[168] | 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 | |
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| 17 | #include "DemoApplication.h" |
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| 18 | #include "LinearMath/btIDebugDraw.h" |
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| 19 | #include "BulletDynamics/Dynamics/btDynamicsWorld.h" |
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| 20 | |
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| 21 | #include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking |
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| 22 | #include "BulletCollision/CollisionShapes/btCollisionShape.h" |
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| 23 | #include "BulletCollision/CollisionShapes/btBoxShape.h" |
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| 24 | #include "BulletCollision/CollisionShapes/btSphereShape.h" |
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| 25 | #include "BulletCollision/CollisionShapes/btCompoundShape.h" |
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| 26 | #include "BulletCollision/CollisionShapes/btUniformScalingShape.h" |
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| 27 | #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" |
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| 28 | #include "GL_ShapeDrawer.h" |
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| 29 | #include "LinearMath/btQuickprof.h" |
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| 30 | #include "LinearMath/btDefaultMotionState.h" |
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| 31 | |
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| 32 | #include "GLDebugFont.h" |
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| 33 | |
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| 34 | |
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| 35 | extern bool gDisableDeactivation; |
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| 36 | int numObjects = 0; |
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| 37 | const int maxNumObjects = 16384; |
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| 38 | btTransform startTransforms[maxNumObjects]; |
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| 39 | btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes) |
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| 40 | #define SHOW_NUM_DEEP_PENETRATIONS 1 |
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| 41 | |
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| 42 | extern int gNumClampedCcdMotions; |
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| 43 | |
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| 44 | #ifdef SHOW_NUM_DEEP_PENETRATIONS |
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| 45 | extern int gNumDeepPenetrationChecks; |
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| 46 | |
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| 47 | extern int gNumSplitImpulseRecoveries; |
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| 48 | extern int gNumGjkChecks; |
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| 49 | extern int gNumAlignedAllocs; |
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| 50 | extern int gNumAlignedFree; |
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| 51 | extern int gTotalBytesAlignedAllocs; |
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| 52 | |
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| 53 | #endif // |
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| 54 | |
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| 55 | |
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| 56 | DemoApplication::DemoApplication() |
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| 57 | //see btIDebugDraw.h for modes |
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| 58 | : |
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| 59 | m_dynamicsWorld(0), |
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| 60 | m_pickConstraint(0), |
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| 61 | m_shootBoxShape(0), |
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| 62 | m_cameraDistance(15.0), |
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| 63 | m_debugMode(0), |
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| 64 | m_ele(20.f), |
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| 65 | m_azi(0.f), |
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| 66 | m_cameraPosition(0.f,0.f,0.f), |
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| 67 | m_cameraTargetPosition(0.f,0.f,0.f), |
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| 68 | m_scaleBottom(0.5f), |
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| 69 | m_scaleFactor(2.f), |
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| 70 | m_cameraUp(0,1,0), |
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| 71 | m_forwardAxis(2), |
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| 72 | m_glutScreenWidth(0), |
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| 73 | m_glutScreenHeight(0), |
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| 74 | m_ShootBoxInitialSpeed(40.f), |
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| 75 | m_stepping(true), |
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| 76 | m_singleStep(false), |
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| 77 | m_idle(false), |
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| 78 | m_enableshadows(false), |
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| 79 | m_sundirection(btVector3(1,-2,1)*1000), |
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| 80 | m_ortho(0), |
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| 81 | m_mouseOldX(0), |
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| 82 | m_mouseOldY(0), |
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| 83 | m_mouseButtons(0), |
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| 84 | m_modifierKeys(0) |
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| 85 | { |
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| 86 | #ifndef BT_NO_PROFILE |
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| 87 | m_profileIterator = CProfileManager::Get_Iterator(); |
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| 88 | #endif //BT_NO_PROFILE |
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| 89 | |
