mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-14 08:04:40 +00:00
* Adjustment: Update Bullet version to 3.24.
This commit is contained in:
Robert MacGregor
parent
35de012ee7
commit
4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
2317
Engine/lib/bullet/examples/StandaloneMain/hellovr_opengl_main.cpp
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2317
Engine/lib/bullet/examples/StandaloneMain/hellovr_opengl_main.cpp
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@ -0,0 +1,44 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
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*/
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btHashMap.h"
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int main(int argc, char* argv[])
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{
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{
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DummyGUIHelper noGfx;
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CommonExampleOptions options(&noGfx);
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CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
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example->initPhysics();
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for (int i = 0; i < 100000; i++)
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{
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printf("Simulating step %d\n", i);
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example->stepSimulation(1.f / 60.f);
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}
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example->exitPhysics();
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delete example;
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}
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return 0;
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}
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@ -0,0 +1,116 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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||||
Copyright (c) 2015 Google Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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||||
3. This notice may not be removed or altered from any source distribution.
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*/
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../Utils/b3Clock.h"
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#include "../OpenGLWindow/SimpleOpenGL3App.h"
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#include <stdio.h>
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#include "../ExampleBrowser/OpenGLGuiHelper.h"
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CommonExampleInterface* example;
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int gSharedMemoryKey = -1;
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b3MouseMoveCallback prevMouseMoveCallback = 0;
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static void OnMouseMove(float x, float y)
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{
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bool handled = false;
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handled = example->mouseMoveCallback(x, y);
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if (!handled)
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{
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if (prevMouseMoveCallback)
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prevMouseMoveCallback(x, y);
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}
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}
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b3MouseButtonCallback prevMouseButtonCallback = 0;
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static void OnMouseDown(int button, int state, float x, float y)
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{
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bool handled = false;
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handled = example->mouseButtonCallback(button, state, x, y);
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if (!handled)
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{
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if (prevMouseButtonCallback)
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prevMouseButtonCallback(button, state, x, y);
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}
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}
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class LessDummyGuiHelper : public DummyGUIHelper
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{
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CommonGraphicsApp* m_app;
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public:
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virtual CommonGraphicsApp* getAppInterface()
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{
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return m_app;
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}
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LessDummyGuiHelper(CommonGraphicsApp* app)
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: m_app(app)
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{
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}
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};
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int main(int argc, char* argv[])
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{
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SimpleOpenGL3App* app = new SimpleOpenGL3App("Bullet Standalone Example", 1024, 768, true);
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prevMouseButtonCallback = app->m_window->getMouseButtonCallback();
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prevMouseMoveCallback = app->m_window->getMouseMoveCallback();
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app->m_window->setMouseButtonCallback((b3MouseButtonCallback)OnMouseDown);
