mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
dba239fe8d
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++
|
|
#include "RaytracerSetup.h"
|
|
|
|
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
|
|
#include "Bullet3Common/b3Quaternion.h"
|
|
#include "Bullet3Common/b3AlignedObjectArray.h"
|
|
#include "../CommonInterfaces/CommonRenderInterface.h"
|
|
#include "../TinyRenderer/TinyRenderer.h"
|
|
#include "../CommonInterfaces/Common2dCanvasInterface.h"
|
|
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
|
|
#include "../CommonInterfaces/CommonExampleInterface.h"
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
#include "btBulletCollisionCommon.h"
|
|
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
|
#include "../ExampleBrowser/CollisionShape2TriangleMesh.h"
|
|
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
|
|
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
|
|
#include "../CommonInterfaces/CommonParameterInterface.h"
|
|
#include "../Utils/b3BulletDefaultFileIO.h"
|
|
struct TinyRendererSetupInternalData
|
|
{
|
|
TGAImage m_rgbColorBuffer;
|
|
b3AlignedObjectArray<float> m_depthBuffer;
|
|
b3AlignedObjectArray<float> m_shadowBuffer;
|
|
b3AlignedObjectArray<int> m_segmentationMaskBuffer;
|
|
|
|
int m_width;
|
|
int m_height;
|
|
|
|
btAlignedObjectArray<btConvexShape*> m_shapePtr;
|
|
btAlignedObjectArray<btTransform> m_transforms;
|
|
btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;
|
|
|
|
btVoronoiSimplexSolver m_simplexSolver;
|
|
btScalar m_pitch;
|
|
btScalar m_roll;
|
|
btScalar m_yaw;
|
|
|
|
int m_textureHandle;
|
|
int m_animateRenderer;
|
|
|
|
btVector3 m_lightPos;
|
|
|
|
TinyRendererSetupInternalData(int width, int height)
|
|
: m_rgbColorBuffer(width, height, TGAImage::RGB),
|
|
m_width(width),
|
|
m_height(height),
|
|
m_pitch(0),
|
|
m_roll(0),
|
|
m_yaw(0),
|
|
m_textureHandle(0),
|
|
m_animateRenderer(0)
|
|
{
|
|
m_lightPos.setValue(-3, 15, 15);
|
|
|
|
m_depthBuffer.resize(m_width * m_height);
|
|
m_shadowBuffer.resize(m_width * m_height);
|
|
// m_segmentationMaskBuffer.resize(m_width*m_height);
|
|
}
|
|
void updateTransforms()
|
|
{
|
|
int numObjects = m_shapePtr.size();
|
|
m_transforms.resize(numObjects);
|
|
for (int i = 0; i < numObjects; i++)
|
|
{
|
|
m_transforms[i].setIdentity();
|
|
//btVector3 pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
|
|
btVector3 pos(0.f, +i * 2.5f, 0.f);
|
|
m_transforms[i].setIdentity();
|
|
m_transforms[i].setOrigin(pos);
|
|
btQuaternion orn;
|
|
if (i < 2)
|
|
{
|
|
orn.setEuler(m_yaw, m_pitch, m_roll);
|
|
m_transforms[i].setRotation(orn);
|
|
}
|
|
}
|
|
if (m_animateRenderer)
|
|
{
|
|
m_pitch += 0.005f;
|
|
m_yaw += 0.01f;
|
|
}
|
|
}
|
|
};
|
|
|
|
struct TinyRendererSetup : public CommonExampleInterface
|
|
{
|
|
struct GUIHelperInterface* m_guiHelper;
|
|
struct CommonGraphicsApp* m_app;
|
|
struct TinyRendererSetupInternalData* m_internalData;
|
|
bool m_useSoftware;
|
|
|
|
TinyRendererSetup(struct GUIHelperInterface* guiHelper);
|
|
|
|
virtual ~TinyRendererSetup();
|
|
|
|
virtual void initPhysics();
|
|
|
|
virtual void exitPhysics();
|
|
|
|
virtual void stepSimulation(float deltaTime);
|
|
|
|
virtual void physicsDebugDraw(int debugFlags);
|
|
|
|
virtual void syncPhysicsToGraphics(struct GraphicsPhysicsBridge& gfxBridge);
|
|
|
|
virtual bool mouseMoveCallback(float x, float y);
|
|
|
|
virtual bool mouseButtonCallback(int button, int state, float x, float y);
|
|
|
|
virtual bool keyboardCallback(int key, int state);
|
|
|
|
virtual void renderScene();
|
|
|
|
void animateRenderer(int animateRendererIndex)
|
|
{
|
|
m_internalData->m_animateRenderer = animateRendererIndex;
|
|
}
|
|
|
|
