bullet3/Extras/PhysicsEffects/sample/api_physics_effects/6_joint/main.cpp

/*
Physics Effects Copyright(C) 2010 Sony Computer Entertainment Inc.
All rights reserved.

Physics Effects is open software; you can redistribute it and/or
modify it under the terms of the BSD License.

Physics Effects is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
See the BSD License for more details.

A copy of the BSD License is distributed with
Physics Effects under the filename: physics_effects_license.txt
*/

#include "../common/common.h"
#include "../common/ctrl_func.h"
#include "../common/render_func.h"
#include "../common/perf_func.h"
#include "physics_func.h"

#ifdef _WIN32
	#include <gl/gl.h>
	#include <gl/glu.h>
#endif

// ARA begin insert new code
#ifdef __ANDROID__
	#include <EGL/egl.h>
	#include <GLES/gl.h>
#endif
// ARA end

#define	SAMPLE_NAME "api_physics_effects/6_joint"

//#define ENABLE_DEBUG_DRAW

#ifdef ENABLE_DEBUG_DRAW
	#define ENABLE_DEBUG_DRAW_CONTACT
	#define ENABLE_DEBUG_DRAW_AABB
	#define ENABLE_DEBUG_DRAW_ISLAND
#endif

static bool s_isRunning = true;

int sceneId = 0;
bool simulating = false;

void render(void)
{
	render_begin();

	const PfxVector3 colorWhite(1.0f);
	const PfxVector3 colorGray(0.7f);

	for(int i=0;i<physics_get_num_rigidbodies();i++) {
		const PfxRigidState &state = physics_get_state(i);
		const PfxCollidable &coll = physics_get_collidable(i);

		PfxVector3 color = state.isAsleep()?colorGray:colorWhite;

		PfxTransform3 rbT(state.getOrientation(), state.getPosition());

		PfxShapeIterator itrShape(coll);
		for(int j=0;j<coll.getNumShapes();j++,++itrShape) {
			const PfxShape &shape = *itrShape;
			PfxTransform3 offsetT = shape.getOffsetTransform();
			PfxTransform3 worldT = rbT * offsetT;

			switch(shape.getType()) {
				case kPfxShapeSphere:
				render_sphere(
					worldT,
					color,
					PfxFloatInVec(shape.getSphere().m_radius));
				break;

				case kPfxShapeBox:
				render_box(
					worldT,
					color,
					shape.getBox().m_half);
				break;

				case kPfxShapeCapsule:
				render_capsule(
					worldT,
					color,
					PfxFloatInVec(shape.getCapsule().m_radius),
					PfxFloatInVec(shape.getCapsule().m_halfLen));
				break;

				case kPfxShapeCylinder:
				render_cylinder(
					worldT,
					color,
					PfxFloatInVec(shape.getCylinder().m_radius),
					PfxFloatInVec(shape.getCylinder().m_halfLen));
				break;

				default:
				break;
			}
		}
	}

	render_debug_begin();
	
	#ifdef ENABLE_DEBUG_DRAW_CONTACT
	for(int i=0;i<physics_get_num_contacts();i++) {
		const PfxContactManifold &contact = physics_get_contact(i);
		const PfxRigidState &stateA = physics_get_state(contact.getRigidBodyIdA());
		const PfxRigidState &stateB = physics_get_state(contact.getRigidBodyIdB());

		for(int j=0;j<contact.getNumContacts();j++) {
			const PfxContactPoint &cp = contact.getContactPoint(j);
			PfxVector3 pA = stateA.getPosition()+rotate(stateA.getOrientation(),pfxReadVector3(cp.m_localPointA));

			render_debug_point(pA,PfxVector3(0,0,1));
		}
	}
	#endif
	
	#ifdef ENABLE_DEBUG_DRAW_AABB
	for(int i=0;i<physics_get_num_rigidbodies();i++) {
		const PfxRigidState &state = physics_get_state(i);
		const PfxCollidable &coll = physics_get_collidable(i);