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| 90 | m_shapeDrawer = new GL_ShapeDrawer (); |
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| 91 | m_shapeDrawer->enableTexture(true); |
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| 92 | m_enableshadows = false; |
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| 93 | } |
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| 94 | |
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| 95 | |
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| 96 | |
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| 97 | DemoApplication::~DemoApplication() |
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| 98 | { |
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| 99 | #ifndef BT_NO_PROFILE |
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| 100 | CProfileManager::Release_Iterator(m_profileIterator); |
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| 101 | #endif //BT_NO_PROFILE |
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| 102 | |
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| 103 | if (m_shootBoxShape) |
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| 104 | delete m_shootBoxShape; |
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| 105 | |
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| 106 | if (m_shapeDrawer) |
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| 107 | delete m_shapeDrawer; |
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| 108 | } |
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| 109 | |
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| 110 | |
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| 111 | void DemoApplication::overrideGLShapeDrawer (GL_ShapeDrawer* shapeDrawer) |
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| 112 | { |
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| 113 | shapeDrawer->enableTexture (m_shapeDrawer->hasTextureEnabled()); |
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| 114 | delete m_shapeDrawer; |
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| 115 | m_shapeDrawer = shapeDrawer; |
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| 116 | } |
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| 117 | |
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| 118 | void DemoApplication::myinit(void) |
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| 119 | { |
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| 120 | |
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| 121 | GLfloat light_ambient[] = { 0.2, 0.2, 0.2, 1.0 }; |
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| 122 | GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 }; |
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| 123 | GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 }; |
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| 124 | /* light_position is NOT default value */ |
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| 125 | GLfloat light_position0[] = { 1.0, 10.0, 1.0, 0.0 }; |
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| 126 | GLfloat light_position1[] = { -1.0, -10.0, -1.0, 0.0 }; |
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| 127 | |
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| 128 | glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient); |
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| 129 | glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse); |
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| 130 | glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular); |
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| 131 | glLightfv(GL_LIGHT0, GL_POSITION, light_position0); |
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| 132 | |
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| 133 | glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient); |
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| 134 | glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse); |
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| 135 | glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular); |
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| 136 | glLightfv(GL_LIGHT1, GL_POSITION, light_position1); |
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| 137 | |
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| 138 | glEnable(GL_LIGHTING); |
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| 139 | glEnable(GL_LIGHT0); |
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| 140 | glEnable(GL_LIGHT1); |
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| 141 | |
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| 142 | |
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| 143 | glShadeModel(GL_SMOOTH); |
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| 144 | glEnable(GL_DEPTH_TEST); |
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| 145 | glDepthFunc(GL_LESS); |
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| 146 | |
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| 147 | glClearColor(0.7,0.7,0.7,0); |
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| 148 | |
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| 149 | // glEnable(GL_CULL_FACE); |
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| 150 | // glCullFace(GL_BACK); |
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| 151 | } |
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| 152 | |
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| 153 | |
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| 154 | void DemoApplication::setCameraDistance(float dist) |
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| 155 | { |
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| 156 | m_cameraDistance = dist; |
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| 157 | } |
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| 158 | |
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| 159 | float DemoApplication::getCameraDistance() |
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| 160 | { |
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| 161 | return m_cameraDistance; |
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| 162 | } |
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| 163 | |
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| 164 | |
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| 165 | |
