mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
352 lines
9.5 KiB
C++
352 lines
9.5 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifdef WIN32 //needed for glut.h
|
|
#include <windows.h>
|
|
#endif
|
|
|
|
//think different
|
|
#if defined(__APPLE__) && !defined (VMDMESA)
|
|
#include <OpenGL/gl.h>
|
|
#include <OpenGL/glu.h>
|
|
#include <GLUT/glut.h>
|
|
#else
|
|
#include <GL/glut.h>
|
|
#endif
|
|
|
|
#include "GL_ShapeDrawer.h"
|
|
#include "CollisionShapes/PolyhedralConvexShape.h"
|
|
#include "CollisionShapes/TriangleMeshShape.h"
|
|
#include "CollisionShapes/BoxShape.h"
|
|
#include "CollisionShapes/SphereShape.h"
|
|
#include "CollisionShapes/ConeShape.h"
|
|
#include "CollisionShapes/CylinderShape.h"
|
|
#include "CollisionShapes/Simplex1to4Shape.h"
|
|
#include "CollisionShapes/CompoundShape.h"
|
|
|
|
#include "CollisionShapes/ConvexTriangleMeshShape.h"
|
|
|
|
|
|
#include "IDebugDraw.h"
|
|
//for debugmodes
|
|
#include "BMF_Api.h"
|
|
#include <stdio.h> //printf debugging
|
|
|
|
void GL_ShapeDrawer::DrawCoordSystem() {
|
|
glBegin(GL_LINES);
|
|
glColor3f(1, 0, 0);
|
|
glVertex3d(0, 0, 0);
|
|
glVertex3d(1, 0, 0);
|
|
glColor3f(0, 1, 0);
|
|
glVertex3d(0, 0, 0);
|
|
glVertex3d(0, 1, 0);
|
|
glColor3f(0, 0, 1);
|
|
glVertex3d(0, 0, 0);
|
|
glVertex3d(0, 0, 1);
|
|
glEnd();
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
class GlDrawcallback : public TriangleCallback
|
|
{
|
|
public:
|
|
|
|
virtual void ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
|
|
{
|
|
glBegin(GL_LINES);
|
|
glColor3f(1, 0, 0);
|
|
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
|
|
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
|
|
glColor3f(0, 1, 0);
|
|
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
|
|
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
|
|
glColor3f(0, 0, 1);
|
|
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
|
|
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
|
|
glEnd();
|
|
|
|
}
|
|
};
|
|
|
|
class TriangleGlDrawcallback : public InternalTriangleIndexCallback
|
|
{
|
|
public:
|
|
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
|
|
{
|
|
glBegin(GL_TRIANGLES);//LINES);
|
|
glColor3f(1, 0, 0);
|
|
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
|
|
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
|
|
glColor3f(0, 1, 0);
|
|
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
|
|
glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
|
|
glColor3f(0, 0, 1);
|
|
glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
|
|
glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
|
|
glEnd();
|
|
}
|
|
};
|
|
|
|
|
|
void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const SimdVector3& color,int debugMode)
|
|
{
|
|
|
|
|
|
glPushMatrix();
|
|
glMultMatrixf(m);
|
|
|
|
if (shape->GetShapeType() == COMPOUND_SHAPE_PROXYTYPE)
|
|
{
|
|
const CompoundShape* compoundShape = static_cast<const CompoundShape*>(shape);
|
|
for (int i=compoundShape->GetNumChildShapes()-1;i>=0;i--)
|
|
{
|
|
SimdTransform childTrans = compoundShape->GetChildTransform(i);
|
|
const CollisionShape* colShape = compoundShape->GetChildShape(i);
|
|
float childMat[16];
|
|
childTrans.getOpenGLMatrix(childMat);
|
|
DrawOpenGL(childMat,colShape,color,debugMode);
|
|
}
|
|
|
|
} else
|
|
{
|
|
//DrawCoordSystem();
|
|
|
|
//glPushMatrix();
|
|
glEnable(GL_COLOR_MATERIAL);
|
|
glColor3f(color.x(),color.y(), color.z());
|
|
|
|
|
|
|
|
bool useWireframeFallback = true;
|
|
|
|
if (!(debugMode & IDebugDraw::DBG_DrawWireframe))
|
|
{
|
|
switch (shape->GetShapeType())
|
|
{
|
|
case BOX_SHAPE_PROXYTYPE:
|
|
{
|
|
const BoxShape* boxShape = static_cast<const BoxShape*>(shape);
|
|
SimdVector3 halfExtent = boxShape->GetHalfExtents();
|
|
glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
|
|
glutSolidCube(1.0);
|
|
useWireframeFallback = false;
|
|
break;
|
|
}
|
|
case TRIANGLE_SHAPE_PROXYTYPE:
|
|
case TETRAHEDRAL_SHAPE_PROXYTYPE:
|
|
{
|
|
const BU_Simplex1to4* tetra = static_cast<const BU_Simplex1to4*>(shape);
|
|
//todo:
|
|
// useWireframeFallback = false;
|
|
break;
|
|
}
|
|
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
|
break;
|
|
case SPHERE_SHAPE_PROXYTYPE:
|
|
{
|
|
const SphereShape* sphereShape = static_cast<const SphereShape*>(shape);
|
|