		PfxVector3 center = state.getPosition() + coll.getCenter();
		PfxVector3 half = absPerElem(PfxMatrix3(state.getOrientation())) * coll.getHalf();
		
		render_debug_box(center,half,PfxVector3(1,0,0));
	}
	#endif

	#ifdef ENABLE_DEBUG_DRAW_ISLAND
	const PfxIsland *island = physics_get_islands();
	if(island) {
		for(PfxUInt32 i=0;i<pfxGetNumIslands(island);i++) {
			PfxIslandUnit *islandUnit = pfxGetFirstUnitInIsland(island,i);
			PfxVector3 aabbMin(SCE_PFX_FLT_MAX);
			PfxVector3 aabbMax(-SCE_PFX_FLT_MAX);
			for(;islandUnit!=NULL;islandUnit=pfxGetNextUnitInIsland(islandUnit)) {
				const PfxRigidState &state = physics_get_state(pfxGetUnitId(islandUnit));
				const PfxCollidable &coll = physics_get_collidable(pfxGetUnitId(islandUnit));
				PfxVector3 center = state.getPosition() + coll.getCenter();
				PfxVector3 half = absPerElem(PfxMatrix3(state.getOrientation())) * coll.getHalf();
				aabbMin = minPerElem(aabbMin,center-half);
				aabbMax = maxPerElem(aabbMax,center+half);
			}
			render_debug_box((aabbMax+aabbMin)*0.5f,(aabbMax-aabbMin)*0.5f,PfxVector3(0,1,0));
		}
	}
	#endif
	
	render_debug_end();

	render_end();
}

int init(void)
{
	perf_init();
	ctrl_init();
	render_init();
	physics_init();

	float angX,angY,r;
	render_get_view_angle(angX,angY,r);
	r *= 0.5f;
	render_set_view_angle(angX,angY,r);

	return 0;
}

static int shutdown(void)
{
	ctrl_release();
	render_release();
	physics_release();
	perf_release();

	return 0;
}

void update(void)
{
	float angX,angY,r;
	render_get_view_angle(angX,angY,r);

	ctrl_update();
	
	if(ctrl_button_pressed(BTN_UP)) {
		angX -= 0.05f;
		if(angX < -1.4f) angX = -1.4f;
		if(angX > -0.01f) angX = -0.01f;
	}

	if(ctrl_button_pressed(BTN_DOWN)) {
		angX += 0.05f;
		if(angX < -1.4f) angX = -1.4f;
		if(angX > -0.01f) angX = -0.01f;
	}

	if(ctrl_button_pressed(BTN_LEFT)) {
		angY -= 0.05f;
	}

	if(ctrl_button_pressed(BTN_RIGHT)) {
		angY += 0.05f;
	}

	if(ctrl_button_pressed(BTN_ZOOM_OUT)) {
		r *= 1.1f;
		if(r > 500.0f) r = 500.0f;
	}

	if(ctrl_button_pressed(BTN_ZOOM_IN)) {
		r *= 0.9f;
		if(r < 1.0f) r = 1.0f;
	}

	if(ctrl_button_pressed(BTN_SCENE_RESET) == BTN_STAT_DOWN) {
		physics_create_scene(sceneId);
	}

	if(ctrl_button_pressed(BTN_SCENE_NEXT) == BTN_STAT_DOWN) {
		physics_create_scene(++sceneId);
	}

	if(ctrl_button_pressed(BTN_SIMULATION) == BTN_STAT_DOWN) {
		simulating = !simulating;
	}

	if(ctrl_button_pressed(BTN_STEP) == BTN_STAT_DOWN) {
		simulating = true;
	}
	else if(ctrl_button_pressed(BTN_STEP) == BTN_STAT_UP || ctrl_button_pressed(BTN_STEP) == BTN_STAT_KEEP) {
		simulating = false;
	}

	int w,h;
	render_get_screent_size(w,h);
	ctrl_set_screen_size(w,h);

	static PfxVector3 pickPos(0.0f);