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| 166 | void DemoApplication::toggleIdle() { |
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| 167 | if (m_idle) { |
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| 168 | m_idle = false; |
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| 169 | } |
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| 170 | else { |
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| 171 | m_idle = true; |
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| 172 | } |
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| 173 | } |
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| 174 | |
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| 175 | |
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| 176 | |
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| 177 | |
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| 178 | void DemoApplication::updateCamera() { |
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| 179 | |
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| 180 | |
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| 181 | glMatrixMode(GL_PROJECTION); |
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| 182 | glLoadIdentity(); |
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| 183 | float rele = m_ele * 0.01745329251994329547;// rads per deg |
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| 184 | float razi = m_azi * 0.01745329251994329547;// rads per deg |
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| 185 | |
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| 186 | |
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| 187 | btQuaternion rot(m_cameraUp,razi); |
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| 188 | |
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| 189 | |
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| 190 | btVector3 eyePos(0,0,0); |
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| 191 | eyePos[m_forwardAxis] = -m_cameraDistance; |
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| 192 | |
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| 193 | btVector3 forward(eyePos[0],eyePos[1],eyePos[2]); |
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| 194 | if (forward.length2() < SIMD_EPSILON) |
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| 195 | { |
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| 196 | forward.setValue(1.f,0.f,0.f); |
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| 197 | } |
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| 198 | btVector3 right = m_cameraUp.cross(forward); |
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| 199 | btQuaternion roll(right,-rele); |
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| 200 | |
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| 201 | eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos; |
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| 202 | |
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| 203 | m_cameraPosition[0] = eyePos.getX(); |
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| 204 | m_cameraPosition[1] = eyePos.getY(); |
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| 205 | m_cameraPosition[2] = eyePos.getZ(); |
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| 206 | m_cameraPosition += m_cameraTargetPosition; |
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| 207 | |
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| 208 | if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0) |
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| 209 | return; |
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| 210 | |
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| 211 | btScalar aspect; |
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| 212 | btVector3 extents; |
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| 213 | |
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| 214 | if (m_glutScreenWidth > m_glutScreenHeight) |
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| 215 | { |
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| 216 | aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight; |
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| 217 | extents.setValue(aspect * 1.0f, 1.0f,0); |
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| 218 | } else |
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| 219 | { |
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| 220 | aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth; |
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| 221 | extents.setValue(1.0f, aspect*1.f,0); |
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| 222 | } |
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| 223 | |
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| 224 | |
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| 225 | if (m_ortho) |
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| 226 | { |
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| 227 | // reset matrix |
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| 228 | glLoadIdentity(); |
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| 229 | |
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| 230 | |
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| 231 | extents *= m_cameraDistance; |
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| 232 | btVector3 lower = m_cameraTargetPosition - extents; |
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| 233 | btVector3 upper = m_cameraTargetPosition + extents; |
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| 234 | //gluOrtho2D(lower.x, upper.x, lower.y, upper.y); |
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| 235 | glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000); |
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| 236 | |
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| 237 | glMatrixMode(GL_MODELVIEW); |
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| 238 | glLoadIdentity(); |
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| 239 | //glTranslatef(100,210,0); |
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| 240 | } else |
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| 241 | { |
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| 242 | if (m_glutScreenWidth > m_glutScreenHeight) |
