[167] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifdef WIN32 //needed for glut.h |
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| 17 | #include <windows.h> |
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| 18 | #endif |
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| 19 | #include "GLDebugFont.h" |
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| 20 | |
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| 21 | |
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| 22 | |
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| 23 | #include "GlutStuff.h" |
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| 24 | #include "GL_ShapeDrawer.h" |
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| 25 | #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h" |
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| 26 | #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" |
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| 27 | #include "BulletCollision/CollisionShapes/btBoxShape.h" |
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| 28 | #include "BulletCollision/CollisionShapes/btSphereShape.h" |
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| 29 | #include "BulletCollision/CollisionShapes/btConeShape.h" |
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| 30 | #include "BulletCollision/CollisionShapes/btCylinderShape.h" |
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| 31 | #include "BulletCollision/CollisionShapes/btTetrahedronShape.h" |
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| 32 | #include "BulletCollision/CollisionShapes/btCompoundShape.h" |
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| 33 | #include "BulletCollision/CollisionShapes/btCapsuleShape.h" |
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| 34 | #include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h" |
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| 35 | #include "BulletCollision/CollisionShapes/btUniformScalingShape.h" |
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| 36 | #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" |
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| 37 | #include "BulletCollision/CollisionShapes/btMultiSphereShape.h" |
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| 38 | |
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| 39 | |
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| 40 | /// |
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| 41 | #include "BulletCollision/CollisionShapes/btShapeHull.h" |
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| 42 | |
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| 43 | #include "LinearMath/btTransformUtil.h" |
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| 44 | |
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| 45 | |
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| 46 | #include "LinearMath/btIDebugDraw.h" |
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| 47 | //for debugmodes |
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| 48 | |
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| 49 | #include <stdio.h> //printf debugging |
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| 50 | |
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| 51 | //#define USE_DISPLAY_LISTS 1 |
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| 52 | #ifdef USE_DISPLAY_LISTS |
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| 53 | |
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| 54 | #include <map> |
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| 55 | |
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| 56 | using namespace std; |
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| 57 | |
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| 58 | //Set for storing Display list per trimesh |
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| 59 | struct TRIMESH_KEY |
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| 60 | { |
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| 61 | btCollisionShape* m_shape; |
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| 62 | GLuint m_dlist;//OpenGL display list |
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| 63 | }; |
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| 64 | |
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| 65 | typedef map<unsigned long,TRIMESH_KEY> TRIMESH_KEY_MAP; |
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| 66 | |
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| 67 | typedef pair<unsigned long,TRIMESH_KEY> TRIMESH_KEY_PAIR; |
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| 68 | |
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| 69 | TRIMESH_KEY_MAP g_display_lists; |
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| 70 | |
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| 71 | class GlDisplaylistDrawcallback : public btTriangleCallback |
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| 72 | { |
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| 73 | public: |
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| 74 | |
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| 75 | virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex) |
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| 76 | { |
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| 77 | |
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| 78 | btVector3 diff1 = triangle[1] - triangle[0]; |
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| 79 | btVector3 diff2 = triangle[2] - triangle[0]; |
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| 80 | btVector3 normal = diff1.cross(diff2); |
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| 81 | |
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| 82 | normal.normalize(); |
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| 83 | |
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| 84 | glBegin(GL_TRIANGLES); |
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| 85 | glColor3f(1, 1, 1); |
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| 86 | glNormal3d(normal.getX(),normal.getY(),normal.getZ()); |
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| 87 | glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); |
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| 88 | |
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| 89 | //glColor3f(0, 1, 0); |
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| 90 | glNormal3d(normal.getX(),normal.getY(),normal.getZ()); |
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| 91 | glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); |
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| 92 | |
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| 93 | //glColor3f(0, 1, 0); |
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| 94 | glNormal3d(normal.getX(),normal.getY(),normal.getZ()); |
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| 95 | glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); |
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| 96 | glEnd(); |
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| 97 | |
