mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
b23cb1dd2c
(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
583 lines
17 KiB
C++
583 lines
17 KiB
C++
#include "SimpleOpenGL2App.h"
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#define USE_OPENGL2
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#include "OpenGLInclude.h"
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#include "ShapeData.h"
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#include "Bullet3Common/b3Logging.h"//b3Assert?
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#include "Bullet3Common/b3Scalar.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../OpenGLWindow/GLPrimitiveRenderer.h"
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#include "GLInstanceGraphicsShape.h"
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#include "stdlib.h"
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#include "TwFonts.h"
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#include "SimpleOpenGL2Renderer.h"
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#ifdef __APPLE__
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#include "MacOpenGLWindow.h"
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#else
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//#include "GL/glew.h"
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#ifdef _WIN32
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#include "Win32OpenGLWindow.h"
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#else
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//let's cross the fingers it is Linux/X11
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#ifdef BT_USE_EGL
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#include "EGLOpenGLWindow.h"
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#else
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#include "X11OpenGLWindow.h"
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#endif //BT_USE_EGL
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#endif //_WIN32
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#endif//__APPLE__
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#include <stdio.h>
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#include "../CommonInterfaces/CommonRenderInterface.h"
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static SimpleOpenGL2App* gApp2=0;
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static void Simple2ResizeCallback( float widthf, float heightf)
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{
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int width = (int)widthf;
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int height = (int)heightf;
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if (gApp2->m_renderer)
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gApp2->m_renderer->resize(width,height);
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//gApp2->m_renderer->setScreenSize(width,height);
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}
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static void Simple2KeyboardCallback(int key, int state)
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{
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if (key==B3G_ESCAPE && gApp2 && gApp2->m_window)
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{
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gApp2->m_window->setRequestExit();
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} else
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{
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//gApp2->defaultKeyboardCallback(key,state);
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}
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}
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void Simple2MouseButtonCallback( int button, int state, float x, float y)
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{
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gApp2->defaultMouseButtonCallback(button,state,x,y);
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}
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void Simple2MouseMoveCallback( float x, float y)
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{
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gApp2->defaultMouseMoveCallback(x,y);
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}
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void Simple2WheelCallback( float deltax, float deltay)
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{
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gApp2->defaultWheelCallback(deltax,deltay);
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}
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struct SimpleOpenGL2AppInternalData
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{
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GLuint m_fontTextureId;
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GLuint m_largeFontTextureId;
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int m_upAxis;
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SimpleOpenGL2AppInternalData()
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:m_upAxis(1)
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{
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}
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};
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static GLuint BindFont2(const CTexFont *_Font)
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{
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GLuint TexID = 0;
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glGenTextures(1, &TexID);
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glBindTexture(GL_TEXTURE_2D, TexID);
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glPixelStorei(GL_UNPACK_SWAP_BYTES, GL_FALSE);
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glPixelStorei(GL_UNPACK_LSB_FIRST, GL_FALSE);
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glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
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glPixelStorei(GL_UNPACK_SKIP_ROWS, 0);
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glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0);
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glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE , _Font->m_TexWidth, _Font->m_TexHeight, 0, GL_LUMINANCE , GL_UNSIGNED_BYTE, _Font->m_TexBytes);
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glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
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glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
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glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,GL_NEAREST);
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glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,GL_NEAREST);
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glBindTexture(GL_TEXTURE_2D, 0);
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return TexID;
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}
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SimpleOpenGL2App::SimpleOpenGL2App(const char* title, int width, int height)
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{
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gApp2 = this;
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m_data = new SimpleOpenGL2AppInternalData;
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m_window = new b3gDefaultOpenGLWindow();
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b3gWindowConstructionInfo ci;
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ci.m_title = title;
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ci.m_openglVersion = 2;
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ci.m_width = width;
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ci.m_height = height;
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m_window->createWindow(ci);
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m_window->setWindowTitle(title);
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#ifndef NO_GLEW
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#ifndef __APPLE__
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#ifndef _WIN32
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//some Linux implementations need the 'glewExperimental' to be true
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glewExperimental = GL_TRUE;
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#endif //_WIN32
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if (glewInit() != GLEW_OK)
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{
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b3Error("glewInit failed");
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exit(1);
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}
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if (!GLEW_VERSION_2_1) // check that the machine supports the 2.1 API.