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| 243 | { |
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| 244 | glFrustum (-aspect, aspect, -1.0, 1.0, 1.0, 10000.0); |
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| 245 | } else |
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| 246 | { |
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| 247 | glFrustum (-1.0, 1.0, -aspect, aspect, 1.0, 10000.0); |
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| 248 | } |
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| 249 | glMatrixMode(GL_MODELVIEW); |
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| 250 | glLoadIdentity(); |
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| 251 | gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2], |
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| 252 | m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2], |
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| 253 | m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ()); |
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| 254 | } |
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| 255 | |
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| 256 | } |
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| 257 | |
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| 258 | |
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| 259 | |
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| 260 | const float STEPSIZE = 5; |
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| 261 | |
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| 262 | void DemoApplication::stepLeft() |
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| 263 | { |
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| 264 | m_azi -= STEPSIZE; if (m_azi < 0) m_azi += 360; updateCamera(); |
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| 265 | } |
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| 266 | void DemoApplication::stepRight() |
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| 267 | { |
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| 268 | m_azi += STEPSIZE; if (m_azi >= 360) m_azi -= 360; updateCamera(); |
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| 269 | } |
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| 270 | void DemoApplication::stepFront() |
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| 271 | { |
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| 272 | m_ele += STEPSIZE; if (m_ele >= 360) m_ele -= 360; updateCamera(); |
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| 273 | } |
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| 274 | void DemoApplication::stepBack() |
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| 275 | { |
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| 276 | m_ele -= STEPSIZE; if (m_ele < 0) m_ele += 360; updateCamera(); |
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| 277 | } |
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| 278 | void DemoApplication::zoomIn() |
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| 279 | { |
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| 280 | m_cameraDistance -= 0.4; updateCamera(); |
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| 281 | if (m_cameraDistance < 0.1) |
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| 282 | m_cameraDistance = 0.1; |
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| 283 | |
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| 284 | } |
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| 285 | void DemoApplication::zoomOut() |
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| 286 | { |
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| 287 | m_cameraDistance += 0.4; updateCamera(); |
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| 288 | |
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| 289 | } |
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| 290 | |
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| 291 | |
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| 292 | |
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| 293 | |
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| 294 | |
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| 295 | |
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| 296 | |
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| 297 | |
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| 298 | |
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| 299 | |
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| 300 | void DemoApplication::reshape(int w, int h) |
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| 301 | { |
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| 302 | GLDebugResetFont(w,h); |
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| 303 | |
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| 304 | m_glutScreenWidth = w; |
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| 305 | m_glutScreenHeight = h; |
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| 306 | |
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| 307 | glViewport(0, 0, w, h); |
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| 308 | updateCamera(); |
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| 309 | } |
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| 310 | |
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| 311 | |
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| 312 | void DemoApplication::keyboardCallback(unsigned char key, int x, int y) |
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| 313 | { |
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| 314 | (void)x; |
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| 315 | (void)y; |
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| 316 | |
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| 317 | m_lastKey = 0; |
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| 318 | |
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| 319 | #ifndef BT_NO_PROFILE |
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| 320 | if (key >= 0x31 && key <= 0x39) |
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| 321 | { |
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| 322 | int child = key-0x31; |
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| 323 | m_profileIterator->Enter_Child(child); |