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| 98 | /*glBegin(GL_LINES); |
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| 99 | glColor3f(1, 1, 0); |
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| 100 | glNormal3d(normal.getX(),normal.getY(),normal.getZ()); |
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| 101 | glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); |
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| 102 | glNormal3d(normal.getX(),normal.getY(),normal.getZ()); |
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| 103 | glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); |
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| 104 | glColor3f(1, 1, 0); |
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| 105 | glNormal3d(normal.getX(),normal.getY(),normal.getZ()); |
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| 106 | glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); |
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| 107 | glNormal3d(normal.getX(),normal.getY(),normal.getZ()); |
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| 108 | glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); |
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| 109 | glColor3f(1, 1, 0); |
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| 110 | glNormal3d(normal.getX(),normal.getY(),normal.getZ()); |
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| 111 | glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); |
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| 112 | glNormal3d(normal.getX(),normal.getY(),normal.getZ()); |
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| 113 | glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); |
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| 114 | glEnd();*/ |
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| 115 | |
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| 116 | |
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| 117 | } |
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| 118 | }; |
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| 119 | |
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| 120 | GLuint OGL_get_displaylist_for_shape(btCollisionShape * shape) |
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| 121 | { |
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| 122 | TRIMESH_KEY_MAP::iterator map_iter; |
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| 123 | |
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| 124 | unsigned long key = (unsigned long)shape; |
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| 125 | map_iter = g_display_lists.find(key); |
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| 126 | if(map_iter!=g_display_lists.end()) |
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| 127 | { |
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| 128 | return map_iter->second.m_dlist; |
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| 129 | } |
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| 130 | |
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| 131 | return 0; |
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| 132 | } |
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| 133 | |
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| 134 | void OGL_displaylist_clean() |
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| 135 | { |
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| 136 | TRIMESH_KEY_MAP::iterator map_iter,map_itend; |
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| 137 | |
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| 138 | map_iter = g_display_lists.begin(); |
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| 139 | |
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| 140 | while(map_iter!=map_itend) |
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| 141 | { |
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| 142 | glDeleteLists(map_iter->second.m_dlist,1); |
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| 143 | map_iter++; |
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| 144 | } |
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| 145 | |
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| 146 | g_display_lists.clear(); |
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| 147 | } |
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| 148 | |
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| 149 | |
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| 150 | void OGL_displaylist_register_shape(btCollisionShape * shape) |
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| 151 | { |
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| 152 | btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); |
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| 153 | btVector3 aabbMin(-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT),-btScalar(BT_LARGE_FLOAT)); |
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| 154 | GlDisplaylistDrawcallback drawCallback; |
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| 155 | TRIMESH_KEY dlist; |
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| 156 | |
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| 157 | dlist.m_dlist = glGenLists(1); |
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| 158 | dlist.m_shape = shape; |
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| 159 | |
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| 160 | unsigned long key = (unsigned long)shape; |
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| 161 | |
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| 162 | g_display_lists.insert(TRIMESH_KEY_PAIR(key,dlist)); |
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| 163 | |
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| 164 | glNewList(dlist.m_dlist,GL_COMPILE); |
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| 165 | |
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| 166 | // glEnable(GL_CULL_FACE); |
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| 167 | |
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| 168 | glCullFace(GL_BACK); |
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| 169 | |
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| 170 | if (shape->isConcave()) |
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| 171 | { |
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| 172 | btConcaveShape* concaveMesh = (btConcaveShape*) shape; |
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| 173 | //todo pass camera, for some culling |
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| 174 | concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); |
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| 175 | } |
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| 176 | |
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| 177 | // glDisable(GL_CULL_FACE); |
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| 178 | |
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| 179 | glEndList(); |
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| 180 | } |
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| 181 | #endif //USE_DISPLAY_LISTS |
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| 182 | |
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| 183 | void GL_ShapeDrawer::drawCoordSystem() { |
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| 184 | glBegin(GL_LINES); |
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| 185 | glColor3f(1, 0, 0); |
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| 186 | glVertex3d(0, 0, 0); |
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| 187 | glVertex3d(1, 0, 0); |
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| 188 | glColor3f(0, 1, 0); |
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| 189 | glVertex3d(0, 0, 0); |
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| 190 | glVertex3d(0, 1, 0); |
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| 191 | glColor3f(0, 0, 1); |
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| 192 | glVertex3d(0, 0, 0); |
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| 193 | glVertex3d(0, 0, 1); |
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| 194 | glEnd(); |
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| 195 | |
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| 196 | } |
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| 197 | |
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| 198 | |
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| 199 | |
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| 200 | |
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| 201 | |
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| 202 | class GlDrawcallback : public btTriangleCallback |
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| 203 | { |
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| 204 | |
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| 205 | public: |
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| 206 | |
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| 207 | bool m_wireframe; |
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| 208 | |
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| 209 | GlDrawcallback() |
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| 210 | :m_wireframe(false) |
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| 211 | { |
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| 212 | } |
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| 213 | |
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| 214 | virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex) |
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| 215 | { |
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| 216 | |
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| 217 | (void)triangleIndex; |
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| 218 | (void)partId; |
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| 219 | |
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| 220 | |
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| 221 | if (m_wireframe) |
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| 222 | { |
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| 223 | glBegin(GL_LINES); |
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| 224 | glColor3f(1, 0, 0); |
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| 225 | glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); |
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| 226 | glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); |
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| 227 | glColor3f(0, 1, 0); |
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| 228 | glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); |
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| 229 | glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); |
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| 230 | glColor3f(0, 0, 1); |
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| 231 | glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); |
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| 232 | glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); |
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| 233 | glEnd(); |
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| 234 | } else |
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| 235 | { |
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| 236 | glBegin(GL_TRIANGLES); |
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| 237 | //glColor3f(1, 1, 1); |
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| 238 | |
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| 239 | |
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| 240 | glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); |
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| 241 | glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); |
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| 242 | glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); |
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| 243 | |
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| 244 | glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); |
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| 245 | glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); |
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| 246 | glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); |
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| 247 | glEnd(); |
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| 248 | } |
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| 249 | } |
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| 250 | }; |
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| 251 | |
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| 252 | class TriangleGlDrawcallback : public btInternalTriangleIndexCallback |
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| 253 | { |
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| 254 | public: |
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| 255 | virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex) |
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| 256 | { |
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| 257 | (void)triangleIndex; |
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| 258 | (void)partId; |
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| 259 | |
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| 260 | |
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| 261 | glBegin(GL_TRIANGLES);//LINES); |
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| 262 | glColor3f(1, 0, 0); |
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| 263 | glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); |
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| 264 | glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); |
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| 265 | glColor3f(0, 1, 0); |
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| 266 | glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); |
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| 267 | glVertex3d(triangle[1].getX(), triangle[1].getY(), triangle[1].getZ()); |
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| 268 | glColor3f(0, 0, 1); |
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| 269 | glVertex3d(triangle[2].getX(), triangle[2].getY(), triangle[2].getZ()); |
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| 270 | glVertex3d(triangle[0].getX(), triangle[0].getY(), triangle[0].getZ()); |
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| 271 | glEnd(); |
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| 272 | } |
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| 273 | }; |
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| 274 | |
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| 275 | |
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| 276 | void GL_ShapeDrawer::drawSphere(btScalar radius, int lats, int longs) |
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| 277 | { |
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| 278 | int i, j; |
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| 279 | for(i = 0; i <= lats; i++) { |
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| 280 | btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats); |
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| 281 | btScalar z0 = radius*sin(lat0); |
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| 282 | btScalar zr0 = radius*cos(lat0); |
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| 283 | |
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| 284 | btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats); |
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| 285 | btScalar z1 = radius*sin(lat1); |
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| 286 | btScalar zr1 = radius*cos(lat1); |
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| 287 | |
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| 288 | glBegin(GL_QUAD_STRIP); |
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| 289 | for(j = 0; j <= longs; j++) { |
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| 290 | btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs; |
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| 291 | btScalar x = cos(lng); |
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| 292 | btScalar y = sin(lng); |
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| 293 | glNormal3f(x * zr1, y * zr1, z1); |
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| 294 | glVertex3f(x * zr1, y * zr1, z1); |
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| 295 | glNormal3f(x * zr0, y * zr0, z0); |
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| 296 | glVertex3f(x * zr0, y * zr0, z0); |
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| 297 | } |
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| 298 | glEnd(); |
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| 299 | } |
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| 300 | } |
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| 301 | |
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| 302 | void GL_ShapeDrawer::drawCylinder(float radius,float halfHeight, int upAxis) |
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| 303 | { |
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| 304 | |
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| 305 | |
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| 306 | glPushMatrix(); |
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| 307 | switch (upAxis) |
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| 308 | { |
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| 309 | case 0: |
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| 310 | glRotatef(-90.0, 0.0, 1.0, 0.0); |
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| 311 | glTranslatef(0.0, 0.0, -halfHeight); |
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| 312 | break; |
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| 313 | case 1: |
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| 314 | glRotatef(-90.0, 1.0, 0.0, 0.0); |
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| 315 | glTranslatef(0.0, 0.0, -halfHeight); |
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| 316 | break; |
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| 317 | case 2: |
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| 318 | |
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| 319 | glTranslatef(0.0, 0.0, -halfHeight); |
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| 320 | break; |
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| 321 | default: |
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| 322 | { |
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| 323 | btAssert(0); |
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| 324 | } |
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| 325 | |
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| 326 | } |
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| 327 | |
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| 328 | GLUquadricObj *quadObj = gluNewQuadric(); |
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| 329 | |
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| 330 | //The gluCylinder subroutine draws a cylinder that is oriented along the z axis. |
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| 331 | //The base of the cylinder is placed at z = 0; the top of the cylinder is placed at z=height. |
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| 332 | //Like a sphere, the cylinder is subdivided around the z axis into slices and along the z axis into stacks. |
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| 333 | |
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| 334 | gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL); |
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| 335 | gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH); |
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| 336 | |
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| 337 | gluDisk(quadObj,0,radius,15, 10); |
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| 338 | |
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| 339 | gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10); |
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| 340 | glTranslatef(0.0, 0.0, 2.*halfHeight); |
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| 341 | glRotatef(-180.0, 0.0, 1.0, 0.0); |
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| 342 | gluDisk(quadObj,0,radius,15, 10); |
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| 343 | |
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| 344 | glPopMatrix(); |
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| 345 | gluDeleteQuadric(quadObj); |
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| 346 | } |
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| 347 | |
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| 348 | GL_ShapeDrawer::ShapeCache* GL_ShapeDrawer::cache(btConvexShape* shape) |
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| 349 | { |
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| 350 | ShapeCache* sc=(ShapeCache*)shape->getUserPointer(); |
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| 351 | if(!sc) |
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| 352 | { |
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| 353 | sc=new(btAlignedAlloc(sizeof(ShapeCache),16)) ShapeCache(shape); |
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| 354 | sc->m_shapehull.buildHull(shape->getMargin()); |
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| 355 | m_shapecaches.push_back(sc); |
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| 356 | shape->setUserPointer(sc); |
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| 357 | /* Build edges */ |
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| 358 | const int ni=sc->m_shapehull.numIndices(); |
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| 359 | const int nv=sc->m_shapehull.numVertices(); |
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| 360 | const unsigned int* pi=sc->m_shapehull.getIndexPointer(); |
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| 361 | const btVector3* pv=sc->m_shapehull.getVertexPointer(); |
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| 362 | btAlignedObjectArray<ShapeCache::Edge*> edges; |
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| 363 | sc->m_edges.reserve(ni); |
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| 364 | edges.resize(nv*nv,0); |
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| 365 | for(int i=0;i<ni;i+=3) |
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| 366 | { |
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| 367 | const unsigned int* ti=pi+i; |
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| 368 | const btVector3 nrm=btCross(pv[ti[1]]-pv[ti[0]],pv[ti[2]]-pv[ti[0]]).normalized(); |
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| 369 | for(int j=2,k=0;k<3;j=k++) |
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| 370 | { |
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| 371 | const unsigned int a=ti[j]; |
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| 372 | const unsigned int b=ti[k]; |
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| 373 | ShapeCache::Edge*& e=edges[btMin(a,b)*nv+btMax(a,b)]; |
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| 374 | if(!e) |
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| 375 | { |
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| 376 | sc->m_edges.push_back(ShapeCache::Edge()); |
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| 377 | e=&sc->m_edges[sc->m_edges.size()-1]; |
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| 378 | e->n[0]=nrm;e->n[1]=-nrm; |
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| 379 | e->v[0]=a;e->v[1]=b; |
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| 380 | } |
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| 381 | else |
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| 382 | { |
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| 383 | e->n[1]=nrm; |
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| 384 | } |
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| 385 | } |
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| 386 | } |
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| 387 | } |
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| 388 | return(sc); |
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| 389 | } |
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| 390 | |
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| 391 | void renderSquareA(float x, float y, float z) |
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| 392 | { |
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| 393 | glBegin(GL_LINE_LOOP); |
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| 394 | glVertex3f(x, y, z); |
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| 395 | glVertex3f(x + 10., y, z); |
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| 396 | glVertex3f(x + 10., y + 10., z); |
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| 397 | glVertex3f(x, y + 10., z); |
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| 398 | glEnd(); |
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| 399 | } |
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| 400 | |
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| 401 | inline void glDrawVector(const btVector3& v) { glVertex3d(v[0], v[1], v[2]); } |
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| 402 | |
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| 403 | |
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| 404 | void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax) |
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| 405 | { |
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| 406 | if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE) |
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| 407 | { |
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| 408 | btVector3 org(m[12], m[13], m[14]); |
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| 409 | btVector3 dx(m[0], m[1], m[2]); |
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| 410 | btVector3 dy(m[4], m[5], m[6]); |
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| 411 | // btVector3 dz(m[8], m[9], m[10]); |
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| 412 | const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape); |
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| 413 | btVector3 halfExtent = boxShape->getHalfExtentsWithMargin(); |
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| 414 | dx *= halfExtent[0]; |
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| 415 | dy *= halfExtent[1]; |
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| 416 | // dz *= halfExtent[2]; |
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| 417 | glColor3f(1,1,1); |
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| 418 | glDisable(GL_LIGHTING); |
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| 419 | glLineWidth(2); |
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| 420 | |
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| 421 | glBegin(GL_LINE_LOOP); |
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| 422 | glDrawVector(org - dx - dy); |
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| 423 | glDrawVector(org - dx + dy); |
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| 424 | glDrawVector(org + dx + dy); |
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| 425 | glDrawVector(org + dx - dy); |
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| 426 | glEnd(); |
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| 427 | return; |
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| 428 | } |
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| 429 | else if((shape->getShapeType() == BOX_SHAPE_PROXYTYPE) && (debugMode & btIDebugDraw::DBG_FastWireframe)) |
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| 430 | { |
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| 431 | btVector3 org(m[12], m[13], m[14]); |
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| 432 | btVector3 dx(m[0], m[1], m[2]); |
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| 433 | btVector3 dy(m[4], m[5], m[6]); |
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| 434 | btVector3 dz(m[8], m[9], m[10]); |
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| 435 | const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape); |
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| 436 | btVector3 halfExtent = boxShape->getHalfExtentsWithMargin(); |
---|
| 437 | dx *= halfExtent[0]; |
---|
| 438 | dy *= halfExtent[1]; |
---|
| 439 | dz *= halfExtent[2]; |
---|
| 440 | glBegin(GL_LINE_LOOP); |
---|
| 441 | glDrawVector(org - dx - dy - dz); |
---|
| 442 | glDrawVector(org + dx - dy - dz); |
---|
| 443 | glDrawVector(org + dx + dy - dz); |
---|
| 444 | glDrawVector(org - dx + dy - dz); |
---|
| 445 | glDrawVector(org - dx + dy + dz); |
---|
| 446 | glDrawVector(org + dx + dy + dz); |
---|
| 447 | glDrawVector(org + dx - dy + dz); |
---|
| 448 | glDrawVector(org - dx - dy + dz); |
---|
| 449 | glEnd(); |
---|
| 450 | glBegin(GL_LINES); |
---|
| 451 | glDrawVector(org + dx - dy - dz); |
---|
| 452 | glDrawVector(org + dx - dy + dz); |
---|
| 453 | glDrawVector(org + dx + dy - dz); |
---|
| 454 | glDrawVector(org + dx + dy + dz); |
---|
| 455 | glDrawVector(org - dx - dy - dz); |
---|
| 456 | glDrawVector(org - dx + dy - dz); |
---|
| 457 | glDrawVector(org - dx - dy + dz); |
---|
| 458 | glDrawVector(org - dx + dy + dz); |
---|
| 459 | glEnd(); |
---|
| 460 | return; |
---|
| 461 | } |
---|
| 462 | |
---|
| 463 | glPushMatrix(); |
---|
| 464 | btglMultMatrix(m); |
---|
| 465 | |
---|
| 466 | |
---|
| 467 | if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE) |
---|
| 468 | { |
---|
| 469 | const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape); |
---|
| 470 | const btConvexShape* convexShape = scalingShape->getChildShape(); |
---|
| 471 | float scalingFactor = (float)scalingShape->getUniformScalingFactor(); |
---|
| 472 | { |
---|
| 473 | btScalar tmpScaling[4][4]={{scalingFactor,0,0,0}, |
---|
| 474 | {0,scalingFactor,0,0}, |
---|
| 475 | {0,0,scalingFactor,0}, |
---|
| 476 | {0,0,0,1}}; |
---|
| 477 | |
---|
| 478 | drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode,worldBoundsMin,worldBoundsMax); |
---|
| 479 | } |
---|
| 480 | glPopMatrix(); |
---|
| 481 | return; |
---|
| 482 | } |
---|
| 483 | |
---|
| 484 | if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) |
---|
| 485 | { |
---|
| 486 | const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape); |
---|
| 487 | for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--) |
---|
| 488 | { |
---|
| 489 | btTransform childTrans = compoundShape->getChildTransform(i); |
---|
| 490 | const btCollisionShape* colShape = compoundShape->getChildShape(i); |
---|
| 491 | btScalar childMat[16]; |
---|
| 492 | childTrans.getOpenGLMatrix(childMat); |
---|
| 493 | drawOpenGL(childMat,colShape,color,debugMode,worldBoundsMin,worldBoundsMax); |
---|
| 494 | } |
---|
| 495 | |
---|
| 496 | } else |
---|
| 497 | { |
---|
| 498 | if(m_textureenabled&&(!m_textureinitialized)) |
---|
| 499 | { |
---|
| 500 | GLubyte* image=new GLubyte[256*256*3]; |
---|
| 501 | for(int y=0;y<256;++y) |
---|
| 502 | { |
---|
| 503 | const int t=y>>4; |
---|
| 504 | GLubyte* pi=image+y*256*3; |
---|
| 505 | for(int x=0;x<256;++x) |
---|
| 506 | { |
---|
| 507 | const int s=x>>4; |
---|
| 508 | const GLubyte b=180; |
---|
| 509 | GLubyte c=b+(((s+t)&1)&1)*(255-b); |
---|
| 510 | pi[0]=pi[1]=pi[2]=c;pi+=3; |
---|
| 511 | } |
---|
| 512 | } |
---|
| 513 | |
---|
| 514 | glGenTextures(1,(GLuint*)&m_texturehandle); |
---|
| 515 | glBindTexture(GL_TEXTURE_2D,m_texturehandle); |
---|
| 516 | glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE); |
---|
| 517 | glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR); |
---|
| 518 | glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR); |
---|
| 519 | glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT); |
---|
| 520 | glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT); |
---|
| 521 | gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image); |
---|
| 522 | delete[] image; |
---|
| 523 | |
---|
| 524 | glMatrixMode(GL_TEXTURE); |
---|
| 525 | glLoadIdentity(); |
---|
| 526 | glScalef(0.025,0.025,0.025); |
---|
| 527 | |
---|
| 528 | |
---|
| 529 | } |
---|
| 530 | |
---|
| 531 | |
---|
| 532 | |
---|
| 533 | static const GLfloat planex[]={1,0,0,0}; |
---|
| 534 | // static const GLfloat planey[]={0,1,0,0}; |
---|
| 535 | static const GLfloat planez[]={0,0,1,0}; |
---|
| 536 | glTexGenfv(GL_S,GL_OBJECT_PLANE,planex); |
---|
| 537 | glTexGenfv(GL_T,GL_OBJECT_PLANE,planez); |
---|
| 538 | glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); |
---|
| 539 | glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); |
---|
| 540 | glEnable(GL_TEXTURE_GEN_S); |
---|
| 541 | glEnable(GL_TEXTURE_GEN_T); |
---|
| 542 | glEnable(GL_TEXTURE_GEN_R); |
---|
| 543 | m_textureinitialized=true; |
---|
| 544 | |
---|
| 545 | |
---|
| 546 | |
---|
| 547 | |
---|
| 548 | //drawCoordSystem(); |
---|
| 549 | |
---|
| 550 | //glPushMatrix(); |
---|
| 551 | glEnable(GL_COLOR_MATERIAL); |
---|
| 552 | if(m_textureenabled) |
---|
| 553 | { |
---|
| 554 | glEnable(GL_TEXTURE_2D); |
---|
| 555 | glBindTexture(GL_TEXTURE_2D,m_texturehandle); |
---|
| 556 | } else |
---|
| 557 | { |
---|
| 558 | glDisable(GL_TEXTURE_2D); |
---|
| 559 | } |
---|
| 560 | |
---|
| 561 | |
---|
| 562 | glColor3f(color.x(),color.y(), color.z()); |
---|
| 563 | |
---|
| 564 | bool useWireframeFallback = true; |
---|
| 565 | |
---|
| 566 | if (!(debugMode & btIDebugDraw::DBG_DrawWireframe)) |
---|
| 567 | { |
---|
| 568 | ///you can comment out any of the specific cases, and use the default |
---|
| 569 | |
---|
| 570 | ///the benefit of 'default' is that it approximates the actual collision shape including collision margin |
---|
| 571 | //int shapetype=m_textureenabled?MAX_BROADPHASE_COLLISION_TYPES:shape->getShapeType(); |
---|
| 572 | int shapetype=shape->getShapeType(); |
---|
| 573 | switch (shapetype) |
---|
| 574 | { |
---|
| 575 | |
---|
| 576 | case SPHERE_SHAPE_PROXYTYPE: |
---|
| 577 | { |
---|
| 578 | const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape); |
---|
| 579 | float radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin |
---|
| 580 | drawSphere(radius,10,10); |
---|
| 581 | useWireframeFallback = false; |
---|
| 582 | break; |
---|
| 583 | } |
---|
| 584 | |
---|
| 585 | case BOX_SHAPE_PROXYTYPE: |
---|
| 586 | { |
---|
| 587 | const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape); |
---|
| 588 | btVector3 halfExtent = boxShape->getHalfExtentsWithMargin(); |
---|
| 589 | |
---|
| 590 | static int indices[36] = { |
---|
| 591 | 0,1,2, |
---|
| 592 | 3,2,1, |
---|
| 593 | 4,0,6, |
---|
| 594 | 6,0,2, |
---|
| 595 | 5,1,4, |
---|
| 596 | 4,1,0, |
---|
| 597 | 7,3,1, |
---|
| 598 | 7,1,5, |
---|
| 599 | 5,4,7, |
---|
| 600 | 7,4,6, |
---|
| 601 | 7,2,3, |
---|
| 602 | 7,6,2}; |
---|
| 603 | |
---|
| 604 | static btVector3 vertices[8]={ btVector3(1,1,1),btVector3(-1,1,1), btVector3(1,-1,1), btVector3(-1,-1,1), btVector3(1,1,-1), btVector3(-1,1,-1), btVector3(1,-1,-1), btVector3(-1,-1,-1)}; |
---|
| 605 | glBegin (GL_TRIANGLES); |
---|
| 606 | int si=36; |
---|
| 607 | for (int i=0;i<si;i+=3) |
---|
| 608 | { |
---|
| 609 | btVector3 v1 = vertices[indices[i]]*halfExtent; |
---|
| 610 | btVector3 v2 = vertices[indices[i+1]]*halfExtent; |
---|
| 611 | btVector3 v3 = vertices[indices[i+2]]*halfExtent; |
---|
| 612 | btVector3 normal = (v3-v1).cross(v2-v1); |
---|
| 613 | normal.normalize (); |
---|
| 614 | |
---|
| 615 | glNormal3f(normal.getX(),normal.getY(),normal.getZ()); |
---|
| 616 | glVertex3f (v1.x(), v1.y(), v1.z()); |
---|
| 617 | glVertex3f (v2.x(), v2.y(), v2.z()); |
---|
| 618 | glVertex3f (v3.x(), v3.y(), v3.z()); |
---|
| 619 | |
---|
| 620 | } |
---|
| 621 | glEnd(); |
---|
| 622 | |
---|
| 623 | useWireframeFallback = false; |
---|
| 624 | break; |
---|
| 625 | } |
---|
| 626 | |
---|
| 627 | |
---|
| 628 | |
---|
| 629 | #if 0 |
---|
| 630 | |
---|
| 631 | case CONE_SHAPE_PROXYTYPE: |
---|
| 632 | { |
---|
| 633 | const btConeShape* coneShape = static_cast<const btConeShape*>(shape); |
---|
| 634 | int upIndex = coneShape->getConeUpIndex(); |
---|
| 635 | float radius = coneShape->getRadius();//+coneShape->getMargin(); |
---|
| 636 | float height = coneShape->getHeight();//+coneShape->getMargin(); |
---|
| 637 | switch (upIndex) |
---|
| 638 | { |
---|
| 639 | case 0: |
---|
| 640 | glRotatef(90.0, 0.0, 1.0, 0.0); |
---|
| 641 | break; |
---|
| 642 | case 1: |
---|
| 643 | glRotatef(-90.0, 1.0, 0.0, 0.0); |
---|
| 644 | break; |
---|
| 645 | case 2: |
---|
| 646 | break; |
---|
| 647 | default: |
---|
| 648 | { |
---|
| 649 | } |
---|
| 650 | }; |
---|
| 651 | |
---|
| 652 | glTranslatef(0.0, 0.0, -0.5*height); |
---|
| 653 | glutSolidCone(radius,height,10,10); |
---|
| 654 | useWireframeFallback = false; |
---|
| 655 | break; |
---|
| 656 | |
---|
| 657 | } |
---|
| 658 | #endif |
---|
| 659 | |
---|
| 660 | case STATIC_PLANE_PROXYTYPE: |
---|
| 661 | { |
---|
| 662 | const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape); |
---|
| 663 | btScalar planeConst = staticPlaneShape->getPlaneConstant(); |
---|
| 664 | const btVector3& planeNormal = staticPlaneShape->getPlaneNormal(); |
---|
| 665 | btVector3 planeOrigin = planeNormal * planeConst; |
---|
| 666 | btVector3 vec0,vec1; |
---|
| 667 | btPlaneSpace1(planeNormal,vec0,vec1); |
---|
| 668 | btScalar vecLen = 100.f; |
---|
| 669 | btVector3 pt0 = planeOrigin + vec0*vecLen; |
---|
| 670 | btVector3 pt1 = planeOrigin - vec0*vecLen; |
---|
| 671 | btVector3 pt2 = planeOrigin + vec1*vecLen; |
---|
| 672 | btVector3 pt3 = planeOrigin - vec1*vecLen; |
---|
| 673 | glBegin(GL_LINES); |
---|
| 674 | glVertex3f(pt0.getX(),pt0.getY(),pt0.getZ()); |
---|
| 675 | glVertex3f(pt1.getX(),pt1.getY(),pt1.getZ()); |
---|
| 676 | glVertex3f(pt2.getX(),pt2.getY(),pt2.getZ()); |
---|
| 677 | glVertex3f(pt3.getX(),pt3.getY(),pt3.getZ()); |
---|
| 678 | glEnd(); |
---|
| 679 | |
---|
| 680 | |
---|
| 681 | break; |
---|
| 682 | |
---|
| 683 | } |
---|
| 684 | |
---|
| 685 | /* |
---|
| 686 | case CYLINDER_SHAPE_PROXYTYPE: |
---|
| 687 | { |
---|
| 688 | const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape); |
---|
| 689 | int upAxis = cylinder->getUpAxis(); |
---|
| 690 | |
---|
| 691 | |
---|
| 692 | float radius = cylinder->getRadius(); |
---|
| 693 | float halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis]; |
---|
| 694 | |
---|
| 695 | drawCylinder(radius,halfHeight,upAxis); |
---|
| 696 | |
---|
| 697 | break; |
---|
| 698 | } |
---|
| 699 | */ |
---|
| 700 | |
---|
| 701 | case MULTI_SPHERE_SHAPE_PROXYTYPE: |
---|
| 702 | { |
---|
| 703 | const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape); |
---|
| 704 | |
---|
| 705 | btTransform childTransform; |
---|
| 706 | childTransform.setIdentity(); |
---|
| 707 | |
---|
| 708 | |
---|
| 709 | for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--) |
---|
| 710 | { |
---|
| 711 | btSphereShape sc(multiSphereShape->getSphereRadius(i)); |
---|
| 712 | childTransform.setOrigin(multiSphereShape->getSpherePosition(i)); |
---|
| 713 | btScalar childMat[16]; |
---|
| 714 | childTransform.getOpenGLMatrix(childMat); |
---|
| 715 | drawOpenGL(childMat,&sc,color,debugMode,worldBoundsMin,worldBoundsMax); |
---|
| 716 | } |
---|
| 717 | |
---|
| 718 | break; |
---|
| 719 | } |
---|
| 720 | |
---|
| 721 | default: |
---|
| 722 | { |
---|
| 723 | |
---|
| 724 | |
---|
| 725 | if (shape->isConvex()) |
---|
| 726 | { |
---|
| 727 | ShapeCache* sc=cache((btConvexShape*)shape); |
---|
| 728 | #if 0 |
---|
| 729 | btConvexShape* convexShape = (btConvexShape*)shape; |
---|
| 730 | if (!shape->getUserPointer()) |
---|
| 731 | { |
---|
| 732 | //create a hull approximation |
---|
| 733 | void* mem = btAlignedAlloc(sizeof(btShapeHull),16); |
---|
| 734 | btShapeHull* hull = new(mem) btShapeHull(convexShape); |
---|
| 735 | |
---|
| 736 | ///cleanup memory |
---|
| 737 | m_shapeHulls.push_back(hull); |
---|
| 738 | |
---|
| 739 | btScalar margin = shape->getMargin(); |
---|
| 740 | hull->buildHull(margin); |
---|
| 741 | convexShape->setUserPointer(hull); |
---|
| 742 | |
---|
| 743 | |
---|
| 744 | // printf("numTriangles = %d\n", hull->numTriangles ()); |
---|
| 745 | // printf("numIndices = %d\n", hull->numIndices ()); |
---|
| 746 | // printf("numVertices = %d\n", hull->numVertices ()); |
---|
| 747 | |
---|
| 748 | |
---|
| 749 | } |
---|
| 750 | #endif |
---|
| 751 | |
---|
| 752 | |
---|
| 753 | |
---|
| 754 | //if (shape->getUserPointer()) |
---|
| 755 | { |
---|
| 756 | //glutSolidCube(1.0); |
---|
| 757 | btShapeHull* hull = &sc->m_shapehull/*(btShapeHull*)shape->getUserPointer()*/; |
---|
| 758 | |
---|
| 759 | |
---|
| 760 | if (hull->numTriangles () > 0) |
---|
| 761 | { |
---|
| 762 | int index = 0; |
---|
| 763 | const unsigned int* idx = hull->getIndexPointer(); |
---|
| 764 | const btVector3* vtx = hull->getVertexPointer(); |
---|
| 765 | |
---|
| 766 | glBegin (GL_TRIANGLES); |
---|
| 767 | |
---|
| 768 | for (int i = 0; i < hull->numTriangles (); i++) |
---|
| 769 | { |
---|
| 770 | int i1 = index++; |
---|
| 771 | int i2 = index++; |
---|
| 772 | int i3 = index++; |
---|
| 773 | btAssert(i1 < hull->numIndices () && |
---|
| 774 | i2 < hull->numIndices () && |
---|
| 775 | i3 < hull->numIndices ()); |
---|
| 776 | |
---|
| 777 | int index1 = idx[i1]; |
---|
| 778 | int index2 = idx[i2]; |
---|
| 779 | int index3 = idx[i3]; |
---|
| 780 | btAssert(index1 < hull->numVertices () && |
---|
| 781 | index2 < hull->numVertices () && |
---|
| 782 | index3 < hull->numVertices ()); |
---|
| 783 | |
---|
| 784 | btVector3 v1 = vtx[index1]; |
---|
| 785 | btVector3 v2 = vtx[index2]; |
---|
| 786 | btVector3 v3 = vtx[index3]; |
---|
| 787 | btVector3 normal = (v3-v1).cross(v2-v1); |
---|
| 788 | normal.normalize (); |
---|
| 789 | |
---|
| 790 | glNormal3f(normal.getX(),normal.getY(),normal.getZ()); |
---|
| 791 | glVertex3f (v1.x(), v1.y(), v1.z()); |
---|
| 792 | glVertex3f (v2.x(), v2.y(), v2.z()); |
---|
| 793 | glVertex3f (v3.x(), v3.y(), v3.z()); |
---|
| 794 | |
---|
| 795 | } |
---|
| 796 | glEnd (); |
---|
| 797 | |
---|
| 798 | } |
---|
| 799 | } |
---|
| 800 | } |
---|
| 801 | } |
---|
| 802 | } |
---|
| 803 | |
---|
| 804 | } |
---|
| 805 | |
---|
| 806 | |
---|
| 807 | |
---|
| 808 | |
---|
| 809 | /// for polyhedral shapes |
---|
| 810 | if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral())) |
---|
| 811 | { |
---|
| 812 | btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape; |