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{
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b3Error("GLEW_VERSION_2_1 needs to support 2_1");
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exit(1); // or handle the error in a nicer way
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}
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#endif //__APPLE__
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#endif //NO_GLEW
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TwGenerateDefaultFonts();
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m_data->m_fontTextureId = BindFont2(g_DefaultNormalFont);
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m_data->m_largeFontTextureId = BindFont2(g_DefaultLargeFont);
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glGetError();//don't remove this call, it is needed for Ubuntu
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glClearColor( m_backgroundColorRGB[0],
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m_backgroundColorRGB[1],
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m_backgroundColorRGB[2],
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1.f);
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b3Assert(glGetError() ==GL_NO_ERROR);
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//m_primRenderer = new GLPrimitiveRenderer(width,height);
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m_parameterInterface = 0;
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b3Assert(glGetError() ==GL_NO_ERROR);
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//m_renderer = new GLInstancingRenderer(128*1024,32*1024*1024);
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//m_renderer->init();
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//m_renderer->resize(width,height);
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b3Assert(glGetError() ==GL_NO_ERROR);
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//m_renderer->InitShaders();
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m_window->setMouseMoveCallback(Simple2MouseMoveCallback);
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m_window->setMouseButtonCallback(Simple2MouseButtonCallback);
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m_window->setKeyboardCallback(Simple2KeyboardCallback);
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m_window->setWheelCallback(Simple2WheelCallback);
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m_window->setResizeCallback(Simple2ResizeCallback);
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m_renderer = new SimpleOpenGL2Renderer(width,height);
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}
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SimpleOpenGL2App::~SimpleOpenGL2App()
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{
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gApp2 = 0;
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delete m_data;
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}
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void SimpleOpenGL2App::setBackgroundColor(float red, float green, float blue)
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{
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CommonGraphicsApp::setBackgroundColor(red,green,blue);
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glClearColor(m_backgroundColorRGB[0],m_backgroundColorRGB[1],m_backgroundColorRGB[2],1.f);
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}
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void SimpleOpenGL2App::drawGrid(DrawGridData data)
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{
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int gridSize = data.gridSize;
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float upOffset = data.upOffset;
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int upAxis = data.upAxis;
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float gridColor[4];
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gridColor[0] = data.gridColor[0];
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gridColor[1] = data.gridColor[1];
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gridColor[2] = data.gridColor[2];
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gridColor[3] = data.gridColor[3];
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int sideAxis=-1;
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int forwardAxis=-1;
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switch (upAxis)
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{
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case 1:
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forwardAxis=2;
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sideAxis=0;
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break;
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case 2:
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forwardAxis=1;
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sideAxis=0;
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break;
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default:
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b3Assert(0);
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};
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//b3Vector3 gridColor = b3MakeVector3(0.5,0.5,0.5);
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b3AlignedObjectArray<unsigned int> indices;
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b3AlignedObjectArray<b3Vector3> vertices;
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int lineIndex=0;
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for(int i=-gridSize;i<=gridSize;i++)
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{
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{
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b3Assert(glGetError() ==GL_NO_ERROR);
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b3Vector3 from = b3MakeVector3(0,0,0);
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from[sideAxis] = float(i);
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from[upAxis] = upOffset;
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from[forwardAxis] = float(-gridSize);
