405 lines
9.2 KiB
C++
405 lines
9.2 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans <www.erwincoumans.com>
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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/*
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Raytracer uses the Convex Raycast to visualize the Collision Shapes/Minkowski Sum.
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Very basic raytracer, rendering into a texture.
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*/
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///Low level demo, doesn't include btBulletCollisionCommon.h
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#include "GL_Simplex1to4.h"
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#include "LinearMath/btQuaternion.h"
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#include "LinearMath/btTransform.h"
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#include "GL_ShapeDrawer.h"
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#include "Raytracer.h"
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#include "GlutStuff.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#ifdef USE_ALGEBRAIC_CCD
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#include "NarrowPhaseCollision/BU_CollisionPair.h"
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#endif //USE_ALGEBRAIC_CCD
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.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/btMinkowskiSumShape.h"
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#include "RenderTexture.h"
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btVoronoiSimplexSolver simplexSolver;
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float yaw=0.f,pitch=0.f,roll=0.f;
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const int maxNumObjects = 4;
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const int numObjects = 4;
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/// simplex contains the vertices, and some extra code to draw and debug
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GL_Simplex1to4 simplex;
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btConvexShape* shapePtr[maxNumObjects];
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btTransform transforms[maxNumObjects];
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RenderTexture* raytracePicture = 0;
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int screenWidth = 128;
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int screenHeight = 128;
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GLuint glTextureId;
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btSphereShape mySphere(1);
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btBoxShape myBox(btVector3(0.4f,0.4f,0.4f));
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btCylinderShape myCylinder(btVector3(0.3f,0.3f,0.3f));
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btConeShape myCone(1,1);
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btMinkowskiSumShape myMink(&myCylinder,&myBox);
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///
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///
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///
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int main(int argc,char** argv)
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{
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Raytracer* raytraceDemo = new Raytracer();
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raytraceDemo->initPhysics();
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raytraceDemo->setCameraDistance(6.f);
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return glutmain(argc, argv,screenWidth,screenHeight,"Minkowski-Sum Raytracer Demo",raytraceDemo);
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}
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void Raytracer::initPhysics()
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{
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raytracePicture = new RenderTexture(screenWidth,screenHeight);
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myBox.SetMargin(0.02f);
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myCone.SetMargin(0.2f);
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simplex.SetSimplexSolver(&simplexSolver);
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simplex.AddVertex(btPoint3(-1,0,-1));
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simplex.AddVertex(btPoint3(1,0,-1));
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simplex.AddVertex(btPoint3(0,0,1));
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simplex.AddVertex(btPoint3(0,1,0));
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/// convex hull of 5 spheres
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#define NUM_SPHERES 5
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btVector3 inertiaHalfExtents(10.f,10.f,10.f);
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btVector3 positions[NUM_SPHERES] = {
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btVector3(-1.2f, -0.3f, 0.f),
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btVector3(0.8f, -0.3f, 0.f),
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btVector3(0.5f, 0.6f, 0.f),
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btVector3(-0.5f, 0.6f, 0.f),
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btVector3(0.f, 0.f, 0.f)
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};
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// btMultiSphereShape* multiSphereShape = new btMultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
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btConvexHullShape* convexHullShape = new btConvexHullShape(positions,3);
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//choose shape
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shapePtr[0] = &myCone;
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shapePtr[1] =&simplex;
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shapePtr[2] =convexHullShape;
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shapePtr[3] =&myMink;//myBox;//multiSphereShape
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simplex.SetMargin(0.3f);
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}
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//to be implemented by the demo
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void Raytracer::clientMoveAndDisplay()
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{
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displayCallback();
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}
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int once = 1;
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void Raytracer::displayCallback()
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{
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updateCamera();
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for (int i=0;i<numObjects;i++)
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{
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transforms[i].setIdentity();
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btVector3 pos(-3.5f+i*2.5f,0.f,0.f);
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transforms[i].setOrigin( pos );
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btQuaternion orn;
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if (i < 2)
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{
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orn.setEuler(yaw,pitch,roll);
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transforms[i].setRotation(orn);
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}
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}
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myMink.SetTransformA(btTransform(transforms[0].getRotation()));
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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if (once)
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{
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glGenTextures(1, &glTextureId);
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glBindTexture(GL_TEXTURE_2D,glTextureId );
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once = 0;
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glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
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}
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glDisable(GL_TEXTURE_2D);
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glDisable(GL_BLEND);
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#define RAYTRACER
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#ifdef RAYTRACER
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btVector4 rgba(1.f,0.f,0.f,0.5f);
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float fov = 2.0 * atanf (tanFov);
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btVector3 rayFrom = getCameraPosition();
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btVector3 rayForward = getCameraTargetPosition()-getCameraPosition();
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rayForward.normalize();
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float farPlane = 600.f;
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rayForward*= farPlane;
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btVector3 rightOffset;
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btVector3 vertical(0.f,1.f,0.f);
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btVector3 hor;
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hor = rayForward.cross(vertical);
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hor.normalize();
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vertical = hor.cross(rayForward);
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vertical.normalize();
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float tanfov = tanf(0.5f*fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
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btVector3 rayToCenter = rayFrom + rayForward;
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btVector3 dHor = hor * 1.f/float(screenWidth);
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btVector3 dVert = vertical * 1.f/float(screenHeight);
