mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 22:00:05 +00:00
db3122233f
add rolling/spinning friction to cube, remove it from plane/samurai.urdf URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit) add some profiling markers to improve performance
326 lines
9.1 KiB
C++
326 lines
9.1 KiB
C++
#ifndef NO_OPENGL3
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#include "GLPrimitiveRenderer.h"
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#include "GLPrimInternalData.h"
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#include "Bullet3Common/b3Logging.h"
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#include "LoadShader.h"
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#include <assert.h>
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static const char* vertexShader3D= \
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"#version 150 \n"
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"\n"
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"uniform mat4 viewMatrix, projMatrix;\n"
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"in vec4 position;\n"
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"in vec4 colour;\n"
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"out vec4 colourV;\n"
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"\n"
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"in vec2 texuv;\n"
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"out vec2 texuvV;\n"
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"\n"
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"\n"
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"void main (void)\n"
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"{\n"
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" colourV = colour;\n"
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" gl_Position = projMatrix * viewMatrix * position ;\n"
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" texuvV=texuv;\n"
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"}\n";
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static const char* fragmentShader3D= \
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"#version 150\n"
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"\n"
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"uniform vec2 p;\n"
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"in vec4 colourV;\n"
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"out vec4 fragColour;\n"
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"in vec2 texuvV;\n"
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"\n"
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"uniform sampler2D Diffuse;\n"
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"\n"
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"void main(void)\n"
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"{\n"
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" vec4 texcolor = texture(Diffuse,texuvV);\n"
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" if (p.x==0.f)\n"
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" {\n"
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" texcolor = vec4(1,1,1,texcolor.x);\n"
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" }\n"
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" fragColour = colourV*texcolor;\n"
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"}\n";
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static unsigned int s_indexData[6] = {0,1,2,0,2,3};
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GLPrimitiveRenderer::GLPrimitiveRenderer(int screenWidth, int screenHeight)
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:m_screenWidth(screenWidth),
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m_screenHeight(screenHeight)
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{
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m_data = new PrimInternalData;
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m_data->m_shaderProg = gltLoadShaderPair(vertexShader3D,fragmentShader3D);
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m_data->m_viewmatUniform = glGetUniformLocation(m_data->m_shaderProg,"viewMatrix");
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if (m_data->m_viewmatUniform < 0) {
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assert(0);
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}
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m_data->m_projMatUniform = glGetUniformLocation(m_data->m_shaderProg,"projMatrix");
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if (m_data->m_projMatUniform < 0) {
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assert(0);
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}
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m_data->m_positionUniform = glGetUniformLocation(m_data->m_shaderProg, "p");
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if (m_data->m_positionUniform < 0) {
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assert(0);
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}
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m_data->m_colourAttribute = glGetAttribLocation(m_data->m_shaderProg, "colour");
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if (m_data->m_colourAttribute < 0) {
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assert(0);
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}
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m_data->m_positionAttribute = glGetAttribLocation(m_data->m_shaderProg, "position");
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if (m_data->m_positionAttribute < 0) {
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assert(0);
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}
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m_data->m_textureAttribute = glGetAttribLocation(m_data->m_shaderProg,"texuv");
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if (m_data->m_textureAttribute < 0) {
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assert(0);
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}
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loadBufferData();
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}
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void GLPrimitiveRenderer::loadBufferData()
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{
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PrimVertex vertexData[4] = {
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{ PrimVec4(-1, -1, 0.0, 1.0 ), PrimVec4( 1.0, 0.0, 0.0, 1.0 ) ,PrimVec2(0,0)},
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{ PrimVec4(-1, 1, 0.0, 1.0 ), PrimVec4( 0.0, 1.0, 0.0, 1.0 ) ,PrimVec2(0,1)},
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{ PrimVec4( 1, 1, 0.0, 1.0 ), PrimVec4( 0.0, 0.0, 1.0, 1.0 ) ,PrimVec2(1,1)},
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{ PrimVec4( 1, -1, 0.0, 1.0 ), PrimVec4( 1.0, 1.0, 1.0, 1.0 ) ,PrimVec2(1,0)}
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};
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glGenVertexArrays(1, &m_data->m_vertexArrayObject);
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glBindVertexArray(m_data->m_vertexArrayObject);
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glGenBuffers(1, &m_data->m_vertexBuffer);
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glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
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glBufferData(GL_ARRAY_BUFFER, 4 * sizeof(PrimVertex), vertexData, GL_DYNAMIC_DRAW);
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assert(glGetError()==GL_NO_ERROR);
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glGenBuffers(1, &m_data->m_indexBuffer);
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glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
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glBufferData(GL_ELEMENT_ARRAY_BUFFER,6*sizeof(int), s_indexData,GL_STATIC_DRAW);
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glEnableVertexAttribArray(m_data->m_positionAttribute);
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glEnableVertexAttribArray(m_data->m_colourAttribute);
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assert(glGetError()==GL_NO_ERROR);
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glEnableVertexAttribArray(m_data->m_textureAttribute);
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glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)0);
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glVertexAttribPointer(m_data->m_colourAttribute , 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)sizeof(PrimVec4));
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glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)(sizeof(PrimVec4)+sizeof(PrimVec4)));
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assert(glGetError()==GL_NO_ERROR);
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glActiveTexture(GL_TEXTURE0);
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GLubyte* image=new GLubyte[256*256*3];
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for(int y=0;y<256;++y)
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{
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// const int t=y>>5;
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GLubyte* pi=image+y*256*3;
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for(int x=0;x<256;++x)
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{
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if (x<y)//x<2||y<2||x>253||y>253)
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{
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pi[0]=255;