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b3Vector3 to=b3MakeVector3(0,0,0);
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to[sideAxis] = float(i);
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to[upAxis] = upOffset;
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to[forwardAxis] = float(gridSize);
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vertices.push_back(from);
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indices.push_back(lineIndex++);
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vertices.push_back(to);
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indices.push_back(lineIndex++);
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// m_renderer->drawLine(from,to,gridColor);
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}
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b3Assert(glGetError() ==GL_NO_ERROR);
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{
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b3Assert(glGetError() ==GL_NO_ERROR);
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b3Vector3 from=b3MakeVector3(0,0,0);
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from[sideAxis] = float(-gridSize);
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from[upAxis] = upOffset;
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from[forwardAxis] = float(i);
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b3Vector3 to=b3MakeVector3(0,0,0);
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to[sideAxis] = float(gridSize);
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to[upAxis] = upOffset;
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to[forwardAxis] = float(i);
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vertices.push_back(from);
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indices.push_back(lineIndex++);
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vertices.push_back(to);
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indices.push_back(lineIndex++);
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// m_renderer->drawLine(from,to,gridColor);
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}
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}
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m_renderer->drawLines(&vertices[0].x,
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gridColor,
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vertices.size(),sizeof(b3Vector3),&indices[0],indices.size(),1);
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m_renderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(1,0,0),b3MakeVector3(1,0,0),3);
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m_renderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(0,1,0),b3MakeVector3(0,1,0),3);
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m_renderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(0,0,1),b3MakeVector3(0,0,1),3);
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// void GLInstancingRenderer::drawPoints(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, float pointDrawSize)
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//we don't use drawPoints because all points would have the same color
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// b3Vector3 points[3] = { b3MakeVector3(1, 0, 0), b3MakeVector3(0, 1, 0), b3MakeVector3(0, 0, 1) };
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// m_renderer->drawPoints(&points[0].x, b3MakeVector3(1, 0, 0), 3, sizeof(b3Vector3), 6);
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}
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void SimpleOpenGL2App::setUpAxis(int axis)
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{
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this->m_data->m_upAxis = axis;
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}
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int SimpleOpenGL2App::getUpAxis() const
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{
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return this->m_data->m_upAxis;
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}
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void SimpleOpenGL2App::swapBuffer()
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{
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m_window->endRendering();
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m_window->startRendering();
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}
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void SimpleOpenGL2App::drawText( const char* txt, int posXi, int posYi, float size, float colorRGBA[4])
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{
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}
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static void restoreOpenGLState()
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{
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glPopClientAttrib();
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glPopAttrib();
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}
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static void saveOpenGLState(int screenWidth, int screenHeight)
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{
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glPushAttrib(GL_ALL_ATTRIB_BITS);
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glPushClientAttrib(GL_CLIENT_ALL_ATTRIB_BITS);
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glDisable(GL_TEXTURE_GEN_S);
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glDisable(GL_TEXTURE_GEN_T);
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glDisable(GL_TEXTURE_GEN_R);
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glDisable(GL_LINE_SMOOTH);
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// glDisable(GL_LINE_STIPPLE);
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glDisable(GL_CULL_FACE);
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glDisable(GL_DEPTH_TEST);
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glDisable(GL_LIGHTING);
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glEnable(GL_BLEND);
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glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
