mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
1352 lines
42 KiB
C++
1352 lines
42 KiB
C++
#include "OpenGLGuiHelper.h"
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#include "btBulletDynamicsCommon.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "Bullet3Common/b3Scalar.h"
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#include "CollisionShape2TriangleMesh.h"
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#include "BulletSoftBody/btSoftBodyHelpers.h"
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#include "../OpenGLWindow/ShapeData.h"
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#include "../OpenGLWindow/SimpleCamera.h"
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#define BT_LINE_BATCH_SIZE 512
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struct MyDebugVec3
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{
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MyDebugVec3(const btVector3& org)
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:x(org.x()),
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y(org.y()),
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z(org.z())
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{
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}
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float x;
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float y;
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float z;
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};
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ATTRIBUTE_ALIGNED16( class )MyDebugDrawer : public btIDebugDraw
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{
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CommonGraphicsApp* m_glApp;
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int m_debugMode;
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btAlignedObjectArray<MyDebugVec3> m_linePoints;
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btAlignedObjectArray<unsigned int> m_lineIndices;
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btVector3 m_currentLineColor;
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DefaultColors m_ourColors;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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MyDebugDrawer(CommonGraphicsApp* app)
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: m_glApp(app)
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,m_debugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb),
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m_currentLineColor(-1,-1,-1)
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{
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}
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virtual ~MyDebugDrawer()
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{
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}
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virtual DefaultColors getDefaultColors() const
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{
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return m_ourColors;
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}
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///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
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virtual void setDefaultColors(const DefaultColors& colors)
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{
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m_ourColors = colors;
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}
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virtual void drawLine(const btVector3& from1,const btVector3& to1,const btVector3& color1)
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{
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//float from[4] = {from1[0],from1[1],from1[2],from1[3]};
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//float to[4] = {to1[0],to1[1],to1[2],to1[3]};
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//float color[4] = {color1[0],color1[1],color1[2],color1[3]};
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//m_glApp->m_instancingRenderer->drawLine(from,to,color);
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if (m_currentLineColor!=color1 || m_linePoints.size() >= BT_LINE_BATCH_SIZE)
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{
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flushLines();
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m_currentLineColor = color1;
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}
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MyDebugVec3 from(from1);
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MyDebugVec3 to(to1);
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m_linePoints.push_back(from);
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m_linePoints.push_back(to);
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m_lineIndices.push_back(m_lineIndices.size());
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m_lineIndices.push_back(m_lineIndices.size());
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}
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virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
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{
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drawLine(PointOnB,PointOnB+normalOnB*distance,color);
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btVector3 ncolor(0, 0, 0);
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drawLine(PointOnB, PointOnB + normalOnB*0.01, ncolor);
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}
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virtual void reportErrorWarning(const char* warningString)
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{
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}
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virtual void draw3dText(const btVector3& location,const char* textString)
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{
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}
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virtual void setDebugMode(int debugMode)
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{
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m_debugMode = debugMode;
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}
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virtual int getDebugMode() const
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{
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return m_debugMode;
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}
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virtual void flushLines()
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{
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int sz = m_linePoints.size();
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if (sz)
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{
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float debugColor[4];
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debugColor[0] = m_currentLineColor.x();
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debugColor[1] = m_currentLineColor.y();
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debugColor[2] = m_currentLineColor.z();
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debugColor[3] = 1.f;
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m_glApp->m_renderer->drawLines(&m_linePoints[0].x,debugColor,
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m_linePoints.size(),sizeof(MyDebugVec3),
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&m_lineIndices[0],
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m_lineIndices.size(),
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1);
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m_linePoints.clear();
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m_lineIndices.clear();
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}
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}
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};
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static btVector4 sColors[4] =
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{
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btVector4(60./256.,186./256.,84./256.,1),
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btVector4(244./256.,194./256.,13./256.,1),
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btVector4(219./256.,50./256.,54./256.,1),
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btVector4(72./256.,133./256.,237./256.,1),
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//btVector4(1,1,0,1),
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};
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struct MyHashShape
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{
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int m_shapeKey;
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int m_shapeType;
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btVector3 m_sphere0Pos;
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btVector3 m_sphere1Pos;
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btScalar m_radius0;
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btScalar m_radius1;
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btTransform m_childTransform;
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int m_deformFunc;
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int m_upAxis;
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btScalar m_halfHeight;
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MyHashShape()
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:m_shapeKey(0),
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m_shapeType(0),
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m_sphere0Pos(btVector3(0,0,0)),
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m_sphere1Pos(btVector3(0,0,0)),
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m_radius0(0),
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m_radius1(0),
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m_deformFunc(0),
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m_upAxis(-1),
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m_halfHeight(0)
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{
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m_childTransform.setIdentity();
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}
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bool equals(const MyHashShape& other) const
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{
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bool sameShapeType = m_shapeType==other.m_shapeType;
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bool sameSphere0= m_sphere0Pos == other.m_sphere0Pos;
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bool sameSphere1= m_sphere1Pos == other.m_sphere1Pos;
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bool sameRadius0 = m_radius0== other.m_radius0;
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bool sameRadius1 = m_radius1== other.m_radius1;
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bool sameTransform = m_childTransform== other.m_childTransform;
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bool sameUpAxis = m_upAxis == other.m_upAxis;
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bool sameHalfHeight = m_halfHeight == other.m_halfHeight;
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return sameShapeType && sameSphere0 && sameSphere1 && sameRadius0 && sameRadius1 && sameTransform && sameUpAxis && sameHalfHeight;
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}
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//to our success
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SIMD_FORCE_INLINE unsigned int getHash()const
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{
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unsigned int key = m_shapeKey;
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// Thomas Wang's hash
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key += ~(key << 15); key ^= (key >> 10); key += (key << 3); key ^= (key >> 6); key += ~(key << 11); key ^= (key >> 16);
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return key;
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}
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};
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struct OpenGLGuiHelperInternalData
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{
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struct CommonGraphicsApp* m_glApp;
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class MyDebugDrawer* m_debugDraw;
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bool m_vrMode;
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int m_vrSkipShadowPass;
