mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
db008ab3c2
example:
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.getNumJoints(kuka)
pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6)
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6)
Also allow to render text using a given orientation (instead of pointing to the camera), example:
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6)
Add drawTexturedTriangleMesh, for drawing 3d text.
Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index.
updateTexture: allow to not flip texels around up axis
686 lines
19 KiB
C++
686 lines
19 KiB
C++
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#include "SimpleOpenGL2Renderer.h"
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#include "OpenGL2Include.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "GLInstanceGraphicsShape.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3Transform.h"
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#include "Bullet3Common/b3ResizablePool.h"
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B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Shape
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{
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B3_DECLARE_ALIGNED_ALLOCATOR();
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int m_textureIndex;
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int m_primitiveType;
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b3AlignedObjectArray<int> m_indices;
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b3AlignedObjectArray<GLInstanceVertex> m_vertices;
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b3Vector3 m_scaling;
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};
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B3_ATTRIBUTE_ALIGNED16(struct) SimpleGL2Instance
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{
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B3_DECLARE_ALIGNED_ALLOCATOR();
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int m_shapeIndex;
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b3Vector3 m_position;
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b3Quaternion orn;
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b3Vector4 m_rgbColor;
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b3Vector3 m_scaling;
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void clear()
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{
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}
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};
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struct InternalTextureHandle2
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{
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GLuint m_glTexture;
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int m_width;
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int m_height;
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};
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typedef b3PoolBodyHandle<SimpleGL2Instance> SimpleGL2InstanceHandle;
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struct SimpleOpenGL2RendererInternalData
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{
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int m_width;
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int m_height;
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SimpleCamera m_camera;
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b3AlignedObjectArray<SimpleGL2Shape*> m_shapes;
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//b3AlignedObjectArray<SimpleGL2Instance> m_graphicsInstances1;
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b3ResizablePool<SimpleGL2InstanceHandle> m_graphicsInstancesPool;
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b3AlignedObjectArray<InternalTextureHandle2> m_textureHandles;
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};
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SimpleOpenGL2Renderer::SimpleOpenGL2Renderer(int width, int height)
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{
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m_data = new SimpleOpenGL2RendererInternalData;
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m_data->m_width = width;
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m_data->m_height = height;
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}
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SimpleOpenGL2Renderer::~SimpleOpenGL2Renderer()
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{
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delete m_data;
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}
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void SimpleOpenGL2Renderer::init()
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{
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}
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const CommonCameraInterface* SimpleOpenGL2Renderer::getActiveCamera() const
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{
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return &m_data->m_camera;
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}
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CommonCameraInterface* SimpleOpenGL2Renderer::getActiveCamera()
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{
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return &m_data->m_camera;
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}
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void SimpleOpenGL2Renderer::setActiveCamera(CommonCameraInterface* cam)
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{
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b3Assert(0);//not supported yet
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}
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void SimpleOpenGL2Renderer::setLightPosition(const float lightPos[3])
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{
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}
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void SimpleOpenGL2Renderer::setLightPosition(const double lightPos[3])
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{
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}
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void SimpleOpenGL2Renderer::updateCamera(int upAxis)
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{
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float projection[16];
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float view[16];
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getActiveCamera()->setAspectRatio((float)m_data->m_width/(float)m_data->m_height);
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getActiveCamera()->setCameraUpAxis(upAxis);
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m_data->m_camera.update(); //??
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getActiveCamera()->getCameraProjectionMatrix(projection);
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getActiveCamera()->getCameraViewMatrix(view);
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GLfloat projMat[16];
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GLfloat viewMat[16];
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for (int i=0;i<16;i++)
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{
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viewMat[i] = view[i];
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projMat[i] = projection[i];
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}
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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glMultMatrixf(projMat);
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glMatrixMode(GL_MODELVIEW);
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glLoadIdentity();
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glMultMatrixf(viewMat);
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}
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void SimpleOpenGL2Renderer::removeAllInstances()
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{
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for (int i=0;i<m_data->m_shapes.size();i++)
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{
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delete m_data->m_shapes[i];
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}
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m_data->m_shapes.clear();
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m_data->m_graphicsInstancesPool.exitHandles();
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m_data->m_graphicsInstancesPool.initHandles();
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//also destroy textures?