float radius = sphereShape->GetMargin();//radius doesn't include the margin, so draw with margin
|
|
glutSolidSphere(radius,10,10);
|
|
useWireframeFallback = false;
|
|
break;
|
|
}
|
|
case MULTI_SPHERE_SHAPE_PROXYTYPE:
|
|
case CONE_SHAPE_PROXYTYPE:
|
|
{
|
|
const ConeShape* coneShape = static_cast<const ConeShape*>(shape);
|
|
float radius = coneShape->GetRadius();//+coneShape->GetMargin();
|
|
float height = coneShape->GetHeight();//+coneShape->GetMargin();
|
|
//glRotatef(-90.0, 1.0, 0.0, 0.0);
|
|
glTranslatef(0.0, 0.0, -0.5*height);
|
|
glutSolidCone(radius,height,10,10);
|
|
useWireframeFallback = false;
|
|
break;
|
|
|
|
}
|
|
case CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
|
|
{
|
|
useWireframeFallback = false;
|
|
break;
|
|
}
|
|
|
|
case CONVEX_SHAPE_PROXYTYPE:
|
|
case CYLINDER_SHAPE_PROXYTYPE:
|
|
{
|
|
const CylinderShape* cylinder = static_cast<const CylinderShape*>(shape);
|
|
int upAxis = cylinder->GetUpAxis();
|
|
|
|
GLUquadricObj *quadObj = gluNewQuadric();
|
|
float radius = cylinder->GetRadius();
|
|
float halfHeight = cylinder->GetHalfExtents()[upAxis];
|
|
|
|
glPushMatrix();
|
|
switch (upAxis)
|
|
{
|
|
case 0:
|
|
glRotatef(-90.0, 0.0, 1.0, 0.0);
|
|
glTranslatef(0.0, 0.0, -halfHeight);
|
|
break;
|
|
case 1:
|
|
glRotatef(-90.0, 1.0, 0.0, 0.0);
|
|
glTranslatef(0.0, 0.0, -halfHeight);
|
|
break;
|
|
case 2:
|
|
|
|
glTranslatef(0.0, 0.0, -halfHeight);
|
|
break;
|
|
default:
|
|
{
|
|
assert(0);
|
|
}
|
|
|
|
}
|
|
|
|
//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
|
|
//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
|
|
//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
|
|
|
|
gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
|
|
gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
|
|
|
|
|
|
gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
|
|
glPopMatrix();
|
|
glEndList();
|
|
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
}
|
|
|
|
};
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (useWireframeFallback)
|
|
{
|
|
/// for polyhedral shapes
|
|
if (shape->IsPolyhedral())
|
|
{
|
|
PolyhedralConvexShape* polyshape = (PolyhedralConvexShape*) shape;
|
|
|
|
|
|
glBegin(GL_LINES);
|
|
|
|
|
|
int i;
|
|
for (i=0;i<polyshape->GetNumEdges();i++)
|
|
{
|
|
SimdPoint3 a,b;
|
|
polyshape->GetEdge(i,a,b);
|
|
|
|
glVertex3f(a.getX(),a.getY(),a.getZ());
|
|
glVertex3f(b.getX(),b.getY(),b.getZ());
|
|
|
|
|
|
}
|
|
glEnd();
|
|
|
|
|
|
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
|
|
{
|
|
glRasterPos3f(0.0, 0.0, 0.0);
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->GetExtraDebugInfo());
|
|
|
|
glColor3f(1.f, 1.f, 1.f);
|
|
for (i=0;i<polyshape->GetNumVertices();i++)
|
|
{
|
|
SimdPoint3 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++)
|
|
{
|
|
SimdVector3 normal;
|
|
SimdPoint3 vtx;
|
|
polyshape->GetPlane(normal,vtx,i);
|
|
SimdScalar 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);
|
|
|
|
}
|
|
}
|
|
|
|
|
|
}
|
|
}
|
|
|
|
if (shape->GetShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
TriangleMeshShape* concaveMesh = (TriangleMeshShape*) shape;
|
|
//SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
|
//SimdVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
|
|
|
|
//todo pass camera, for some culling
|
|
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
|
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
|
|
|
|
GlDrawcallback drawCallback;
|
|
|
|
concaveMesh->ProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
|
|
|
|
|
|
}
|
|
|
|
if (shape->GetShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
|
|
{
|
|
ConvexTriangleMeshShape* convexMesh = (ConvexTriangleMeshShape*) shape;
|
|
|
|
//todo: pass camera for some culling
|
|
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
|
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
|
|
TriangleGlDrawcallback drawCallback;
|
|
convexMesh->GetStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
|
|
|
|
}
|
|
|
|
/*glDisable(GL_DEPTH_BUFFER_BIT);
|
|
if (debugMode==IDebugDraw::DBG_DrawText)
|
|
{
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetName());
|
|
}
|
|
|
|
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
|
|
{
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
|
|
}
|
|
glEnable(GL_DEPTH_BUFFER_BIT);
|
|
*/
|
|
|
|
// glPopMatrix();
|
|
}
|
|
glPopMatrix();
|
|
|
|
}
|