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| 324 | } |
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| 325 | if (key==0x30) |
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| 326 | { |
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| 327 | m_profileIterator->Enter_Parent(); |
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| 328 | } |
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| 329 | #endif //BT_NO_PROFILE |
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| 330 | |
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| 331 | switch (key) |
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| 332 | { |
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| 333 | case 'q' : |
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| 334 | #ifdef BT_USE_FREEGLUT |
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| 335 | //return from glutMainLoop(), detect memory leaks etc. |
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| 336 | glutLeaveMainLoop(); |
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| 337 | #else |
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| 338 | exit(0); |
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| 339 | #endif |
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| 340 | break; |
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| 341 | |
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| 342 | case 'l' : stepLeft(); break; |
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| 343 | case 'r' : stepRight(); break; |
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| 344 | case 'f' : stepFront(); break; |
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| 345 | case 'b' : stepBack(); break; |
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| 346 | case 'z' : zoomIn(); break; |
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| 347 | case 'x' : zoomOut(); break; |
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| 348 | case 'i' : toggleIdle(); break; |
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| 349 | case 'g' : m_enableshadows=!m_enableshadows;break; |
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| 350 | case 'u' : m_shapeDrawer->enableTexture(!m_shapeDrawer->enableTexture(false));break; |
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| 351 | case 'h': |
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| 352 | if (m_debugMode & btIDebugDraw::DBG_NoHelpText) |
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| 353 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText); |
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| 354 | else |
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| 355 | m_debugMode |= btIDebugDraw::DBG_NoHelpText; |
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| 356 | break; |
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| 357 | |
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| 358 | case 'w': |
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| 359 | if (m_debugMode & btIDebugDraw::DBG_DrawWireframe) |
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| 360 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe); |
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| 361 | else |
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| 362 | m_debugMode |= btIDebugDraw::DBG_DrawWireframe; |
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| 363 | break; |
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| 364 | |
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| 365 | case 'p': |
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| 366 | if (m_debugMode & btIDebugDraw::DBG_ProfileTimings) |
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| 367 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings); |
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| 368 | else |
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| 369 | m_debugMode |= btIDebugDraw::DBG_ProfileTimings; |
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| 370 | break; |
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| 371 | |
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| 372 | case 'm': |
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| 373 | if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison) |
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| 374 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison); |
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| 375 | else |
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| 376 | m_debugMode |= btIDebugDraw::DBG_EnableSatComparison; |
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| 377 | break; |
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| 378 | |
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| 379 | case 'n': |
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| 380 | if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP) |
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| 381 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP); |
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| 382 | else |
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| 383 | m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP; |
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| 384 | break; |
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| 385 | |
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| 386 | case 't' : |
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| 387 | if (m_debugMode & btIDebugDraw::DBG_DrawText) |
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| 388 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText); |
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| 389 | else |
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| 390 | m_debugMode |= btIDebugDraw::DBG_DrawText; |
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| 391 | break; |
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| 392 | case 'y': |
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| 393 | if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText) |
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| 394 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText); |
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| 395 | else |
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| 396 | m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText; |
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| 397 | break; |