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app->m_window->setMouseMoveCallback((b3MouseMoveCallback)OnMouseMove);
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OpenGLGuiHelper gui(app, false);
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//LessDummyGuiHelper gui(app);
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//DummyGUIHelper gui;
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CommonExampleOptions options(&gui);
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example = StandaloneExampleCreateFunc(options);
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example->processCommandLineArgs(argc, argv);
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example->initPhysics();
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example->resetCamera();
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b3Clock clock;
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do
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{
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app->m_instancingRenderer->init();
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app->m_instancingRenderer->updateCamera(app->getUpAxis());
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btScalar dtSec = btScalar(clock.getTimeInSeconds());
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if (dtSec > 0.1)
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dtSec = 0.1;
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example->stepSimulation(dtSec);
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clock.reset();
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example->renderScene();
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DrawGridData dg;
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dg.upAxis = app->getUpAxis();
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app->drawGrid(dg);
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app->swapBuffer();
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} while (!app->m_window->requestedExit());
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example->exitPhysics();
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delete example;
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delete app;
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return 0;
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}
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@ -0,0 +1,279 @@
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/*
|
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2015 Google Inc. http://bulletphysics.org
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|
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This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btHashMap.h"
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#include "../TinyRenderer/TinyRenderer.h"
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#include "../OpenGLWindow/SimpleOpenGL3App.h"
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#include <stdio.h>
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#include "../ExampleBrowser/OpenGLGuiHelper.h"
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class SW_And_OpenGLGuiHelper : public OpenGLGuiHelper
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{
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btHashMap<btHashInt, TinyRenderObjectData*> m_swRenderObjects;
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btHashMap<btHashInt, int> m_swInstances;
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int m_swWidth;
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int m_swHeight;
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TGAImage m_rgbColorBuffer;
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b3AlignedObjectArray<float> m_depthBuffer;
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int m_textureHandle;
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unsigned char* m_image;
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GLPrimitiveRenderer* m_primRenderer;
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public:
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SW_And_OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2, int swWidth, int swHeight, GLPrimitiveRenderer* primRenderer)
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: OpenGLGuiHelper(glApp, useOpenGL2),
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m_swWidth(swWidth),
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m_swHeight(swHeight),
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m_rgbColorBuffer(swWidth, swHeight, TGAImage::RGB),
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m_primRenderer(primRenderer)
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{
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m_depthBuffer.resize(swWidth * swHeight);
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CommonRenderInterface* render = getRenderInterface();
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m_image = new unsigned char[m_swWidth * m_swHeight * 4];
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m_textureHandle = render->registerTexture(m_image, m_swWidth, m_swHeight);
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}
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void clearBuffers(TGAColor& clearColor)
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{
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for (int y = 0; y < m_swHeight; ++y)
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{
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for (int x = 0; x < m_swWidth; ++x)
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{
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m_rgbColorBuffer.set(x, y, clearColor);
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m_depthBuffer[x + y * m_swWidth] = -1e30f;
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}
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}
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}
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const TGAImage& getFrameBuffer() const
