mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-17 23:11:06 +00:00
525 lines
14 KiB
C++
525 lines
14 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifdef WIN32 //needed for glut.h
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#include <windows.h>
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#endif
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//think different
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#if defined(__APPLE__) && !defined (VMDMESA)
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#endif
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#include "GL_ShapeDrawer.h"
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#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
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#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.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/btTetrahedronShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
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#include "LinearMath/btIDebugDraw.h"
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//for debugmodes
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#include "BMF_Api.h"
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#include <stdio.h> //printf debugging
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//#define USE_DISPLAY_LISTS 1
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#ifdef USE_DISPLAY_LISTS
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#include <map>
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using namespace std;
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//Set for storing Display list per trimesh
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struct TRIMESH_KEY
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{
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btCollisionShape* m_shape;
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GLuint m_dlist;//OpenGL display list
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};
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typedef map<unsigned long,TRIMESH_KEY> TRIMESH_KEY_MAP;
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typedef pair<unsigned long,TRIMESH_KEY> TRIMESH_KEY_PAIR;
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TRIMESH_KEY_MAP g_display_lists;
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class GlDisplaylistDrawcallback : public btTriangleCallback
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{
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public:
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virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
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{
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btVector3 diff1 = triangle[1] - triangle[0];
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btVector3 diff2 = triangle[2] - triangle[0];
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btVector3 normal = diff1.cross(diff2);
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normal.normalize();
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glBegin(GL_TRIANGLES);
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glColor3f(0, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glColor3f(0, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glEnd();
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/*glBegin(GL_LINES);
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glColor3f(1, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(1, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(1, 1, 0);
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glNormal3d(normal.getX(),normal.getY(),normal.getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();*/
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}
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};
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GLuint OGL_get_displaylist_for_shape(btCollisionShape * shape)
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{
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TRIMESH_KEY_MAP::iterator map_iter;
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unsigned long key = (unsigned long)shape;
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map_iter = g_display_lists.find(key);
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if(map_iter!=g_display_lists.end())
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{
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return map_iter->second.m_dlist;
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}
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return 0;
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}
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void OGL_displaylist_clean()
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{
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TRIMESH_KEY_MAP::iterator map_iter,map_itend;
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map_iter = g_display_lists.begin();
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while(map_iter!=map_itend)
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{
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glDeleteLists(map_iter->second.m_dlist,1);
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map_iter++;
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}
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g_display_lists.clear();
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}
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void OGL_displaylist_register_shape(btCollisionShape * shape)
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{
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btVector3 aabbMax(1e30f,1e30f,1e30f);
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btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
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GlDisplaylistDrawcallback drawCallback;
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TRIMESH_KEY dlist;
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dlist.m_dlist = glGenLists(1);
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dlist.m_shape = shape;
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unsigned long key = (unsigned long)shape;
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g_display_lists.insert(TRIMESH_KEY_PAIR(key,dlist));
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glNewList(dlist.m_dlist,GL_COMPILE);
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glEnable(GL_CULL_FACE);
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glCullFace(GL_BACK);
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if (shape->isConcave())
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{
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ConcaveShape* concaveMesh = (ConcaveShape*) shape;
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//todo pass camera, for some culling
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concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
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}
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glDisable(GL_CULL_FACE);
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glEndList();
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}
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#endif //USE_DISPLAY_LISTS
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void GL_ShapeDrawer::drawCoordSystem() {
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glBegin(GL_LINES);
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glColor3f(1, 0, 0);
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glVertex3d(0, 0, 0);
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glVertex3d(1, 0, 0);
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glColor3f(0, 1, 0);
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glVertex3d(0, 0, 0);
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glVertex3d(0, 1, 0);
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glColor3f(0, 0, 1);
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glVertex3d(0, 0, 0);
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glVertex3d(0, 0, 1);
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glEnd();
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}
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class GlDrawcallback : public btTriangleCallback
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{
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public:
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bool m_wireframe;
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GlDrawcallback()
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:m_wireframe(false)
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{
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}
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virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
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{
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if (m_wireframe)
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{
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glBegin(GL_LINES);
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glColor3f(1, 0, 0);
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 1, 0);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 0, 1);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();
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} else
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{
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glBegin(GL_TRIANGLES);
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glColor3f(1, 0, 0);
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glColor3f(0, 1, 0);
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 0, 1);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glEnd();
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}
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}
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};
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class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
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{
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public:
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virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
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{
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glBegin(GL_TRIANGLES);//LINES);
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glColor3f(1, 0, 0);
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 1, 0);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ());
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glColor3f(0, 0, 1);
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glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ());
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glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ());
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glEnd();
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}
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};
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void GL_ShapeDrawer::drawOpenGL(float* m, const btCollisionShape* shape, const btVector3& color,int debugMode)
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{
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glPushMatrix();
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glMultMatrixf(m);
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if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
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{
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
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for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
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{
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btTransform childTrans = compoundShape->getChildTransform(i);
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const btCollisionShape* colShape = compoundShape->getChildShape(i);
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float childMat[16];
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childTrans.getOpenGLMatrix(childMat);
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drawOpenGL(childMat,colShape,color,debugMode);
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}
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} else
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{
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//drawCoordSystem();
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//glPushMatrix();
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glEnable(GL_COLOR_MATERIAL);
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glColor3f(color.x(),color.y(), color.z());
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bool useWireframeFallback = true;
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if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
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{
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switch (shape->getShapeType())
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{
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case BOX_SHAPE_PROXYTYPE:
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{
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const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
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btVector3 halfExtent = boxShape->getHalfExtents();
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glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
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glutSolidCube(1.0);
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useWireframeFallback = false;
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break;
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}
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case TRIANGLE_SHAPE_PROXYTYPE:
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case TETRAHEDRAL_SHAPE_PROXYTYPE:
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{
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//todo:
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// useWireframeFallback = false;
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break;
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}
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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break;
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case SPHERE_SHAPE_PROXYTYPE:
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{
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const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
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float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
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glutSolidSphere(radius,10,10);
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useWireframeFallback = false;
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break;
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}
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case MULTI_SPHERE_SHAPE_PROXYTYPE:
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case CONE_SHAPE_PROXYTYPE:
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{
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const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
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float radius = coneShape->getRadius();//+coneShape->getMargin();
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float height = coneShape->getHeight();//+coneShape->getMargin();
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//glRotatef(-90.0, 1.0, 0.0, 0.0);
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glTranslatef(0.0, 0.0, -0.5*height);
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glutSolidCone(radius,height,10,10);
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useWireframeFallback = false;
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break;
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}
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case CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
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{
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useWireframeFallback = false;
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break;
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}
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case CONVEX_SHAPE_PROXYTYPE:
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
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int upAxis = cylinder->getUpAxis();
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GLUquadricObj *quadObj = gluNewQuadric();
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float radius = cylinder->getRadius();
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float halfHeight = cylinder->getHalfExtents()[upAxis];
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glPushMatrix();
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switch (upAxis)
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{
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case 0:
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glRotatef(-90.0, 0.0, 1.0, 0.0);
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glTranslatef(0.0, 0.0, -halfHeight);
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break;
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case 1:
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glRotatef(-90.0, 1.0, 0.0, 0.0);
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glTranslatef(0.0, 0.0, -halfHeight);
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break;
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case 2:
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glTranslatef(0.0, 0.0, -halfHeight);
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break;
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default:
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{
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assert(0);
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}
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}
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//The gluCylinder subroutine draws a cylinder that is oriented along the z axis.
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//The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height.
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//Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks.
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gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
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gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
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gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
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glPopMatrix();
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gluDeleteQuadric(quadObj);
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break;
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}
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default:
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{
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}
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};
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}
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if (useWireframeFallback)
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{
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/// for polyhedral shapes
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if (shape->isPolyhedral())
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{
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btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
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glBegin(GL_LINES);
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int i;
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for (i=0;i<polyshape->getNumEdges();i++)
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{
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btPoint3 a,b;
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polyshape->getEdge(i,a,b);
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glVertex3f(a.getX(),a.getY(),a.getZ());
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glVertex3f(b.getX(),b.getY(),b.getZ());
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}
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glEnd();
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if (debugMode==btIDebugDraw::DBG_DrawFeaturesText)
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{
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glRasterPos3f(0.0, 0.0, 0.0);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo());
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glColor3f(1.f, 1.f, 1.f);
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for (i=0;i<polyshape->getNumVertices();i++)
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{
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btPoint3 vtx;
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polyshape->getVertex(i,vtx);
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glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
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char buf[12];
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sprintf(buf," %d",i);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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}
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for (i=0;i<polyshape->getNumPlanes();i++)
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{
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btVector3 normal;
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btPoint3 vtx;
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polyshape->getPlane(normal,vtx,i);
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btScalar d = vtx.dot(normal);
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glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
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char buf[12];
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sprintf(buf," plane %d",i);
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BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
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}
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}
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}
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}
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#ifdef USE_DISPLAY_LISTS
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if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
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{
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GLuint dlist = OGL_get_displaylist_for_shape((btCollisionShape * )shape);
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if (dlist)
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{
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glCallList(dlist);
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}
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else
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{
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#else
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if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
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// if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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ConcaveShape* concaveMesh = (btTriangleMeshShape*) shape;
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//btVector3 aabbMax(1e30f,1e30f,1e30f);
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//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
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//todo pass camera, for some culling
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btVector3 aabbMax(1e30f,1e30f,1e30f);
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btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
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GlDrawcallback drawCallback;
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drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0;
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concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
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}
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#endif
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#ifdef USE_DISPLAY_LISTS
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}
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}
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#endif
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if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
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{
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btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
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//todo: pass camera for some culling
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btVector3 aabbMax(1e30f,1e30f,1e30f);
|
|
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
|
|
TriangleGlDrawcallback drawCallback;
|
|
convexMesh->getStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
|
|
|
|
}
|
|
|
|
|
|
glDisable(GL_DEPTH_BUFFER_BIT);
|
|
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
|
|
if (debugMode&btIDebugDraw::DBG_DrawText)
|
|
{
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getName());
|
|
}
|
|
|
|
if (debugMode& btIDebugDraw::DBG_DrawFeaturesText)
|
|
{
|
|
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo());
|
|
}
|
|
glEnable(GL_DEPTH_BUFFER_BIT);
|
|
|
|
// glPopMatrix();
|
|
}
|
|
glPopMatrix();
|
|
|
|
}
|