Merge pull request #1072 from erwincoumans/master

TinyRenderer, apply backface culling

build3/premake4.lua

@@ -158,11 +158,15 @@ end
 		description = "Double precision version of Bullet"
 	}
 	
+	newoption
+	{
+		trigger = "audio",
+		description = "Enable audio"
+	}
 	if _OPTIONS["double"] then
 		defines {"BT_USE_DOUBLE_PRECISION"}
 	end
 
-	
 	configurations {"Release", "Debug"}
 	configuration "Release"
 		flags { "Optimize", "EnableSSE2","StaticRuntime", "NoMinimalRebuild", "FloatFast"}
@@ -251,6 +255,10 @@ end
 	language "C++"
 
 
+	if _OPTIONS["audio"] then
+		include "../examples/TinyAudio"
+	end
+
 	if not _OPTIONS["no-demos"] then
 		include "../examples/ExampleBrowser"
 		include "../examples/RobotSimulator"

examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h

@@ -46,6 +46,7 @@ static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
 							int expectedBinaryFileSize = numTriangles* 50 + 84;
 							if (expectedBinaryFileSize != size)
 							{
+								delete[] memoryBuffer;
 								return 0;
 							}
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -376,7 +376,8 @@ struct MyBroadphaseCallback : public btBroadphaseAabbCallback
 		if (bodyUniqueId >= 0)
 		{
 			m_bodyUniqueIds.push_back(bodyUniqueId);
-			m_links.push_back(mbl->m_link);
+			//it is not a multibody, so use -1 otherwise
+			m_links.push_back(-1);
 		}
 		return true;
 	}

examples/StandaloneMain/main_console_single_example.cpp

@@ -35,7 +35,7 @@ int main(int argc, char* argv[])
 		CommonExampleInterface*    example = StandaloneExampleCreateFunc(options);
 
 		example->initPhysics();
-		for (int i = 0; i < 1000; i++)
+		for (int i = 0; i < 100000; i++)
 		{
 			printf("Simulating step %d\n", i);
 			example->stepSimulation(1.f / 60.f);

examples/TinyAudio/TinyAudioExample.cpp

@@ -0,0 +1,102 @@
+#include "TinyAudioExample.h"
+#include "../CommonInterfaces/CommonExampleInterface.h"
+#include "../CommonInterfaces/CommonGUIHelperInterface.h"
+
+#include "RtAudio.h"
+#include "b3AudioListener.h"
+#include "b3SoundSource.h"
+
+class TinyAudioExample : public CommonExampleInterface
+{
+	b3AudioListener m_listener;
+	b3SoundSource m_soundA;
+	RtAudio m_dac;
+	GUIHelperInterface* m_guiHelper;
+	int m_soundIndexA;
+
+public:
+	TinyAudioExample(struct GUIHelperInterface* helper)
+		:m_guiHelper(helper)
+	{
+	}
+	
+	virtual ~TinyAudioExample()
+	{
+	}
+
+	virtual void initPhysics()
+	{
+		m_soundIndexA = m_listener.addSoundSource(&m_soundA);
+		RtAudioFormat format = ( sizeof(double) == 8 ) ? RTAUDIO_FLOAT64 : RTAUDIO_FLOAT32;
+		RtAudio::StreamParameters parameters;
+		parameters.deviceId = 1;// dac.getDefaultOutputDevice();
+		parameters.nChannels = 2;
+
+		// The default real-time audio input and output buffer size.  If
+		// clicks are occuring in the input and/or output sound stream, a
+		// larger buffer size may help.  Larger buffer sizes, however, produce
+		// more latency.
+		const unsigned int RT_BUFFER_SIZE = 512;
+
+		unsigned int bufferFrames = RT_BUFFER_SIZE;
+		int sampleRate = m_listener.getSampleRate();
+
+		m_dac.openStream( &parameters, NULL, format, (unsigned int)sampleRate, &bufferFrames, &b3AudioListener::tick,
+		(void *)m_listener.getTickData());
+
+		// Install an interrupt handler function.
+		//	(void) signal( SIGINT, finish );
+
+		m_dac.startStream();
+
+	}  
+	
+	virtual void exitPhysics()
+	{
+		m_dac.closeStream();
+		m_listener.removeSoundSource(m_soundIndexA);
+	}
+
+	virtual void renderScene()
+	{
+	}
+	
+	virtual void	stepSimulation(float deltaTime)
+	{
+	}
+
+	virtual void	physicsDebugDraw(int debugFlags)
+	{
+	}
+	virtual bool	mouseMoveCallback(float x,float y)
+	{
+		return false;
+	}
+	virtual bool	mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return false;
+	}
+	virtual bool	keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
+	void resetCamera()
+	{
+		float dist = 4;
+		float pitch = 52;
+		float yaw = 35;
+		float targetPos[3]={0,0,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+
+};
+
+CommonExampleInterface*    TinyAudioExampleCreateFunc(CommonExampleOptions& options)
+{
+	return new TinyAudioExample(options.m_guiHelper);
+
+}
+
+
+B3_STANDALONE_EXAMPLE(TinyAudioExampleCreateFunc)

