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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"
#include "clock.h"
#define TIMESTEP 0.016f
enum DebugOptions
{
DRAW_WITHOUT_SHADERS,
DRAW_WITHOUT_PHYSICS,
DRAW_ALL
} ;
static float *positionData = NULL ;
static float *rotationData = NULL ;
static float *collisionData = 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 ;
}
}
int irand ( int max )
{
return rand() % max ;
}
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 *collisionGenerator ;
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 *new_force ;
static FrameBufferObject *massSizeX ;
static FrameBufferObject *old ;
static FrameBufferObject *collisions ;
#define TEX_SIZE 16
#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 GLuint vbo_collvx = 0 ;
static GLuint vbo_collt0 = 0 ;
static GLuint vbo_collt1 = 0 ;
static float collvertices [ NUM_CUBES * 4 * 3 ] ;
static float colltexcoords0 [ NUM_CUBES * 4 * 2 ] ;
static float colltexcoords1 [ NUM_CUBES * 4 * 2 ] ;
static int collstart ;
static int colllength ;
static int win_width = 640 ;
static int win_height = 480 ;
inline int idToIndex ( int x, int y )
{
/*
Convert a coordinate pair within the texture to an integer
1D array index (eg to index into the data array for that texture)
by multiplying the Y coordinate by the width of the texture and
adding the X coordinate.
*/
return y * TEX_SIZE + x ;
}
inline float idToFloat ( int x, int y )
{
/*
Convert a coordinate pair within the texture to a float
by putting one coordinate into the integer part and the
other into the fraction so we can retrieve Y using floor()
and X using fract() to recover them later on inside the shader.
*/
return ((float) idToIndex ( x, y )) / (float)TEX_SIZE ;
}
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 ;
new_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 ) ;
new_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, 3, 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 ;
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 * 3 ] ;
}
/* Give the objects some initial position, rotation, mass, force, etc */
for ( int y = 0 ; y < TEX_SIZE ; y++ )
for ( int x = 0 ; x < TEX_SIZE ; x++ )
{
/*
Start the cubes on a nice, regular 5m grid, 10m above the ground
centered around the origin
*/
positionData [ idToIndex(x,y) * 3 + 0 ] = 5.0f * (float) (x - TEX_SIZE/2) ;
positionData [ idToIndex(x,y) * 3 + 1 ] = 0.0f ; // 10.0f ;
positionData [ idToIndex(x,y) * 3 + 2 ] = 5.0f * (float) (y - TEX_SIZE/2) ;
/* Zero their rotations */
rotationData [ idToIndex(x,y) * 3 + 0 ] = 0.0f ;
rotationData [ idToIndex(x,y) * 3 + 1 ] = 0.0f ;
rotationData [ idToIndex(x,y) * 3 + 2 ] = 0.0f ;
if ( debugOpt != DRAW_WITHOUT_PHYSICS )
{
/* Random (but predominantly upwards) velocities. */
if(irand(2)==0)
{
velocityData [ idToIndex(x,y) * 3 + 0 ] = frand ( 1.0f ) ;
velocityData [ idToIndex(x,y) * 3 + 1 ] = 0.0f ;
velocityData [ idToIndex(x,y) * 3 + 2 ] = frand ( 1.0f ) ;
}
else
{
velocityData [ idToIndex(x,y) * 3 + 0 ] = 0.0f ; //frand ( 10.0f ) - 5.0f;
velocityData [ idToIndex(x,y) * 3 + 1 ] = 0.0f ; //frand ( 100.0f ) ;
velocityData [ idToIndex(x,y) * 3 + 2 ] = 0.0f ; //frand ( 10.0f ) - 5.0f;
}
/* Random rotational velocities */
rotvelocityData [ idToIndex(x,y) * 3 + 0 ] = 0.0f ; //frand ( 3.0f ) ;
rotvelocityData [ idToIndex(x,y) * 3 + 1 ] = 0.0f ; //frand ( 3.0f ) ;
rotvelocityData [ idToIndex(x,y) * 3 + 2 ] = 0.0f ; //frand ( 3.0f ) ;
/* Zero forces */
forceData [ idToIndex(x,y) * 3 + 0 ] = 0.0f ;
forceData [ idToIndex(x,y) * 3 + 1 ] = 0.0f ;
forceData [ idToIndex(x,y) * 3 + 2 ] = 0.0f ;
/* One kg each */
massSizeXData [ idToIndex(x,y) * 3 + 0 ] = 0.05f ; /* Mass */
massSizeXData [ idToIndex(x,y) * 3 + 1 ] = 1.0f ; /* Radius */
massSizeXData [ idToIndex(x,y) * 3 + 2 ] = 0.0f ; /* Unused */
/* Zero out collision data */
