mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-18 07:21:03 +00:00
413 lines
9.0 KiB
C++
413 lines
9.0 KiB
C++
/*
|
|
* Copyright (c) 2005 Erwin Coumans <www.erwincoumans.com>
|
|
*
|
|
* Permission to use, copy, modify, distribute and sell this software
|
|
* and its documentation for any purpose is hereby granted without fee,
|
|
* provided that the above copyright notice appear in all copies.
|
|
* Erwin Coumans makes no representations about the suitability
|
|
* of this software for any purpose.
|
|
* It is provided "as is" without express or implied warranty.
|
|
*/
|
|
|
|
|
|
|
|
/*
|
|
Raytracer uses the Convex Raycast to visualize the Collision Shapes/Minkowski Sum.
|
|
Very basic raytracer, rendering into a texture.
|
|
*/
|
|
|
|
#include "GL_Simplex1to4.h"
|
|
#include "SimdQuaternion.h"
|
|
#include "SimdTransform.h"
|
|
#include "GL_ShapeDrawer.h"
|
|
#ifdef WIN32 //needed for glut.h
|
|
#include <windows.h>
|
|
#endif
|
|
#include <GL/glut.h>
|
|
#include "GlutStuff.h"
|
|
|
|
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
|
|
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
|
|
#include "NarrowPhaseCollision/GjkConvexCast.h"
|
|
#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
|
|
#include "NarrowPhaseCollision/BU_CollisionPair.h"
|
|
|
|
|
|
|
|
#include "CollisionShapes/SphereShape.h"
|
|
#include "CollisionShapes/MultiSphereShape.h"
|
|
#include "CollisionShapes/ConvexHullShape.h"
|
|
#include "CollisionShapes/BoxShape.h"
|
|
#include "CollisionShapes/Simplex1to4Shape.h"
|
|
#include "CollisionShapes/ConeShape.h"
|
|
#include "CollisionShapes/CylinderShape.h"
|
|
#include "CollisionShapes/MinkowskiSumShape.h"
|
|
|
|
|
|
|
|
#include "RenderTexture.h"
|
|
|
|
VoronoiSimplexSolver simplexSolver;
|
|
|
|
float yaw=0.f,pitch=0.f,roll=0.f;
|
|
const int maxNumObjects = 4;
|
|
const int numObjects = 4;
|
|
|
|
/// simplex contains the vertices, and some extra code to draw and debug
|
|
GL_Simplex1to4 simplex;
|
|
|
|
ConvexShape* shapePtr[maxNumObjects];
|
|
SimdTransform transforms[maxNumObjects];
|
|
|
|
RenderTexture* raytracePicture = 0;
|
|
|
|
int screenWidth = 128;
|
|
int screenHeight = 128;
|
|
GLuint glTextureId;
|
|
|
|
SphereShape mySphere(1);
|
|
BoxShape myBox(SimdVector3(0.4f,0.4f,0.4f));
|
|
CylinderShape myCylinder(SimdVector3(0.3f,0.3f,0.3f));
|
|
ConeShape myCone(1,1);
|
|
|
|
MinkowskiSumShape myMink(&myCylinder,&myBox);
|
|
|
|
|
|
///
|
|
///
|
|
///
|
|
int main(int argc,char** argv)
|
|
{
|
|
raytracePicture = new RenderTexture(screenWidth,screenHeight);
|
|
|
|
myBox.SetMargin(0.02f);
|
|
myCone.SetMargin(0.2f);
|
|
|
|
simplex.SetSimplexSolver(&simplexSolver);
|
|
simplex.AddVertex(SimdPoint3(-1,0,-1));
|
|
simplex.AddVertex(SimdPoint3(1,0,-1));
|
|
simplex.AddVertex(SimdPoint3(0,0,1));
|
|
simplex.AddVertex(SimdPoint3(0,1,0));
|
|
|
|
|
|
/// convex hull of 5 spheres
|
|
#define NUM_SPHERES 5
|
|
SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
|
|
SimdVector3 positions[NUM_SPHERES] = {
|
|
SimdVector3(-1.2f, -0.3f, 0.f),
|
|
SimdVector3(0.8f, -0.3f, 0.f),
|
|
SimdVector3(0.5f, 0.6f, 0.f),
|
|
SimdVector3(-0.5f, 0.6f, 0.f),
|
|
SimdVector3(0.f, 0.f, 0.f)
|
|
};
|
|
SimdScalar radi[NUM_SPHERES] = { 0.35f,0.35f,0.45f,0.40f,0.40f };
|
|
|
|
MultiSphereShape multiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
|
|
|
|
ConvexHullShape convexHullShape(positions,3);
|
|
|
|
|
|
//choose shape
|
|
shapePtr[0] = &myCone;