	if(ctrl_button_pressed(BTN_PICK) == BTN_STAT_DOWN) {
		int sx,sy;
		ctrl_get_cursor_position(sx,sy);
		PfxVector3 wp1((float)sx,(float)sy,0.0f);
		PfxVector3 wp2((float)sx,(float)sy,1.0f);
		wp1 = render_get_world_position(wp1);
		wp2 = render_get_world_position(wp2);
		pickPos = physics_pick_start(wp1,wp2);
	}
	else if(ctrl_button_pressed(BTN_PICK) == BTN_STAT_KEEP) {
		int sx,sy;
		ctrl_get_cursor_position(sx,sy);
		PfxVector3 sp = render_get_screen_position(pickPos);
		PfxVector3 wp((float)sx,(float)sy,sp[2]);
		wp = render_get_world_position(wp);
		physics_pick_update(wp);
	}
	else if(ctrl_button_pressed(BTN_PICK) == BTN_STAT_UP) {
		physics_pick_end();
	}

	render_set_view_angle(angX,angY,r);
}

#ifndef	_WIN32

// ARA begin insert new code
#ifdef	__ANDROID__

///////////////////////////////////////////////////////////////////////////////
// sceneChange
//
/// This function is used to change the physics scene on Android devices
///////////////////////////////////////////////////////////////////////////////
void sceneChange()
{
	physics_create_scene(sceneId++);
}

#else	// __ANDROID__
// ARA end

///////////////////////////////////////////////////////////////////////////////
// Main

int main(void)
{
	init();

	physics_create_scene(sceneId);
	
	printf("## %s: INIT SUCCEEDED ##\n", SAMPLE_NAME);

	while (s_isRunning) {
		update();
		if(simulating) physics_simulate();
		render();

		perf_sync();
	}

	shutdown();

	printf("## %s: FINISHED ##\n", SAMPLE_NAME);

	return 0;
}

// ARA begin insert new code
#endif	// __ANDROID__
// ARA end

#else	// _WIN32

///////////////////////////////////////////////////////////////////////////////
// WinMain

extern HDC hDC;
extern HGLRC hRC;
HWND hWnd;
HINSTANCE hInstance;

void releaseWindow()
{
	if(hRC) {
		wglMakeCurrent(0,0);
		wglDeleteContext(hRC);
	}
	
	if(hDC) ReleaseDC(hWnd,hDC);
	if(hWnd) DestroyWindow(hWnd);
	
	UnregisterClass(SAMPLE_NAME,hInstance);
}

LRESULT CALLBACK WndProc(HWND hWnd,UINT	uMsg,WPARAM	wParam,LPARAM lParam)
{
	switch(uMsg) {
		case WM_SYSCOMMAND:
		{
			switch (wParam) {
				case SC_SCREENSAVE:
				case SC_MONITORPOWER:
				return 0;
			}
			break;
		}

		case WM_CLOSE:
		PostQuitMessage(0);
		return 0;

		case WM_SIZE:
		render_resize(LOWORD(lParam),HIWORD(lParam));
		return 0;
	}

	return DefWindowProc(hWnd,uMsg,wParam,lParam);
}

bool createWindow(char* title, int width, int height)
{
	WNDCLASS wc;
	RECT rect;
	rect.left=0;
	rect.right=width;
	rect.top=0;
	rect.bottom=height;

	hInstance = GetModuleHandle(NULL);
	wc.style = CS_HREDRAW | CS_VREDRAW | CS_OWNDC;
	wc.lpfnWndProc = (WNDPROC) WndProc;
	wc.cbClsExtra = 0;
	wc.cbWndExtra = 0;
	wc.hInstance = hInstance;
	wc.hIcon = LoadIcon(NULL, IDI_WINLOGO);
	wc.hCursor = LoadCursor(NULL, IDC_ARROW);
	wc.hbrBackground = NULL;
	wc.lpszMenuName = NULL;
	wc.lpszClassName = SAMPLE_NAME;