collisionData [ idToIndex(x,y) * 3 + 0 ] = 0.0f ;
collisionData [ idToIndex(x,y) * 3 + 1 ] = 0.0f ;
collisionData [ idToIndex(x,y) * 3 + 2 ] = 0.0f ;
}
}
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 ] = 1000000000.0f ;
positionData [ 1 ] = 1000000000.0f ;
positionData [ 2 ] = 1000000000.0f ;
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 ] = 0.0f ;
collisionData [ 1 ] = 0.0f ;
collisionData [ 2 ] = 0.0f ;
}
/* 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 ) ;
new_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 () ) ;
collisionGenerator = new GLSL_ShaderPair (
"CollisionGenerator",
NULL,
"collisionShader.frag" ) ;
assert ( collisionGenerator -> compiledOK () ) ;
forceGenerator = new GLSL_ShaderPair (
"ForceGenerator",
NULL, NULL,
"uniform sampler2D force ;"
"uniform sampler2D position ;"
"uniform sampler2D collisions ;"
"void main() {"
" vec3 last_force = texture2D ( force , gl_TexCoord[0].st ).xyz ;"
" vec2 id = texture2D ( collisions, gl_TexCoord[0].st ).xy ;"
" vec3 pos = texture2D ( position , gl_TexCoord[0].st ).xyz ;"
" vec3 rel = pos - texture2D ( position, id ).xyz ;"
" float lrel = max ( length ( rel ), 0.001 ) ;"
" gl_FragColor = vec4 ( last_force + (rel / lrel) / lrel, 1.0 ) ;"
"}",
"ForceGenerator 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.y = abs(vel.y) ;"
" gl_FragColor = vec4 ( vel, 1.0 ) ; }",
"GroundCollisionGenerator Frag Shader" ) ;
assert ( grndCollisionGenerator -> compiledOK () ) ;
}
void initCollideVBO ()
{
float *p = collvertices ;
float *t0 = colltexcoords0 ;
float *t1 = colltexcoords1 ;
collstart = 0 ;
colllength = NUM_CUBES * 4 ;
for ( int y = 0 ; y < TEX_SIZE ; y++ )
for ( int x = 0 ; x < TEX_SIZE ; x++ )
{
/* Texcoord 0 data sets which corner of the texture this is. */
*t0++ = 0.5f /(float)TEX_SIZE ;
*t0++ = 0.5f /(float)TEX_SIZE ;
*t0++ = ((float)TEX_SIZE-0.5f)/(float)TEX_SIZE ;
*t0++ = 0.5f /(float)TEX_SIZE ;
*t0++ = ((float)TEX_SIZE-0.5f)/(float)TEX_SIZE ;
*t0++ = ((float)TEX_SIZE-0.5f)/(float)TEX_SIZE ;
*t0++ = 0.5f /(float)TEX_SIZE ;
*t0++ =((float)TEX_SIZE-0.5f)/(float)TEX_SIZE ;
/* Texcoord 1 sets which cube is which. */
*t1++ = ((float)x+0.5f)/(float)TEX_SIZE ;
*t1++ = ((float)y+0.5f)/(float)TEX_SIZE ;
*t1++ = ((float)x+0.5f)/(float)TEX_SIZE ;
*t1++ = ((float)y+0.5f)/(float)TEX_SIZE ;
*t1++ = ((float)x+0.5f)/(float)TEX_SIZE ;
*t1++ = ((float)y+0.5f)/(float)TEX_SIZE ;
*t1++ = ((float)x+0.5f)/(float)TEX_SIZE ;
*t1++ = ((float)y+0.5f)/(float)TEX_SIZE ;
*p++ = -1 ; *p++ = -1 ; *p++ = 0.0f ;
*p++ = +1 ; *p++ = -1 ; *p++ = 0.0f ;
*p++ = +1 ; *p++ = +1 ; *p++ = 0.0f ;
*p++ = -1 ; *p++ = +1 ; *p++ = 0.0f ;
}
glGenBuffersARB ( 1, & vbo_collvx ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_collvx ) ;
glBufferDataARB ( GL_ARRAY_BUFFER_ARB, colllength * 3 * sizeof(float),
collvertices, GL_STATIC_DRAW_ARB ) ;
glGenBuffersARB ( 1, & vbo_collt0 ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_collt0 ) ;
glBufferDataARB ( GL_ARRAY_BUFFER_ARB, colllength * 2 * sizeof(float),
colltexcoords0, GL_STATIC_DRAW_ARB ) ;
glGenBuffersARB ( 1, & vbo_collt1 ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_collt1 ) ;
glBufferDataARB ( GL_ARRAY_BUFFER_ARB, colllength * 2 * sizeof(float),
colltexcoords1, GL_STATIC_DRAW_ARB ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, 0 ) ;
}
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 y = 0 ; y < (noVertexTextureSupport ? 1 : TEX_SIZE) ; y++ )
for ( int x = 0 ; x < (noVertexTextureSupport ? 1 : TEX_SIZE) ; x++ )
{
/*
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)x+0.5f)/(float)TEX_SIZE ;
*t++ = ((float)y+0.5f)/(float)TEX_SIZE ;
if ( (x==20||x==100) && (y==20||y==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 - x) ;
dy = 10.0f ;
dz = 5.0f * (float) (TEX_SIZE/2 - y) ;
}
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
{
