/* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 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 "DemoApplication.h" #include "LinearMath/btIDebugDraw.h" #include "BulletDynamics/Dynamics/btDynamicsWorld.h" #include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionShapes/btBoxShape.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/CollisionShapes/btUniformScalingShape.h" #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" #include "GL_ShapeDrawer.h" #include "LinearMath/btQuickprof.h" #include "LinearMath/btDefaultMotionState.h" #include "GLDebugFont.h" extern bool gDisableDeactivation; int numObjects = 0; const int maxNumObjects = 16384; btTransform startTransforms[maxNumObjects]; btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes) #define SHOW_NUM_DEEP_PENETRATIONS 1 extern int gNumClampedCcdMotions; #ifdef SHOW_NUM_DEEP_PENETRATIONS extern int gNumDeepPenetrationChecks; extern int gNumSplitImpulseRecoveries; extern int gNumGjkChecks; extern int gNumAlignedAllocs; extern int gNumAlignedFree; extern int gTotalBytesAlignedAllocs; #endif // DemoApplication::DemoApplication() //see btIDebugDraw.h for modes : //m_dynamicsWorld(0), m_pickConstraint(0), m_shootBoxShape(0), m_cameraDistance(15.0), m_debugMode(0), m_ele(20.f), m_azi(0.f), m_cameraPosition(0.f,0.f,0.f), m_cameraTargetPosition(0.f,0.f,0.f), m_scaleBottom(0.5f), m_scaleFactor(2.f), m_cameraUp(0,1,0), m_forwardAxis(2), m_glutScreenWidth(0), m_glutScreenHeight(0), m_ShootBoxInitialSpeed(40.f), m_stepping(true), m_singleStep(false), m_idle(false), m_enableshadows(false), m_sundirection(btVector3(1,-2,1)*1000), m_ortho(0), m_mouseOldX(0), m_mouseOldY(0), m_mouseButtons(0), m_modifierKeys(0), m_textureinitialized(false), m_textureenabled(true) { #ifndef BT_NO_PROFILE m_profileIterator = CProfileManager::Get_Iterator(); #endif //BT_NO_PROFILE m_shapeDrawer = new GL_ShapeDrawer (); m_shapeDrawer->enableTexture(true); m_enableshadows = false; m_ele = 75; updateCamera(); setCameraDistance(btScalar(20)); } DemoApplication::~DemoApplication() { #ifndef BT_NO_PROFILE CProfileManager::Release_Iterator(m_profileIterator); #endif //BT_NO_PROFILE if (m_shootBoxShape) delete m_shootBoxShape; if (m_shapeDrawer) delete m_shapeDrawer; } void DemoApplication::overrideGLShapeDrawer (GL_ShapeDrawer* shapeDrawer) { shapeDrawer->enableTexture (m_shapeDrawer->hasTextureEnabled()); delete m_shapeDrawer; m_shapeDrawer = shapeDrawer; } void DemoApplication::myinit(void) { GLfloat light_ambient[] = { 0.2, 0.2, 0.2, 1.0 }; GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 }; GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 }; /* light_position is NOT default value */ GLfloat light_position0[] = { 1.0, 10.0, 1.0, 0.0 }; GLfloat light_position1[] = { -1.0, -10.0, -1.0, 0.0 }; glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient); glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse); glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular); glLightfv(GL_LIGHT0, GL_POSITION, light_position0); glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient); glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse); glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular); glLightfv(GL_LIGHT1, GL_POSITION, light_position1); glEnable(GL_LIGHTING); glEnable(GL_LIGHT0); glEnable(GL_LIGHT1); glShadeModel(GL_SMOOTH); glEnable(GL_DEPTH_TEST); glDepthFunc(GL_LESS); glClearColor(0.7,0.7,0.7,0); // glEnable(GL_CULL_FACE); // glCullFace(GL_BACK); } void DemoApplication::setCameraDistance(float dist) { m_cameraDistance = dist; } float DemoApplication::getCameraDistance() { return m_cameraDistance; } void DemoApplication::toggleIdle() { if (m_idle) { m_idle = false; } else { m_idle = true; } } void DemoApplication::updateCamera() { glMatrixMode(GL_PROJECTION); glLoadIdentity(); float rele = m_ele * 0.01745329251994329547;// rads per deg float razi = m_azi * 0.01745329251994329547;// rads per deg btQuaternion rot(m_cameraUp,razi); btVector3 eyePos(0,0,0); eyePos[m_forwardAxis] = -m_cameraDistance; btVector3 forward(eyePos[0],eyePos[1],eyePos[2]); if (forward.length2() < SIMD_EPSILON) { forward.setValue(1.f,0.f,0.f); } btVector3 