---|
| 813 | |
---|
| 814 | { |
---|
| 815 | glRasterPos3f(0.0, 0.0, 0.0); |
---|
| 816 | //btDrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->getExtraDebugInfo()); |
---|
| 817 | |
---|
| 818 | glColor3f(1.f, 1.f, 1.f); |
---|
| 819 | int i; |
---|
| 820 | for (i=0;i<polyshape->getNumVertices();i++) |
---|
| 821 | { |
---|
| 822 | btVector3 vtx; |
---|
| 823 | polyshape->getVertex(i,vtx); |
---|
| 824 | glRasterPos3f(vtx.x(), vtx.y(), vtx.z()); |
---|
| 825 | char buf[12]; |
---|
| 826 | sprintf(buf," %d",i); |
---|
| 827 | //btDrawString(BMF_GetFont(BMF_kHelvetica10),buf); |
---|
| 828 | } |
---|
| 829 | |
---|
| 830 | for (i=0;i<polyshape->getNumPlanes();i++) |
---|
| 831 | { |
---|
| 832 | btVector3 normal; |
---|
| 833 | btVector3 vtx; |
---|
| 834 | polyshape->getPlane(normal,vtx,i); |
---|
| 835 | btScalar d = vtx.dot(normal); |
---|
| 836 | |
---|
| 837 | glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d); |
---|
| 838 | char buf[12]; |
---|
| 839 | sprintf(buf," plane %d",i); |
---|
| 840 | //btDrawString(BMF_GetFont(BMF_kHelvetica10),buf); |
---|
| 841 | |
---|
| 842 | } |
---|
| 843 | } |
---|
| 844 | |
---|
| 845 | } |
---|
| 846 | |
---|
| 847 | |
---|
| 848 | #ifdef USE_DISPLAY_LISTS |
---|
| 849 | |
---|
| 850 | if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) |
---|
| 851 | { |
---|
| 852 | GLuint dlist = OGL_get_displaylist_for_shape((btCollisionShape * )shape); |
---|
| 853 | if (dlist) |
---|
| 854 | { |
---|
| 855 | glCallList(dlist); |
---|
| 856 | } |
---|
| 857 | else |
---|
| 858 | { |
---|
| 859 | #else |
---|
| 860 | if (shape->isConcave() && !shape->isInfinite()) |
---|
| 861 | { |
---|
| 862 | btConcaveShape* concaveMesh = (btConcaveShape*) shape; |
---|
| 863 | |
---|
| 864 | GlDrawcallback drawCallback; |
---|
| 865 | drawCallback.m_wireframe = (debugMode & btIDebugDraw::DBG_DrawWireframe)!=0; |
---|
| 866 | |
---|
| 867 | concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax); |
---|
| 868 | |
---|
| 869 | } |
---|
| 870 | #endif |
---|
| 871 | |
---|
| 872 | #ifdef USE_DISPLAY_LISTS |
---|
| 873 | } |
---|
| 874 | } |
---|
| 875 | #endif |
---|
| 876 | |
---|
| 877 | |
---|
| 878 | |
---|
| 879 | |
---|
| 880 | |
---|
| 881 | glDisable(GL_DEPTH_TEST); |
---|
| 882 | glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z()); |
---|
| 883 | if (debugMode&btIDebugDraw::DBG_DrawText) |
---|
| 884 | { |
---|
| 885 | GLDebugDrawString(0,0,shape->getName()); |
---|
| 886 | } |
---|
| 887 | |
---|
| 888 | if (debugMode& btIDebugDraw::DBG_DrawFeaturesText) |
---|
| 889 | { |
---|
| 890 | //btDrawString(BMF_GetFont(BMF_kHelvetica10),shape->getExtraDebugInfo()); |
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| 891 | } |
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| 892 | glEnable(GL_DEPTH_TEST); |
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| 893 | |
---|
| 894 | // glPopMatrix(); |
---|
| 895 | if(m_textureenabled) glDisable(GL_TEXTURE_2D); |
---|
| 896 | } |
---|
| 897 | glPopMatrix(); |
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| 898 | |
---|
| 899 | } |
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| 900 | |
---|
| 901 | // |
---|
| 902 | void GL_ShapeDrawer::drawShadow(btScalar* m,const btVector3& extrusion,const btCollisionShape* shape,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax) |
---|
| 903 | { |
---|
| 904 | glPushMatrix(); |
---|
| 905 | btglMultMatrix(m); |
---|
| 906 | if(shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE) |
---|
| 907 | { |
---|
| 908 | const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape); |
---|
| 909 | const btConvexShape* convexShape = scalingShape->getChildShape(); |
---|
| 910 | float scalingFactor = (float)scalingShape->getUniformScalingFactor(); |
---|
| 911 | btScalar tmpScaling[4][4]={ {scalingFactor,0,0,0}, |
---|
| 912 | {0,scalingFactor,0,0}, |
---|
| 913 | {0,0,scalingFactor,0}, |
---|
| 914 | {0,0,0,1}}; |
---|
| 915 | drawShadow((btScalar*)tmpScaling,extrusion,convexShape,worldBoundsMin,worldBoundsMax); |
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| 916 | glPopMatrix(); |
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| 917 | return; |
---|
| 918 | } |
---|
| 919 | else if(shape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE) |
---|
| 920 | { |
---|
| 921 | const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape); |
---|
| 922 | for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--) |
---|
| 923 | { |
---|
| 924 | btTransform childTrans = compoundShape->getChildTransform(i); |
---|
| 925 | const btCollisionShape* colShape = compoundShape->getChildShape(i); |
---|
| 926 | btScalar childMat[16]; |
---|
| 927 | childTrans.getOpenGLMatrix(childMat); |
---|
| 928 | drawShadow(childMat,extrusion*childTrans.getBasis(),colShape,worldBoundsMin,worldBoundsMax); |
---|
| 929 | } |
---|
| 930 | } |
---|
| 931 | else |
---|
| 932 | { |
---|
| 933 | if (shape->isConvex()) |
---|
| 934 | { |
---|
| 935 | ShapeCache* sc=cache((btConvexShape*)shape); |
---|
| 936 | btShapeHull* hull =&sc->m_shapehull; |
---|
| 937 | glBegin(GL_QUADS); |
---|
| 938 | for(int i=0;i<sc->m_edges.size();++i) |
---|
| 939 | { |
---|
| 940 | const btScalar d=btDot(sc->m_edges[i].n[0],extrusion); |
---|
| 941 | if((d*btDot(sc->m_edges[i].n[1],extrusion))<0) |
---|
| 942 | { |
---|
| 943 | const int q= d<0?1:0; |
---|
| 944 | const btVector3& a= hull->getVertexPointer()[sc->m_edges[i].v[q]]; |
---|
| 945 | const btVector3& b= hull->getVertexPointer()[sc->m_edges[i].v[1-q]]; |
---|
| 946 | glVertex3f(a[0],a[1],a[2]); |
---|
| 947 | glVertex3f(b[0],b[1],b[2]); |
---|
| 948 | glVertex3f(b[0]+extrusion[0],b[1]+extrusion[1],b[2]+extrusion[2]); |
---|
| 949 | glVertex3f(a[0]+extrusion[0],a[1]+extrusion[1],a[2]+extrusion[2]); |
---|
| 950 | } |
---|
| 951 | } |
---|
| 952 | glEnd(); |
---|
| 953 | } |
---|
| 954 | |
---|
| 955 | } |
---|
| 956 | |
---|
| 957 | |
---|
| 958 | |
---|
| 959 | |
---|
| 960 | if (shape->isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) |
---|
| 961 | // if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) |
---|
| 962 | { |
---|
| 963 | btConcaveShape* concaveMesh = (btConcaveShape*) shape; |
---|
| 964 | |
---|
| 965 | GlDrawcallback drawCallback; |
---|
| 966 | drawCallback.m_wireframe = false; |
---|
| 967 | |
---|
| 968 | concaveMesh->processAllTriangles(&drawCallback,worldBoundsMin,worldBoundsMax); |
---|
| 969 | |
---|
| 970 | } |
---|
| 971 | glPopMatrix(); |
---|
| 972 | |
---|
| 973 | } |
---|
| 974 | |
---|
| 975 | // |
---|
| 976 | GL_ShapeDrawer::GL_ShapeDrawer() |
---|
| 977 | { |
---|
| 978 | m_texturehandle = 0; |
---|
| 979 | m_textureenabled = false; |
---|
| 980 | m_textureinitialized = false; |
---|
| 981 | } |
---|
| 982 | |
---|
| 983 | GL_ShapeDrawer::~GL_ShapeDrawer() |
---|
| 984 | { |
---|
| 985 | int i; |
---|
| 986 | for (i=0;i<m_shapecaches.size();i++) |
---|
| 987 | { |
---|
| 988 | m_shapecaches[i]->~ShapeCache(); |
---|
| 989 | btAlignedFree(m_shapecaches[i]); |
---|
| 990 | } |
---|
| 991 | m_shapecaches.clear(); |
---|
| 992 | if(m_textureinitialized) |
---|
| 993 | { |
---|
| 994 | glDeleteTextures(1,(const GLuint*) &m_texturehandle); |
---|
| 995 | } |
---|
| 996 | } |
---|
| 997 | |
---|
| 998 | |
---|