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btTransform rayFromTrans;
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rayFromTrans.setIdentity();
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rayFromTrans.setOrigin(rayFrom);
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btTransform rayFromLocal;
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btTransform rayToLocal;
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btSphereShape pointShape(0.0f);
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///clear texture
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for (int x=0;x<screenWidth;x++)
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{
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for (int y=0;y<screenHeight;y++)
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{
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btVector4 rgba(0.f,0.f,0.f,0.f);
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raytracePicture->SetPixel(x,y,rgba);
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}
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}
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btConvexCast::CastResult rayResult;
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btTransform rayToTrans;
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rayToTrans.setIdentity();
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btVector3 rayTo;
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for (int x=0;x<screenWidth;x++)
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{
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for (int y=0;y<screenHeight;y++)
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{
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rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += x * dHor;
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rayTo -= y * dVert;
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rayToTrans.setOrigin(rayTo);
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for (int s=0;s<numObjects;s++)
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{
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// rayFromLocal = transforms[s].inverse()* rayFromTrans;
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// rayToLocal = transforms[s].inverse()* rayToTrans;
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//choose the continuous collision detection method
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btSubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
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//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
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//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
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// btBU_Simplex1to4 ptShape(btVector3(0,0,0));//algebraic needs features, doesnt use 'supporting vertex'
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// BU_CollisionPair convexCaster(&ptShape,shapePtr[0]);
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//reset previous result
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rayResult.m_fraction = 1.f;
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if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
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{
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//float fog = 1.f - 0.1f * rayResult.m_fraction;
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rayResult.m_normal.normalize();
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btVector3 worldNormal;
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worldNormal = transforms[s].getBasis() *rayResult.m_normal;
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float light = worldNormal.dot(btVector3(0.4f,-1.f,-0.4f));
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if (light < 0.2f)
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light = 0.2f;
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if (light > 1.f)
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light = 1.f;
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rgba = btVector4(light,light,light,1.f);
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raytracePicture->SetPixel(x,y,rgba);
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} else
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{
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//clear is already done
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//rgba = btVector4(0.f,0.f,0.f,0.f);
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//raytracePicture->SetPixel(x,y,rgba);
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}
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}
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}
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}
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#define TEST_PRINTF
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#ifdef TEST_PRINTF
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extern BMF_FontData BMF_font_helv10;
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raytracePicture->Printf("CCD RAYTRACER",&BMF_font_helv10);
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char buffer[256];
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sprintf(buffer,"%d RAYS / Frame",screenWidth*screenHeight*numObjects);
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raytracePicture->Printf(buffer,&BMF_font_helv10,0,10);
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#endif //TEST_PRINTF
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glMatrixMode(GL_PROJECTION);
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glPushMatrix();
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glLoadIdentity();
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glFrustum(-1.0,1.0,-1.0,1.0,3,2020.0);
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glMatrixMode(GL_MODELVIEW);
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glPushMatrix();
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glLoadIdentity(); // Reset The Modelview Matrix
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glTranslatef(0.0f,0.0f,-3.0f); // Move Into The Screen 5 Units
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glEnable(GL_TEXTURE_2D);
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glBindTexture(GL_TEXTURE_2D,glTextureId );
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const unsigned char *ptr = raytracePicture->GetBuffer();
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glTexImage2D(GL_TEXTURE_2D,
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0,
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GL_RGBA,
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raytracePicture->GetWidth(),raytracePicture->GetHeight(),
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0,
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GL_RGBA,
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GL_UNSIGNED_BYTE,
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ptr);
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glEnable (GL_BLEND);
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glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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glColor4f (1,1,1,1); // alpha=0.5=half visible
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glBegin(GL_QUADS);
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glTexCoord2f(0.0f, 0.0f);
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glVertex2f(-1,1);
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glTexCoord2f(1.0f, 0.0f);
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glVertex2f(1,1);
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glTexCoord2f(1.0f, 1.0f);
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glVertex2f(1,-1);
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glTexCoord2f(0.0f, 1.0f);
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glVertex2f(-1,-1);
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glEnd();
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glMatrixMode(GL_MODELVIEW);
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glPopMatrix();
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glMatrixMode(GL_PROJECTION);
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glPopMatrix();
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glMatrixMode(GL_MODELVIEW);
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#endif //RAYRACER
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glDisable(GL_TEXTURE_2D);
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glDisable(GL_DEPTH_TEST);
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GL_ShapeDrawer::DrawCoordSystem();
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glPushMatrix();
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/*
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/// normal opengl rendering
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float m[16];
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int i;
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for (i=0;i<numObjects;i++)
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{
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transA.getOpenGLMatrix( m );
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/// draw the simplex
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GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],btVector3(1,1,1));
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/// calculate closest point from simplex to the origin, and draw this vector
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simplex.CalcClosest(m);
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}
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*/
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glPopMatrix();
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pitch += 0.005f;
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yaw += 0.01f;
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glFlush();
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glutSwapBuffers();
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}
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