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glDisable(GL_TEXTURE_2D);
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}
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void SimpleOpenGL2App::drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
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{
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}
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void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
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{
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saveOpenGLState(gApp2->m_renderer->getScreenWidth(),gApp2->m_renderer->getScreenHeight());
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float viewMat[16];
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float projMat[16];
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CommonCameraInterface* cam = gApp2->m_renderer->getActiveCamera();
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cam->getCameraViewMatrix(viewMat);
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cam->getCameraProjectionMatrix(projMat);
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float camPos[4];
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cam->getCameraPosition(camPos);
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//b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
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// b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);
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glEnable(GL_BLEND);
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glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
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//glBlendFunc(GL_ONE, GL_ONE_MINUS_SRC_ALPHA);
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glAlphaFunc( GL_GREATER, 1.0f );
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int viewport[4]={0,0,gApp2->m_renderer->getScreenWidth(),gApp2->m_renderer->getScreenHeight()};
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float posX = 450.f;
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float posY = 100.f;
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float winx,winy, winz;
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if (!projectWorldCoordToScreen(worldPosX, worldPosY, worldPosZ,viewMat,projMat,viewport,&winx, &winy, &winz))
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{
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return;
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}
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posX = winx;
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posY = gApp2->m_renderer->getScreenHeight()/2+(gApp2->m_renderer->getScreenHeight()/2)-winy;
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{
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//float width = 0.f;
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int pos=0;
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//float color[]={0.2f,0.2,0.2f,1.f};
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glActiveTexture(GL_TEXTURE0);
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glMatrixMode(GL_TEXTURE);
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glLoadIdentity();
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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glMatrixMode(GL_MODELVIEW);
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glLoadIdentity();
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glBindTexture(GL_TEXTURE_2D,m_data->m_largeFontTextureId);
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glEnable(GL_TEXTURE_2D);//BindTexture
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//float width = r.x;
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//float extraSpacing = 0.;
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float startX = posX;
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float startY = posY-g_DefaultLargeFont->m_CharHeight*size1;
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glEnable(GL_COLOR_MATERIAL);
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while (txt[pos])
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{
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int c = txt[pos];
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//r.h = g_DefaultNormalFont->m_CharHeight;
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//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
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float endX = startX+g_DefaultLargeFont->m_CharWidth[c]*size1;
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float endY = posY;
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float currentColor[]={1.f,0.2,0.2f,1.f};
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float u0 = g_DefaultLargeFont->m_CharU0[c];
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float u1 = g_DefaultLargeFont->m_CharU1[c];
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float v0 = g_DefaultLargeFont->m_CharV0[c];
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float v1 = g_DefaultLargeFont->m_CharV1[c];
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float color[4] = {currentColor[0],currentColor[1],currentColor[2],currentColor[3]};
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float x0 = startX;
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float x1 = endX;
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float y0 = startY;
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float y1 = endY;
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int screenWidth = gApp2->m_renderer->getScreenWidth();
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int screenHeight = gApp2->m_renderer->getScreenHeight();
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float z = 2.f*winz-1.f;//*(far
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/*float identity[16]={1,0,0,0,
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0,1,0,0,
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0,0,1,0,
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0,0,0,1};
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*/
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PrimVertex vertexData[4] = {