examples/TinyAudio/TinyAudioExample.h

@@ -0,0 +1,7 @@
+
+#ifndef TINY_AUDIO_EXAMPLE_H
+#define TINY_AUDIO_EXAMPLE_H
+
+class CommonExampleInterface*    TinyAudioExampleCreateFunc(struct CommonExampleOptions& options);
+
+#endif //TINY_AUDIO_EXAMPLE_H

examples/TinyAudio/b3AudioListener.cpp

@@ -0,0 +1,132 @@
+#include "b3AudioListener.h"
+#include "b3SoundSource.h"
+
+template <class T>
+inline const T& MyMin(const T& a, const T& b) 
+{
+  return a < b ? a : b ;
+}
+#define MAX_SOUND_SOURCES 128
+
+struct b3AudioListenerInternalData
+{
+	int m_numControlTicks;
+	double m_sampleRate;
+
+	b3SoundSource* m_soundSources[MAX_SOUND_SOURCES];
+
+	b3AudioListenerInternalData()
+		:m_numControlTicks(64),
+		m_sampleRate(48000)
+	{
+		for (int i=0;i<MAX_SOUND_SOURCES;i++)
+		{
+			m_soundSources[i] = 0;
+		}
+	}
+};
+
+b3AudioListener::b3AudioListener()
+{
+	m_data = new b3AudioListenerInternalData();
+}
+
+b3AudioListener::~b3AudioListener()
+{
+	delete m_data;
+}
+
+int b3AudioListener::addSoundSource(b3SoundSource* source)
+{
+	int soundIndex = -1;
+
+	for (int i=0;i<MAX_SOUND_SOURCES;i++)
+	{
+		if (m_data->m_soundSources[i]==0)
+		{
+			m_data->m_soundSources[i] = source;
+			soundIndex = i;
+			break;
+		}
+	}
+	return soundIndex;
+}
+
+void b3AudioListener::removeSoundSource(int soundSourceIndex)
+{
+	if (soundSourceIndex >=0 && soundSourceIndex<MAX_SOUND_SOURCES)
+	{
+		m_data->m_soundSources[soundSourceIndex] = 0;
+	}
+}
+
+b3AudioListenerInternalData* b3AudioListener::getTickData()
+{
+	return m_data;
+}
+
+const b3AudioListenerInternalData* b3AudioListener::getTickData() const
+{
+	return m_data;
+}
+
+double b3AudioListener::getSampleRate() const
+{
+	return m_data->m_sampleRate;
+}
+
+
+
+int b3AudioListener::tick(void *outputBuffer,void *inputBuffer1,unsigned int nBufferFrames,
+	double streamTime,unsigned int status,void *dataPointer)
+{
+	b3AudioListenerInternalData *data = (b3AudioListenerInternalData *)dataPointer;
+	register double outs[2],*samples = (double *)outputBuffer;
+	register double tempOuts[2];
+	int counter,nTicks = (int)nBufferFrames;
+	bool done = false;
+
+	while(nTicks > 0 && !done)
+	{
+		counter = MyMin(nTicks,data->m_numControlTicks);
+		bool newsynth = true;
+		if(newsynth) 
+		{
+			for(int i = 0; i < counter; i++) 
+			{
+				outs[0] = 0.;
+				outs[1] = 0.;
+				//make_sound_double(outs,1);
+					float numActiveSources = 0;
+
+					for (int i=0;i<MAX_SOUND_SOURCES;i++)
+					{
+						if (data->m_soundSources[i])
+						{
+							if (data->m_soundSources[i]->computeSamples(tempOuts,1, data->m_sampleRate))
+							{
+								numActiveSources++;
+								//simple mixer
+								outs[0] += tempOuts[0];
+								outs[1] += tempOuts[1];
+							}
+						}
+					}
+
+					//simple mixer
+					if (numActiveSources)
+					{
+						outs[0] *= 1./numActiveSources;
+						outs[1] *= 1./numActiveSources;
+					}
+		
+				*samples++ = outs[0];
+				*samples++ = outs[1];
+			}
+			nTicks -= counter;
+		}
+		if(nTicks == 0) 
+			break;
+	}
+	return 0;
+}

