mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
5e09b17baf
shared memory api and pybullet. Will be extended for arbitrary bodies and with target orientation (besides target position)
395 lines
10 KiB
C++
395 lines
10 KiB
C++
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#include "RaytracerSetup.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/Common2dCanvasInterface.h"
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//#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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//#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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//#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btBulletCollisionCommon.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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struct RaytracerPhysicsSetup : public CommonExampleInterface
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{
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struct CommonGraphicsApp* m_app;
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struct RaytracerInternalData* m_internalData;
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RaytracerPhysicsSetup(struct CommonGraphicsApp* app);
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virtual ~RaytracerPhysicsSetup();
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virtual void initPhysics();
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virtual void exitPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void physicsDebugDraw(int debugFlags);
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virtual void syncPhysicsToGraphics(struct GraphicsPhysicsBridge& gfxBridge);
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///worldRaytest performs a ray versus all objects in a collision world, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
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///singleObjectRaytest performs a ray versus one collision shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
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///lowlevelRaytest performs a ray versus convex shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool lowlevelRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint);
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virtual bool mouseMoveCallback(float x,float y);
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virtual bool mouseButtonCallback(int button, int state, float x, float y);
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virtual bool keyboardCallback(int key, int state);
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virtual void renderScene()
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{
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}
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};
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struct RaytracerInternalData
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{
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int m_canvasIndex;
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struct Common2dCanvasInterface* m_canvas;
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int m_width;
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int m_height;
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btAlignedObjectArray<btConvexShape*> m_shapePtr;
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btAlignedObjectArray<btTransform> m_transforms;
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btVoronoiSimplexSolver m_simplexSolver;
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btScalar m_pitch;
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btScalar m_roll;
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btScalar m_yaw;
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RaytracerInternalData()
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:m_canvasIndex(-1),
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m_canvas(0),
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m_roll(0),
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m_pitch(0),
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m_yaw(0),
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#ifdef _DEBUG
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m_width(64),
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m_height(64)
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#else
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m_width(128),
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m_height(128)
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#endif
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{
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btConeShape* cone = new btConeShape(1,1);
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btSphereShape* sphere = new btSphereShape(1);
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btBoxShape* box = new btBoxShape (btVector3(1,1,1));
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m_shapePtr.push_back(cone);
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m_shapePtr.push_back(sphere);
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m_shapePtr.push_back(box);
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updateTransforms();
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}
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void updateTransforms()
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{
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int numObjects = m_shapePtr.size();
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m_transforms.resize(numObjects);
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for (int i=0;i<numObjects;i++)
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{
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m_transforms[i].setIdentity();
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btVector3 pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
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m_transforms[i].setIdentity();
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m_transforms[i].setOrigin( pos );
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btQuaternion orn;
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if (i < 2)
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{
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orn.setEuler(m_yaw,m_pitch,m_roll);
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m_transforms[i].setRotation(orn);
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}
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}
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m_pitch += 0.005f;
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m_yaw += 0.01f;
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}
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};
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RaytracerPhysicsSetup::RaytracerPhysicsSetup(struct CommonGraphicsApp* app)
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{
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m_app = app;
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m_internalData = new RaytracerInternalData;
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}
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RaytracerPhysicsSetup::~RaytracerPhysicsSetup()
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{
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delete m_internalData;
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}
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void RaytracerPhysicsSetup::initPhysics()
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{
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//request a visual bitma/texture we can render to
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m_internalData->m_canvas = m_app->m_2dCanvasInterface;
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if (m_internalData->m_canvas)
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{
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m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("raytracer",m_internalData->m_width,m_internalData->m_height);
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for (int i=0;i<m_internalData->m_width;i++)
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{
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for (int j=0;j<m_internalData->m_height;j++)
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{
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unsigned char red=255;
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unsigned char green=255;
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unsigned char blue=255;
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unsigned char alpha=255;
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m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
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}
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}
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m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
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//int bitmapId = gfxBridge.createRenderBitmap(width,height);
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}
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}
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///worldRaytest performs a ray versus all objects in a collision world, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool RaytracerPhysicsSetup::worldRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
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{
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return false;
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}
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///singleObjectRaytest performs a ray versus one collision shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool RaytracerPhysicsSetup::singleObjectRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
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{
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return false;
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}
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///lowlevelRaytest performs a ray versus convex shape, returning true is a hit is found (filling in worldNormal and worldHitPoint)
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bool RaytracerPhysicsSetup::lowlevelRaytest(const btVector3& rayFrom,const btVector3& rayTo,btVector3& worldNormal,btVector3& worldHitPoint)
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{
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btScalar closestHitResults = 1.f;
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bool hasHit = false;
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btConvexCast::CastResult rayResult;
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btSphereShape pointShape(0.0f);
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btTransform rayFromTrans;
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btTransform rayToTrans;
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rayFromTrans.setIdentity();
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rayFromTrans.setOrigin(rayFrom);
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rayToTrans.setIdentity();
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rayToTrans.setOrigin(rayTo);