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{
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return m_rgbColorBuffer;
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}
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virtual ~SW_And_OpenGLGuiHelper()
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{
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for (int i = 0; i < m_swRenderObjects.size(); i++)
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{
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TinyRenderObjectData** d = m_swRenderObjects[i];
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if (d && *d)
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{
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delete *d;
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}
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}
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}
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj, const btVector3& color)
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{
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OpenGLGuiHelper::createCollisionObjectGraphicsObject(obj, color);
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int colIndex = obj->getUserIndex();
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int shapeIndex = obj->getCollisionShape()->getUserIndex();
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if (colIndex >= 0 && shapeIndex >= 0)
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{
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m_swInstances.insert(colIndex, shapeIndex);
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}
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}
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virtual int registerTexture(const unsigned char* texels, int width, int height)
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{
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return -1;
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}
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
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{
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int shapeIndex = OpenGLGuiHelper::registerGraphicsShape(vertices, numvertices, indices, numIndices, primitiveType, textureId);
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if (shapeIndex >= 0)
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{
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TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer, m_depthBuffer);
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float rgbaColor[4] = {1, 1, 1, 1};
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swObj->registerMeshShape(vertices, numvertices, indices, numIndices, rgbaColor);
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//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
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m_swRenderObjects.insert(shapeIndex, swObj);
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}
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return shapeIndex;
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||||
}
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
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||||
{
|
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int instanceId = OpenGLGuiHelper::registerGraphicsInstance(shapeIndex, position, quaternion, color, scaling);
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||||
return instanceId;
|
||||
}
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|
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
|
||||
{
|
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OpenGLGuiHelper::createCollisionShapeGraphicsObject(collisionShape);
|
||||
}
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||||
|
||||
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
OpenGLGuiHelper::syncPhysicsToGraphics(rbWorld);
|
||||
}
|
||||
|
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virtual void render(const btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
OpenGLGuiHelper::render(rbWorld);
|
||||
|
||||
//clear the color buffer
|
||||
TGAColor clearColor;
|
||||
clearColor.bgra[0] = 255;
|
||||
clearColor.bgra[1] = 255;
|
||||
clearColor.bgra[2] = 255;
|
||||
clearColor.bgra[3] = 255;
|
||||
|
||||
clearBuffers(clearColor);
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
|
||||
ATTRIBUTE_ALIGNED16(float viewMat[16]);
|
||||
ATTRIBUTE_ALIGNED16(float projMat[16]);
|
||||
|
||||
CommonRenderInterface* render = getRenderInterface();
|
||||
|
||||
render->getActiveCamera()->getCameraProjectionMatrix(projMat);
|
||||
render->getActiveCamera()->getCameraViewMatrix(viewMat);
|
||||
|
||||
btVector3 lightDirWorld(-5, 200, -40);
|
||||
switch (1) //app->getUpAxis())
|
||||
{
|
||||
case 1:
|
||||
lightDirWorld = btVector3(-50.f, 100, 30);
|
||||
break;
|
||||
case 2:
|
||||
lightDirWorld = btVector3(-50.f, 30, 100);
|
||||
break;
|
||||
default:
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
lightDirWorld.normalize();
|
||||
|
||||
for (int i = 0; i < rbWorld->getNumCollisionObjects(); i++)
|
||||
{
|
||||
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
|
||||
int colObjIndex = colObj->getUserIndex();
|
||||
int shapeIndex = colObj->getCollisionShape()->getUserIndex();
|
||||
if (colObjIndex >= 0 && shapeIndex >= 0)
|
||||
{
|
||||
TinyRenderObjectData* renderObj = 0;
|
||||
|
||||
int* cptr = m_swInstances[colObjIndex];
|
||||
if (cptr)
|
||||
{
|
||||
int c = *cptr;
|
||||
TinyRenderObjectData** sptr = m_swRenderObjects[c];
|
||||
if (sptr)
|
||||
{
|
||||
renderObj = *sptr;
|
||||
//sync the object transform
|
||||
const btTransform& tr = colObj->getWorldTransform();
|
||||
tr.getOpenGLMatrix(modelMat);
|
||||
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
for (int j = 0; j < 4; j++)
|
||||
{
|
||||
renderObj->m_projectionMatrix[i][j] = projMat[i + 4 * j];
|
||||
renderObj->m_modelMatrix[i][j] = modelMat[i + 4 * j];
|
||||