right = m_cameraUp.cross(forward); btQuaternion roll(right,-rele); eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos; m_cameraPosition[0] = eyePos.getX(); m_cameraPosition[1] = eyePos.getY(); m_cameraPosition[2] = eyePos.getZ(); m_cameraPosition += m_cameraTargetPosition; if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0) return; btScalar aspect; btVector3 extents; if (m_glutScreenWidth > m_glutScreenHeight) { aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight; extents.setValue(aspect * 1.0f, 1.0f,0); } else { aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth; extents.setValue(1.0f, aspect*1.f,0); } if (m_ortho) { // reset matrix glLoadIdentity(); extents *= m_cameraDistance; btVector3 lower = m_cameraTargetPosition - extents; btVector3 upper = m_cameraTargetPosition + extents; //gluOrtho2D(lower.x, upper.x, lower.y, upper.y); glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); //glTranslatef(100,210,0); } else { if (m_glutScreenWidth > m_glutScreenHeight) { glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0); } else { glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0); } glMatrixMode(GL_MODELVIEW); glLoadIdentity(); gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2], m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2], m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ()); } } const float STEPSIZE = 5; void DemoApplication::stepLeft() { m_azi -= STEPSIZE; if (m_azi < 0) m_azi += 360; updateCamera(); } void DemoApplication::stepRight() { m_azi += STEPSIZE; if (m_azi >= 360) m_azi -= 360; updateCamera(); } void DemoApplication::stepFront() { m_ele += STEPSIZE; if (m_ele >= 360) m_ele -= 360; updateCamera(); } void DemoApplication::stepBack() { m_ele -= STEPSIZE; if (m_ele < 0) m_ele += 360; updateCamera(); } void DemoApplication::zoomIn() { m_cameraDistance -= 0.4; updateCamera(); if (m_cameraDistance < 0.1) m_cameraDistance = 0.1; } void DemoApplication::zoomOut() { m_cameraDistance += 0.4; updateCamera(); } void DemoApplication::reshape(int w, int h) { GLDebugResetFont(w,h); m_glutScreenWidth = w; m_glutScreenHeight = h; glViewport(0, 0, w, h); updateCamera(); } void DemoApplication::keyboardCallback(unsigned char key, int x, int y) { (void)x; (void)y; m_lastKey = 0; #ifndef BT_NO_PROFILE if (key >= 0x31 && key <= 0x39) { int child = key-0x31; m_profileIterator->Enter_Child(child); } if (key==0x30) { m_profileIterator->Enter_Parent(); } #endif //BT_NO_PROFILE switch (key) { case 'q' : #ifdef BT_USE_FREEGLUT //return from glutMainLoop(), detect memory leaks etc. glutLeaveMainLoop(); #else exit(0); #endif break; case 'l' : stepLeft(); break; case 'r' : stepRight(); break; case 'f' : stepFront(); break; case 'b' : stepBack(); break; case 'z' : zoomIn(); break; case 'x' : zoomOut(); break; case 'i' : toggleIdle(); break; case 'g' : m_enableshadows=!m_enableshadows;break; case 'u' : m_shapeDrawer->enableTexture(!m_shapeDrawer->enableTexture(false));break; case 'h': if (m_debugMode & btIDebugDraw::DBG_NoHelpText) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText); else m_debugMode |= btIDebugDraw::DBG_NoHelpText; break; case 'w': if (m_debugMode & btIDebugDraw::DBG_DrawWireframe) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe); else m_debugMode |= btIDebugDraw::DBG_DrawWireframe; break; case 'p': if (m_debugMode & btIDebugDraw::DBG_ProfileTimings) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings); else m_debugMode |= btIDebugDraw::DBG_ProfileTimings; break; case 'm': if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison); else m_debugMode |= btIDebugDraw::DBG_EnableSatComparison; break; case 'n': if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP); else m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP; break; case 't' : if (m_debugMode & btIDebugDraw::DBG_DrawText) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText); else m_debugMode |= btIDebugDraw::DBG_DrawText; break; case 'y': if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText); else m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText; break; case 