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| 398 | case 'a': |
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| 399 | if (m_debugMode & btIDebugDraw::DBG_DrawAabb) |
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| 400 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb); |
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| 401 | else |
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| 402 | m_debugMode |= btIDebugDraw::DBG_DrawAabb; |
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| 403 | break; |
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| 404 | case 'c' : |
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| 405 | if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints) |
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| 406 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints); |
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| 407 | else |
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| 408 | m_debugMode |= btIDebugDraw::DBG_DrawContactPoints; |
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| 409 | break; |
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| 410 | case 'C' : |
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| 411 | if (m_debugMode & btIDebugDraw::DBG_DrawConstraints) |
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| 412 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraints); |
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| 413 | else |
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| 414 | m_debugMode |= btIDebugDraw::DBG_DrawConstraints; |
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| 415 | break; |
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| 416 | case 'L' : |
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| 417 | if (m_debugMode & btIDebugDraw::DBG_DrawConstraintLimits) |
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| 418 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraintLimits); |
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| 419 | else |
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| 420 | m_debugMode |= btIDebugDraw::DBG_DrawConstraintLimits; |
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| 421 | break; |
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| 422 | |
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| 423 | case 'd' : |
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| 424 | if (m_debugMode & btIDebugDraw::DBG_NoDeactivation) |
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| 425 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation); |
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| 426 | else |
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| 427 | m_debugMode |= btIDebugDraw::DBG_NoDeactivation; |
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| 428 | if (m_debugMode & btIDebugDraw::DBG_NoDeactivation) |
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| 429 | { |
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| 430 | gDisableDeactivation = true; |
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| 431 | } else |
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| 432 | { |
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| 433 | gDisableDeactivation = false; |
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| 434 | } |
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| 435 | break; |
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| 436 | |
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| 437 | |
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| 438 | |
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| 439 | |
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| 440 | case 'o' : |
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| 441 | { |
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| 442 | m_ortho = !m_ortho;//m_stepping = !m_stepping; |
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| 443 | break; |
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| 444 | } |
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| 445 | case 's' : clientMoveAndDisplay(); break; |
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| 446 | // case ' ' : newRandom(); break; |
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| 447 | case ' ': |
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| 448 | clientResetScene(); |
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| 449 | break; |
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| 450 | case '1': |
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| 451 | { |
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| 452 | if (m_debugMode & btIDebugDraw::DBG_EnableCCD) |
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| 453 | m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD); |
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| 454 | else |
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| 455 | m_debugMode |= btIDebugDraw::DBG_EnableCCD; |
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| 456 | break; |
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| 457 | } |
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| 458 | |
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| 459 | case '.': |
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| 460 | { |
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| 461 | shootBox(getRayTo(x,y));//getCameraTargetPosition()); |
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| 462 | break; |
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| 463 | } |
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| 464 | |
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| 465 | case '+': |
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| 466 | { |
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| 467 | m_ShootBoxInitialSpeed += 10.f; |
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| 468 | break; |
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| 469 | } |
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| 470 | case '-': |
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| 471 | { |
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| 472 | m_ShootBoxInitialSpeed -= 10.f; |
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| 473 | break; |
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| 474 | } |
