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https://github.com/bulletphysics/bullet3
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A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory. Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
455 lines
14 KiB
C++
455 lines
14 KiB
C++
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#include "RaytracerSetup.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../TinyRenderer/TinyRenderer.h"
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#include "../CommonInterfaces/Common2dCanvasInterface.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btBulletCollisionCommon.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../ExampleBrowser/CollisionShape2TriangleMesh.h"
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#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
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#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "../Utils/b3BulletDefaultFileIO.h"
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struct TinyRendererSetupInternalData
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{
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TGAImage m_rgbColorBuffer;
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b3AlignedObjectArray<float> m_depthBuffer;
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b3AlignedObjectArray<float> m_shadowBuffer;
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b3AlignedObjectArray<int> m_segmentationMaskBuffer;
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int m_width;
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int m_height;
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btAlignedObjectArray<btConvexShape*> m_shapePtr;
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btAlignedObjectArray<btTransform> m_transforms;
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btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;
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btVoronoiSimplexSolver m_simplexSolver;
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btScalar m_pitch;
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btScalar m_roll;
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btScalar m_yaw;
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int m_textureHandle;
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int m_animateRenderer;
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btVector3 m_lightPos;
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TinyRendererSetupInternalData(int width, int height)
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: m_rgbColorBuffer(width, height, TGAImage::RGB),
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m_width(width),
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m_height(height),
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m_pitch(0),
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m_roll(0),
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m_yaw(0),
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m_textureHandle(0),
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m_animateRenderer(0)
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{
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m_lightPos.setValue(-3, 15, 15);
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m_depthBuffer.resize(m_width * m_height);
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m_shadowBuffer.resize(m_width * m_height);
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// m_segmentationMaskBuffer.resize(m_width*m_height);
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}
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void updateTransforms()
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{
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int numObjects = m_shapePtr.size();
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m_transforms.resize(numObjects);
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for (int i = 0; i < numObjects; i++)
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{
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m_transforms[i].setIdentity();
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//btVector3 pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
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btVector3 pos(0.f, +i * 2.5f, 0.f);
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m_transforms[i].setIdentity();
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m_transforms[i].setOrigin(pos);
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btQuaternion orn;
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if (i < 2)
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{
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orn.setEuler(m_yaw, m_pitch, m_roll);
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m_transforms[i].setRotation(orn);
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}
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}
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if (m_animateRenderer)
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{
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m_pitch += 0.005f;
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m_yaw += 0.01f;
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}
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}
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};
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struct TinyRendererSetup : public CommonExampleInterface
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{
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struct GUIHelperInterface* m_guiHelper;
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struct CommonGraphicsApp* m_app;
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struct TinyRendererSetupInternalData* m_internalData;
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bool m_useSoftware;
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TinyRendererSetup(struct GUIHelperInterface* guiHelper);
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virtual ~TinyRendererSetup();
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virtual void initPhysics();
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virtual void exitPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void physicsDebugDraw(int debugFlags);
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virtual void syncPhysicsToGraphics(struct GraphicsPhysicsBridge& gfxBridge);
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virtual bool mouseMoveCallback(float x, float y);
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virtual bool mouseButtonCallback(int button, int state, float x, float y);
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virtual bool keyboardCallback(int key, int state);
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virtual void renderScene();
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void animateRenderer(int animateRendererIndex)
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{
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m_internalData->m_animateRenderer = animateRendererIndex;
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}
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void selectRenderer(int rendererIndex)
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{
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m_useSoftware = (rendererIndex == 0);
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}
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void resetCamera()
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{
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float dist = 11;
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float pitch = -35;
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float yaw = 52;
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float targetPos[3] = {0, 0.46, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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};
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TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
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{
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m_useSoftware = false;
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m_guiHelper = gui;
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m_app = gui->getAppInterface();
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m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(), gui->getAppInterface()->m_window->getHeight());
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const char* fileName = "textured_sphere_smooth.obj";
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fileName = "cube.obj";
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fileName = "torus/torus_with_plane.obj";
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{
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{
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int shapeId = -1;
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b3ImportMeshData meshData;
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b3BulletDefaultFileIO fileIO;
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if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData,&fileIO))
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{
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int textureIndex = -1;
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if (meshData.m_textureImage1)
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{
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textureIndex = m_guiHelper->getRenderInterface()->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
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}
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shapeId = m_guiHelper->getRenderInterface()->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
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meshData.m_gfxShape->m_numvertices,
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&meshData.m_gfxShape->m_indices->at(0),
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meshData.m_gfxShape->m_numIndices,
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B3_GL_TRIANGLES,
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textureIndex);