'a': if (m_debugMode & btIDebugDraw::DBG_DrawAabb) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb); else m_debugMode |= btIDebugDraw::DBG_DrawAabb; break; case 'c' : if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints); else m_debugMode |= btIDebugDraw::DBG_DrawContactPoints; break; case 'C' : if (m_debugMode & btIDebugDraw::DBG_DrawConstraints) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraints); else m_debugMode |= btIDebugDraw::DBG_DrawConstraints; break; case 'L' : if (m_debugMode & btIDebugDraw::DBG_DrawConstraintLimits) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraintLimits); else m_debugMode |= btIDebugDraw::DBG_DrawConstraintLimits; break; case 'd' : if (m_debugMode & btIDebugDraw::DBG_NoDeactivation) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation); else m_debugMode |= btIDebugDraw::DBG_NoDeactivation; if (m_debugMode & btIDebugDraw::DBG_NoDeactivation) { gDisableDeactivation = true; } else { gDisableDeactivation = false; } break; case 'o' : { m_ortho = !m_ortho;//m_stepping = !m_stepping; break; } case 's' : clientMoveAndDisplay(); break; // case ' ' : newRandom(); break; case ' ': clientResetScene(); break; case '1': { if (m_debugMode & btIDebugDraw::DBG_EnableCCD) m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD); else m_debugMode |= btIDebugDraw::DBG_EnableCCD; break; } case '.': { shootBox(getRayTo(x,y));//getCameraTargetPosition()); break; } case '+': { m_ShootBoxInitialSpeed += 10.f; break; } case '-': { m_ShootBoxInitialSpeed -= 10.f; break; } default: // std::cout << "unused key : " << key << std::endl; break; } // if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer()) // getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode); } void DemoApplication::setDebugMode(int mode) { m_debugMode = mode; // if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer()) // getDynamicsWorld()->getDebugDrawer()->setDebugMode(mode); } void DemoApplication::clientMoveAndDisplay() { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); renderme(); glFlush(); glutSwapBuffers(); } void DemoApplication::moveAndDisplay() { if (!m_idle) clientMoveAndDisplay(); else displayCallback(); } void DemoApplication::displayCallback() { } #define NUM_SPHERES_ON_DIAGONAL 9 void DemoApplication::setShootBoxShape () { if (!m_shootBoxShape) { m_shootBoxShape = new btBoxShape(btVector3(.5f,.5f,.5f)); } } void DemoApplication::shootBox(const btVector3& destination) { /* if (m_dynamicsWorld) { float mass = 1.f; btTransform startTransform; startTransform.setIdentity(); btVector3 camPos = getCameraPosition(); startTransform.setOrigin(camPos); setShootBoxShape (); btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape); body->setLinearFactor(btVector3(1,1,1)); btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]); linVel.normalize(); linVel*=m_ShootBoxInitialSpeed; body->getWorldTransform().setOrigin(camPos); body->getWorldTransform().setRotation(btQuaternion(0,0,0,1)); body->setLinearVelocity(linVel); body->setAngularVelocity(btVector3(0,0,0)); body->setCcdMotionThreshold(1.); body->setCcdSweptSphereRadius(0.2f); } */ } int gPickingConstraintId = 0; btVector3 gOldPickingPos; btVector3 gHitPos(-1,-1,-1); float gOldPickingDist = 0.f; btRigidBody* pickedBody = 0;//for deactivation state btVector3 DemoApplication::getRayTo(int x,int y) { if (m_ortho) { btScalar aspect; btVector3 extents; if (m_glutScreenWidth > m_glutScreenHeight) { aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight; extents.setValue(aspect * 1.0f, 1.0f,0); } else { aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth; extents.setValue(1.0f, aspect*1.f,0); } extents *= m_cameraDistance; btVector3 lower = m_cameraTargetPosition - extents; btVector3 upper = m_cameraTargetPosition + extents; btScalar u = x / btScalar(m_glutScreenWidth); btScalar v = (m_glutScreenHeight - y) / btScalar(m_glutScreenHeight); btVector3 p(0,0,0); p.setValue((1.0f - u) * lower.getX() + u * upper.getX(),(1.0f - v) * lower.getY() + v * upper.getY(),m_cameraTargetPosition.getZ()); return p; } float top = 1.f; float bottom = -1.f; float nearPlane = 1.f; float tanFov = (top-bottom)*0.5f / nearPlane; float fov = 2.0 * atanf (tanFov); btVector3 rayFrom = getCameraPosition(); btVector3 rayForward = (getCameraTargetPosition()-getCameraPosition()); rayForward.normalize(); float farPlane = 10000.f; rayForward*= farPlane; btVector3 rightOffset; btVector3 vertical = m_cameraUp; btVector3 hor; hor = rayForward.cross(vertical); hor.normalize(); vertical = hor.cross(rayForward); vertical.normalize(); float tanfov = tanf(0.5f*fov); hor *= 2.f * farPlane * tanfov; vertical *= 2.f * farPlane * tanfov; btScalar aspect; if (m_glutScreenWidth > m_glutScreenHeight) { aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight; hor*=aspect; } else { aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth; vertical*=aspect; } btVector3 rayToCenter = rayFrom + rayForward; btVector3 dHor = hor * 1.f/float(m_glutScreenWidth); btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight); btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical; rayTo += x * dHor; rayTo -= y * dVert; return rayTo; } btScalar mousePickClamping = 30.f; void DemoApplication::mouseFunc(int button, int state, int x, int y) { if (state == 0) { m_mouseButtons |= 1<rayTest(m_cameraPosition,rayTo,rayCallback); if (rayCallback.hasHit()) { btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject); if (body) { body->setActivationState(ACTIVE_TAG); btVector3 impulse = rayTo; impulse.normalize(); float impulseStrength = 10.f; impulse *= impulseStrength; btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition(); body->applyImpulse(impulse,relPos); } } } #endif } else { } break; } case 0: { #if 0 if (state==0) { //add a point to point constraint for picking if (m_dynamicsWorld) { btVector3 rayFrom; if (m_ortho) { rayFrom = rayTo; rayFrom.setZ(-100.f); } else { rayFrom = m_cameraPosition; } btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo); m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback); if (rayCallback.hasHit()) { btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject); if (body) { //other exclusions? if (!(body->isStaticObject() || body->isKinematicObject())) { pickedBody = body; pickedBody->setActivationState(DISABLE_DEACTIVATION); btVector3 pickPos = rayCallback.m_hitPointWorld; printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ()); btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos; btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot); p2p->m_setting.m_impulseClamp = mousePickClamping; m_dynamicsWorld->addConstraint(p2p); m_pickConstraint = p2p; //save mouse position for dragging gOldPickingPos = rayTo; gHitPos = pickPos; gOldPickingDist = (pickPos-rayFrom).length(); //very weak constraint for picking p2p->m_setting.m_tau = 0.1f; } } } } } else { if (m_pickConstraint && m_dynamicsWorld) { m_dynamicsWorld->removeConstraint(m_pickConstraint); delete m_pickConstraint; //printf("removed constraint %i",gPickingConstraintId); m_pickConstraint = 0; pickedBody->forceActivationState(ACTIVE_TAG); pickedBody->setDeactivationTime( 0.f ); pickedBody = 0; } } #endif break; } default: { } } } void DemoApplication::mouseMotionFunc(int x,int y) { /* if (m_pickConstraint) { //move the constraint pivot btPoint2PointConstraint* p2p = static_cast(m_pickConstraint); if (p2p) { //keep it at the same picking distance btVector3 newRayTo = getRayTo(x,y); btVector3 rayFrom; btVector3 oldPivotInB = p2p->getPivotInB(); btVector3 newPivotB; if (m_ortho) { newPivotB = oldPivotInB; newPivotB.setX(newRayTo.getX()); newPivotB.setY(newRayTo.getY()); } else { rayFrom = m_cameraPosition; btVector3 dir = newRayTo-rayFrom; dir.normalize(); dir *= gOldPickingDist; newPivotB = rayFrom + dir; } p2p->setPivotB(newPivotB); } } */ float dx, dy; dx = x - m_mouseOldX; dy = y - m_mouseOldY; ///only if ALT key is pressed (Maya style) if (m_modifierKeys& BT_ACTIVE_ALT) { if(m_mouseButtons & 2) { btVector3 hor = getRayTo(0,0)-getRayTo(1,0); btVector3 vert = getRayTo(0,0)-getRayTo(0,1); btScalar multiplierX = 0.01; btScalar multiplierY = 0.01; if (m_ortho) { multiplierX = 1; multiplierY = 1; } m_cameraTargetPosition += hor* dx * multiplierX; m_cameraTargetPosition += vert* dy * multiplierY; } if(m_mouseButtons & (2 << 2) && m_mouseButtons & 1) { } else if(m_mouseButtons & 1) { m_azi += dx * 0.2; m_azi = fmodf(m_azi, 180.f); m_ele += dy * 0.2; m_ele = fmodf(m_ele, 180.f); } else if(m_mouseButtons & 4) { m_cameraDistance -= dy * 0.2f; if (m_cameraDistance<0.1) m_cameraDistance = 0.1; } } m_mouseOldX = x; m_mouseOldY = y; updateCamera(); } btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape) { btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE)); //rigidbody is dynamic if and only if mass is non zero, otherwise static bool isDynamic = (mass != 0.f); btVector3 localInertia(0,0,0); if (isDynamic) shape->calculateLocalInertia(mass,localInertia); //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects #define USE_MOTIONSTATE 1 #ifdef USE_MOTIONSTATE btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia); btRigidBody* body = new btRigidBody(cInfo); #else btRigidBody* body = new btRigidBody(mass,0,shape,localInertia); body->setWorldTransform(startTransform); #endif// // m_dynamicsWorld->addRigidBody(body); return body; } //See http://www.lighthouse3d.com/opengl/glut/index.php?bmpfontortho void DemoApplication::setOrthographicProjection() { // switch to projection mode glMatrixMode(GL_PROJECTION); // save previous matrix which contains the //settings for the perspective projection glPushMatrix(); // reset matrix glLoadIdentity(); // set a 2D orthographic projection gluOrtho2D(0, m_glutScreenWidth, 0, m_glutScreenHeight); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); // invert the y axis, down is positive glScalef(1, -1, 1); // mover the origin from the bottom left corner // to the upper left corner glTranslatef(0, -m_glutScreenHeight, 0); } void DemoApplication::resetPerspectiveProjection() { glMatrixMode(GL_PROJECTION); glPopMatrix(); glMatrixMode(GL_MODELVIEW); updateCamera(); } extern CProfileIterator * m_profileIterator; void DemoApplication::displayProfileString(int xOffset,int yStart,char* message) { glRasterPos3f(xOffset,yStart,0); GLDebugDrawString(xOffset,yStart,message); } void DemoApplication::showProfileInfo(int& xOffset,int& yStart, int yIncr) { #ifndef BT_NO_PROFILE static double time_since_reset = 0.f; if (!m_idle) { time_since_reset = CProfileManager::Get_Time_Since_Reset(); } { //recompute profiling data, and store profile strings char blockTime[128]; double totalTime = 0; int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset(); m_profileIterator->First(); double parent_time = m_profileIterator->Is_Root() ? time_since_reset : m_profileIterator->Get_Current_Parent_Total_Time(); { sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---", m_profileIterator->Get_Current_Parent_Name(), parent_time ); displayProfileString(xOffset,yStart,blockTime); yStart += yIncr; sprintf(blockTime,"press number (1,2...) to display child timings, or 0 to go up to parent" ); displayProfileString(xOffset,yStart,blockTime); yStart += yIncr; } double accumulated_time = 0.f; for (int i = 0; !m_profileIterator->Is_Done(); m_profileIterator->Next()) { double current_total_time = m_profileIterator->Get_Current_Total_Time(); accumulated_time += current_total_time; double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f; sprintf(blockTime,"%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)", ++i, m_profileIterator->Get_Current_Name(), fraction, (current_total_time / (double)frames_since_reset),m_profileIterator->Get_Current_Total_Calls()); displayProfileString(xOffset,yStart,blockTime); yStart += yIncr; totalTime += current_total_time; } sprintf(blockTime,"%s (%.3f %%) :: %.3f ms", "Unaccounted", // (min(0, time_since_reset - totalTime) / time_since_reset) * 100); parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time); displayProfileString(xOffset,yStart,blockTime); yStart += yIncr; sprintf(blockTime,"-------------------------------------------------"); displayProfileString(xOffset,yStart,blockTime); yStart += yIncr; } #endif//BT_NO_PROFILE } void DemoApplication::draw(guiObject *obj, const btVector3&color) { if (!obj->ad || !obj->ud) return; int index = 0; glPushMatrix(); btglMultMatrix(obj->ud->m); int i; // printf("numIndices=%d\n", obj->ad->numIndices); for (i = 0; i < 16; i++) { // printf("m[%d]: %f\n", i, obj->ud->m[i]); } for (i = 0; i < obj->ad->numIndices; i++) { // printf("indexPointer[%d]: %d\n", i, obj->ad->indexPointer[i]); } if(m_textureenabled&&(!m_textureinitialized)) { GLubyte* image=new GLubyte[256*256*3]; for(int y=0;y<256;++y) { const int t=y>>4; GLubyte* pi=image+y*256*3; for(int x=0;x<256;++x) { const int s=x>>4; const GLubyte b=180; GLubyte c=b+(((s+t)&1)&1)*(255-b); pi[0]=pi[1]=pi[2]=c;pi+=3; } } glGenTextures(1,(GLuint*)&m_texturehandle); glBindTexture(GL_TEXTURE_2D,m_texturehandle); glTexEnvf(GL_TEXTURE_ENV,GL_TEXTURE_ENV_MODE,GL_MODULATE); glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR); glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_MAG_FILTER,GL_LINEAR_MIPMAP_LINEAR); glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_S,GL_REPEAT); glTexParameterf(GL_TEXTURE_2D,GL_TEXTURE_WRAP_T,GL_REPEAT); gluBuild2DMipmaps(GL_TEXTURE_2D,3,256,256,GL_RGB,GL_UNSIGNED_BYTE,image); delete[] image; glMatrixMode(GL_TEXTURE); glLoadIdentity(); glScalef(0.025,0.025,0.025); } static const GLfloat planex[]={1,0,0,0}; // static const GLfloat planey[]={0,1,0,0}; static const GLfloat planez[]={0,0,1,0}; if (!m_textureinitialized) { glTexGenfv(GL_S,GL_OBJECT_PLANE,planex); glTexGenfv(GL_T,GL_OBJECT_PLANE,planez); glTexGeni(GL_S,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); glTexGeni(GL_T,GL_TEXTURE_GEN_MODE,GL_OBJECT_LINEAR); glEnable(GL_TEXTURE_GEN_S); glEnable(GL_TEXTURE_GEN_T); glEnable(GL_TEXTURE_GEN_R); m_textureinitialized=true; } glEnable(GL_COLOR_MATERIAL); if(m_textureenabled) { glEnable(GL_TEXTURE_2D); glBindTexture(GL_TEXTURE_2D,m_texturehandle); } else { glDisable(GL_TEXTURE_2D); } glColor3f(color.x(),color.y(), color.z()); glBegin (GL_TRIANGLES); for (i = 0; i < (obj->ad->numIndices / 3); i++) { int i1 = index++; int i2 = index++; int i3 = index++; btAssert(i1 < ad->numIndices && i2 < ad->numIndices && i3 < ad->numIndices); int index1 = obj->ad->indexPointer[i1]; int index2 = obj->ad->indexPointer[i2]; int index3 = obj->ad->indexPointer[i3]; btAssert(index1 < ad->numVertices && index2 < ad->numVertices && index3 < ad->numVertices); btVector3 v1 = obj->ad->vertexPointer[index1]; btVector3 v2 = obj->ad->vertexPointer[index2]; btVector3 v3 = obj->ad->vertexPointer[index3]; btVector3 normal = (v3-v1).cross(v2-v1); normal.normalize (); glNormal3f(normal.getX(),normal.getY(),normal.getZ()); glVertex3f (v1.x(), v1.y(), v1.z()); glVertex3f (v2.x(), v2.y(), v2.z()); glVertex3f (v3.x(), v3.y(), v3.z()); } glPopMatrix(); glEnd (); } //TODO void DemoApplication::updateInfo(map objects) { m_cache = objects; } // //void DemoApplication::renderscene(int pass) void DemoApplication::renderscene(int pass) { // btScalar m[16]; // btMatrix3x3 rot;rot.setIdentity(); // const int numObjects=m_dynamicsWorld->getNumCollisionObjects(); btVector3 wireColor(1,0,0); map::iterator it = m_cache.begin(); for ( ; it != m_cache.end(); it ++) { btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation #if 0 for(int i=0;igetCollisionObjectArray()[i]; btRigidBody* body=btRigidBody::upcast(colObj); if(body&&body->getMotionState()) { btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState(); myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m); rot=myMotionState->m_graphicsWorldTrans.getBasis(); } else { colObj->getWorldTransform().getOpenGLMatrix(m); rot=colObj->getWorldTransform().getBasis(); } btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation if(i&1) wireColor=btVector3(0.f,0.0f,1.f); ///color differently for active, sleeping, wantsdeactivation states if (colObj->getActivationState() == 1) //active { if (i & 1) { wireColor += btVector3 (1.f,0.f,0.f); } else { wireColor += btVector3 (.5f,0.f,0.f); } } if(colObj->getActivationState()==2) //ISLAND_SLEEPING { if(i&1) { wireColor += btVector3 (0.f,1.f, 0.f); } else { wireColor += btVector3 (0.f,0.5f,0.f); } } btVector3 aabbMin,aabbMax; m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax); aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); // printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ()); // printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ()); // m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1)); #endif /* switch(pass) { case 0: m_shapeDrawer->drawOpenGL(it->second->ud->m,colObj->getCollisionShape(),wireColor,getDebugMode(),it->second->ud->aabbMin, it->second->ud->aabbMax);break; case 1: m_shapeDrawer->drawShadow(it->second->ud->m,m_sundirection*rot,colObj->getCollisionShape(),it->second->ud->aabbMin, it->second->ud->aabbMax);break; case 2: m_shapeDrawer->drawOpenGL(it->second->ud->m,colObj->getCollisionShape(),wireColor*0.3,0,it->second->ud->aabbMin, it->second->ud->aabbMax);break; }*/ switch(pass) { // case 0: m_shapeDrawer->draw(it->second->ud->m,it->second->ad,it->second->ud->aabbMin, it->second->ud->aabbMax);break; // case 1: m_shapeDrawer->drawShadow(it->second->ud->m,m_sundirection*rot,it->second->ad,it->second->ud->aabbMin, it->second->ud->aabbMax);break; // case 2: m_shapeDrawer->draw(it->second->ud->m,it->second->ad,it->second->ud->aabbMin, it->second->ud->aabbMax);break; case 0: draw(it->second, wireColor); case 2: draw(it->second, wireColor); } } } // void DemoApplication::renderme() { myinit(); updateCamera(); m_enableshadows = false; if(m_enableshadows) { glClear(GL_STENCIL_BUFFER_BIT); glEnable(GL_CULL_FACE); renderscene(0); glDisable(GL_LIGHTING); glDepthMask(GL_FALSE); glDepthFunc(GL_LEQUAL); glEnable(GL_STENCIL_TEST); glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE); glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL); glFrontFace(GL_CCW); glStencilOp(GL_KEEP,GL_KEEP,GL_INCR); renderscene(1); glFrontFace(GL_CW); glStencilOp(GL_KEEP,GL_KEEP,GL_DECR); renderscene(1); glFrontFace(GL_CCW); glPolygonMode(GL_FRONT,GL_FILL); glPolygonMode(GL_BACK,GL_FILL); glShadeModel(GL_SMOOTH); glEnable(GL_DEPTH_TEST); glDepthFunc(GL_LESS); glEnable(GL_LIGHTING); glDepthMask(GL_TRUE); glCullFace(GL_BACK); glFrontFace(GL_CCW); glEnable(GL_CULL_FACE); glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE); glDepthFunc(GL_LEQUAL); glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL ); glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP ); glDisable(GL_LIGHTING); renderscene(2); glEnable(GL_LIGHTING); glDepthFunc(GL_LESS); glDisable(GL_STENCIL_TEST); glDisable(GL_CULL_FACE); } else { glDisable(GL_CULL_FACE); renderscene(0); } int xOffset = 10; int yStart = 20; int yIncr = 20; char buf[124]; glDisable(GL_LIGHTING); glColor3f(0, 0, 0); if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0) { setOrthographicProjection(); showProfileInfo(xOffset,yStart,yIncr); #ifdef USE_QUICKPROF if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings) { static int counter = 0; counter++; std::map::iterator iter; for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter) { char blockTime[128]; sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT)); glRasterPos3f(xOffset,yStart,0); GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),blockTime); yStart += yIncr; } } #endif //USE_QUICKPROF sprintf(buf,"mouse to interact"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"ALT + mouse to move camera"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"space to reset"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"cursor keys and z,x to navigate"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"i to toggle simulation, s single step"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"q to quit"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,". to shoot box"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; // not yet hooked up again after refactoring... sprintf(buf,"d to toggle deactivation"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"g to toggle mesh animation (ConcaveDemo)"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"h to toggle help text"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"o to toggle orthogonal/perspective view"); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; //bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP); //bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD); //glRasterPos3f(xOffset,yStart,0); //sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD); //GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf); //yStart += yIncr; sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; #ifdef SHOW_NUM_DEEP_PENETRATIONS sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"gNumClampedCcdMotions = %d",gNumClampedCcdMotions); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"gNumAlignedAllocs = %d",gNumAlignedAllocs); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; //enable BT_DEBUG_MEMORY_ALLOCATIONS define in Bullet/src/LinearMath/btAlignedAllocator.h for memory leak detection #ifdef BT_DEBUG_MEMORY_ALLOCATIONS glRasterPos3f(xOffset,yStart,0); sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs); GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf); yStart += yIncr; #endif //BT_DEBUG_MEMORY_ALLOCATIONS /* if (getDynamicsWorld()) { glRasterPos3f(xOffset,yStart,0); sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects()); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; glRasterPos3f(xOffset,yStart,0); sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs()); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; sprintf(buf,"# hitPos = %f,%f,%f",gHitPos.getX(),gHitPos.getY(),gHitPos.getZ()); GLDebugDrawString(xOffset,yStart,buf); yStart += yIncr; }*/ #endif //SHOW_NUM_DEEP_PENETRATIONS resetPerspectiveProjection(); } glEnable(GL_LIGHTING); updateCamera(); } #include "BulletCollision/BroadphaseCollision/btAxisSweep3.h" void DemoApplication::clientResetScene() { #ifdef SHOW_NUM_DEEP_PENETRATIONS gNumDeepPenetrationChecks = 0; gNumGjkChecks = 0; #endif //SHOW_NUM_DEEP_PENETRATIONS gNumClampedCcdMotions = 0; // int numObjects = 0; // int i; #if 0 if (m_dynamicsWorld) { numObjects = m_dynamicsWorld->getNumCollisionObjects(); ///create a copy of the array, not a reference! btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray(); for (i=0;igetMotionState()) { btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState(); myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans; body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans ); colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans ); colObj->forceActivationState(ACTIVE_TAG); colObj->activate(); colObj->setDeactivationTime(0); //colObj->setActivationState(WANTS_DEACTIVATION); } //removed cached contact points (this is not necessary if all objects have been removed from the dynamics world) //m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher()); btRigidBody* body = btRigidBody::upcast(colObj); if (body && !body->isStaticObject()) { btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0)); btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0)); } } } ///reset some internal cached data in the broadphase m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher()); m_dynamicsWorld->getConstraintSolver()->reset(); } #endif } void DemoApplication::updateModifierKeys() { m_modifierKeys = 0; if (glutGetModifiers() & GLUT_ACTIVE_ALT) m_modifierKeys |= BT_ACTIVE_ALT; if (glutGetModifiers() & GLUT_ACTIVE_CTRL) m_modifierKeys |= BT_ACTIVE_CTRL; if (glutGetModifiers() & GLUT_ACTIVE_SHIFT) m_modifierKeys |= BT_ACTIVE_SHIFT; } void DemoApplication::specialKeyboard(int key, int x, int y) { (void)x; (void)y; switch (key) { case GLUT_KEY_F1: { break; } case GLUT_KEY_F2: { break; } case GLUT_KEY_END: { /* int numObj = getDynamicsWorld()->getNumCollisionObjects(); if (numObj) { btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1]; getDynamicsWorld()->removeCollisionObject(obj); btRigidBody* body = btRigidBody::upcast(obj); if (body && body->getMotionState()) { delete body->getMotionState(); } delete obj; } */ break; } case GLUT_KEY_LEFT : stepLeft(); break; case GLUT_KEY_RIGHT : stepRight(); break; case GLUT_KEY_UP : stepFront(); break; case GLUT_KEY_DOWN : stepBack(); break; case GLUT_KEY_PAGE_UP : zoomIn(); break; case GLUT_KEY_PAGE_DOWN : zoomOut(); break; case GLUT_KEY_HOME : toggleIdle(); break; default: // std::cout << "unused (special) key : " << key << std::endl; break; } glutPostRedisplay(); } void DemoApplication::swapBuffers() { glutSwapBuffers(); }