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btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
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btAlignedObjectArray<float> m_depthBuffer1;
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btHashMap<MyHashShape, int> m_hashShapes;
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VisualizerFlagCallback m_visualizerFlagCallback;
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int m_checkedTexture;
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int m_checkedTextureGrey;
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OpenGLGuiHelperInternalData()
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:m_vrMode(false),
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m_vrSkipShadowPass(0),
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m_visualizerFlagCallback(0),
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m_checkedTexture(-1),
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m_checkedTextureGrey(-1)
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{
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}
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};
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void OpenGLGuiHelper::setVRMode(bool vrMode)
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{
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m_data->m_vrMode = vrMode;
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m_data->m_vrSkipShadowPass = 0;
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}
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OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
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{
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m_data = new OpenGLGuiHelperInternalData;
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m_data->m_glApp = glApp;
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m_data->m_debugDraw = 0;
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}
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OpenGLGuiHelper::~OpenGLGuiHelper()
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{
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delete m_data->m_debugDraw;
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delete m_data;
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}
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struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface()
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{
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return m_data->m_glApp->m_renderer;
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}
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const struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface() const
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{
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return m_data->m_glApp->m_renderer;
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}
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void OpenGLGuiHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
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{
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createCollisionObjectGraphicsObject(body,color);
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}
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void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color)
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{
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if (body->getUserIndex()<0)
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{
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btCollisionShape* shape = body->getCollisionShape();
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btTransform startTransform = body->getWorldTransform();
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int graphicsShapeId = shape->getUserIndex();
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if (graphicsShapeId>=0)
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{
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// btAssert(graphicsShapeId >= 0);
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//the graphics shape is already scaled
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btVector3 localScaling(1,1,1);
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int graphicsInstanceId = m_data->m_glApp->m_renderer->registerGraphicsInstance(graphicsShapeId, startTransform.getOrigin(), startTransform.getRotation(), color, localScaling);
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body->setUserIndex(graphicsInstanceId);
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}
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}
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}
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int OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int height)
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{
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int textureId = m_data->m_glApp->m_renderer->registerTexture(texels,width,height);
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return textureId;
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}
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void OpenGLGuiHelper::removeTexture(int textureUid)
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{
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m_data->m_glApp->m_renderer->removeTexture(textureUid);
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}
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void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height)
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{
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bool flipPixelsY = true;
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m_data->m_glApp->m_renderer->updateTexture(textureUniqueId, rgbTexels,flipPixelsY);
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}
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int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
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{
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if (textureId == -2)
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{
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if (m_data->m_checkedTextureGrey<0)
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{
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m_data->m_checkedTextureGrey = createCheckeredTexture(192, 192, 192);
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}
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textureId = m_data->m_checkedTextureGrey;
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}
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int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
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return shapeId;
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}
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int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
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{
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return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
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}
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void OpenGLGuiHelper::removeAllGraphicsInstances()
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{
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m_data->m_hashShapes.clear();
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m_data->m_glApp->m_renderer->removeAllInstances();
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}
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void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
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{
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if (graphicsUid>=0)
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{
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m_data->m_glApp->m_renderer->removeGraphicsInstance(graphicsUid);
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};
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}
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int OpenGLGuiHelper::getShapeIndexFromInstance(int instanceUid)
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{
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return m_data->m_glApp->m_renderer->getShapeIndexFromInstance(instanceUid);
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}
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void OpenGLGuiHelper::replaceTexture(int shapeIndex, int textureUid)
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{
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if (shapeIndex>=0)
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{
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m_data->m_glApp->m_renderer->replaceTexture(shapeIndex, textureUid);
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};
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}
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void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
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{
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if (instanceUid>=0)
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{
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m_data->m_glApp->m_renderer->writeSingleInstanceColorToCPU(rgbaColor,instanceUid);
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};
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}
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void OpenGLGuiHelper::changeSpecularColor(int instanceUid, const double specularColor[3])
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{
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if (instanceUid>=0)
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{
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m_data->m_glApp->m_renderer->writeSingleInstanceSpecularColorToCPU(specularColor,instanceUid);
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};
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}
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int OpenGLGuiHelper::createCheckeredTexture(int red,int green, int blue)
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{
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int texWidth=1024;
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int texHeight=1024;
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btAlignedObjectArray<unsigned char> texels;
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texels.resize(texWidth*texHeight*3);
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for (int i=0;i<texWidth*texHeight*3;i++)
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texels[i]=255;
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for (int i=0;i<texWidth;i++)
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{
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for (int j=0;j<texHeight;j++)
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{
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int a = i<texWidth/2? 1 : 0;
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int b = j<texWidth/2? 1 : 0;
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if (a==b)
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{
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texels[(i+j*texWidth)*3+0] = red;
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texels[(i+j*texWidth)*3+1] = green;
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texels[(i+j*texWidth)*3+2] = blue;
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// texels[(i+j*texWidth)*4+3] = 255;
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}
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/*else
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{
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texels[i*3+0+j*texWidth] = 255;
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texels[i*3+1+j*texWidth] = 255;
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texels[i*3+2+j*texWidth] = 255;
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}
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*/
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}
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}
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int texId = registerTexture(&texels[0],texWidth,texHeight);
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return texId;
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}
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void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
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{
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//already has a graphics object?
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if (collisionShape->getUserIndex()>=0)
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return;
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if (m_data->m_checkedTexture<0)
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{
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m_data->m_checkedTexture = createCheckeredTexture(192,192,255);
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}
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if (m_data->m_checkedTextureGrey<0)
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{
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m_data->m_checkedTextureGrey = createCheckeredTexture(192,192,192);
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}
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btAlignedObjectArray<GLInstanceVertex> gfxVertices;
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btAlignedObjectArray<int> indices;
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int strideInBytes = 9*sizeof(float);
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//if (collisionShape->getShapeType()==BOX_SHAPE_PROXYTYPE)
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{
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}
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if (collisionShape->getShapeType() == SOFTBODY_SHAPE_PROXYTYPE)
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{
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computeSoftBodyVertices(collisionShape, gfxVertices, indices);
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if (gfxVertices.size() && indices.size())
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{
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int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES,
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m_data->m_checkedTexture);
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b3Assert(shapeId >= 0);
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collisionShape->setUserIndex(shapeId);
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}
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}
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if (collisionShape->getShapeType()==MULTI_SPHERE_SHAPE_PROXYTYPE)
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{
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btMultiSphereShape* ms = (btMultiSphereShape*) collisionShape;
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if (ms->getSphereCount()==2)
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{
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btAlignedObjectArray<float> transformedVertices;
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int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
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transformedVertices.resize(numVertices*9);
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btVector3 sphere0Pos = ms->getSpherePosition(0);
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btVector3 sphere1Pos = ms->getSpherePosition(1);
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btVector3 fromTo = sphere1Pos-sphere0Pos;
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MyHashShape shape;
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shape.m_sphere0Pos = sphere0Pos;
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shape.m_sphere1Pos = sphere1Pos;
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shape.m_radius0 = 2.*ms->getSphereRadius(0);
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shape.m_radius1 = 2.*ms->getSphereRadius(1);
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shape.m_deformFunc = 1;//vert.dot(fromTo)
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int graphicsShapeIndex = -1;
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int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
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if (graphicsShapeIndexPtr)
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{
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//cache hit
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graphicsShapeIndex = *graphicsShapeIndexPtr;
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} else
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{
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//cache miss
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for (int i=0;i<numVertices;i++)
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{
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btVector3 vert;
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vert.setValue(textured_detailed_sphere_vertices[i*9+0],
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textured_detailed_sphere_vertices[i*9+1],
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textured_detailed_sphere_vertices[i*9+2]);
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btVector3 trVer(0,0,0);
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if (vert.dot(fromTo)>0)
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{
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btScalar radiusScale = 2.*ms->getSphereRadius(1);
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trVer = radiusScale*vert;
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trVer+=sphere1Pos;
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} else
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{
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btScalar radiusScale = 2.*ms->getSphereRadius(0);
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trVer = radiusScale*vert;
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trVer+=sphere0Pos;
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}
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transformedVertices[i*9+0] = trVer[0];
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transformedVertices[i*9+1] = trVer[1];
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transformedVertices[i*9+2] = trVer[2];
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transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
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transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
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transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
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transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
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transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
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transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
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}
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int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
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graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