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| 475 | |
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| 476 | default: |
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| 477 | // std::cout << "unused key : " << key << std::endl; |
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| 478 | break; |
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| 479 | } |
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| 480 | |
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| 481 | if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer()) |
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| 482 | getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode); |
---|
| 483 | |
---|
| 484 | |
---|
| 485 | |
---|
| 486 | } |
---|
| 487 | |
---|
| 488 | void DemoApplication::setDebugMode(int mode) |
---|
| 489 | { |
---|
| 490 | m_debugMode = mode; |
---|
| 491 | if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer()) |
---|
| 492 | getDynamicsWorld()->getDebugDrawer()->setDebugMode(mode); |
---|
| 493 | } |
---|
| 494 | |
---|
| 495 | |
---|
| 496 | |
---|
| 497 | |
---|
| 498 | |
---|
| 499 | |
---|
| 500 | void DemoApplication::moveAndDisplay() |
---|
| 501 | { |
---|
| 502 | if (!m_idle) |
---|
| 503 | clientMoveAndDisplay(); |
---|
| 504 | else |
---|
| 505 | displayCallback(); |
---|
| 506 | } |
---|
| 507 | |
---|
| 508 | |
---|
| 509 | |
---|
| 510 | |
---|
| 511 | void DemoApplication::displayCallback() |
---|
| 512 | { |
---|
| 513 | } |
---|
| 514 | |
---|
| 515 | #define NUM_SPHERES_ON_DIAGONAL 9 |
---|
| 516 | |
---|
| 517 | void DemoApplication::setShootBoxShape () |
---|
| 518 | { |
---|
| 519 | if (!m_shootBoxShape) |
---|
| 520 | { |
---|
| 521 | m_shootBoxShape = new btBoxShape(btVector3(.5f,.5f,.5f)); |
---|
| 522 | } |
---|
| 523 | } |
---|
| 524 | |
---|
| 525 | void DemoApplication::shootBox(const btVector3& destination) |
---|
| 526 | { |
---|
| 527 | |
---|
| 528 | if (m_dynamicsWorld) |
---|
| 529 | { |
---|
| 530 | float mass = 1.f; |
---|
| 531 | btTransform startTransform; |
---|
| 532 | startTransform.setIdentity(); |
---|
| 533 | btVector3 camPos = getCameraPosition(); |
---|
| 534 | startTransform.setOrigin(camPos); |
---|
| 535 | |
---|
| 536 | setShootBoxShape (); |
---|
| 537 | |
---|
| 538 | btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape); |
---|
| 539 | body->setLinearFactor(btVector3(1,1,1)); |
---|
| 540 | |
---|
| 541 | btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]); |
---|
| 542 | linVel.normalize(); |
---|
| 543 | linVel*=m_ShootBoxInitialSpeed; |
---|
| 544 | |
---|
| 545 | body->getWorldTransform().setOrigin(camPos); |
---|
| 546 | body->getWorldTransform().setRotation(btQuaternion(0,0,0,1)); |
---|
| 547 | body->setLinearVelocity(linVel); |
---|
| 548 | body->setAngularVelocity(btVector3(0,0,0)); |
---|
| 549 | body->setCcdMotionThreshold(1.); |
---|
| 550 | body->setCcdSweptSphereRadius(0.2f); |
---|
| 551 | |
---|
| 552 | } |
---|
| 553 | } |
---|
| 554 | |
---|
| 555 | |
---|
| 556 | int gPickingConstraintId = 0; |
---|
| 557 | btVector3 gOldPickingPos; |
---|
| 558 | btVector3 gHitPos(-1,-1,-1); |
---|
| 559 | float gOldPickingDist = 0.f; |
---|
| 560 | btRigidBody* pickedBody = 0;//for deactivation state |
---|
| 561 | |
---|
| 562 | |
---|
| 563 | btVector3 DemoApplication::getRayTo(int x,int y) |
---|
| 564 | { |
---|
| 565 | |
---|
| 566 | |
---|
| 567 | |
---|
| 568 | if (m_ortho) |
---|
| 569 | { |
---|
| 570 | |
---|
| 571 | btScalar aspect; |
---|
| 572 | btVector3 extents; |
---|
| 573 | if (m_glutScreenWidth > m_glutScreenHeight) |
---|
| 574 | { |
---|
| 575 | aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight; |
---|
| 576 | extents.setValue(aspect * 1.0f, 1.0f,0); |
---|
| 577 | } else |
---|
| 578 | { |
---|
| 579 | aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth; |
---|
| 580 | extents.setValue(1.0f, aspect*1.f,0); |
---|
| 581 | } |
---|
| 582 | |
---|
| 583 | extents *= m_cameraDistance; |
---|
| 584 | btVector3 lower = m_cameraTargetPosition - extents; |
---|
| 585 | btVector3 upper = m_cameraTargetPosition + extents; |
---|
| 586 | |
---|
| 587 | btScalar u = x / btScalar(m_glutScreenWidth); |
---|
| 588 | btScalar v = (m_glutScreenHeight - y) / btScalar(m_glutScreenHeight); |
---|
| 589 | |
---|
| 590 | btVector3 p(0,0,0); |
---|
| 591 | p.setValue((1.0f - u) * lower.getX() + u * upper.getX(),(1.0f - v) * lower.getY() + v * upper.getY(),m_cameraTargetPosition.getZ()); |
---|
| 592 | return p; |
---|
| 593 | } |
---|
| 594 | |
---|
| 595 | float top = 1.f; |
---|
| 596 | float bottom = -1.f; |
---|
| 597 | float nearPlane = 1.f; |
---|
| 598 | float tanFov = (top-bottom)*0.5f / nearPlane; |
---|
| 599 | float fov = 2.0 * atanf (tanFov); |
---|
| 600 | |
---|
| 601 | btVector3 rayFrom = getCameraPosition(); |
---|
| 602 | btVector3 rayForward = (getCameraTargetPosition()-getCameraPosition()); |
---|
| 603 | rayForward.normalize(); |
---|
| 604 | float farPlane = 10000.f; |
---|
| 605 | rayForward*= farPlane; |
---|
| 606 | |
---|
| 607 | btVector3 rightOffset; |
---|
| 608 | btVector3 vertical = m_cameraUp; |
---|
| 609 | |
---|
| 610 | btVector3 hor; |
---|
| 611 | hor = rayForward.cross(vertical); |
---|
| 612 | hor.normalize(); |
---|
| 613 | vertical = hor.cross(rayForward); |
---|
| 614 | vertical.normalize(); |
---|
| 615 | |
---|
| 616 | float tanfov = tanf(0.5f*fov); |
---|
| 617 | |
---|
| 618 | |
---|
| 619 | hor *= 2.f * farPlane * tanfov; |
---|
| 620 | vertical *= 2.f * farPlane * tanfov; |
---|
| 621 | |
---|
| 622 | btScalar aspect; |
---|
| 623 | |
---|
| 624 | if (m_glutScreenWidth > m_glutScreenHeight) |
---|
| 625 | { |
---|
| 626 | aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight; |
---|
| 627 | |
---|
| 628 | hor*=aspect; |
---|
| 629 | } else |
---|
| 630 | { |
---|
| 631 | aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth; |
---|
| 632 | vertical*=aspect; |
---|
| 633 | } |
---|
| 634 | |
---|
| 635 | |
---|
| 636 | btVector3 rayToCenter = rayFrom + rayForward; |
---|
| 637 | btVector3 dHor = hor * 1.f/float(m_glutScreenWidth); |
---|
| 638 | btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight); |
---|
| 639 | |
---|
| 640 | |
---|
| 641 | btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical; |
---|
| 642 | rayTo += x * dHor; |
---|
| 643 | rayTo -= y * dVert; |
---|
| 644 | return rayTo; |
---|
| 645 | } |
---|
| 646 | |
---|
| 647 | btScalar mousePickClamping = 30.f; |
---|
| 648 | |
---|