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float position[4] = {0, 0, 0, 1};
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float orn[4] = {0, 0, 0, 1};
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float color[4] = {1, 1, 1, 1};
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float scaling[4] = {1, 1, 1, 1};
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m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId, position, orn, color, scaling);
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m_guiHelper->getRenderInterface()->writeTransforms();
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m_internalData->m_shapePtr.push_back(0);
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TinyRenderObjectData* ob = new TinyRenderObjectData(
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m_internalData->m_rgbColorBuffer,
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m_internalData->m_depthBuffer,
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&m_internalData->m_shadowBuffer,
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&m_internalData->m_segmentationMaskBuffer,
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m_internalData->m_renderObjects.size(), -1);
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meshData.m_gfxShape->m_scaling[0] = scaling[0];
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meshData.m_gfxShape->m_scaling[1] = scaling[1];
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meshData.m_gfxShape->m_scaling[2] = scaling[2];
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const int* indices = &meshData.m_gfxShape->m_indices->at(0);
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ob->registerMeshShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
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meshData.m_gfxShape->m_numvertices,
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indices,
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meshData.m_gfxShape->m_numIndices, color, meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
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ob->m_localScaling.setValue(scaling[0], scaling[1], scaling[2]);
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m_internalData->m_renderObjects.push_back(ob);
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delete meshData.m_gfxShape;
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if (!meshData.m_isCached)
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{
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delete meshData.m_textureImage1;
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}
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}
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}
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}
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}
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TinyRendererSetup::~TinyRendererSetup()
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{
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delete m_internalData;
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}
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const char* itemsanimate[] = {"Fixed", "Rotate"};
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void TinyRendererComboCallbackAnimate(int combobox, const char* item, void* userPointer)
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{
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TinyRendererSetup* cl = (TinyRendererSetup*)userPointer;
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b3Assert(cl);
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int index = -1;
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int numItems = sizeof(itemsanimate) / sizeof(char*);
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for (int i = 0; i < numItems; i++)
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{
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if (!strcmp(item, itemsanimate[i]))
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{
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index = i;
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}
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}
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cl->animateRenderer(index);
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}
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const char* items[] = {"Software", "OpenGL"};
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void TinyRendererComboCallback(int combobox, const char* item, void* userPointer)
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{
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TinyRendererSetup* cl = (TinyRendererSetup*)userPointer;
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b3Assert(cl);
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int index = -1;
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int numItems = sizeof(items) / sizeof(char*);
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for (int i = 0; i < numItems; i++)
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{
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if (!strcmp(item, items[i]))
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{
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index = i;
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}
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}
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cl->selectRenderer(index);
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}
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void TinyRendererSetup::initPhysics()
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{
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//request a visual bitma/texture we can render to
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m_app->setUpAxis(2);
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CommonRenderInterface* render = m_app->m_renderer;
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m_internalData->m_textureHandle = render->registerTexture(m_internalData->m_rgbColorBuffer.buffer(), m_internalData->m_width, m_internalData->m_height);
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{
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ComboBoxParams comboParams;
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comboParams.m_userPointer = this;
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comboParams.m_numItems = sizeof(items) / sizeof(char*);
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comboParams.m_startItem = 1;
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comboParams.m_items = items;
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comboParams.m_callback = TinyRendererComboCallback;
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m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
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}
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{
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ComboBoxParams comboParams;
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comboParams.m_userPointer = this;
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comboParams.m_numItems = sizeof(itemsanimate) / sizeof(char*);
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comboParams.m_startItem = 0;
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comboParams.m_items = itemsanimate;
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comboParams.m_callback = TinyRendererComboCallbackAnimate;
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m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
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}
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{
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SliderParams slider("LightPosX", &m_internalData->m_lightPos[0]);
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slider.m_minVal = -10;
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slider.m_maxVal = 10;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("LightPosY", &m_internalData->m_lightPos[1]);
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slider.m_minVal = -10;
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slider.m_maxVal = 10;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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{
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SliderParams slider("LightPosZ", &m_internalData->m_lightPos[2]);
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slider.m_minVal = -10;
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slider.m_maxVal = 10;
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if (m_guiHelper->getParameterInterface())
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
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}
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}
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void TinyRendererSetup::exitPhysics()
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{
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}
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void TinyRendererSetup::stepSimulation(float deltaTime)
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{
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m_internalData->updateTransforms();
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}
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void TinyRendererSetup::renderScene()
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{
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m_internalData->updateTransforms();
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btVector4 from(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2], 1);
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btVector4 toX(m_internalData->m_lightPos[0] + 0.1, m_internalData->m_lightPos[1], m_internalData->m_lightPos[2], 1);
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btVector4 toY(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1] + 0.1, m_internalData->m_lightPos[2], 1);
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btVector4 toZ(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2] + 0.1, 1);
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btVector4 colorX(1, 0, 0, 1);
