mirror of
https://github.com/bulletphysics/bullet3
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ab8f16961e
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
280 lines
8.3 KiB
C++
280 lines
8.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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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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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btHashMap.h"
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#include "../TinyRenderer/TinyRenderer.h"
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#include "../OpenGLWindow/SimpleOpenGL3App.h"
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#include <stdio.h>
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#include "../ExampleBrowser/OpenGLGuiHelper.h"
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class SW_And_OpenGLGuiHelper : public OpenGLGuiHelper
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{
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btHashMap<btHashInt, TinyRenderObjectData*> m_swRenderObjects;
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btHashMap<btHashInt, int> m_swInstances;
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int m_swWidth;
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int m_swHeight;
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TGAImage m_rgbColorBuffer;
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b3AlignedObjectArray<float> m_depthBuffer;
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int m_textureHandle;
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unsigned char* m_image;
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GLPrimitiveRenderer* m_primRenderer;
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public:
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SW_And_OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2, int swWidth, int swHeight, GLPrimitiveRenderer* primRenderer)
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: OpenGLGuiHelper(glApp, useOpenGL2),
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m_swWidth(swWidth),
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m_swHeight(swHeight),
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m_rgbColorBuffer(swWidth, swHeight, TGAImage::RGB),
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m_primRenderer(primRenderer)
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{
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m_depthBuffer.resize(swWidth * swHeight);
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CommonRenderInterface* render = getRenderInterface();
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m_image = new unsigned char[m_swWidth * m_swHeight * 4];
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m_textureHandle = render->registerTexture(m_image, m_swWidth, m_swHeight);
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}
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void clearBuffers(TGAColor& clearColor)
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{
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for (int y = 0; y < m_swHeight; ++y)
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{
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for (int x = 0; x < m_swWidth; ++x)
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{
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m_rgbColorBuffer.set(x, y, clearColor);
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m_depthBuffer[x + y * m_swWidth] = -1e30f;
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}
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}
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}
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const TGAImage& getFrameBuffer() const
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{
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return m_rgbColorBuffer;
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}
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virtual ~SW_And_OpenGLGuiHelper()
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{
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for (int i = 0; i < m_swRenderObjects.size(); i++)
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{
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TinyRenderObjectData** d = m_swRenderObjects[i];
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if (d && *d)
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{
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delete *d;
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}
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}
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}
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj, const btVector3& color)
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{
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OpenGLGuiHelper::createCollisionObjectGraphicsObject(obj, color);
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int colIndex = obj->getUserIndex();
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int shapeIndex = obj->getCollisionShape()->getUserIndex();
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if (colIndex >= 0 && shapeIndex >= 0)
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{
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m_swInstances.insert(colIndex, shapeIndex);
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}
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}
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virtual int registerTexture(const unsigned char* texels, int width, int height)
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{
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return -1;
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}
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
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{
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int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices, numvertices, indices, numIndices, primitiveType, textureId);
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if (shapeIndex >= 0)
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{
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TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer, m_depthBuffer);
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float rgbaColor[4] = {1, 1, 1, 1};
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swObj->registerMeshShape(vertices, numvertices, indices, numIndices, rgbaColor);
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//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
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m_swRenderObjects.insert(shapeIndex, swObj);
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}
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return shapeIndex;
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}
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
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{
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int instanceId = OpenGLGuiHelper::registerGraphicsInstance(shapeIndex, position, quaternion, color, scaling);
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return instanceId;
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}
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
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{
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OpenGLGuiHelper::createCollisionShapeGraphicsObject(collisionShape);
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}
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
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{
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OpenGLGuiHelper::syncPhysicsToGraphics(rbWorld);
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}
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virtual void render(const btDiscreteDynamicsWorld* rbWorld)
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{
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OpenGLGuiHelper::render(rbWorld);
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//clear the color buffer
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TGAColor clearColor;
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clearColor.bgra[0] = 255;
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clearColor.bgra[1] = 255;
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clearColor.bgra[2] = 255;
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clearColor.bgra[3] = 255;
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clearBuffers(clearColor);
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ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