	if(!RegisterClass(&wc)) {
		return false;
	}

	AdjustWindowRectEx(&rect, WS_OVERLAPPEDWINDOW, FALSE, WS_EX_APPWINDOW | WS_EX_WINDOWEDGE);

	if(!(hWnd=CreateWindowEx(WS_EX_APPWINDOW|WS_EX_WINDOWEDGE,SAMPLE_NAME,title,
							WS_OVERLAPPEDWINDOW|WS_CLIPSIBLINGS|WS_CLIPCHILDREN,
							0,0,rect.right-rect.left,rect.bottom-rect.top,
							NULL,NULL,hInstance,NULL))) {
		releaseWindow();
		return false;
	}

    static PIXELFORMATDESCRIPTOR pfd = {
		sizeof(PIXELFORMATDESCRIPTOR),
		1,
		PFD_DRAW_TO_WINDOW | PFD_SUPPORT_OPENGL | PFD_DOUBLEBUFFER,
		PFD_TYPE_RGBA,
		32,
		0, 0,
		0, 0,
		0, 0,
		0, 0,
		0,
		0, 0, 0, 0,
		32,
		0,
		0,
		PFD_MAIN_PLANE,
		0,
		0, 0, 0
    };
	
	if(!(hDC=GetDC(hWnd)))
	{
		releaseWindow();
		OutputDebugString("");
		return FALSE;
	}
	
	int pixelformat;
	
    if ( (pixelformat = ChoosePixelFormat(hDC, &pfd)) == 0 ){
		OutputDebugString("ChoosePixelFormat Failed....");
        return FALSE;
    }

    if (SetPixelFormat(hDC, pixelformat, &pfd) == FALSE){
		OutputDebugString("SetPixelFormat Failed....");
        return FALSE;
    }

	if (!(hRC=wglCreateContext(hDC))){
		OutputDebugString("Creating HGLRC Failed....");
		return FALSE;
	}
	
	// Set Vsync
	//BOOL (WINAPI *wglSwapIntervalEXT)(int) = NULL;

	//if(strstr((char*)glGetString( GL_EXTENSIONS ),"WGL_EXT_swap_control")== 0) {
	//}
	//else {
		//wglSwapIntervalEXT = (BOOL (WINAPI*)(int))wglGetProcAddress("wglSwapIntervalEXT");
		//if(wglSwapIntervalEXT) wglSwapIntervalEXT(1);
	//}
	
	wglMakeCurrent(hDC,hRC);
	
	ShowWindow(hWnd,SW_SHOW);
	SetForegroundWindow(hWnd);
	SetFocus(hWnd);

	render_resize(width, height);
	
	glClearColor(0.0f,0.0f,0.0f,0.0f);
	glClearDepth(1.0f);
	
	return TRUE;
}

int WINAPI WinMain(HINSTANCE hInstance,HINSTANCE hPrevInstance,LPSTR lpCmdLine,int nCmdShow)
{
	if(!createWindow(SAMPLE_NAME,DISPLAY_WIDTH,DISPLAY_HEIGHT)) {
		MessageBox(NULL,"Can't create gl window.","ERROR",MB_OK|MB_ICONEXCLAMATION);
		return 0;
	}
	
	init();
	
	physics_create_scene(sceneId);
	
	SCE_PFX_PRINTF("## %s: INIT SUCCEEDED ##\n", SAMPLE_NAME);
	
	MSG msg;
	while(s_isRunning) {
		if(PeekMessage(&msg,NULL,0,0,PM_REMOVE)) {
			if(msg.message==WM_QUIT) {
				s_isRunning = false;
			}
			else {
				TranslateMessage(&msg);
				DispatchMessage(&msg);
			}
		}
		else {
			update();
			if(simulating) physics_simulate();
			render();

			perf_sync();
		}
	}

	shutdown();

	SCE_PFX_PRINTF("## %s: FINISHED ##\n", SAMPLE_NAME);

	releaseWindow();
	return (msg.wParam);
}

#endif