void selectRenderer(int rendererIndex)
|
|
{
|
|
m_useSoftware = (rendererIndex == 0);
|
|
}
|
|
|
|
void resetCamera()
|
|
{
|
|
float dist = 11;
|
|
float pitch = -35;
|
|
float yaw = 52;
|
|
float targetPos[3] = {0, 0.46, 0};
|
|
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
|
|
}
|
|
};
|
|
|
|
TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
|
|
{
|
|
m_useSoftware = false;
|
|
|
|
m_guiHelper = gui;
|
|
m_app = gui->getAppInterface();
|
|
m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(), gui->getAppInterface()->m_window->getHeight());
|
|
|
|
const char* fileName = "textured_sphere_smooth.obj";
|
|
fileName = "cube.obj";
|
|
fileName = "torus/torus_with_plane.obj";
|
|
|
|
{
|
|
{
|
|
int shapeId = -1;
|
|
|
|
b3ImportMeshData meshData;
|
|
b3BulletDefaultFileIO fileIO;
|
|
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData,&fileIO))
|
|
{
|
|
int textureIndex = -1;
|
|
|
|
if (meshData.m_textureImage1)
|
|
{
|
|
textureIndex = m_guiHelper->getRenderInterface()->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
|
|
}
|
|
|
|
shapeId = m_guiHelper->getRenderInterface()->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
|
|
meshData.m_gfxShape->m_numvertices,
|
|
&meshData.m_gfxShape->m_indices->at(0),
|
|
meshData.m_gfxShape->m_numIndices,
|
|
B3_GL_TRIANGLES,
|
|
textureIndex);
|
|
|
|
float position[4] = {0, 0, 0, 1};
|
|
float orn[4] = {0, 0, 0, 1};
|
|
float color[4] = {1, 1, 1, 1};
|
|
float scaling[4] = {1, 1, 1, 1};
|
|
|
|
m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId, position, orn, color, scaling);
|
|
m_guiHelper->getRenderInterface()->writeTransforms();
|
|
|
|
m_internalData->m_shapePtr.push_back(0);
|
|
TinyRenderObjectData* ob = new TinyRenderObjectData(
|
|
m_internalData->m_rgbColorBuffer,
|
|
m_internalData->m_depthBuffer,
|
|
&m_internalData->m_shadowBuffer,
|
|
&m_internalData->m_segmentationMaskBuffer,
|
|
m_internalData->m_renderObjects.size(), -1);
|
|
|
|
meshData.m_gfxShape->m_scaling[0] = scaling[0];
|
|
meshData.m_gfxShape->m_scaling[1] = scaling[1];
|
|
meshData.m_gfxShape->m_scaling[2] = scaling[2];
|
|
|
|
const int* indices = &meshData.m_gfxShape->m_indices->at(0);
|
|
ob->registerMeshShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
|
|
meshData.m_gfxShape->m_numvertices,
|
|
indices,
|
|
meshData.m_gfxShape->m_numIndices, color, meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
|
|
|
|
ob->m_localScaling.setValue(scaling[0], scaling[1], scaling[2]);
|
|
|
|
m_internalData->m_renderObjects.push_back(ob);
|
|
|
|
delete meshData.m_gfxShape;
|
|
if (!meshData.m_isCached)
|
|
{
|
|
delete meshData.m_textureImage1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
TinyRendererSetup::~TinyRendererSetup()
|
|
{
|
|
delete m_internalData;
|
|
}
|
|
|
|
const char* itemsanimate[] = {"Fixed", "Rotate"};
|
|
void TinyRendererComboCallbackAnimate(int combobox, const char* item, void* userPointer)
|
|
{
|
|
TinyRendererSetup* cl = (TinyRendererSetup*)userPointer;
|
|
b3Assert(cl);
|
|
int index = -1;
|
|
int numItems = sizeof(itemsanimate) / sizeof(char*);
|
|
for (int i = 0; i < numItems; i++)
|
|
{
|
|
if (!strcmp(item, itemsanimate[i]))
|
|
{
|
|
index = i;
|
|
}
|
|
}
|
|
cl->animateRenderer(index);
|
|
}
|
|
|
|
const char* items[] = {"Software", "OpenGL"};
|
|
|
|
void TinyRendererComboCallback(int combobox, const char* item, void* userPointer)
|
|
{
|
|
TinyRendererSetup* cl = (TinyRendererSetup*)userPointer;
|
|
b3Assert(cl);
|
|
int index = -1;
|
|
int numItems = sizeof(items) / sizeof(char*);
|
|
for (int i = 0; i < numItems; i++)
|
|
{
|
|
if (!strcmp(item, items[i]))
|
|
{
|
|
index = i;
|
|
}
|
|
}
|
|
cl->selectRenderer(index);
|
|
}
|
|
|
|
void TinyRendererSetup::initPhysics()
|
|
{
|
|
//request a visual bitma/texture we can render to
|
|
|
|
m_app->setUpAxis(2);
|
|
|
|
CommonRenderInterface* render = m_app->m_renderer;
|
|
|
|
m_internalData->m_textureHandle = render->registerTexture(m_internalData->m_rgbColorBuffer.buffer(), m_internalData->m_width, m_internalData->m_height);
|
|
|
|
{
|
|
ComboBoxParams comboParams;
|
|
comboParams.m_userPointer = this;
|
|
comboParams.m_numItems = sizeof(items) / sizeof(char*);
|
|
comboParams.m_startItem = 1;
|
|
comboParams.m_items = items;
|
|
comboParams.m_callback = TinyRendererComboCallback;
|
|
m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
|
|
}
|
|
|
|
{
|
|
ComboBoxParams comboParams;
|
|
comboParams.m_userPointer = this;
|
|
comboParams.m_numItems = sizeof(itemsanimate) / sizeof(char*);
|
|
comboParams.m_startItem = 0;
|
|
comboParams.m_items = itemsanimate;
|
|
comboParams.m_callback = TinyRendererComboCallbackAnimate;
|
|
m_guiHelper->getParameterInterface()->registerComboBox(comboParams);
|
|
}
|
|
|
|
{
|
|
SliderParams slider("LightPosX", &m_internalData->m_lightPos[0]);
|
|
slider.m_minVal = -10;
|
|
slider.m_maxVal = 10;
|
|
if (m_guiHelper->getParameterInterface())
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
{
|
|
SliderParams slider("LightPosY", &m_internalData->m_lightPos[1]);
|
|
slider.m_minVal = -10;
|
|
slider.m_maxVal = 10;
|
|
if (m_guiHelper->getParameterInterface())
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
{
|
|
SliderParams slider("LightPosZ", &m_internalData->m_lightPos[2]);
|
|
slider.m_minVal = -10;
|
|
slider.m_maxVal = 10;
|
|
if (m_guiHelper->getParameterInterface())
|
|
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
|
}
|
|
}
|
|
|
|
void TinyRendererSetup::exitPhysics()
|
|
{
|
|
}
|
|
|
|
void TinyRendererSetup::stepSimulation(float deltaTime)
|
|
{
|
|
m_internalData->updateTransforms();
|
|
}
|
|
|
|
void TinyRendererSetup::renderScene()
|
|
{
|
|
m_internalData->updateTransforms();
|
|
|
|
btVector4 from(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2], 1);
|
|
btVector4 toX(m_internalData->m_lightPos[0] + 0.1, m_internalData->m_lightPos[1], m_internalData->m_lightPos[2], 1);
|
|
btVector4 toY(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1] + 0.1, m_internalData->m_lightPos[2], 1);
|
|
btVector4 toZ(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2] + 0.1, 1);
|
|
btVector4 colorX(1, 0, 0, 1);
|
|
btVector4 colorY(0, 1, 0, 1);
|
|
btVector4 colorZ(0, 0, 1, 1);
|
|
int width = 2;
|
|
m_guiHelper->getRenderInterface()->drawLine(from, toX, colorX, width);
|
|
m_guiHelper->getRenderInterface()->drawLine(from, toY, colorY, width);
|
|
m_guiHelper->getRenderInterface()->drawLine(from, toZ, colorZ, width);
|
|
|
|
if (!m_useSoftware)
|
|
{
|
|
btVector3 lightPos(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2]);
|
|
m_guiHelper->getRenderInterface()->setLightPosition(lightPos);
|
|
|
|
for (int i = 0; i < m_internalData->m_transforms.size(); i++)
|
|
{
|
|
m_guiHelper->getRenderInterface()->writeSingleInstanceTransformToCPU(m_internalData->m_transforms[i].getOrigin(), m_internalData->m_transforms[i].getRotation(), i);
|
|
}
|
|
m_guiHelper->getRenderInterface()->writeTransforms();
|
|
m_guiHelper->getRenderInterface()->renderScene();
|
|
}
|
|
else
|
|
{
|
|
TGAColor clearColor;
|
|
clearColor.bgra[0] = 200;
|
|
clearColor.bgra[1] = 200;
|
|
clearColor.bgra[2] = 200;
|
|
clearColor.bgra[3] = 255;
|
|
for (int y = 0; y < m_internalData->m_height; ++y)
|
|
{
|
|
for (int x = 0; x < m_internalData->m_width; ++x)
|
|
{
|
|
m_internalData->m_rgbColorBuffer.set(x, y, clearColor);
|
|
m_internalData->m_depthBuffer[x + y * m_internalData->m_width] = -1e30f;
|
|
m_internalData->m_shadowBuffer[x + y * m_internalData->m_width] = -1e30f;
|
|
}
|
|
}
|
|
|
|
ATTRIBUTE_ALIGNED16(btScalar modelMat2[16]);
|
|
ATTRIBUTE_ALIGNED16(float viewMat[16]);
|
|
ATTRIBUTE_ALIGNED16(float projMat[16]);
|
|
CommonRenderInterface* render = this->m_app->m_renderer;
|
|
render->getActiveCamera()->getCameraViewMatrix(viewMat);
|
|
render->getActiveCamera()->getCameraProjectionMatrix(projMat);
|
|
|
|
for (int o = 0; o < this->m_internalData->m_renderObjects.size(); o++)
|
|
{
|
|
const btTransform& tr = m_internalData->m_transforms[o];
|
|
tr.getOpenGLMatrix(modelMat2);
|
|
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
for (int j = 0; j < 4; j++)
|
|
{
|
|
m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i + 4 * j]);
|
|
m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i + 4 * j];
|
|
m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i + 4 * j];
|
|
|
|
btVector3 lightDirWorld = btVector3(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2]);
|
|
|
|
m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
|
|
|
|
btVector3 lightColor(1.0, 1.0, 1.0);
|
|
m_internalData->m_renderObjects[o]->m_lightColor = lightColor;
|
|
|
|
m_internalData->m_renderObjects[o]->m_lightDistance = 10.0;
|
|
m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6;
|
|
m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35;
|
|
m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05;
|
|
}
|
|
}
|
|
TinyRenderer::renderObjectDepth(*m_internalData->m_renderObjects[o]);
|
|
}
|
|
|
|
for (int o = 0; o < this->m_internalData->m_renderObjects.size(); o++)
|
|
{
|
|
const btTransform& tr = m_internalData->m_transforms[o];
|
|
tr.getOpenGLMatrix(modelMat2);
|
|
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
for (int j = 0; j < 4; j++)
|
|
{
|
|
m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i + 4 * j]);
|
|
m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i + 4 * j];
|
|
m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i + 4 * j];
|
|
|
|
btVector3 lightDirWorld = btVector3(m_internalData->m_lightPos[0], m_internalData->m_lightPos[1], m_internalData->m_lightPos[2]);
|
|
|
|
m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
|
|
|
|
btVector3 lightColor(1.0, 1.0, 1.0);
|
|
m_internalData->m_renderObjects[o]->m_lightColor = lightColor;
|
|
|
|
m_internalData->m_renderObjects[o]->m_lightDistance = 10.0;
|
|
m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6;
|
|
m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35;
|
|
m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05;
|
|
}
|
|
}
|
|
TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
|
|
}
|
|
//m_app->drawText("hello",500,500);
|
|
render->activateTexture(m_internalData->m_textureHandle);
|
|
render->updateTexture(m_internalData->m_textureHandle, m_internalData->m_rgbColorBuffer.buffer());
|
|
float color[4] = {1, 1, 1, 1};
|
|
m_app->drawTexturedRect(0, 0, m_app->m_window->getWidth(), m_app->m_window->getHeight(), color, 0, 0, 1, 1, true);
|
|
}
|
|
}
|
|
|
|
void TinyRendererSetup::physicsDebugDraw(int debugDrawFlags)
|
|
{
|
|
}
|
|
|
|
bool TinyRendererSetup::mouseMoveCallback(float x, float y)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
bool TinyRendererSetup::mouseButtonCallback(int button, int state, float x, float y)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
bool TinyRendererSetup::keyboardCallback(int key, int state)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
void TinyRendererSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
|
|
{
|
|
}
|
|
|
|
CommonExampleInterface* TinyRendererCreateFunc(struct CommonExampleOptions& options)
|
|
{
|
|
return new TinyRendererSetup(options.m_guiHelper);
|
|
}
|