examples/TinyAudio/b3AudioListener.h

@@ -0,0 +1,28 @@
+#ifndef B3_AUDIO_LISTENER_H
+#define B3_AUDIO_LISTENER_H
+
+class b3SoundSource;
+
+
+class b3AudioListener
+{
+	struct b3AudioListenerInternalData* m_data;
+
+public:
+	b3AudioListener();
+	virtual ~b3AudioListener();
+	
+	static int tick(void *outputBuffer, void *inputBuffer1, unsigned int nBufferFrames,
+         double streamTime, unsigned int status, void *dataPointer);
+
+	int addSoundSource(b3SoundSource* source);
+	void removeSoundSource(int soundSourceIndex);
+
+	b3AudioListenerInternalData* getTickData();
+	const b3AudioListenerInternalData* getTickData() const;
+
+	double getSampleRate() const;
+
+};         	
+
+#endif //B3_AUDIO_LISTENER_H

examples/TinyAudio/b3SoundSource.cpp

@@ -0,0 +1,66 @@
+#include "b3SoundSource.h"
+
+#define MY2PI (2.*3.14159265)
+#include <math.h>
+
+struct b3SoundOscillator
+{
+	int m_type;
+	double m_amplitude;
+	double m_phase;
+	double m_frequency;
+
+	double sampleWaveForm(double sampleRate)
+	{
+		while (m_phase >= MY2PI)
+			m_phase -= MY2PI;
+
+		double z = sinf(m_phase);
+		double sample = m_amplitude*z;
+
+		m_phase += MY2PI * (1./sampleRate) * m_frequency;
+		return sample;
+	}
+
+	b3SoundOscillator()
+		:m_phase(0),
+		m_amplitude(0.8),
+		m_frequency(442.)
+	{
+
+	}
+};
+
+struct b3SoundSourceInternalData
+{
+	b3SoundOscillator m_oscillator;
+};
+
+b3SoundSource::b3SoundSource()
+{
+	m_data = new b3SoundSourceInternalData();
+}
+
+b3SoundSource::~b3SoundSource()
+{
+	delete m_data;
+}
+
+bool b3SoundSource::computeSamples(double* sampleBuffer, int numSamples, double sampleRate)
+{
+	double* outputSamples = sampleBuffer;
+
+	for (int i=0;i<numSamples;i++)
+	{
+		double sample = m_data->m_oscillator.sampleWaveForm(sampleRate);
+		double sampleLeft = sample;
+		double sampleRight = sample;
+
+		*outputSamples++ = sampleLeft;
+		*outputSamples++ = sampleRight;
+
+	}
+
+	return true;
+//	return false;
+}

examples/TinyAudio/b3SoundSource.h

@@ -0,0 +1,16 @@
+#ifndef B3_SOUND_SOURCE_H
+#define B3_SOUND_SOURCE_H
+
+class b3SoundSource
+{
+	struct b3SoundSourceInternalData* m_data;
+
+public:
+
+	b3SoundSource();
+	virtual ~b3SoundSource();
+	
+	virtual bool computeSamples(double *sampleBuffer, int numSamples, double sampleRate);
+};
+
+#endif //B3_SOUND_SOURCE_H