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btVector4 colorY(0, 1, 0, 1);
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btVector4 colorZ(0, 0, 1, 1);
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int width = 2;
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m_guiHelper->getRenderInterface()->drawLine(from, toX, colorX, width);
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m_guiHelper->getRenderInterface()->drawLine(from, toY, colorY, width);
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m_guiHelper->getRenderInterface()->drawLine(from, toZ, colorZ, width);
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if (!m_useSoftware)
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{
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btVector3 lightPos(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2]);
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m_guiHelper->getRenderInterface()->setLightPosition(lightPos);
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for (int i = 0; i < m_internalData->m_transforms.size(); i++)
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{
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m_guiHelper->getRenderInterface()->writeSingleInstanceTransformToCPU(m_internalData->m_transforms[i].getOrigin(), m_internalData->m_transforms[i].getRotation(), i);
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}
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m_guiHelper->getRenderInterface()->writeTransforms();
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m_guiHelper->getRenderInterface()->renderScene();
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}
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else
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{
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TGAColor clearColor;
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clearColor.bgra[0] = 200;
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clearColor.bgra[1] = 200;
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clearColor.bgra[2] = 200;
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clearColor.bgra[3] = 255;
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for (int y = 0; y < m_internalData->m_height; ++y)
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{
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for (int x = 0; x < m_internalData->m_width; ++x)
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{
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m_internalData->m_rgbColorBuffer.set(x, y, clearColor);
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m_internalData->m_depthBuffer[x + y * m_internalData->m_width] = -1e30f;
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m_internalData->m_shadowBuffer[x + y * m_internalData->m_width] = -1e30f;
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}
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}
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ATTRIBUTE_ALIGNED16(btScalar modelMat2[16]);
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ATTRIBUTE_ALIGNED16(float viewMat[16]);
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ATTRIBUTE_ALIGNED16(float projMat[16]);
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CommonRenderInterface* render = this->m_app->m_renderer;
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render->getActiveCamera()->getCameraViewMatrix(viewMat);
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render->getActiveCamera()->getCameraProjectionMatrix(projMat);
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for (int o = 0; o < this->m_internalData->m_renderObjects.size(); o++)
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{
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const btTransform& tr = m_internalData->m_transforms[o];
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tr.getOpenGLMatrix(modelMat2);
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for (int i = 0; i < 4; i++)
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{
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for (int j = 0; j < 4; j++)
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{
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m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i + 4 * j]);
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m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i + 4 * j];
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m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i + 4 * j];
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btVector3 lightDirWorld = btVector3(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2]);
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m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
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btVector3 lightColor(1.0, 1.0, 1.0);
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m_internalData->m_renderObjects[o]->m_lightColor = lightColor;
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m_internalData->m_renderObjects[o]->m_lightDistance = 10.0;
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m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6;
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m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35;
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m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05;
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}
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}
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TinyRenderer::renderObjectDepth(*m_internalData->m_renderObjects[o]);
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}
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for (int o = 0; o < this->m_internalData->m_renderObjects.size(); o++)
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{
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const btTransform& tr = m_internalData->m_transforms[o];
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tr.getOpenGLMatrix(modelMat2);
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for (int i = 0; i < 4; i++)
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{
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for (int j = 0; j < 4; j++)
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{
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m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i + 4 * j]);
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m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i + 4 * j];
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m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i + 4 * j];
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btVector3 lightDirWorld = btVector3(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2]);
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m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
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btVector3 lightColor(1.0, 1.0, 1.0);
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m_internalData->m_renderObjects[o]->m_lightColor = lightColor;
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m_internalData->m_renderObjects[o]->m_lightDistance = 10.0;
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m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6;
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m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35;
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m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05;
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}
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}
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TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
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}
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//m_app->drawText("hello",500,500);
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render->activateTexture(m_internalData->m_textureHandle);
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render->updateTexture(m_internalData->m_textureHandle, m_internalData->m_rgbColorBuffer.buffer());
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float color[4] = {1, 1, 1, 1};
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m_app->drawTexturedRect(0, 0, m_app->m_window->getWidth(), m_app->m_window->getHeight(), color, 0, 0, 1, 1, true);
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}
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}
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void TinyRendererSetup::physicsDebugDraw(int debugDrawFlags)
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{
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}
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bool TinyRendererSetup::mouseMoveCallback(float x, float y)
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{
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return false;
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}
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bool TinyRendererSetup::mouseButtonCallback(int button, int state, float x, float y)
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{
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return false;
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}
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bool TinyRendererSetup::keyboardCallback(int key, int state)
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{
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return false;
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}
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void TinyRendererSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
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{
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}
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CommonExampleInterface* TinyRendererCreateFunc(struct CommonExampleOptions& options)
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{
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return new TinyRendererSetup(options.m_guiHelper);
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}
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