renderObj->m_viewMatrix[i][j] = viewMat[i + 4 * j];
|
||||
}
|
||||
}
|
||||
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
|
||||
renderObj->m_lightDirWorld = lightDirWorld;
|
||||
renderObj->m_lightAmbientCoeff = 0.6;
|
||||
renderObj->m_lightDiffuseCoeff = 0.35;
|
||||
renderObj->m_lightSpecularCoeff = 0.05;
|
||||
TinyRenderer::renderObject(*renderObj);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for (int y = 0; y < m_swHeight; ++y)
|
||||
{
|
||||
unsigned char* pi = m_image + (y)*m_swWidth * 3;
|
||||
for (int x = 0; x < m_swWidth; ++x)
|
||||
{
|
||||
const TGAColor& color = getFrameBuffer().get(x, y);
|
||||
pi[0] = color.bgra[2];
|
||||
pi[1] = color.bgra[1];
|
||||
pi[2] = color.bgra[0];
|
||||
pi += 3;
|
||||
}
|
||||
}
|
||||
render->activateTexture(m_textureHandle);
|
||||
render->updateTexture(m_textureHandle, m_image);
|
||||
|
||||
static int counter = 0;
|
||||
counter++;
|
||||
if ((counter & 7) == 0)
|
||||
{
|
||||
char filename[1024];
|
||||
sprintf(filename, "framebuf%d.tga", counter);
|
||||
getFrameBuffer().write_tga_file(filename, true);
|
||||
}
|
||||
float color[4] = {1, 1, 1, 1};
|
||||
m_primRenderer->drawTexturedRect(0, 0, m_swWidth, m_swHeight, color, 0, 0, 1, 1, true);
|
||||
}
|
||||
|
||||
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
OpenGLGuiHelper::autogenerateGraphicsObjects(rbWorld);
|
||||
}
|
||||
};
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
SimpleOpenGL3App* app = new SimpleOpenGL3App("Standalone Example (Software Renderer, TinyRenderer)", 1024, 768, true);
|
||||
int textureWidth = 640;
|
||||
int textureHeight = 480;
|
||||
|
||||
SW_And_OpenGLGuiHelper gui(app, false, textureWidth, textureHeight, app->m_primRenderer);
|
||||
|
||||
CommonExampleOptions options(&gui);
|
||||
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
|
||||
|
||||
example->initPhysics();
|
||||
example->resetCamera();
|
||||
do
|
||||
{
|
||||
app->m_instancingRenderer->init();
|
||||
app->m_instancingRenderer->updateCamera(app->getUpAxis());
|
||||
|
||||
example->stepSimulation(1. / 60.);
|
||||
|
||||
example->renderScene();
|
||||
|
||||
DrawGridData dg;
|
||||
dg.upAxis = app->getUpAxis();
|
||||
app->drawGrid(dg);
|
||||
app->swapBuffer();
|
||||
} while (!app->m_window->requestedExit());
|
||||
|
||||
example->exitPhysics();
|
||||
delete example;
|
||||
delete app;
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,405 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2015 Google Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "../CommonInterfaces/CommonExampleInterface.h"
|
||||
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
#include "../ExampleBrowser/CollisionShape2TriangleMesh.h"
|
||||
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
#include "../TinyRenderer/TinyRenderer.h"
|
||||
#include "../OpenGLWindow/SimpleCamera.h"
|
||||
|
||||
static btVector4 sMyColors[4] =
|
||||
{
|
||||
btVector4(0.3, 0.3, 1, 1),
|
||||
btVector4(0.6, 0.6, 1, 1),
|
||||
btVector4(0, 1, 0, 1),
|
||||
btVector4(0, 1, 1, 1),
|
||||
//btVector4(1,1,0,1),
|
||||
};
|
||||
|
||||
struct TinyRendererTexture
|
||||
{
|
||||
const unsigned char* m_texels;
|
||||
int m_width;
|
||||
int m_height;
|
||||
};
|
||||
|
||||
struct TinyRendererGUIHelper : public GUIHelperInterface
|
||||
{
|
||||
int m_upAxis;
|
||||
|
||||
btHashMap<btHashInt, TinyRenderObjectData*> m_swRenderObjects;
|
||||
btHashMap<btHashInt, int> m_swInstances;
|
||||
btHashMap<btHashInt, TinyRendererTexture> m_textures;
|
||||
|
||||
int m_swWidth;
|
||||
int m_swHeight;
|
||||
TGAImage m_rgbColorBuffer;
|
||||
|
||||
b3AlignedObjectArray<float> m_depthBuffer;
|
||||
|
||||
SimpleCamera m_camera;
|
||||
int m_colObjUniqueIndex;
|
||||
|
||||
TinyRendererGUIHelper(int swWidth, int swHeight)
|
||||
: m_upAxis(1),
|
||||
m_swWidth(swWidth),
|
||||
m_swHeight(swHeight),
|
||||
m_rgbColorBuffer(swWidth, swHeight, TGAImage::RGB),
|
||||
m_colObjUniqueIndex(0)
|
||||
{
|
||||
m_depthBuffer.resize(swWidth * swHeight);
|
||||
}
|
||||
|
||||
void clearBuffers(TGAColor& clearColor)
|
||||
{
|
||||
for (int y = 0; y < m_swHeight; ++y)
|
||||
{
|
||||
for (int x = 0; x < m_swWidth; ++x)
|
||||
{
|
||||
m_rgbColorBuffer.set(x, y, clearColor);
|
||||
m_depthBuffer[x + y * m_swWidth] = -1e30f;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
const TGAImage& getFrameBuffer() const
|
||||
{
|
||||
return m_rgbColorBuffer;
|
||||
}
|
||||
|
||||
virtual ~TinyRendererGUIHelper()
|
||||
{
|
||||
for (int i = 0; i < m_swRenderObjects.size(); i++)
|
||||
{
|
||||
TinyRenderObjectData** d = m_swRenderObjects[i];
|
||||
if (d && *d)
|
||||
{
|
||||
delete *d;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color) {}
|
||||
|
||||
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj, const btVector3& color)
|
||||
{
|
||||
if (obj->getUserIndex() < 0)
|
||||
{
|
||||
int colIndex = m_colObjUniqueIndex++;
|
||||
obj->setUserIndex(colIndex);
|
||||
int shapeIndex = obj->getCollisionShape()->getUserIndex();
|
||||
|
||||
if (colIndex >= 0 && shapeIndex >= 0)
|
||||
{
|
||||
m_swInstances.insert(colIndex, shapeIndex);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
|
||||
{
|
||||
//already has a graphics object?
|
||||
if (collisionShape->getUserIndex() >= 0)
|
||||
return;
|
||||
|
||||
btAlignedObjectArray<GLInstanceVertex> gfxVertices;
|
||||
|
||||
btAlignedObjectArray<int> indices;
|
||||
btTransform startTrans;
|
||||
startTrans.setIdentity();
|
||||
|
||||
{
|
||||
btAlignedObjectArray<btVector3> vertexPositions;
|
||||
btAlignedObjectArray<btVector3> vertexNormals;
|
||||
CollisionShape2TriangleMesh(collisionShape, startTrans, vertexPositions, vertexNormals, indices);
|
||||
gfxVertices.resize(vertexPositions.size());
|
||||
for (int i = 0; i < vertexPositions.size(); i++)
|
||||
{
|
||||
for (int j = 0; j < 4; j++)
|
||||
{
|
||||
gfxVertices[i].xyzw[j] = vertexPositions[i][j];
|
||||
}
|
||||
for (int j = 0; j < 3; j++)
|
||||
{
|
||||
gfxVertices[i].normal[j] = vertexNormals[i][j];
|
||||
}
|
||||
for (int j = 0; j < 2; j++)
|
||||
{
|
||||
gfxVertices[i].uv[j] = 0.5; //we don't have UV info...