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pi[1]=0;
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pi[2]=0;
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} else
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{
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pi[0]=255;
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pi[1]=255;
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pi[2]=255;
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}
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pi+=3;
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}
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}
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glGenTextures(1,(GLuint*)&m_data->m_texturehandle);
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glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256,256,0,GL_RGB,GL_UNSIGNED_BYTE,image);
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glGenerateMipmap(GL_TEXTURE_2D);
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assert(glGetError()==GL_NO_ERROR);
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delete[] image;
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}
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GLPrimitiveRenderer::~GLPrimitiveRenderer()
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{
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glBindTexture(GL_TEXTURE_2D,0);
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glUseProgram(0);
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glBindTexture(GL_TEXTURE_2D,0);
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glDeleteProgram(m_data->m_shaderProg);
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delete m_data;
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}
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void GLPrimitiveRenderer::drawLine()
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{
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}
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void GLPrimitiveRenderer::drawRect(float x0, float y0, float x1, float y1, float color[4])
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{
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assert(glGetError()==GL_NO_ERROR);
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glActiveTexture(GL_TEXTURE0);
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assert(glGetError()==GL_NO_ERROR);
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glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
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assert(glGetError()==GL_NO_ERROR);
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drawTexturedRect(x0,y0,x1,y1,color,0,0,1,1);
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assert(glGetError()==GL_NO_ERROR);
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}
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void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVertex& v1,const PrimVertex& v2,const PrimVertex& v3,float viewMat[16],float projMat[16], bool useRGBA)
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{
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B3_PROFILE("GLPrimitiveRenderer::drawTexturedRect3D");
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assert(glGetError()==GL_NO_ERROR);
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glUseProgram(m_data->m_shaderProg);
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glUniformMatrix4fv(m_data->m_viewmatUniform, 1, false, viewMat);
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glUniformMatrix4fv(m_data->m_projMatUniform, 1, false, projMat);
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assert(glGetError()==GL_NO_ERROR);
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glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
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glBindVertexArray(m_data->m_vertexArrayObject);
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bool useFiltering = false;
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if (useFiltering)
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{
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
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} else
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{
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
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}
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PrimVertex vertexData[4] = {
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v0,v1,v2,v3
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};
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glBufferSubData(GL_ARRAY_BUFFER, 0,4 * sizeof(PrimVertex), vertexData);
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assert(glGetError()==GL_NO_ERROR);
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PrimVec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
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if (useRGBA)
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{
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p.p[0] = 1.f;
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p.p[1] = 1.f;
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}
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glUniform2fv(m_data->m_positionUniform, 1, (const GLfloat *)&p);
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glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
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assert(glGetError()==GL_NO_ERROR);
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glEnableVertexAttribArray(m_data->m_positionAttribute);
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assert(glGetError()==GL_NO_ERROR);
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glEnableVertexAttribArray(m_data->m_colourAttribute);
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assert(glGetError()==GL_NO_ERROR);
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glEnableVertexAttribArray(m_data->m_textureAttribute);
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glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)0);
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glVertexAttribPointer(m_data->m_colourAttribute , 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)sizeof(PrimVec4));
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glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)(sizeof(PrimVec4)+sizeof(PrimVec4)));
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assert(glGetError()==GL_NO_ERROR);
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glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
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//glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
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int indexCount = 6;
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assert(glGetError()==GL_NO_ERROR);
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glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
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assert(glGetError()==GL_NO_ERROR);
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glBindVertexArray(0);
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assert(glGetError()==GL_NO_ERROR);
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glBindBuffer(GL_ARRAY_BUFFER, 0);
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assert(glGetError()==GL_NO_ERROR);
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glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
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assert(glGetError()==GL_NO_ERROR);
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//glDisableVertexAttribArray(m_data->m_textureAttribute);
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assert(glGetError()==GL_NO_ERROR);
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glUseProgram(0);
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assert(glGetError()==GL_NO_ERROR);
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}
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void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
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{
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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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PrimVertex vertexData[4] = {
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{ PrimVec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)},
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{ PrimVec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)},
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{ PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)},
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{ PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0)}
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};
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drawTexturedRect3D(vertexData[0],vertexData[1],vertexData[2],vertexData[3],identity,identity,useRGBA);
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}
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void GLPrimitiveRenderer::setScreenSize(int width, int height)
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{
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m_screenWidth = width;
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m_screenHeight = height;
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}
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#endif
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