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PrimVertex( PrimVec4(-1.f+2.f*x0/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)),
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PrimVertex( PrimVec4(-1.f+2.f*x0/float(screenWidth), 1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)),
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PrimVertex(PrimVec4( -1.f+2.f*x1/float(screenWidth), 1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)),
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PrimVertex( PrimVec4( -1.f+2.f*x1/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
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};
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glBegin(GL_TRIANGLES);
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//use red colored text for now
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glColor4f(1,0,0,1);
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float scaling = 1;
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glTexCoord2f(vertexData[0].uv.p[0],vertexData[0].uv.p[1]);
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glVertex3d(vertexData[0].position.p[0]*scaling, vertexData[0].position.p[1]*scaling,vertexData[0].position.p[2]*scaling);
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glTexCoord2f(vertexData[1].uv.p[0],vertexData[1].uv.p[1]);
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glVertex3d(vertexData[1].position.p[0]*scaling, vertexData[1].position.p[1]*scaling,vertexData[1].position.p[2]*scaling);
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glTexCoord2f(vertexData[2].uv.p[0],vertexData[2].uv.p[1]);
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glVertex3d(vertexData[2].position.p[0]*scaling, vertexData[2].position.p[1]*scaling,vertexData[2].position.p[2]*scaling);
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glTexCoord2f(vertexData[0].uv.p[0],vertexData[0].uv.p[1]);
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glVertex3d(vertexData[0].position.p[0]*scaling, vertexData[0].position.p[1]*scaling,vertexData[0].position.p[2]*scaling);
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glTexCoord2f(vertexData[2].uv.p[0],vertexData[2].uv.p[1]);
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glVertex3d(vertexData[2].position.p[0]*scaling, vertexData[2].position.p[1]*scaling,vertexData[2].position.p[2]*scaling);
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glTexCoord2f(vertexData[3].uv.p[0],vertexData[3].uv.p[1]);
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glVertex3d(vertexData[3].position.p[0]*scaling, vertexData[3].position.p[1]*scaling,vertexData[3].position.p[2]*scaling);
|
|
|
|
glEnd();
|
|
|
|
startX = endX;
|
|
pos++;
|
|
}
|
|
}
|
|
|
|
glBindTexture(GL_TEXTURE_2D,0);
|
|
glDisable(GL_BLEND);
|
|
glDisable(GL_TEXTURE_2D);
|
|
|
|
restoreOpenGLState();
|
|
}
|
|
|
|
|
|
void SimpleOpenGL2App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
|
|
{
|
|
b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
|
|
double halfHeight=0.1;
|
|
cubeExtents[m_data->m_upAxis] = halfHeight;
|
|
int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);
|
|
|
|
b3Quaternion orn(0,0,0,1);
|
|
b3Vector3 center=b3MakeVector3(0,0,0,1);
|
|
b3Vector3 scaling=b3MakeVector3(1,1,1,1);
|
|
|
|
for ( int i = 0; i < cells_x; i++)
|
|
{
|
|
for (int j = 0; j < cells_z; j++)
|
|
{
|
|
float* color =0;
|
|
if ((i + j) % 2 == 0)
|
|
{
|
|
color = (float*)color0;
|
|
} else {
|
|
color = (float*)color1;
|
|
}
|
|
if (this->m_data->m_upAxis==1)
|
|
{
|
|
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, -halfHeight, (j + 0.5f) - cells_z * 0.5f);
|
|
} else
|
|
{
|
|
center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,-halfHeight );
|
|
}
|
|
m_renderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
int SimpleOpenGL2App::registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId)
|
|
{
|
|
|
|
int strideInBytes = 9*sizeof(float);
|
|
|
|
int graphicsShapeIndex = -1;
|
|
|
|
switch (lod)
|
|
{
|
|
case SPHERE_LOD_POINT_SPRITE:
|
|
{
|
|
int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
|
|
int numIndices = sizeof(point_sphere_indices)/sizeof(int);
|
|
graphicsShapeIndex = m_renderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS,textureId);
|
|
break;
|
|
}
|
|
|
|
case SPHERE_LOD_LOW:
|
|
{
|
|
int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
|
|
int numIndices = sizeof(low_sphere_indices)/sizeof(int);
|
|
graphicsShapeIndex = m_renderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
|
|
break;
|
|
}
|
|
case SPHERE_LOD_MEDIUM:
|
|
{
|
|
int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
|
|
int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
|
|
graphicsShapeIndex = m_renderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
|
|
break;
|
|
}
|
|
case SPHERE_LOD_HIGH:
|
|
default:
|
|
{
|
|
int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
|
|
int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
|
|
graphicsShapeIndex = m_renderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
|
|
break;
|
|
}
|
|
};
|
|
return graphicsShapeIndex;
|
|
}
|
|
|
|
|
|
int SimpleOpenGL2App::registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex, float textureScaling )
|
|
{
|
|
int strideInBytes = 9*sizeof(float);
|
|
int numVertices = sizeof(cube_vertices_textured)/strideInBytes;
|
|
int numIndices = sizeof(cube_indices)/sizeof(int);
|
|
|
|
b3AlignedObjectArray<GLInstanceVertex> verts;
|
|
verts.resize(numVertices);
|
|
for (int i=0;i<numVertices;i++)
|
|
{
|
|
verts[i].xyzw[0] = halfExtentsX*cube_vertices_textured[i*9];
|
|
verts[i].xyzw[1] = halfExtentsY*cube_vertices_textured[i*9+1];
|
|
verts[i].xyzw[2] = halfExtentsZ*cube_vertices_textured[i*9+2];
|
|
verts[i].xyzw[3] = cube_vertices_textured[i*9+3];
|
|
verts[i].normal[0] = cube_vertices_textured[i*9+4];
|
|
verts[i].normal[1]= cube_vertices_textured[i*9+5];
|
|
verts[i].normal[2] = cube_vertices_textured[i*9+6];
|
|
verts[i].uv[0] = cube_vertices_textured[i*9+7]*textureScaling;
|
|
verts[i].uv[1] = cube_vertices_textured[i*9+8]*textureScaling;
|
|
}
|
|
|
|
int shapeId = m_renderer->registerShape(&verts[0].xyzw[0],numVertices,cube_indices,numIndices,B3_GL_TRIANGLES,textureIndex);
|
|
return shapeId;
|
|
} |