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (gfxVertices.size() && indices.size())
|
||||
{
|
||||
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(),
|
||||
1, -1);
|
||||
collisionShape->setUserIndex(shapeId);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld) {}
|
||||
|
||||
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
//clear the color buffer
|
||||
TGAColor clearColor;
|
||||
clearColor.bgra[0] = 255;
|
||||
clearColor.bgra[1] = 255;
|
||||
clearColor.bgra[2] = 255;
|
||||
clearColor.bgra[3] = 255;
|
||||
|
||||
clearBuffers(clearColor);
|
||||
|
||||
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
|
||||
ATTRIBUTE_ALIGNED16(float viewMat[16]);
|
||||
ATTRIBUTE_ALIGNED16(float projMat[16]);
|
||||
|
||||
m_camera.getCameraProjectionMatrix(projMat);
|
||||
m_camera.getCameraViewMatrix(viewMat);
|
||||
|
||||
btVector3 lightDirWorld(-5, 200, -40);
|
||||
switch (m_upAxis)
|
||||
{
|
||||
case 1:
|
||||
lightDirWorld = btVector3(-50.f, 100, 30);
|
||||
break;
|
||||
case 2:
|
||||
lightDirWorld = btVector3(-50.f, 30, 100);
|
||||
break;
|
||||
default:
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
lightDirWorld.normalize();
|
||||
|
||||
for (int i = 0; i < rbWorld->getNumCollisionObjects(); i++)
|
||||
{
|
||||
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
|
||||
int colObjIndex = colObj->getUserIndex();
|
||||
int shapeIndex = colObj->getCollisionShape()->getUserIndex();
|
||||
if (colObjIndex >= 0 && shapeIndex >= 0)
|
||||
{
|
||||
TinyRenderObjectData* renderObj = 0;
|
||||
|
||||
int* cptr = m_swInstances[colObjIndex];
|
||||
if (cptr)
|
||||
{
|
||||
int c = *cptr;
|
||||
TinyRenderObjectData** sptr = m_swRenderObjects[c];
|
||||
if (sptr)
|
||||
{
|
||||
renderObj = *sptr;
|
||||
//sync the object transform
|
||||
const btTransform& tr = colObj->getWorldTransform();
|
||||
tr.getOpenGLMatrix(modelMat);
|
||||
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
for (int j = 0; j < 4; j++)
|
||||
{
|
||||
renderObj->m_projectionMatrix[i][j] = projMat[i + 4 * j];
|
||||
renderObj->m_modelMatrix[i][j] = modelMat[i + 4 * j];
|
||||
renderObj->m_viewMatrix[i][j] = viewMat[i + 4 * j];
|
||||
}
|
||||
}
|
||||
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
|
||||
renderObj->m_lightDirWorld = lightDirWorld;
|
||||
renderObj->m_lightAmbientCoeff = 0.6;
|
||||
renderObj->m_lightDiffuseCoeff = 0.35;
|
||||
renderObj->m_lightSpecularCoeff = 0.05;
|
||||
TinyRenderer::renderObject(*renderObj);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static int counter = 0;
|
||||
counter++;
|
||||
if ((counter & 7) == 0)
|
||||
{
|
||||
char filename[1024];
|
||||
sprintf(filename, "framebuf%d.tga", counter);
|
||||
m_rgbColorBuffer.flip_vertically();
|
||||
getFrameBuffer().write_tga_file(filename, true);
|
||||
}
|
||||
float color[4] = {1, 1, 1, 1};
|
||||
}
|
||||
|
||||
virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld) {}
|
||||
|
||||
virtual int registerTexture(const unsigned char* texels, int width, int height)
|
||||
{
|
||||
//do we need to make a copy?
