mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
93471a1c31
fixed some more warnings added alignment macros to some classes btPersistentManifold from 128 to 16 bytes aligned prepare command to select collision filter mode (SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
528 lines
15 KiB
C++
528 lines
15 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 "../OpenGLWindow/SimpleCamera.h"
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#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
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//backwards compatibility
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#include "GL_ShapeDrawer.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 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(0.3,0.3,1,1),
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btVector4(0.6,0.6,1,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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//btVector4(1,1,0,1),
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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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GL_ShapeDrawer* m_gl2ShapeDrawer;
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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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OpenGLGuiHelperInternalData()
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:m_vrMode(false),
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m_vrSkipShadowPass(0)
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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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m_data->m_gl2ShapeDrawer = 0;
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if (useOpenGL2)
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{
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m_data->m_gl2ShapeDrawer = new GL_ShapeDrawer();
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}
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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->m_gl2ShapeDrawer;
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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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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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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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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_glApp->m_renderer->removeAllInstances();
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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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btAlignedObjectArray<GLInstanceVertex> gfxVertices;
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btAlignedObjectArray<int> indices;
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btTransform startTrans;startTrans.setIdentity();
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{
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btAlignedObjectArray<btVector3> vertexPositions;
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btAlignedObjectArray<btVector3> vertexNormals;
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CollisionShape2TriangleMesh(collisionShape,startTrans,vertexPositions,vertexNormals,indices);
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gfxVertices.resize(vertexPositions.size());
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for (int i=0;i<vertexPositions.size();i++)
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{
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for (int j=0;j<4;j++)
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{
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gfxVertices[i].xyzw[j] = vertexPositions[i][j];
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}
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for (int j=0;j<3;j++)
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{
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gfxVertices[i].normal[j] = vertexNormals[i][j];
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}
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for (int j=0;j<2;j++)
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{
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gfxVertices[i].uv[j] = 0.5;//we don't have UV info...
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}
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}
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}
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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,-1);
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collisionShape->setUserIndex(shapeId);
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}
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}
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void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
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{
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//in VR mode, we skip the synchronization for the second eye
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if (m_data->m_vrMode && m_data->m_vrSkipShadowPass==1)
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return;
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int numCollisionObjects = rbWorld->getNumCollisionObjects();
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{
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B3_PROFILE("write all InstanceTransformToCPU");
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for (int i = 0; i<numCollisionObjects; i++)
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{
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B3_PROFILE("writeSingleInstanceTransformToCPU");
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btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
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btVector3 pos = colObj->getWorldTransform().getOrigin();
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btQuaternion orn = colObj->getWorldTransform().getRotation();
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int index = colObj->getUserIndex();
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if (index >= 0)
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{
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m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
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}
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}
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}
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{
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B3_PROFILE("writeTransforms");
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m_data->m_glApp->m_renderer->writeTransforms();
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}
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}
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void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
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{
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if (m_data->m_vrMode)
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{
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//in VR, we skip the shadow generation for the second eye
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if (m_data->m_vrSkipShadowPass>=1)
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{
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m_data->m_glApp->m_renderer->renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
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m_data->m_vrSkipShadowPass=0;
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} else
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{
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m_data->m_glApp->m_renderer->renderScene();
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m_data->m_vrSkipShadowPass++;
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}
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} else
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{
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m_data->m_glApp->m_renderer->renderScene();
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}
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//backwards compatible OpenGL2 rendering
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if (m_data->m_gl2ShapeDrawer && rbWorld)
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{
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m_data->m_gl2ShapeDrawer->enableTexture(true);
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m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true, m_data->m_glApp->getUpAxis());
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}
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}
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void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
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{
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btAssert(rbWorld);
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m_data->m_debugDraw = new MyDebugDrawer(m_data->m_glApp);
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rbWorld->setDebugDrawer(m_data->m_debugDraw );
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m_data->m_debugDraw->setDebugMode(
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btIDebugDraw::DBG_DrawWireframe
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+btIDebugDraw::DBG_DrawAabb
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//btIDebugDraw::DBG_DrawContactPoints
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);
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}
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struct Common2dCanvasInterface* OpenGLGuiHelper::get2dCanvasInterface()
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{
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return m_data->m_glApp->m_2dCanvasInterface;