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m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
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}
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collisionShape->setUserIndex(graphicsShapeIndex);
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return;
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}
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}
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|
|
|
if (collisionShape->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
|
|
{
|
|
btSphereShape* sphereShape = (btSphereShape*) collisionShape;
|
|
btScalar radius = sphereShape->getRadius();
|
|
btScalar sphereSize = 2.*radius;
|
|
btVector3 radiusScale(sphereSize,sphereSize,sphereSize);
|
|
btAlignedObjectArray<float> transformedVertices;
|
|
|
|
|
|
MyHashShape shape;
|
|
shape.m_radius0 = sphereSize;
|
|
shape.m_deformFunc = 0;////no deform
|
|
int graphicsShapeIndex = -1;
|
|
int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
|
|
|
|
if (graphicsShapeIndexPtr)
|
|
{
|
|
graphicsShapeIndex = *graphicsShapeIndexPtr;
|
|
} else
|
|
{
|
|
int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
|
|
transformedVertices.resize(numVertices*9);
|
|
for (int i=0;i<numVertices;i++)
|
|
{
|
|
|
|
btVector3 vert;
|
|
vert.setValue(textured_detailed_sphere_vertices[i*9+0],
|
|
textured_detailed_sphere_vertices[i*9+1],
|
|
textured_detailed_sphere_vertices[i*9+2]);
|
|
|
|
btVector3 trVer = radiusScale*vert;
|
|
transformedVertices[i*9+0] = trVer[0];
|
|
transformedVertices[i*9+1] = trVer[1];
|
|
transformedVertices[i*9+2] = trVer[2];
|
|
transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
|
|
transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
|
|
transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
|
|
transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
|
|
transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
|
|
transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
|
|
}
|
|
|
|
int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
|
|
graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
|
|
m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
|
|
}
|
|
|
|
collisionShape->setUserIndex(graphicsShapeIndex);
|
|
return;
|
|
}
|
|
if (collisionShape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
|
|
{
|
|
btCompoundShape* compound = (btCompoundShape*)collisionShape;
|
|
if (compound->getNumChildShapes()==1)
|
|
{
|
|
if (compound->getChildShape(0)->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
|
|
{
|
|
btSphereShape* sphereShape = (btSphereShape*) compound->getChildShape(0);
|
|
btScalar radius = sphereShape->getRadius();
|
|
btScalar sphereSize = 2.*radius;
|
|
btVector3 radiusScale(sphereSize,sphereSize,sphereSize);
|
|
|
|
MyHashShape shape;
|
|
shape.m_radius0 = sphereSize;
|
|
shape.m_deformFunc = 0;//no deform
|
|
shape.m_childTransform = compound->getChildTransform(0);
|
|
|
|
int graphicsShapeIndex = -1;
|
|
int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
|
|
|
|
if (graphicsShapeIndexPtr)
|
|
{
|
|
graphicsShapeIndex = *graphicsShapeIndexPtr;
|
|
}
|
|
else
|
|
{
|
|
|
|
btAlignedObjectArray<float> transformedVertices;
|
|
int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
|
|
transformedVertices.resize(numVertices*9);
|
|
for (int i=0;i<numVertices;i++)
|
|
{
|
|
|
|
btVector3 vert;
|
|
vert.setValue(textured_detailed_sphere_vertices[i*9+0],
|
|
textured_detailed_sphere_vertices[i*9+1],
|
|
textured_detailed_sphere_vertices[i*9+2]);
|
|
|
|
btVector3 trVer = compound->getChildTransform(0)*(radiusScale*vert);
|
|
transformedVertices[i*9+0] = trVer[0];
|
|
transformedVertices[i*9+1] = trVer[1];
|
|
transformedVertices[i*9+2] = trVer[2];
|
|
transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
|
|
transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
|
|
transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
|
|
transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
|
|
transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
|
|
transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
|
|
}
|
|
|
|
int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
|
|
graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
|
|
m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
|
|
}
|
|
|
|
collisionShape->setUserIndex(graphicsShapeIndex);
|
|
return;
|
|
}
|
|
if (compound->getChildShape(0)->getShapeType()==CAPSULE_SHAPE_PROXYTYPE)
|
|
{
|
|
btCapsuleShape* sphereShape = (btCapsuleShape*) compound->getChildShape(0);
|
|
int up = sphereShape->getUpAxis();
|
|
btScalar halfHeight = sphereShape->getHalfHeight();
|
|
|
|
btScalar radius = sphereShape->getRadius();
|
|
btScalar sphereSize = 2.*radius;
|
|
|
|
btVector3 radiusScale = btVector3(sphereSize,sphereSize,sphereSize);
|
|
|
|
|
|
MyHashShape shape;
|
|
shape.m_radius0 = sphereSize;
|
|
shape.m_deformFunc = 2;//no deform
|
|
shape.m_childTransform = compound->getChildTransform(0);
|
|
shape.m_upAxis = up;
|
|
|
|
int graphicsShapeIndex = -1;
|
|
int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
|
|
|
|
if (graphicsShapeIndexPtr)
|
|
{
|
|
graphicsShapeIndex = *graphicsShapeIndexPtr;
|
|
}
|
|
else
|
|
{
|
|
|
|
btAlignedObjectArray<float> transformedVertices;
|
|
int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
|
|
transformedVertices.resize(numVertices*9);
|
|
for (int i=0;i<numVertices;i++)
|
|
{
|
|
|
|
btVector3 vert;
|
|
vert.setValue(textured_detailed_sphere_vertices[i*9+0],
|
|
textured_detailed_sphere_vertices[i*9+1],
|
|
textured_detailed_sphere_vertices[i*9+2]);
|
|
|
|
btVector3 trVer = (radiusScale*vert);
|
|
if (trVer[up]>0)
|
|
trVer[up]+=halfHeight;
|
|
else
|
|
trVer[up]-=halfHeight;
|
|
|
|
trVer = compound->getChildTransform(0)*trVer;
|
|
|
|
transformedVertices[i*9+0] = trVer[0];
|
|
transformedVertices[i*9+1] = trVer[1];
|
|
transformedVertices[i*9+2] = trVer[2];
|
|
transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
|
|
transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
|
|
transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
|
|
transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
|
|
transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
|
|
transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
|
|
}
|
|
|
|
int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
|
|
graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
|
|
m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
|
|
}
|
|
|
|
collisionShape->setUserIndex(graphicsShapeIndex);
|
|
return;
|
|
|
|
}
|
|
|
|
if (compound->getChildShape(0)->getShapeType()==MULTI_SPHERE_SHAPE_PROXYTYPE)
|
|
{
|
|
btMultiSphereShape* ms = (btMultiSphereShape*) compound->getChildShape(0);
|
|
if (ms->getSphereCount()==2)
|
|
{
|
|
btAlignedObjectArray<float> transformedVertices;
|
|
int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
|
|
transformedVertices.resize(numVertices*9);
|
|
btVector3 sphere0Pos = ms->getSpherePosition(0);
|
|
btVector3 sphere1Pos = ms->getSpherePosition(1);
|
|
btVector3 fromTo = sphere1Pos-sphere0Pos;
|
|