|
||||
int textureId = m_textures.size();
|
||||
TinyRendererTexture t;
|
||||
t.m_texels = texels;
|
||||
t.m_width = width;
|
||||
t.m_height = height;
|
||||
this->m_textures.insert(textureId, t);
|
||||
return textureId;
|
||||
}
|
||||
|
||||
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
|
||||
{
|
||||
int shapeIndex = m_swRenderObjects.size();
|
||||
|
||||
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_rgbColorBuffer, m_depthBuffer);
|
||||
float rgbaColor[4] = {1, 1, 1, 1};
|
||||
|
||||
//if (textureId>=0)
|
||||
//{
|
||||
// swObj->registerMeshShape(vertices,numvertices,indices,numIndices,rgbaColor);
|
||||
//} else
|
||||
{
|
||||
swObj->registerMeshShape(vertices, numvertices, indices, numIndices, rgbaColor);
|
||||
}
|
||||
//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
|
||||
m_swRenderObjects.insert(shapeIndex, swObj);
|
||||
return shapeIndex;
|
||||
}
|
||||
|
||||
virtual void removeAllGraphicsInstances()
|
||||
{
|
||||
}
|
||||
|
||||
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
|
||||
{
|
||||
int colIndex = m_colObjUniqueIndex++;
|
||||
|
||||
if (colIndex >= 0 && shapeIndex >= 0)
|
||||
{
|
||||
TinyRenderObjectData** dPtr = m_swRenderObjects[shapeIndex];
|
||||
if (dPtr && *dPtr)
|
||||
{
|
||||
TinyRenderObjectData* d = *dPtr;
|
||||
d->m_localScaling.setValue(scaling[0], scaling[1], scaling[2]);
|
||||
m_swInstances.insert(colIndex, shapeIndex);
|
||||
}
|
||||
}
|
||||
|
||||
return colIndex;
|
||||
}
|
||||
|
||||
virtual Common2dCanvasInterface* get2dCanvasInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonParameterInterface* getParameterInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonRenderInterface* getRenderInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual CommonGraphicsApp* getAppInterface()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual void setUpAxis(int axis)
|
||||
{
|
||||
m_upAxis = axis;
|
||||
m_camera.setCameraUpAxis(axis);
|
||||
m_camera.update();
|
||||
}
|
||||
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX, float camPosY, float camPosZ)
|
||||
{
|
||||
m_camera.setCameraDistance(camDist);
|
||||
m_camera.setCameraPitch(pitch);
|
||||
m_camera.setCameraYaw(yaw);
|
||||
m_camera.setCameraTargetPosition(camPosX, camPosY, camPosZ);
|
||||
m_camera.setAspectRatio((float)m_swWidth / (float)m_swHeight);
|
||||
m_camera.update();
|
||||
}
|
||||
|
||||
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
|
||||
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
|
||||
float* depthBuffer, int depthBufferSizeInPixels,
|
||||
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
|
||||
int startPixelIndex, int destinationWidth, int destinationHeight, int* numPixelsCopied)
|
||||
{
|
||||
if (numPixelsCopied)
|
||||
*numPixelsCopied = 0;
|
||||
}
|
||||
|
||||
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
|
||||
{
|
||||
for (int i = 0; i < rbWorld->getNumCollisionObjects(); i++)
|
||||
{
|
||||
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
|
||||
//btRigidBody* body = btRigidBody::upcast(colObj);
|
||||
//does this also work for btMultiBody/btMultiBodyLinkCollider?
|
||||
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
|
||||
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
|
||||
|
||||
btVector3 color = sMyColors[colorIndex];
|
||||
createCollisionObjectGraphicsObject(colObj, color);
|
||||
}
|
||||
}
|
||||
|
||||
virtual void drawText3D(const char* txt, float posX, float posZY, float posZ, float size)
|
||||
{
|
||||
}
|
||||
virtual int addUserDebugText3D(const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
virtual void removeUserDebugItem(int debugItemUniqueId)
|
||||
{
|
||||
}
|
||||
virtual void removeAllUserDebugItems()
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
TinyRendererGUIHelper noGfx(640, 480);
|
||||
|
||||
CommonExampleOptions options(&noGfx);
|
||||
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
|
||||
|
||||
example->initPhysics();
|
||||
example->resetCamera();
|
||||
|
||||
for (int i = 0; i < 1000; i++)
|
||||
{
|
||||
printf("Simulating step %d\n", i);
|
||||
example->stepSimulation(1.f / 60.f);
|
||||
example->renderScene();
|
||||
}
|
||||
example->exitPhysics();
|
||||
|
||||
delete example;
|
||||
|
||||
return 0;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue