b[1]+extrusion[1],b[2]+extrusion[2]);
|
|
glVertex3f(a[0]+extrusion[0],a[1]+extrusion[1],a[2]+extrusion[2]);
|
|
}
|
|
}
|
|
glEnd();
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
|
|
// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btConcaveShape* concaveMesh = (btConcaveShape*) shape;
|
|
|
|
GlDrawcallback drawCallback;
|
|
drawCallback.m_wireframe = false;
|
|
|
|
concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax);
|
|
|
|
}
|
|
glPopMatrix();
|
|
|
|
}
|
|
|
|
//
|
|
GL_ShapeDrawer::GL_ShapeDrawer()
|
|
{
|
|
m_texturehandle = 0;
|
|
m_textureenabled = false;
|
|
m_textureinitialized = false;
|
|
}
|
|
|
|
GL_ShapeDrawer::~GL_ShapeDrawer()
|
|
{
|
|
int i;
|
|
for (i=0;i<m_shapecaches.size();i++)
|
|
{
|
|
m_shapecaches[i]->~ShapeCache();
|
|
btAlignedFree(m_shapecaches[i]);
|
|
}
|
|
m_shapecaches.clear();
|
|
if(m_textureinitialized)
|
|
{
|
|
glDeleteTextures(1,(const GLuint*) &m_texturehandle);
|
|
}
|
|
}
|
|
|
|
|