|
|
shapePtr[1] =&simplex;
|
|
shapePtr[2] =&convexHullShape;
|
|
shapePtr[3] =&myMink;//myBox;
|
|
|
|
simplex.SetMargin(0.3f);
|
|
|
|
setCameraDistance(6.f);
|
|
|
|
return glutmain(argc, argv,screenWidth,screenHeight,"Minkowski-Sum Raytracer Demo");
|
|
}
|
|
|
|
//to be implemented by the demo
|
|
|
|
void clientMoveAndDisplay()
|
|
{
|
|
|
|
clientDisplay();
|
|
}
|
|
|
|
int once = 1;
|
|
extern float eye[3];
|
|
|
|
void clientDisplay(void)
|
|
{
|
|
|
|
for (int i=0;i<numObjects;i++)
|
|
{
|
|
transforms[i].setIdentity();
|
|
SimdVector3 pos(-3.5f+i*2.5f,0.f,0.f);
|
|
transforms[i].setOrigin( pos );
|
|
SimdQuaternion orn;
|
|
if (i < 2)
|
|
{
|
|
orn.setEuler(yaw,pitch,roll);
|
|
transforms[i].setRotation(orn);
|
|
}
|
|
}
|
|
myMink.SetTransformA(SimdTransform(transforms[0].getRotation()));
|
|
|
|
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
|
glDisable(GL_LIGHTING);
|
|
if (once)
|
|
{
|
|
glGenTextures(1, &glTextureId);
|
|
glBindTexture(GL_TEXTURE_2D,glTextureId );
|
|
once = 0;
|
|
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
|
|
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
|
|
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
|
|
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
|
|
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
|
|
}
|
|
|
|
|
|
|
|
glDisable(GL_TEXTURE_2D);
|
|
glDisable(GL_BLEND);
|
|
|
|
#define RAYTRACER
|
|
#ifdef RAYTRACER
|
|
|
|
|
|
|
|
|
|
|
|
|
|
SimdVector4 rgba(1.f,0.f,0.f,0.5f);
|
|
|
|
float top = 1.f;
|
|
float bottom = -1.f;
|
|
float nearPlane = 1.f;
|
|
|
|
float tanFov = (top-bottom)*0.5f / nearPlane;
|
|
|
|
float fov = 2.0 * atanf (tanFov);
|
|
|
|
|
|
SimdVector3 rayFrom(eye[0],eye[1],eye[2]);
|
|
SimdVector3 rayForward = -rayFrom;
|
|
rayForward.normalize();
|
|
float farPlane = 600.f;
|
|
rayForward*= farPlane;
|
|
|
|
SimdVector3 rightOffset;
|
|
SimdVector3 vertical(0.f,1.f,0.f);
|
|
SimdVector3 hor;
|
|
hor = rayForward.cross(vertical);
|
|
hor.normalize();
|
|
vertical = hor.cross(rayForward);
|
|
vertical.normalize();
|
|
|
|
float tanfov = tanf(0.5f*fov);
|
|
|
|
hor *= 2.f * farPlane * tanfov;
|
|
vertical *= 2.f * farPlane * tanfov;
|
|
|
|
SimdVector3 rayToCenter = rayFrom + rayForward;
|
|
|
|
SimdVector3 dHor = hor * 1.f/float(screenWidth);
|
|
SimdVector3 dVert = vertical * 1.f/float(screenHeight);
|
|
|
|
SimdTransform rayFromTrans;
|
|
rayFromTrans.setIdentity();
|
|
rayFromTrans.setOrigin(rayFrom);
|
|
|
|
SimdTransform rayFromLocal;
|
|
SimdTransform rayToLocal;
|
|
|
|
|
|
SphereShape pointShape(0.0f);
|
|
|
|
|
|
///clear texture
|
|
for (int x=0;x<screenWidth;x++)
|
|
{
|
|
for (int y=0;y<screenHeight;y++)
|
|
{
|
|
SimdVector4 rgba(0.f,0.f,0.f,0.f);
|
|
raytracePicture->SetPixel(x,y,rgba);
|
|
}
|
|
}
|
|
|
|
|
|
ConvexCast::CastResult rayResult;
|
|
SimdTransform rayToTrans;
|
|
rayToTrans.setIdentity();
|
|
SimdVector3 rayTo;
|
|
for (int x=0;x<screenWidth;x++)
|
|
{
|
|
for (int y=0;y<screenHeight;y++)
|
|
{
|
|
rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
|
|
rayTo += x * dHor;
|
|
rayTo -= y * dVert;
|
|
rayToTrans.setOrigin(rayTo);
|
|
for (int s=0;s<numObjects;s++)
|
|
{
|
|
// rayFromLocal = transforms[s].inverse()* rayFromTrans;
|
|
// rayToLocal = transforms[s].inverse()* rayToTrans;
|
|
|
|
//choose the continuous collision detection method
|
|
SubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
|
|
//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
|
|
//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
|
|
|
|
// BU_Simplex1to4 ptShape(SimdVector3(0,0,0));//algebraic needs features, doesnt use 'supporting vertex'
|
|
// BU_CollisionPair convexCaster(&ptShape,shapePtr[0]);
|
|
|
|
|
|
//reset previous result
|
|
rayResult.m_fraction = 1.f;
|
|
|
|
|
|
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
|
|
{
|
|
//float fog = 1.f - 0.1f * rayResult.m_fraction;
|
|
rayResult.m_normal.normalize();
|
|
|
|
SimdVector3 worldNormal;
|
|
worldNormal = transforms[s].getBasis() *rayResult.m_normal;
|
|
|
|
float light = worldNormal.dot(SimdVector3(0.4f,-1.f,-0.4f));
|
|
if (light < 0.2f)
|
|
light = 0.2f;
|
|
if (light > 1.f)
|
|
light = 1.f;
|
|
|
|
rgba = SimdVector4(light,light,light,1.f);
|
|
raytracePicture->SetPixel(x,y,rgba);
|
|
} else
|
|
{
|
|
//clear is already done
|
|
//rgba = SimdVector4(0.f,0.f,0.f,0.f);
|
|
//raytracePicture->SetPixel(x,y,rgba);
|
|
|
|
}
|
|
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
#define TEST_PRINTF
|
|
#ifdef TEST_PRINTF
|
|
|
|
|
|
extern BMF_FontData BMF_font_helv10;
|
|
|
|
raytracePicture->Printf("CCD RAYTRACER",&BMF_font_helv10);
|
|
char buffer[256];
|
|
sprintf(buffer,"%d RAYS / Frame",screenWidth*screenHeight*numObjects);
|
|
raytracePicture->Printf(buffer,&BMF_font_helv10,0,10);
|
|
|
|
|
|
#endif //TEST_PRINTF
|
|
|
|
glMatrixMode(GL_PROJECTION);
|
|
glPushMatrix();
|
|
glLoadIdentity();
|
|
glFrustum(-1.0,1.0,-1.0,1.0,3,2020.0);
|
|
|
|
glMatrixMode(GL_MODELVIEW);
|
|
glPushMatrix();
|
|
glLoadIdentity(); // Reset The Modelview Matrix
|
|
glTranslatef(0.0f,0.0f,-3.0f); // Move Into The Screen 5 Units
|
|
|
|
|
|
|
|
glEnable(GL_TEXTURE_2D);
|
|
glBindTexture(GL_TEXTURE_2D,glTextureId );
|
|
|
|
const unsigned char *ptr = raytracePicture->GetBuffer();
|
|
glTexImage2D(GL_TEXTURE_2D,
|
|
0,
|
|
GL_RGBA,
|
|
raytracePicture->GetWidth(),raytracePicture->GetHeight(),
|
|
0,
|
|
GL_RGBA,
|
|
GL_UNSIGNED_BYTE,
|
|
ptr);
|
|
|
|
|
|
glEnable (GL_BLEND);
|
|
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
|
|
glColor4f (1,1,1,1); // alpha=0.5=half visible
|
|
|
|
glBegin(GL_QUADS);
|
|
glTexCoord2f(0.0f, 0.0f);
|
|
glVertex2f(-1,1);
|
|
glTexCoord2f(1.0f, 0.0f);
|
|
glVertex2f(1,1);
|
|
glTexCoord2f(1.0f, 1.0f);
|
|
glVertex2f(1,-1);
|
|
glTexCoord2f(0.0f, 1.0f);
|
|
glVertex2f(-1,-1);
|
|
glEnd();
|
|
|
|
|
|
|
|
glMatrixMode(GL_MODELVIEW);
|
|
glPopMatrix();
|
|
glMatrixMode(GL_PROJECTION);
|
|
glPopMatrix();
|
|
glMatrixMode(GL_MODELVIEW);
|
|
|
|
#endif //RAYRACER
|
|
|
|
glDisable(GL_TEXTURE_2D);
|
|
glDisable(GL_DEPTH_TEST);
|
|
|
|
GL_ShapeDrawer::DrawCoordSystem();
|
|
|
|
glPushMatrix();
|
|
|
|
|
|
|
|
|
|
/*
|
|
/// normal opengl rendering
|
|
float m[16];
|
|
int i;
|
|
|
|
for (i=0;i<numObjects;i++)
|
|
{
|
|
|
|
|
|
transA.getOpenGLMatrix( m );
|
|
/// draw the simplex
|
|
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1));
|
|
/// calculate closest point from simplex to the origin, and draw this vector
|
|
simplex.CalcClosest(m);
|
|
|
|
}
|
|
*/
|
|
|
|
glPopMatrix();
|
|
|
|
pitch += 0.005f;
|
|
yaw += 0.01f;
|
|
|
|
glFlush();
|
|
glutSwapBuffers();
|
|
}
|
|
|
|
void clientResetScene()
|
|
{
|
|
}
|
|
|
|
void clientKeyboard(unsigned char key, int x, int y)
|
|
{
|
|
defaultKeyboard(key, x, y);
|
|
}
|
|
|
|
|
|
void clientMouseFunc(int button, int state, int x, int y)
|
|
{
|
|
|
|
}
|
|
void clientMotionFunc(int x,int y)
|
|
{
|
|
}
|