btScalar radiusScale1 = 2.0*ms->getSphereRadius(1);
|
|
btScalar radiusScale0 = 2.0*ms->getSphereRadius(0);
|
|
|
|
MyHashShape shape;
|
|
shape.m_radius0 = radiusScale0;
|
|
shape.m_radius1 = radiusScale1;
|
|
shape.m_deformFunc = 4;
|
|
shape.m_sphere0Pos = sphere0Pos;
|
|
shape.m_sphere1Pos = sphere1Pos;
|
|
shape.m_childTransform = compound->getChildTransform(0);
|
|
|
|
int graphicsShapeIndex = -1;
|
|
int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
|
|
|
|
if (graphicsShapeIndexPtr)
|
|
{
|
|
graphicsShapeIndex = *graphicsShapeIndexPtr;
|
|
}
|
|
else
|
|
{
|
|
for (int i=0;i<numVertices;i++)
|
|
{
|
|
|
|
btVector3 vert;
|
|
vert.setValue(textured_detailed_sphere_vertices[i*9+0],
|
|
textured_detailed_sphere_vertices[i*9+1],
|
|
textured_detailed_sphere_vertices[i*9+2]);
|
|
|
|
btVector3 trVer(0,0,0);
|
|
if (vert.dot(fromTo)>0)
|
|
{
|
|
|
|
trVer = vert*radiusScale1;
|
|
trVer+=sphere1Pos;
|
|
trVer = compound->getChildTransform(0)*trVer;
|
|
} else
|
|
{
|
|
trVer = vert*radiusScale0;
|
|
trVer+=sphere0Pos;
|
|
trVer=compound->getChildTransform(0)*trVer;
|
|
}
|
|
|
|
|
|
|
|
transformedVertices[i*9+0] = trVer[0];
|
|
transformedVertices[i*9+1] = trVer[1];
|
|
transformedVertices[i*9+2] = trVer[2];
|
|
transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
|
|
transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
|
|
transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
|
|
transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
|
|
transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
|
|
transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
|
|
}
|
|
|
|
int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
|
|
graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
|
|
m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
|
|
}
|
|
collisionShape->setUserIndex(graphicsShapeIndex);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (collisionShape->getShapeType()==CAPSULE_SHAPE_PROXYTYPE)
|
|
{
|
|
btCapsuleShape* sphereShape = (btCapsuleShape*) collisionShape;//Y up
|
|
int up = sphereShape->getUpAxis();
|
|
btScalar halfHeight = sphereShape->getHalfHeight();
|
|
|
|
btScalar radius = sphereShape->getRadius();
|
|
btScalar sphereSize = 2.*radius;
|
|
btVector3 radiusScale(sphereSize,sphereSize,sphereSize);
|
|
|
|
|
|
MyHashShape shape;
|
|
shape.m_radius0 = sphereSize;
|
|
shape.m_deformFunc = 3;
|
|
shape.m_upAxis = up;
|
|
shape.m_halfHeight = halfHeight;
|
|
int graphicsShapeIndex = -1;
|
|
int* graphicsShapeIndexPtr = m_data->m_hashShapes[shape];
|
|
|
|
if (graphicsShapeIndexPtr)
|
|
{
|
|
graphicsShapeIndex = *graphicsShapeIndexPtr;
|
|
}
|
|
else
|
|
{
|
|
|
|
btAlignedObjectArray<float> transformedVertices;
|
|
int numVertices = sizeof(textured_detailed_sphere_vertices)/strideInBytes;
|
|
transformedVertices.resize(numVertices*9);
|
|
for (int i=0;i<numVertices;i++)
|
|
{
|
|
|
|
btVector3 vert;
|
|
vert.setValue(textured_detailed_sphere_vertices[i*9+0],
|
|
textured_detailed_sphere_vertices[i*9+1],
|
|
textured_detailed_sphere_vertices[i*9+2]);
|
|
|
|
btVector3 trVer = radiusScale*vert;
|
|
if (trVer[up]>0)
|
|
trVer[up]+=halfHeight;
|
|
else
|
|
trVer[up]-=halfHeight;
|
|
|
|
|
|
|
|
transformedVertices[i*9+0] = trVer[0];
|
|
transformedVertices[i*9+1] = trVer[1];
|
|
transformedVertices[i*9+2] = trVer[2];
|
|
transformedVertices[i*9+3] =textured_detailed_sphere_vertices[i*9+3];
|
|
transformedVertices[i*9+4] =textured_detailed_sphere_vertices[i*9+4];
|
|
transformedVertices[i*9+5] =textured_detailed_sphere_vertices[i*9+5];
|
|
transformedVertices[i*9+6] =textured_detailed_sphere_vertices[i*9+6];
|
|
transformedVertices[i*9+7] =textured_detailed_sphere_vertices[i*9+7];
|
|
transformedVertices[i*9+8] =textured_detailed_sphere_vertices[i*9+8];
|
|
}
|
|
|
|
int numIndices = sizeof(textured_detailed_sphere_indices)/sizeof(int);
|
|
graphicsShapeIndex = registerGraphicsShape(&transformedVertices[0],numVertices,textured_detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,m_data->m_checkedTextureGrey);
|
|
m_data->m_hashShapes.insert(shape,graphicsShapeIndex);
|
|
}
|
|
collisionShape->setUserIndex(graphicsShapeIndex);
|
|
return;
|
|
|
|
}
|
|
if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
|
|
{
|
|
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
|
|
btScalar planeConst = staticPlaneShape->getPlaneConstant();
|
|
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
|
|
btVector3 planeOrigin = planeNormal * planeConst;
|
|
btVector3 vec0,vec1;
|
|
btPlaneSpace1(planeNormal,vec0,vec1);
|
|
|
|
btScalar vecLen = 128;
|
|
btVector3 verts[4];
|
|
|
|
verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
|
|
verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
|
|
verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
|
|
verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
|
|
|
|
int startIndex = 0;
|
|
indices.push_back(startIndex+0);
|
|
indices.push_back(startIndex+1);
|
|
indices.push_back(startIndex+2);
|
|
indices.push_back(startIndex+0);
|
|
indices.push_back(startIndex+2);
|
|
indices.push_back(startIndex+3);
|
|
btTransform parentTransform;
|
|
parentTransform.setIdentity();
|
|
btVector3 triNormal = parentTransform.getBasis()*planeNormal;
|
|
|
|
gfxVertices.resize(4);
|
|
|
|
for (int i=0;i<4;i++)
|
|
{
|
|
btVector3 vtxPos;
|
|
btVector3 pos =parentTransform*verts[i];
|
|
|
|
gfxVertices[i].xyzw[0] = pos[0];
|
|
gfxVertices[i].xyzw[1] = pos[1];
|
|
gfxVertices[i].xyzw[2] = pos[2];
|
|
gfxVertices[i].xyzw[3] = 1;
|
|
gfxVertices[i].normal[0] = triNormal[0];
|
|
gfxVertices[i].normal[1] = triNormal[1];
|
|
gfxVertices[i].normal[2] = triNormal[2];
|
|
}
|
|
|
|
//verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
|
|
//verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
|
|
//verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
|
|
//verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
|
|
|
|
gfxVertices[0].uv[0] = vecLen/2;
|
|
gfxVertices[0].uv[1] = vecLen/2;
|
|
gfxVertices[1].uv[0] = -vecLen/2;
|
|
gfxVertices[1].uv[1] = vecLen/2;
|
|
gfxVertices[2].uv[0] = -vecLen/2;
|
|
gfxVertices[2].uv[1] = -vecLen/2;
|
|
gfxVertices[3].uv[0] = vecLen/2;
|
|
gfxVertices[3].uv[1] = -vecLen/2;
|
|
|
|
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,m_data->m_checkedTexture);
|
|
collisionShape->setUserIndex(shapeId);
|
|
return;
|
|
}
|
|
|
|
btTransform startTrans;startTrans.setIdentity();
|
|
//todo: create some textured objects for popular objects, like plane, cube, sphere, capsule
|
|
|
|
{
|
|
btAlignedObjectArray<btVector3> vertexPositions;
|
|
btAlignedObjectArray<btVector3> vertexNormals;
|
|
CollisionShape2TriangleMesh(collisionShape,startTrans,vertexPositions,vertexNormals,indices);
|
|
gfxVertices.resize(vertexPositions.size());
|
|
for (int i=0;i<vertexPositions.size();i++)
|
|
{
|
|
for (int j=0;j<4;j++)
|
|
{
|
|
gfxVertices[i].xyzw[j] = vertexPositions[i][j];
|
|
}
|
|
for (int j=0;j<3;j++)
|
|
{
|
|
gfxVertices[i].normal[j] = vertexNormals[i][j];
|
|
}
|
|
for (int j=0;j<2;j++)
|
|
{
|
|
gfxVertices[i].uv[j] = 0.5;//we don't have UV info...