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ATTRIBUTE_ALIGNED16(float viewMat[16]);
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ATTRIBUTE_ALIGNED16(float projMat[16]);
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CommonRenderInterface* render = getRenderInterface();
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render->getActiveCamera()->getCameraProjectionMatrix(projMat);
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render->getActiveCamera()->getCameraViewMatrix(viewMat);
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btVector3 lightDirWorld(-5, 200, -40);
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switch (1) //app->getUpAxis())
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{
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case 1:
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lightDirWorld = btVector3(-50.f, 100, 30);
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break;
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case 2:
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lightDirWorld = btVector3(-50.f, 30, 100);
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break;
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default:
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{
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}
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};
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lightDirWorld.normalize();
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for (int i = 0; i < rbWorld->getNumCollisionObjects(); i++)
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{
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btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
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int colObjIndex = colObj->getUserIndex();
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int shapeIndex = colObj->getCollisionShape()->getUserIndex();
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if (colObjIndex >= 0 && shapeIndex >= 0)
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{
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TinyRenderObjectData* renderObj = 0;
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int* cptr = m_swInstances[colObjIndex];
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if (cptr)
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{
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int c = *cptr;
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TinyRenderObjectData** sptr = m_swRenderObjects[c];
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if (sptr)
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{
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renderObj = *sptr;
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//sync the object transform
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const btTransform& tr = colObj->getWorldTransform();
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tr.getOpenGLMatrix(modelMat);
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for (int i = 0; i < 4; i++)
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{
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for (int j = 0; j < 4; j++)
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{
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renderObj->m_projectionMatrix[i][j] = projMat[i + 4 * j];
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renderObj->m_modelMatrix[i][j] = modelMat[i + 4 * j];
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renderObj->m_viewMatrix[i][j] = viewMat[i + 4 * j];
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}
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}
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renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
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renderObj->m_lightDirWorld = lightDirWorld;
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renderObj->m_lightAmbientCoeff = 0.6;
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renderObj->m_lightDiffuseCoeff = 0.35;
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renderObj->m_lightSpecularCoeff = 0.05;
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TinyRenderer::renderObject(*renderObj);
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}
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}
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}
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}
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for (int y = 0; y < m_swHeight; ++y)
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{
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unsigned char* pi = m_image + (y)*m_swWidth * 3;
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for (int x = 0; x < m_swWidth; ++x)
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{
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const TGAColor& color = getFrameBuffer().get(x, y);
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pi[0] = color.bgra[2];
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pi[1] = color.bgra[1];
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pi[2] = color.bgra[0];
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pi += 3;
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}
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}
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render->activateTexture(m_textureHandle);
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render->updateTexture(m_textureHandle, m_image);
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static int counter = 0;
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counter++;
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if ((counter & 7) == 0)
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{
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char filename[1024];
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sprintf(filename, "framebuf%d.tga", counter);
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getFrameBuffer().write_tga_file(filename, true);
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}
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float color[4] = {1, 1, 1, 1};
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m_primRenderer->drawTexturedRect(0, 0, m_swWidth, m_swHeight, color, 0, 0, 1, 1, true);
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}
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virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
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{
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OpenGLGuiHelper::autogenerateGraphicsObjects(rbWorld);
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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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SimpleOpenGL3App* app = new SimpleOpenGL3App("Standalone Example (Software Renderer, TinyRenderer)", 1024, 768, true);
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int textureWidth = 640;
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int textureHeight = 480;
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SW_And_OpenGLGuiHelper gui(app, false, textureWidth, textureHeight, app->m_primRenderer);
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CommonExampleOptions options(&gui);
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CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
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example->initPhysics();
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example->resetCamera();
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do
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{
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app->m_instancingRenderer->init();
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app->m_instancingRenderer->updateCamera(app->getUpAxis());
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example->stepSimulation(1. / 60.);
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example->renderScene();
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DrawGridData dg;
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dg.upAxis = app->getUpAxis();
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app->drawGrid(dg);
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app->swapBuffer();
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} while (!app->m_window->requestedExit());
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example->exitPhysics();
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delete example;
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delete app;
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return 0;
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}
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