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m_data->m_textureHandles.clear();
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}
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void SimpleOpenGL2Renderer::removeGraphicsInstance(int instanceUid)
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{
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m_data->m_graphicsInstancesPool.freeHandle(instanceUid);
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}
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bool SimpleOpenGL2Renderer::readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)
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{
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return false;
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}
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void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(const float* color, int srcIndex)
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{
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}
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void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(const double* color, int srcIndex)
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{
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}
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void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(const float* scale, int srcIndex)
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{
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}
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void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(const double* scale, int srcIndex)
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{
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}
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int SimpleOpenGL2Renderer::getTotalNumInstances() const
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{
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return m_data->m_graphicsInstancesPool.getNumHandles();
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}
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void SimpleOpenGL2Renderer::getCameraViewMatrix(float viewMat[16]) const
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{
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b3Assert(0);
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}
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void SimpleOpenGL2Renderer::getCameraProjectionMatrix(float projMat[16]) const
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{
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b3Assert(0);
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}
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void SimpleOpenGL2Renderer::drawOpenGL(int instanceIndex)
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{
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const SimpleGL2Instance* instPtr = m_data->m_graphicsInstancesPool.getHandle(instanceIndex);
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if (0==instPtr)
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{
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b3Assert(0);
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return;
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}
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const SimpleGL2Instance& inst = *instPtr;
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const SimpleGL2Shape* shape = m_data->m_shapes[inst.m_shapeIndex];
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if (inst.m_rgbColor[3]==0)
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{
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return;
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}
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glPushMatrix();
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b3Transform tr;
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tr.setOrigin(b3MakeVector3(inst.m_position[0],inst.m_position[1],inst.m_position[2]));
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tr.setRotation(b3Quaternion(inst.orn[0],inst.orn[1],inst.orn[2],inst.orn[3]));
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b3Scalar m[16];
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tr.getOpenGLMatrix(m);
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#ifdef B3_USE_DOUBLE_PRECISION
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glMultMatrixd(m);
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#else
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glMultMatrixf(m);
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#endif
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#if 0
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glMatrixMode(GL_TEXTURE);
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glLoadIdentity();
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glScalef(0.025f,0.025f,0.025f);
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glMatrixMode(GL_MODELVIEW);
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static const GLfloat planex[]={1,0,0,0};
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// static const GLfloat planey[]={0,1,0,0};
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static const GLfloat planez[]={0,0,1,0};
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glTexGenfv(GL_S,GL_OBJECT_PLANE,planex);
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glTexGenfv(GL_T,GL_OBJECT_PLANE,planez);
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glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
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glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR);
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glEnable(GL_TEXTURE_GEN_S);
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glEnable(GL_TEXTURE_GEN_T);
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glEnable(GL_TEXTURE_GEN_R);
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m_textureinitialized=true;
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#endif
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//drawCoordSystem();
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//glPushMatrix();
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// glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR);
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// glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR);
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// glMatrixMode(GL_TEXTURE);
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// glLoadIdentity();
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glMatrixMode(GL_MODELVIEW);
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glEnable(GL_COLOR_MATERIAL);
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if(shape->m_textureIndex>=0)
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{
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glEnable(GL_TEXTURE_2D);
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activateTexture(shape->m_textureIndex);
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} else
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{
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glDisable(GL_TEXTURE_2D);
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}
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glColor3f(inst.m_rgbColor[0],inst.m_rgbColor[1], inst.m_rgbColor[2]);
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glScalef(inst.m_scaling[0],inst.m_scaling[1],inst.m_scaling[2]);
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glShadeModel(GL_SMOOTH);
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glBegin (GL_TRIANGLES);
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for (int i=0;i<shape->m_indices.size();i+=3)
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{
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for (int v=0;v<3;v++)
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{
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const GLInstanceVertex& vtx0 = shape->m_vertices[shape->m_indices[i+v]];
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glNormal3f(vtx0.normal[0],vtx0.normal[1],vtx0.normal[2]);
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glTexCoord2f(vtx0.uv[0],vtx0.uv[1]);
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glVertex3f (vtx0.xyzw[0],vtx0.xyzw[1],vtx0.xyzw[2]);
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}
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}
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glEnd();
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glPopMatrix();
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}
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void SimpleOpenGL2Renderer::drawSceneInternal(int pass, int cameraUpAxis)
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{
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b3AlignedObjectArray<int> usedHandles;
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m_data->m_graphicsInstancesPool.getUsedHandles(usedHandles);
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for (int i=0;i<usedHandles.size();i++)
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{
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drawOpenGL(usedHandles[i]);
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}
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#if 0
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b3Scalar m[16];
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b3Matrix3x3 rot;rot.setIdentity();
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const int numObjects=dynamicsWorld->getNumCollisionObjects();
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btVector3 wireColor(1,0,0);
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//glDisable(GL_CULL_FACE);
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for(int i=0;i<numObjects;i++)
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{
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const btCollisionObject* colObj=dynamicsWorld->getCollisionObjectArray()[i];
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const btRigidBody* body=btRigidBody::upcast(colObj);
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if(body&&body->getMotionState())
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{
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btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
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myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
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rot=myMotionState->m_graphicsWorldTrans.getBasis();
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}
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else
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{
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colObj->getWorldTransform().getOpenGLMatrix(m);
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rot=colObj->getWorldTransform().getBasis();
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}
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btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
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if(i&1) wireColor=btVector3(0.f,0.0f,1.f);
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///color differently for active, sleeping, wantsdeactivation states
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if (colObj->getActivationState() == 1) //active
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{
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if (i & 1)
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{
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wireColor += btVector3 (1.f,0.f,0.f);
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}
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else
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{
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wireColor += btVector3 (.5f,0.f,0.f);
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}
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}
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if(colObj->getActivationState()==2) //ISLAND_SLEEPING
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{
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if(i&1)
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{
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wireColor += btVector3 (0.f,1.f, 0.f);
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}
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else
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{
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wireColor += btVector3 (0.f,0.5f,0.f);
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}
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}
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btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
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//m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax);
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aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
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aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
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// printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ());
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// printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ());
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// m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1));
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//switch(pass)
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//if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe))
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int debugMode = 0;//getDebugMode()
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//btVector3 m_sundirection(-1,-1,-1);
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btVector3 m_sundirection(btVector3(1,-2,1)*1000);
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if (cameraUpAxis==2)
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{
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m_sundirection = btVector3(1,1,-2)*1000;
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}
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switch(pass)
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{
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case 0: drawOpenGL(m,colObj->getCollisionShape(),wireColor,debugMode,aabbMin,aabbMax);break;
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case 1: drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break;
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case 2: drawOpenGL(m,colObj->getCollisionShape(),wireColor*b3Scalar(0.3),0,aabbMin,aabbMax);break;
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}
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}
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#endif
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}
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void SimpleOpenGL2Renderer::renderScene()
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{
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GLfloat light_ambient[] = { b3Scalar(0.2), b3Scalar(0.2), b3Scalar(0.2), b3Scalar(1.0) };
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GLfloat light_diffuse[] = { b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0) };
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GLfloat light_specular[] = { b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0), b3Scalar(1.0 )};
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/* light_position is NOT default value */
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GLfloat light_position0[] = { b3Scalar(1.0), b3Scalar(10.0), b3Scalar(1.0), b3Scalar(0.0 )};
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GLfloat light_position1[] = { b3Scalar(-1.0), b3Scalar(-10.0), b3Scalar(-1.0), b3Scalar(0.0) };
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glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
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glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
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glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
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glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
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glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
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glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
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glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
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glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
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glEnable(GL_LIGHTING);
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glEnable(GL_LIGHT0);
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glEnable(GL_LIGHT1);
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glShadeModel(GL_SMOOTH);
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glEnable(GL_DEPTH_TEST);
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glDepthFunc(GL_LESS);
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drawSceneInternal(0,0);
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}
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int SimpleOpenGL2Renderer::registerTexture(const unsigned char* texels, int width, int height, bool flipTexelsY)
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{
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b3Assert(glGetError() ==GL_NO_ERROR);
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glActiveTexture(GL_TEXTURE0);
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int textureIndex = m_data->m_textureHandles.size();
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// const GLubyte* image= (const GLubyte*)texels;
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GLuint textureHandle;
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glGenTextures(1,(GLuint*)&textureHandle);
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glBindTexture(GL_TEXTURE_2D,textureHandle);
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b3Assert(glGetError() ==GL_NO_ERROR);
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InternalTextureHandle2 h;
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h.m_glTexture = textureHandle;
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h.m_width = width;
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h.m_height = height;
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m_data->m_textureHandles.push_back(h);
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updateTexture(textureIndex, texels,flipTexelsY);
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return textureIndex;
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}
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void SimpleOpenGL2Renderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipTexelsY)
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{
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if (textureIndex>=0)
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{
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glActiveTexture(GL_TEXTURE0);
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b3Assert(glGetError() ==GL_NO_ERROR);
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InternalTextureHandle2& h = m_data->m_textureHandles[textureIndex];
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glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
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b3Assert(glGetError() ==GL_NO_ERROR);
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if (flipTexelsY)
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{
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//textures need to be flipped for OpenGL...
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b3AlignedObjectArray<unsigned char> flippedTexels;
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flippedTexels.resize(h.m_width* h.m_height * 3);
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for (int i = 0; i < h.m_width; i++)
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{
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for (int j = 0; j < h.m_height; j++)
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{
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flippedTexels[(i + j*h.m_width) * 3] = texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
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flippedTexels[(i + j*h.m_width) * 3+1] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
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flippedTexels[(i + j*h.m_width) * 3+2] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
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}
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}
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// const GLubyte* image= (const GLubyte*)texels;
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
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} else
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{
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// const GLubyte* image= (const GLubyte*)texels;
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&texels[0]);
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}
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b3Assert(glGetError() ==GL_NO_ERROR);
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glGenerateMipmap(GL_TEXTURE_2D);
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b3Assert(glGetError() ==GL_NO_ERROR);
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}
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}
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void SimpleOpenGL2Renderer::activateTexture(int textureIndex)
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{
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glActiveTexture(GL_TEXTURE0);
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if (textureIndex>=0)
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{
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glBindTexture(GL_TEXTURE_2D,m_data->m_textureHandles[textureIndex].m_glTexture);
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} else
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{
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glBindTexture(GL_TEXTURE_2D,0);
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}
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}
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int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const double* position, const double* quaternion, const double* color, const double* scaling)
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{
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int newHandle = m_data->m_graphicsInstancesPool.allocHandle();
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// int sz = m_data->m_graphicsInstances.size();
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SimpleGL2Instance& instance = *m_data->m_graphicsInstancesPool.getHandle(newHandle);
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instance.m_shapeIndex = shapeIndex;
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instance.m_position[0] = position[0];
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instance.m_position[1] = position[1];
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instance.m_position[2] = position[2];
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instance.orn[0] = quaternion[0];
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instance.orn[1] = quaternion[1];
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instance.orn[2] = quaternion[2];
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instance.orn[3] = quaternion[3];
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instance.m_rgbColor[0] = color[0];
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instance.m_rgbColor[1] = color[1];
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instance.m_rgbColor[2] = color[2];
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instance.m_rgbColor[3] = color[3];
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instance.m_scaling[0] = scaling[0];
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instance.m_scaling[1] = scaling[1];
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instance.m_scaling[2] = scaling[2];
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return newHandle;
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}
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int SimpleOpenGL2Renderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
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{
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int newHandle = m_data->m_graphicsInstancesPool.allocHandle();
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SimpleGL2Instance& instance = *m_data->m_graphicsInstancesPool.getHandle(newHandle);
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instance.m_shapeIndex = shapeIndex;
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instance.m_position[0] = position[0];
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instance.m_position[1] = position[1];
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instance.m_position[2] = position[2];
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instance.orn[0] = quaternion[0];
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instance.orn[1] = quaternion[1];
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instance.orn[2] = quaternion[2];
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instance.orn[3] = quaternion[3];
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instance.m_rgbColor[0] = color[0];
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instance.m_rgbColor[1] = color[1];
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instance.m_rgbColor[2] = color[2];
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instance.m_rgbColor[3] = color[3];
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instance.m_scaling[0] = scaling[0];
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instance.m_scaling[1] = scaling[1];
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instance.m_scaling[2] = scaling[2];
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return newHandle;
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}
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void SimpleOpenGL2Renderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float pointDrawSize)
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{
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int pointStrideInFloats = pointStrideInBytes/4;
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glLineWidth(pointDrawSize);
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for (int i=0;i<numIndices;i+=2)
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{
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int index0 = indices[i];
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int index1 = indices[i+1];
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b3Vector3 fromColor = b3MakeVector3(color[0],color[1],color[2]);
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b3Vector3 toColor = b3MakeVector3(color[0],color[1],color[2]);
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b3Vector3 from= b3MakeVector3(positions[index0*pointStrideInFloats],positions[index0*pointStrideInFloats+1],positions[index0*pointStrideInFloats+2]);
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b3Vector3 to= b3MakeVector3(positions[index1*pointStrideInFloats],positions[index1*pointStrideInFloats+1],positions[index1*pointStrideInFloats+2]);
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glBegin(GL_LINES);
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glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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glEnd();
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}
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}
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void SimpleOpenGL2Renderer::drawLine(const float from[4], const float to[4], const float color[4], float lineWidth)
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{
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glLineWidth(lineWidth);
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glBegin(GL_LINES);
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glColor3f(color[0],color[1],color[2]);
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glVertex3d(from[0],from[1],from[2]);
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glVertex3d(to[0],to[1],to[2]);
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glEnd();
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}
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int SimpleOpenGL2Renderer::registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureIndex)
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{
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SimpleGL2Shape* shape = new SimpleGL2Shape();
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shape->m_textureIndex = textureIndex;
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shape->m_indices.resize(numIndices);
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for (int i=0;i<numIndices;i++)
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{
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shape->m_indices[i]=indices[i];
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}
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shape->m_vertices.resize(numvertices);
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for (int v=0;v<numvertices;v++)
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{
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GLInstanceVertex& vtx = shape->m_vertices[v];
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vtx.xyzw[0] = vertices[9*v+0];
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vtx.xyzw[1] = vertices[9*v+1];
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vtx.xyzw[2] = vertices[9*v+2];
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vtx.xyzw[3] = vertices[9*v+3];
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vtx.normal[0] = vertices[9*v+4];
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vtx.normal[1] = vertices[9*v+5];
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vtx.normal[2] = vertices[9*v+6];
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vtx.uv[0] = vertices[9*v+7];
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vtx.uv[1] = vertices[9*v+8];
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}
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int sz = m_data->m_shapes.size();
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m_data->m_shapes.push_back(shape);
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return sz;
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}
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void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)
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{
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SimpleGL2Instance& graphicsInstance = *m_data->m_graphicsInstancesPool.getHandle(srcIndex);
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graphicsInstance.m_position[0] = position[0];
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graphicsInstance.m_position[1] = position[1];
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graphicsInstance.m_position[2] = position[2];
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graphicsInstance.orn[0] = orientation[0];
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graphicsInstance.orn[1] = orientation[1];
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graphicsInstance.orn[2] = orientation[2];
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graphicsInstance.orn[3] = orientation[3];
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}
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void SimpleOpenGL2Renderer::writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)
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{
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SimpleGL2Instance& graphicsInstance = *m_data->m_graphicsInstancesPool.getHandle(srcIndex);
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graphicsInstance.m_position[0] = position[0];
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graphicsInstance.m_position[1] = position[1];
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graphicsInstance.m_position[2] = position[2];
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graphicsInstance.orn[0] = orientation[0];
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graphicsInstance.orn[1] = orientation[1];
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graphicsInstance.orn[2] = orientation[2];
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graphicsInstance.orn[3] = orientation[3];
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}
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void SimpleOpenGL2Renderer::writeTransforms()
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{
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}
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void SimpleOpenGL2Renderer::resize(int width, int height)
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|
{
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m_data->m_width = width;
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m_data->m_height = height;
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}
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int SimpleOpenGL2Renderer::getScreenWidth()
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|
{
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|
return m_data->m_width;
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|
}
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int SimpleOpenGL2Renderer::getScreenHeight()
|
|
{
|
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return m_data->m_height;
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|
}
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void SimpleOpenGL2Renderer::drawLine(const double from[4], const double to[4], const double color[4], double lineWidth)
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|
{
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glLineWidth(lineWidth);
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glBegin(GL_LINES);
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|
glColor3f(color[0],color[1],color[2]);
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glVertex3d(from[0],from[1],from[2]);
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glVertex3d(to[0],to[1],to[2]);
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glEnd();
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}
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void SimpleOpenGL2Renderer::drawPoint(const float* position, const float color[4], float pointDrawSize)
|
|
{
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|
}
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void SimpleOpenGL2Renderer::drawPoint(const double* position, const double color[4], double pointDrawSize)
|
|
{
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|
}
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void SimpleOpenGL2Renderer::updateShape(int shapeIndex, const float* vertices)
|
|
{
|
|
SimpleGL2Shape* shape = m_data->m_shapes[shapeIndex];
|
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int numvertices = shape->m_vertices.size();
|
|
|
|
for (int i=0;i<numvertices;i++)
|
|
{
|
|
shape->m_vertices[i].xyzw[0] = vertices[9*i+0];
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shape->m_vertices[i].xyzw[1] = vertices[9*i+1];
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shape->m_vertices[i].xyzw[2] = vertices[9*i+2];
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shape->m_vertices[i].xyzw[3] = vertices[9*i+3];
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shape->m_vertices[i].normal[0] = vertices[9*i+4];
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shape->m_vertices[i].normal[1] = vertices[9*i+5];
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shape->m_vertices[i].normal[2] = vertices[9*i+6];
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shape->m_vertices[i].uv[0] = vertices[9*i+7];
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|
shape->m_vertices[i].uv[1] = vertices[9*i+8];
|
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}
|
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}
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void SimpleOpenGL2Renderer::enableBlend(bool blend)
|
|
{
|
|
}
|
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void SimpleOpenGL2Renderer::clearZBuffer()
|
|
{
|
|
glClear(GL_DEPTH_BUFFER_BIT);
|
|
} |