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
if (gfxVertices.size() && indices.size())
|
|
{
|
|
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size(),B3_GL_TRIANGLES,-1);
|
|
collisionShape->setUserIndex(shapeId);
|
|
}
|
|
|
|
}
|
|
void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
|
|
{
|
|
//in VR mode, we skip the synchronization for the second eye
|
|
if (m_data->m_vrMode && m_data->m_vrSkipShadowPass==1)
|
|
return;
|
|
|
|
int numCollisionObjects = rbWorld->getNumCollisionObjects();
|
|
{
|
|
B3_PROFILE("write all InstanceTransformToCPU");
|
|
for (int i = 0; i<numCollisionObjects; i++)
|
|
{
|
|
//B3_PROFILE("writeSingleInstanceTransformToCPU");
|
|
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
|
|
btCollisionShape* collisionShape = colObj->getCollisionShape();
|
|
if (collisionShape->getShapeType()==SOFTBODY_SHAPE_PROXYTYPE && collisionShape->getUserIndex() >=0) {
|
|
btAlignedObjectArray<GLInstanceVertex> gfxVertices;
|
|
btAlignedObjectArray<int> indices;
|
|
computeSoftBodyVertices(collisionShape, gfxVertices, indices);
|
|
m_data->m_glApp->m_renderer->updateShape(collisionShape->getUserIndex(), &gfxVertices[0].xyzw[0]);
|
|
continue;
|
|
}
|
|
btVector3 pos = colObj->getWorldTransform().getOrigin();
|
|
btQuaternion orn = colObj->getWorldTransform().getRotation();
|
|
int index = colObj->getUserIndex();
|
|
if (index >= 0)
|
|
{
|
|
m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
|
|
}
|
|
}
|
|
}
|
|
{
|
|
B3_PROFILE("writeTransforms");
|
|
m_data->m_glApp->m_renderer->writeTransforms();
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
|
|
{
|
|
if (m_data->m_vrMode)
|
|
{
|
|
//in VR, we skip the shadow generation for the second eye
|
|
|
|
if (m_data->m_vrSkipShadowPass>=1)
|
|
{
|
|
m_data->m_glApp->m_renderer->renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
|
|
m_data->m_vrSkipShadowPass=0;
|
|
|
|
} else
|
|
{
|
|
m_data->m_glApp->m_renderer->renderScene();
|
|
m_data->m_vrSkipShadowPass++;
|
|
}
|
|
} else
|
|
{
|
|
m_data->m_glApp->m_renderer->renderScene();
|
|
}
|
|
|
|
|
|
}
|
|
void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
|
|
{
|
|
btAssert(rbWorld);
|
|
if (m_data->m_debugDraw)
|
|
{
|
|
delete m_data->m_debugDraw;
|
|
m_data->m_debugDraw = 0;
|
|
}
|
|
|
|
m_data->m_debugDraw = new MyDebugDrawer(m_data->m_glApp);
|
|
rbWorld->setDebugDrawer(m_data->m_debugDraw );
|
|
|
|
|
|
m_data->m_debugDraw->setDebugMode(
|
|
btIDebugDraw::DBG_DrawWireframe
|
|
+btIDebugDraw::DBG_DrawAabb
|
|
//btIDebugDraw::DBG_DrawContactPoints
|
|
);
|
|
|
|
}
|
|
|
|
struct Common2dCanvasInterface* OpenGLGuiHelper::get2dCanvasInterface()
|
|
{
|
|
return m_data->m_glApp->m_2dCanvasInterface;
|
|
}
|
|
|
|
CommonParameterInterface* OpenGLGuiHelper::getParameterInterface()
|
|
{
|
|
return m_data->m_glApp->m_parameterInterface;
|
|
}
|
|
|
|
void OpenGLGuiHelper::setUpAxis(int axis)
|
|
{
|
|
m_data->m_glApp->setUpAxis(axis);
|
|
|
|
}
|
|
|
|
|
|
void OpenGLGuiHelper::setVisualizerFlagCallback(VisualizerFlagCallback callback)
|
|
{
|
|
m_data->m_visualizerFlagCallback = callback;
|
|
}
|
|
|
|
|
|
void OpenGLGuiHelper::setVisualizerFlag(int flag, int enable)
|
|
{
|
|
if (getRenderInterface() && flag==16)//COV_ENABLE_PLANAR_REFLECTION
|
|
{
|
|
getRenderInterface()->setPlaneReflectionShapeIndex(enable);
|
|
}
|
|
if (m_data->m_visualizerFlagCallback)
|
|
(m_data->m_visualizerFlagCallback)(flag,enable);
|
|
}
|
|
|
|
|
|
void OpenGLGuiHelper::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
|
|
{
|
|
if (getRenderInterface() && getRenderInterface()->getActiveCamera())
|
|
{
|
|
getRenderInterface()->getActiveCamera()->setCameraDistance(camDist);
|
|
getRenderInterface()->getActiveCamera()->setCameraPitch(pitch);
|
|
getRenderInterface()->getActiveCamera()->setCameraYaw(yaw);
|
|
getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPosX,camPosY,camPosZ);
|
|
}
|
|
}
|
|
|
|
bool OpenGLGuiHelper::getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3],float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float cameraTarget[3]) const
|
|
{
|
|
if (getRenderInterface() && getRenderInterface()->getActiveCamera())
|
|
{
|
|
*width = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
|
|
*height = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
|
|
getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
|
|
getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
|
|
getRenderInterface()->getActiveCamera()->getCameraUpVector(camUp);
|
|
getRenderInterface()->getActiveCamera()->getCameraForwardVector(camForward);
|
|
|
|
float top = 1.f;
|
|
float bottom = -1.f;
|
|
float tanFov = (top-bottom)*0.5f / 1;
|
|
float fov = btScalar(2.0) * btAtan(tanFov);
|
|
btVector3 camPos,camTarget;
|
|
getRenderInterface()->getActiveCamera()->getCameraPosition(camPos);
|
|
getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
|
|
btVector3 rayFrom = camPos;
|
|
btVector3 rayForward = (camTarget-camPos);
|
|
rayForward.normalize();
|
|
float farPlane = 10000.f;
|
|
rayForward*= farPlane;
|
|
|
|
btVector3 rightOffset;
|
|
btVector3 cameraUp=btVector3(camUp[0],camUp[1],camUp[2]);
|
|
btVector3 vertical = cameraUp;
|
|
btVector3 hori;
|
|
hori = rayForward.cross(vertical);
|
|
hori.normalize();
|
|
vertical = hori.cross(rayForward);
|
|
vertical.normalize();
|
|
float tanfov = tanf(0.5f*fov);
|
|
hori *= 2.f * farPlane * tanfov;
|
|
vertical *= 2.f * farPlane * tanfov;
|
|
btScalar aspect = float(*width) / float(*height);
|
|
hori*=aspect;
|
|
//compute 'hor' and 'vert' vectors, useful to generate raytracer rays
|
|
hor[0] = hori[0];
|
|
hor[1] = hori[1];
|
|
hor[2] = hori[2];
|
|
vert[0] = vertical[0];
|
|
vert[1] = vertical[1];
|
|
vert[2] = vertical[2];
|
|
|
|
*yaw = getRenderInterface()->getActiveCamera()->getCameraYaw();
|
|
*pitch = getRenderInterface()->getActiveCamera()->getCameraPitch();
|
|
*camDist = getRenderInterface()->getActiveCamera()->getCameraDistance();
|
|
cameraTarget[0] = camTarget[0];
|
|
cameraTarget[1] = camTarget[1];
|
|
cameraTarget[2] = camTarget[2];
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void OpenGLGuiHelper::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])
|
|
{
|
|
m_data->m_glApp->m_renderer->setProjectiveTextureMatrices(viewMatrix, projectionMatrix);
|
|
}
|
|
|
|
void OpenGLGuiHelper::setProjectiveTexture(bool useProjectiveTexture)
|
|
{
|
|
m_data->m_glApp->m_renderer->setProjectiveTexture(useProjectiveTexture);
|
|
}
|
|
|
|
void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
|
|
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
|
|
float* depthBuffer, int depthBufferSizeInPixels,
|
|
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
|
|
int startPixelIndex, int destinationWidth,
|
|
int destinationHeight, int* numPixelsCopied)
|
|
{
|
|
int sourceWidth = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
|
|
int sourceHeight = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
|
|
|
|
if (numPixelsCopied)
|
|
*numPixelsCopied = 0;
|
|
|
|
int numTotalPixels = destinationWidth*destinationHeight;
|
|
int numRemainingPixels = numTotalPixels - startPixelIndex;
|
|
int numBytesPerPixel = 4;//RGBA
|
|
int numRequestedPixels = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
|
|
if (numRequestedPixels)
|
|
{
|
|
if (startPixelIndex==0)
|
|
{
|
|
CommonCameraInterface* oldCam = getRenderInterface()->getActiveCamera();
|
|
SimpleCamera tempCam;
|
|
getRenderInterface()->setActiveCamera(&tempCam);
|
|
getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
|
|
{
|
|
BT_PROFILE("renderScene");
|
|
getRenderInterface()->renderScene();
|
|
}
|
|
getRenderInterface()->setActiveCamera(oldCam);
|
|
|
|
{
|
|
BT_PROFILE("copy pixels");
|
|
btAlignedObjectArray<unsigned char> sourceRgbaPixelBuffer;
|
|
btAlignedObjectArray<float> sourceDepthBuffer;
|
|
//copy the image into our local cache
|
|
sourceRgbaPixelBuffer.resize(sourceWidth*sourceHeight*numBytesPerPixel);
|
|
sourceDepthBuffer.resize(sourceWidth*sourceHeight);
|
|
{
|
|
BT_PROFILE("getScreenPixels");
|
|
m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
|
|
}
|
|
|
|
m_data->m_rgbaPixelBuffer1.resize(destinationWidth*destinationHeight*numBytesPerPixel);
|
|
m_data->m_depthBuffer1.resize(destinationWidth*destinationHeight);
|
|
//rescale and flip
|
|
{
|
|
BT_PROFILE("resize and flip");
|
|
for (int j=0;j<destinationHeight;j++)
|
|
{
|
|
for (int i=0;i<destinationWidth;i++)
|
|
{
|
|
int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
|
|
int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
|
|
btClamp(xIndex,0,sourceWidth);
|
|
btClamp(yIndex,0,sourceHeight);
|
|
int bytesPerPixel = 4; //RGBA
|
|
|
|
int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
|
|
int sourceDepthIndex = xIndex+yIndex*sourceWidth;
|
|
#define COPY4PIXELS 1
|
|
#ifdef COPY4PIXELS
|
|
int* dst = (int*)&m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0];
|
|
int* src = (int*)&sourceRgbaPixelBuffer[sourcePixelIndex+0];
|
|
*dst = *src;
|
|
|
|
#else
|
|
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
|
|
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
|
|
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
|
|
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
|
|
#endif
|
|
if (depthBuffer)
|
|
{
|
|
m_data->m_depthBuffer1[i+j*destinationWidth] = sourceDepthBuffer[sourceDepthIndex];
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (1)
|
|
{
|
|
getRenderInterface()->getActiveCamera()->disableVRCamera();
|
|
DrawGridData dg;
|
|
dg.upAxis = m_data->m_glApp->getUpAxis();
|
|
getRenderInterface()->updateCamera(dg.upAxis);
|
|
m_data->m_glApp->m_window->startRendering();
|
|
}
|
|
}
|
|
if (pixelsRGBA)
|
|
{
|
|
BT_PROFILE("copy rgba pixels");
|
|
|
|
for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
|
|
{
|
|
pixelsRGBA[i] = m_data->m_rgbaPixelBuffer1[i+startPixelIndex*numBytesPerPixel];
|
|
}
|
|
}
|
|
if (depthBuffer)
|
|
{
|
|
BT_PROFILE("copy depth buffer pixels");
|
|
|
|
for (int i=0;i<numRequestedPixels;i++)
|
|
{
|
|
depthBuffer[i] = m_data->m_depthBuffer1[i+startPixelIndex];
|
|
}
|
|
}
|
|
if (numPixelsCopied)
|
|
*numPixelsCopied = numRequestedPixels;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
struct MyConvertPointerSizeT
|
|
{
|
|
union
|
|
{
|
|
const void* m_ptr;
|
|
size_t m_int;
|
|
};
|
|
};
|
|
bool shapePointerCompareFunc(const btCollisionObject* colA, const btCollisionObject* colB)
|
|
{
|
|
MyConvertPointerSizeT a,b;
|
|
a.m_ptr = colA->getCollisionShape();
|
|
b.m_ptr = colB->getCollisionShape();
|
|
return (a.m_int<b.m_int);
|
|
}
|
|
|
|
void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
|
|
{
|
|
//sort the collision objects based on collision shape, the gfx library requires instances that re-use a shape to be added after eachother
|
|
|
|
btAlignedObjectArray<btCollisionObject*> sortedObjects;
|
|
sortedObjects.reserve(rbWorld->getNumCollisionObjects());
|
|
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
|
|
{
|
|
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
|
|
sortedObjects.push_back(colObj);
|
|
}
|
|
sortedObjects.quickSort(shapePointerCompareFunc);
|
|
for (int i=0;i<sortedObjects.size();i++)
|
|
{
|
|
btCollisionObject* colObj = sortedObjects[i];
|
|
//btRigidBody* body = btRigidBody::upcast(colObj);
|
|
//does this also work for btMultiBody/btMultiBodyLinkCollider?
|
|
btSoftBody* sb = btSoftBody::upcast(colObj);
|
|
if (sb)
|
|
{
|
|
colObj->getCollisionShape()->setUserPointer(sb);
|
|
}
|
|
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
|
|
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
|
|
|
|
btVector4 color;
|
|
color = sColors[colorIndex];
|
|
if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
|
|
{
|
|
color.setValue(1,1,1,1);
|
|
}
|
|
createCollisionObjectGraphicsObject(colObj,color);
|
|
|
|
}
|
|
}
|
|
|
|
void OpenGLGuiHelper::drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlags)
|
|
{
|
|
B3_PROFILE("OpenGLGuiHelper::drawText3D");
|
|
|
|
btAssert(m_data->m_glApp);
|
|
m_data->m_glApp->drawText3D(txt,position, orientation, color,size, optionFlags);
|
|
|
|
}
|
|
|
|
void OpenGLGuiHelper::drawText3D( const char* txt, float posX, float posY, float posZ, float size)
|
|
{
|
|
B3_PROFILE("OpenGLGuiHelper::drawText3D");
|
|
|
|
btAssert(m_data->m_glApp);
|
|
m_data->m_glApp->drawText3D(txt,posX,posY,posZ,size);
|
|
}
|
|
|
|
struct CommonGraphicsApp* OpenGLGuiHelper::getAppInterface()
|
|
{
|
|
return m_data->m_glApp;
|
|
}
|
|
|
|
void OpenGLGuiHelper::dumpFramesToVideo(const char* mp4FileName)
|
|
{
|
|
if (m_data->m_glApp)
|
|
{
|
|
m_data->m_glApp->dumpFramesToVideo(mp4FileName);
|
|
}
|
|
}
|
|
|
|
void OpenGLGuiHelper::computeSoftBodyVertices(btCollisionShape* collisionShape,
|
|
btAlignedObjectArray<GLInstanceVertex>& gfxVertices,
|
|
btAlignedObjectArray<int>& indices)
|
|
{
|
|
if (collisionShape->getUserPointer()==0)
|
|
return;
|
|
b3Assert(collisionShape->getUserPointer());
|
|
btSoftBody* psb = (btSoftBody*)collisionShape->getUserPointer();
|
|
gfxVertices.resize(psb->m_faces.size() * 3);
|
|
int i, j, k;
|
|
for (i = 0; i < psb->m_faces.size(); i++) // Foreach face
|
|
{
|
|
for (k = 0; k < 3; k++) // Foreach vertex on a face
|
|
{
|
|
int currentIndex = i * 3 + k;
|
|
for (int j = 0; j < 3; j++)
|
|
{
|
|
gfxVertices[currentIndex].xyzw[j] = psb->m_faces[i].m_n[k]->m_x[j];
|
|
}
|
|
for (int j = 0; j < 3; j++)
|
|
{
|
|
gfxVertices[currentIndex].normal[j] = psb->m_faces[i].m_n[k]->m_n[j];
|
|
}
|
|
for (int j = 0; j < 2; j++)
|
|
{
|
|
gfxVertices[currentIndex].uv[j] = 0.5; //we don't have UV info...
|
|
}
|
|
indices.push_back(currentIndex);
|
|
}
|
|
}
|
|
}
|