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}
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CommonParameterInterface* OpenGLGuiHelper::getParameterInterface()
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{
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return m_data->m_glApp->m_parameterInterface;
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}
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void OpenGLGuiHelper::setUpAxis(int axis)
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{
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m_data->m_glApp->setUpAxis(axis);
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}
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void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
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{
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if (getRenderInterface() && getRenderInterface()->getActiveCamera())
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{
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getRenderInterface()->getActiveCamera()->setCameraDistance(camDist);
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getRenderInterface()->getActiveCamera()->setCameraPitch(pitch);
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getRenderInterface()->getActiveCamera()->setCameraYaw(yaw);
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getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPosX,camPosY,camPosZ);
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}
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}
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void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
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int startPixelIndex, int destinationWidth,
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int destinationHeight, int* numPixelsCopied)
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{
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int sourceWidth = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
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int sourceHeight = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
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if (numPixelsCopied)
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*numPixelsCopied = 0;
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int numTotalPixels = destinationWidth*destinationHeight;
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int numRemainingPixels = numTotalPixels - startPixelIndex;
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int numBytesPerPixel = 4;//RGBA
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int numRequestedPixels = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
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if (numRequestedPixels)
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{
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if (startPixelIndex==0)
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{
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CommonCameraInterface* oldCam = getRenderInterface()->getActiveCamera();
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SimpleCamera tempCam;
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getRenderInterface()->setActiveCamera(&tempCam);
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getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
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getRenderInterface()->renderScene();
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getRenderInterface()->setActiveCamera(oldCam);
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{
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btAlignedObjectArray<unsigned char> sourceRgbaPixelBuffer;
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btAlignedObjectArray<float> sourceDepthBuffer;
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//copy the image into our local cache
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sourceRgbaPixelBuffer.resize(sourceWidth*sourceHeight*numBytesPerPixel);
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sourceDepthBuffer.resize(sourceWidth*sourceHeight);
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m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
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m_data->m_rgbaPixelBuffer1.resize(destinationWidth*destinationHeight*numBytesPerPixel);
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m_data->m_depthBuffer1.resize(destinationWidth*destinationHeight);
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//rescale and flip
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for (int i=0;i<destinationWidth;i++)
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{
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for (int j=0;j<destinationHeight;j++)
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{
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int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
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int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
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btClamp(xIndex,0,sourceWidth);
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btClamp(yIndex,0,sourceHeight);
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int bytesPerPixel = 4; //RGBA
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int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
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m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
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m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
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m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
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m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
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}
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}
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}
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}
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if (pixelsRGBA)
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{
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for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
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{
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pixelsRGBA[i] = m_data->m_rgbaPixelBuffer1[i+startPixelIndex*numBytesPerPixel];
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}
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}
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if (depthBuffer)
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{
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for (int i=0;i<numRequestedPixels;i++)
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{
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depthBuffer[i] = m_data->m_depthBuffer1[i];
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}
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}
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if (numPixelsCopied)
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*numPixelsCopied = numRequestedPixels;
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}
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}
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struct MyConvertPointerSizeT
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{
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union
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{
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const void* m_ptr;
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size_t m_int;
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};
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};
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bool shapePointerCompareFunc(const btCollisionObject* colA, const btCollisionObject* colB)
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{
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MyConvertPointerSizeT a,b;
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a.m_ptr = colA->getCollisionShape();
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b.m_ptr = colB->getCollisionShape();
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return (a.m_int<b.m_int);
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}
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void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
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{
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//sort the collision objects based on collision shape, the gfx library requires instances that re-use a shape to be added after eachother
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btAlignedObjectArray<btCollisionObject*> sortedObjects;
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sortedObjects.reserve(rbWorld->getNumCollisionObjects());
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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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sortedObjects.push_back(colObj);
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}
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sortedObjects.quickSort(shapePointerCompareFunc);
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for (int i=0;i<sortedObjects.size();i++)
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{
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btCollisionObject* colObj = sortedObjects[i];
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//btRigidBody* body = btRigidBody::upcast(colObj);
|
|
//does this also work for btMultiBody/btMultiBodyLinkCollider?
|
|
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
|
|
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
|
|
|
|
btVector3 color= sColors[colorIndex];
|
|
createCollisionObjectGraphicsObject(colObj,color);
|
|
|
|
}
|
|
}
|
|
|
|
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;
|
|
}
|
|
|