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int numObjects = m_internalData->m_shapePtr.size();
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for (int s=0;s<numObjects;s++)
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{
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//do some culling, ray versus aabb
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btVector3 aabbMin,aabbMax;
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m_internalData->m_shapePtr[s]->getAabb( m_internalData->m_transforms[s],aabbMin,aabbMax);
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btScalar hitLambda = 1.f;
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btVector3 hitNormal;
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btCollisionObject tmpObj;
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tmpObj.setWorldTransform( m_internalData->m_transforms[s]);
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if (btRayAabb(rayFrom,rayTo,aabbMin,aabbMax,hitLambda,hitNormal))
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{
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//reset previous result
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//choose the continuous collision detection method
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btSubsimplexConvexCast convexCaster(&pointShape, m_internalData->m_shapePtr[s],&m_internalData->m_simplexSolver);
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//btGjkConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
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//btContinuousConvexCollision convexCaster(&pointShape,shapePtr[s],&simplexSolver,0);
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if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans, m_internalData->m_transforms[s], m_internalData->m_transforms[s],rayResult))
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{
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if (rayResult.m_fraction < closestHitResults)
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{
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closestHitResults = rayResult.m_fraction;
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worldNormal = m_internalData->m_transforms[s].getBasis() *rayResult.m_normal;
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worldNormal.normalize();
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hasHit = true;
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}
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}
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}
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}
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return hasHit;
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}
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void RaytracerPhysicsSetup::exitPhysics()
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{
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if (m_internalData->m_canvas && m_internalData->m_canvasIndex>=0)
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{
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m_internalData->m_canvas->destroyCanvas(m_internalData->m_canvasIndex);
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}
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}
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void RaytracerPhysicsSetup::stepSimulation(float deltaTime)
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{
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m_internalData->updateTransforms();
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float fov = 2.0 * atanf (tanFov);
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btVector3 cameraPosition(5,0,0);
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btVector3 cameraTargetPosition(0,0,0);
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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{
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m_app->m_renderer->getActiveCamera()->getCameraPosition(cameraPosition);
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m_app->m_renderer->getActiveCamera()->getCameraTargetPosition(cameraTargetPosition);
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}
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btVector3 rayFrom = cameraPosition;
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btVector3 rayForward = cameraTargetPosition-cameraPosition;
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rayForward.normalize();
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float farPlane = 600.f;
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rayForward*= farPlane;
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btVector3 rightOffset;
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btVector3 vertical(0.f,1.f,0.f);
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btVector3 hor;
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hor = rayForward.cross(vertical);
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hor.normalize();
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vertical = hor.cross(rayForward);
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vertical.normalize();
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float tanfov = tanf(0.5f*fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
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btVector3 rayToCenter = rayFrom + rayForward;
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btVector3 dHor = hor * 1.f/float(m_internalData->m_width);
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btVector3 dVert = vertical * 1.f/float(m_internalData->m_height);
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int mode = 0;
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int x,y;
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for (x=0;x<m_internalData->m_width;x++)
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{
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for (y=0;y<m_internalData->m_height;y++)
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{
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btVector4 rgba(0,0,0,0);
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btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += x * dHor;
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rayTo -= y * dVert;
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btVector3 worldNormal(0,0,0);
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btVector3 worldPoint(0,0,0);
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bool hasHit = false;
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int mode = 0;
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switch (mode)
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{
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case 0:
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hasHit = lowlevelRaytest(rayFrom,rayTo,worldNormal,worldPoint);
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break;
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case 1:
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hasHit = singleObjectRaytest(rayFrom,rayTo,worldNormal,worldPoint);
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break;
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case 2:
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hasHit = worldRaytest(rayFrom,rayTo,worldNormal,worldPoint);
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break;
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default:
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{
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}
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}
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if (hasHit)
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{
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float lightVec0 = worldNormal.dot(btVector3(0,-1,-1));//0.4f,-1.f,-0.4f));
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float lightVec1= worldNormal.dot(btVector3(-1,0,-1));//-0.4f,-1.f,-0.4f));
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rgba = btVector4(lightVec0,lightVec1,0,1.f);
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rgba.setMin(btVector3(1,1,1));
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rgba.setMax(btVector3(0.2,0.2,0.2));
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rgba[3] = 1.f;
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unsigned char red = rgba[0] * 255;
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unsigned char green = rgba[1] * 255;
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unsigned char blue = rgba[2] * 255;
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unsigned char alpha=255;
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m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,y,red,green,blue,alpha);
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} else
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{
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// btVector4 rgba = raytracePicture->getPixel(x,y);
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}
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if (!rgba.length2())
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{
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m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,y,255,0,0,255);
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}
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}
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}
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m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
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}
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void RaytracerPhysicsSetup::physicsDebugDraw(int debugDrawFlags)
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{
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}
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bool RaytracerPhysicsSetup::mouseMoveCallback(float x,float y)
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{
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return false;
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}
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bool RaytracerPhysicsSetup::mouseButtonCallback(int button, int state, float x, float y)
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{
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return false;
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}
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bool RaytracerPhysicsSetup::keyboardCallback(int key, int state)
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{
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return false;
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}
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void RaytracerPhysicsSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
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{
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}
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CommonExampleInterface* RayTracerCreateFunc(struct CommonExampleOptions& options)
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{
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return new RaytracerPhysicsSetup(options.m_guiHelper->getAppInterface());
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}
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