examples/TinyAudio/premake4.lua

@@ -0,0 +1,38 @@
+	
+		project "App_TinyAudioExample"
+
+		language "C++"
+				
+		kind "ConsoleApp"
+
+  	includedirs {
+                ".",
+                "../../src",
+                }
+			
+		defines {"B3_USE_STANDALONE_EXAMPLE", "__STK_REALTIME__"}	
+		files {
+		"**.cpp",
+		"**.h",
+		"../StandaloneMain/main_console_single_example.cpp",
+		}
+
+		if os.is("Windows") then
+			links {"winmm","Wsock32","dsound"}
+			defines {"WIN32","__WINDOWS_MM__","__LITTLE_ENDIAN__","__WINDOWS_DS__"}
+		end
+
+		
+if os.is("Linux") then initX11() 
+                defines  {"__OS_LINUX__","__LINUX_ALSA__","__LITTLE_ENDIAN__"}
+	links {"asound","pthread"}
+end
+
+
+if os.is("MacOSX") then
+	links{"Cocoa.framework"}
+	links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
+
+	defines {"__OS_MACOSX__","__LITTLE_ENDIAN__"}
+end
+

examples/TinyRenderer/TinyRenderer.cpp

@@ -424,6 +424,16 @@ static void clipEdge(const mat<4,3,float>& triangleIn, int vertexIndexA, int ver
 
 static bool clipTriangleAgainstNearplane(const mat<4,3,float>& triangleIn, b3AlignedObjectArray<mat<4,3,float> >& clippedTrianglesOut)
 {
+
+
+	float orientation = (triangleIn[0][1] - triangleIn[0][0]) * (triangleIn[1][2] - triangleIn[1][0]) 
+	- (triangleIn[1][1] - triangleIn[1][0]) * (triangleIn[0][2] - triangleIn[0][0]);
+	
+	if (orientation < 0.0) 
+	{
+		return true;
+	}
+
 	//discard triangle if all vertices are behind near-plane
 	if (triangleIn[3][0]<0 && triangleIn[3][1] <0 && triangleIn[3][2] <0)
 	{

setup.py

@@ -21,10 +21,26 @@ CXX_FLAGS += '-DGWEN_COMPILE_STATIC '
 CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
 CXX_FLAGS += '-DBT_ENABLE_ENET '
 CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
+CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
+
+
 
 # libraries += [current_python]
 
 libraries = []
+include_dirs = []
+
+try:
+    import numpy
+    NP_DIRS = [numpy.get_include()]
+except:
+	  print("numpy is disabled. getCameraImage maybe slower.")
+else:
+	  print("numpy is enabled.")
+	  CXX_FLAGS += '-DPYBULLET_USE_NUMPY '
+	  for d in NP_DIRS:
+	    print("numpy_include_dirs = %s" % d)
+	  include_dirs += NP_DIRS
 
 sources = ["examples/pybullet/pybullet.c"]\
 +["examples/ExampleBrowser/InProcessExampleBrowser.cpp"]\
@@ -365,20 +381,18 @@ if _platform == "linux" or _platform == "linux2":
     CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
     CXX_FLAGS += '-DHAS_SOCKLEN_T '
     CXX_FLAGS += '-fno-inline-functions-called-once'
-    sources = ["examples/ThirdPartyLibs/enet/unix.c"]\
+    sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
     +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
-    +["examples/ThirdPartyLibs/Glew/glew.c"]\
-    + sources
+    +["examples/ThirdPartyLibs/Glew/glew.c"]
 elif _platform == "win32":
     print("win32!")
     libraries = ['Ws2_32','Winmm','User32','Opengl32','kernel32','glu32','Gdi32','Comdlg32']
     CXX_FLAGS += '-DWIN32 '
     CXX_FLAGS += '-DGLEW_STATIC '
-    sources = ["examples/ThirdPartyLibs/enet/win32.c"]\
+    sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
     +["examples/OpenGLWindow/Win32Window.cpp"]\
     +["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]\
-    +["examples/ThirdPartyLibs/Glew/glew.c"]\
-    +sources
+    +["examples/ThirdPartyLibs/Glew/glew.c"]
 elif _platform == "darwin":
     print("darwin!")
     os.environ['LDFLAGS'] = '-framework Cocoa -framework OpenGL'
@@ -404,7 +418,7 @@ setup(
 	sources =  sources,
 	libraries = libraries,
 	extra_compile_args=CXX_FLAGS.split(),
-	include_dirs = ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/Glew", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
+	include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/Glew", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
      ) ],
      classifiers=['Development Status :: 4 - Beta',
                    'License :: OSI Approved :: zlib/libpng License',