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 y = 0 ; y < TEX_SIZE ; y++ )
for ( int x = 0 ; x < TEX_SIZE ; x++ )
{
float *pos = & positionData [ idToIndex ( x, y ) * 3 ] ;
float *rot = & rotationData [ idToIndex ( x, y ) * 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) ;
/* Set up camera position */
glMatrixMode ( GL_MODELVIEW ) ;
glLoadIdentity () ;
glTranslatef ( 10.0f * (float)TEX_SIZE/128.0f,
-100.0f * (float)TEX_SIZE/128.0f,
-500.0f * (float)TEX_SIZE/128.0f ) ;
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 runCollisionDetection ()
{
static Clock ck ;
ck.update () ;
double tall=ck.getDeltaTime () ;
static int firsttime = true ;
static unsigned int query = 0 ;
FrameBufferObject *tmp ;
FrameBufferObject *SCM = old ;
FrameBufferObject *DCM = collisions ;
unsigned int numHits ;
if ( firsttime )
{
glGenQueriesARB ( 1, (GLuint*) & query ) ;
firsttime = false ;
}
/* Fill SCM with big numbers */
glClearColor ( 1.0f, 1.0f, 1.0f, 1.0f ) ;
SCM -> prepare ( true ) ;
glClearColor ( 0.0f, 0.0f, 0.0f, 0.0f ) ;
force -> prepare ( true ) ; /* Zero out all of the forces. */
int numPasses = 0 ;
glPushClientAttrib ( GL_CLIENT_VERTEX_ARRAY_BIT ) ;
glClientActiveTexture( GL_TEXTURE1 ) ;
glEnableClientState ( GL_TEXTURE_COORD_ARRAY ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_collt1 ) ;
glTexCoordPointer ( 2, GL_FLOAT, 0, vbo_collt1 ? NULL : colltexcoords1 ) ;
glClientActiveTexture( GL_TEXTURE0 ) ;
glEnableClientState ( GL_TEXTURE_COORD_ARRAY ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_collt0 ) ;
glTexCoordPointer ( 2, GL_FLOAT, 0, vbo_collt0 ? NULL : colltexcoords0 ) ;
glEnableClientState ( GL_VERTEX_ARRAY ) ;
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, vbo_collvx ) ;
glVertexPointer ( 3, GL_FLOAT, 0, vbo_collvx ? NULL : collvertices ) ;
while ( true )
{
collisionGenerator -> use () ;
collisionGenerator -> applyTexture ( "position" , position, 0 ) ;
collisionGenerator -> applyTexture ( "old_collisions", SCM , 1 ) ;
/* Fill DCM with zeroes */
DCM -> prepare ( true ) ;
glBeginQueryARB ( GL_SAMPLES_PASSED_ARB, query ) ;
glMultiDrawArraysEXT ( GL_QUADS, (GLint*)& collstart, (GLint*)& colllength,
1 ) ;
numPasses++ ;
glEndQueryARB ( GL_SAMPLES_PASSED_ARB ) ;
forceGenerator -> use () ;
forceGenerator -> applyTexture ( "position" , position , 0 ) ;
forceGenerator -> applyTexture ( "force" , force , 1 ) ;
forceGenerator -> applyTexture ( "collisions", DCM , 2 ) ;
GLuint sampleCount ;
glGetQueryObjectuivARB ( query, GL_QUERY_RESULT_ARB, &sampleCount ) ;
//fprintf ( stderr, "%d ", sampleCount ) ;
if ( sampleCount == 0 )
break ;
new_force -> paint () ;
tmp = new_force ;
new_force = force ;
force = tmp ;
tmp = DCM ;
DCM = SCM ;
SCM = tmp ;
}
glBindBufferARB ( GL_ARRAY_BUFFER_ARB, 0 ) ;
glPopClientAttrib () ;
ck.update () ;
double tdone=ck.getDeltaTime () ;
static int ii = 0 ;
ii++;
if (ii%100==0)
fprintf ( stderr, "Performance: %d passes %d cubes: other=%fms collisions=%fms\n", numPasses, NUM_CUBES, tall*1000.0, tdone*1000.0 ) ;
}
void runPhysics ()
{
FrameBufferObject *tmp ;
/* Do some simple physics calculations in four stages */
/* 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, 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 () ;
restoreFrameBuffer () ;
}
void display ( void )
{
if ( debugOpt != DRAW_WITHOUT_SHADERS &&
debugOpt != DRAW_WITHOUT_PHYSICS )
{
runCollisionDetection () ;
runPhysics () ;
}
/* Now render the scene using the results */
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 )
{
#ifdef WIN32
//until there is a first GPU that works under VertexTextureSupport under WIN32, disable it
bool disableVertexTextureSupport = true;
#else
bool disableVertexTextureSupport = false ;
#endif
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 () ;
initCollideVBO () ;
glutMainLoop () ;
return 0 ;
}
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