| 649 | |
---|
| 650 | void DemoApplication::mouseFunc(int button, int state, int x, int y) |
---|
| 651 | { |
---|
| 652 | if (state == 0) |
---|
| 653 | { |
---|
| 654 | m_mouseButtons |= 1<<button; |
---|
| 655 | } else |
---|
| 656 | { |
---|
| 657 | m_mouseButtons = 0; |
---|
| 658 | } |
---|
| 659 | |
---|
| 660 | m_mouseOldX = x; |
---|
| 661 | m_mouseOldY = y; |
---|
| 662 | |
---|
| 663 | updateModifierKeys(); |
---|
| 664 | if ((m_modifierKeys& BT_ACTIVE_ALT) && (state==0)) |
---|
| 665 | { |
---|
| 666 | return; |
---|
| 667 | } |
---|
| 668 | |
---|
| 669 | //printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y); |
---|
| 670 | //button 0, state 0 means left mouse down |
---|
| 671 | |
---|
| 672 | btVector3 rayTo = getRayTo(x,y); |
---|
| 673 | |
---|
| 674 | switch (button) |
---|
| 675 | { |
---|
| 676 | case 2: |
---|
| 677 | { |
---|
| 678 | if (state==0) |
---|
| 679 | { |
---|
| 680 | |
---|
| 681 | shootBox(rayTo); |
---|
| 682 | } |
---|
| 683 | break; |
---|
| 684 | }; |
---|
| 685 | case 1: |
---|
| 686 | { |
---|
| 687 | |
---|
| 688 | |
---|
| 689 | if (state==0) |
---|
| 690 | { |
---|
| 691 | |
---|
| 692 | #if 0 |
---|
| 693 | //apply an impulse |
---|
| 694 | if (m_dynamicsWorld) |
---|
| 695 | { |
---|
| 696 | btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo); |
---|
| 697 | m_dynamicsWorld->rayTest(m_cameraPosition,rayTo,rayCallback); |
---|
| 698 | if (rayCallback.hasHit()) |
---|
| 699 | { |
---|
| 700 | |
---|
| 701 | btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject); |
---|
| 702 | if (body) |
---|
| 703 | { |
---|
| 704 | body->setActivationState(ACTIVE_TAG); |
---|
| 705 | btVector3 impulse = rayTo; |
---|
| 706 | impulse.normalize(); |
---|
| 707 | float impulseStrength = 10.f; |
---|
| 708 | impulse *= impulseStrength; |
---|
| 709 | btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition(); |
---|
| 710 | body->applyImpulse(impulse,relPos); |
---|
| 711 | } |
---|
| 712 | } |
---|
| 713 | } |
---|
| 714 | #endif |
---|
| 715 | |
---|
| 716 | |
---|
| 717 | |
---|
| 718 | } else |
---|
| 719 | { |
---|
| 720 | |
---|
| 721 | } |
---|
| 722 | break; |
---|
| 723 | } |
---|
| 724 | case 0: |
---|
| 725 | { |
---|
| 726 | if (state==0) |
---|
| 727 | { |
---|
| 728 | |
---|
| 729 | |
---|
| 730 | //add a point to point constraint for picking |
---|
| 731 | if (m_dynamicsWorld) |
---|
| 732 | { |
---|
| 733 | |
---|
| 734 | btVector3 rayFrom; |
---|
| 735 | if (m_ortho) |
---|
| 736 | { |
---|
| 737 | rayFrom = rayTo; |
---|
| 738 | rayFrom.setZ(-100.f); |
---|
| 739 | } else |
---|
| 740 | { |
---|
| 741 | rayFrom = m_cameraPosition; |
---|
| 742 | } |
---|
| 743 | |
---|
| 744 | btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo); |
---|
| 745 | m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback); |
---|
| 746 | if (rayCallback.hasHit()) |
---|
| 747 | { |
---|
| 748 | |
---|
| 749 | |
---|
| 750 | btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject); |
---|
| 751 | if (body) |
---|
| 752 | { |
---|
| 753 | //other exclusions? |
---|
| 754 | if (!(body->isStaticObject() || body->isKinematicObject())) |
---|
| 755 | { |
---|
| 756 | pickedBody = body; |
---|
| 757 | pickedBody->setActivationState(DISABLE_DEACTIVATION); |
---|
| 758 | |
---|
| 759 | |
---|
| 760 | btVector3 pickPos = rayCallback.m_hitPointWorld; |
---|
| 761 | printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ()); |
---|
| 762 | |
---|
| 763 | |
---|
| 764 | btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos; |
---|
| 765 | |
---|
| 766 | btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot); |
---|
| 767 | p2p->m_setting.m_impulseClamp = mousePickClamping; |
---|
| 768 | |
---|
| 769 | m_dynamicsWorld->addConstraint(p2p); |
---|
| 770 | m_pickConstraint = p2p; |
---|
| 771 | |
---|
| 772 | //save mouse position for dragging |
---|
| 773 | gOldPickingPos = rayTo; |
---|
| 774 | gHitPos = pickPos; |
---|
| 775 | |
---|
| 776 | gOldPickingDist = (pickPos-rayFrom).length(); |
---|
| 777 | |
---|
| 778 | //very weak constraint for picking |
---|
| 779 | p2p->m_setting.m_tau = 0.1f; |
---|
| 780 | } |
---|
| 781 | } |
---|
| 782 | } |
---|
| 783 | } |
---|
| 784 | |
---|
| 785 | } else |
---|
| 786 | { |
---|
| 787 | |
---|
| 788 | if (m_pickConstraint && m_dynamicsWorld) |
---|
| 789 | { |
---|
| 790 | m_dynamicsWorld->removeConstraint(m_pickConstraint); |
---|
| 791 | delete m_pickConstraint; |
---|
| 792 | //printf("removed constraint %i",gPickingConstraintId); |
---|
| 793 | m_pickConstraint = 0; |
---|
| 794 | pickedBody->forceActivationState(ACTIVE_TAG); |
---|
| 795 | pickedBody->setDeactivationTime( 0.f ); |
---|
| 796 | pickedBody = 0; |
---|
| 797 | } |
---|
| 798 | |
---|
| 799 | |
---|
| 800 | } |
---|
| 801 | |
---|
| 802 | break; |
---|
| 803 | |
---|
| 804 | } |
---|
| 805 | default: |
---|
| 806 | { |
---|
| 807 | } |
---|
| 808 | } |
---|
| 809 | |
---|
| 810 | } |
---|
| 811 | |
---|
| 812 | void DemoApplication::mouseMotionFunc(int x,int y) |
---|
| 813 | { |
---|
| 814 | |
---|
| 815 | if (m_pickConstraint) |
---|
| 816 | { |
---|
| 817 | //move the constraint pivot |
---|
| 818 | btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_pickConstraint); |
---|
| 819 | if (p2p) |
---|
| 820 | { |
---|
| 821 | //keep it at the same picking distance |
---|
| 822 | |
---|
| 823 | btVector3 newRayTo = getRayTo(x,y); |
---|
| 824 | btVector3 rayFrom; |
---|
| 825 | btVector3 oldPivotInB = p2p->getPivotInB(); |
---|
| 826 | btVector3 newPivotB; |
---|
| 827 | if (m_ortho) |
---|
| 828 | { |
---|
| 829 | newPivotB = oldPivotInB; |
---|
| 830 | newPivotB.setX(newRayTo.getX()); |
---|
| 831 | newPivotB.setY(newRayTo.getY()); |
---|
| 832 | } else |
---|
| 833 | { |
---|
| 834 | rayFrom = m_cameraPosition; |
---|
| 835 | btVector3 dir = newRayTo-rayFrom; |
---|
| 836 | dir.normalize(); |
---|
| 837 | dir *= gOldPickingDist; |
---|
| 838 | |
---|
| 839 | newPivotB = rayFrom + dir; |
---|
| 840 | } |
---|
| 841 | |
---|
| 842 | |
---|
| 843 | |
---|
| 844 | p2p->setPivotB(newPivotB); |
---|
| 845 | } |
---|
| 846 | |
---|
| 847 | } |
---|
| 848 | |
---|
| 849 | float dx, dy; |
---|
| 850 | dx = x - m_mouseOldX; |
---|
| 851 | dy = y - m_mouseOldY; |
---|
| 852 | |
---|
| 853 | |
---|
| 854 | ///only if ALT key is pressed (Maya style) |
---|
| 855 | if (m_modifierKeys& BT_ACTIVE_ALT) |
---|
| 856 | { |
---|
| 857 | if(m_mouseButtons & 2) |
---|
| 858 | { |
---|
| 859 | btVector3 hor = getRayTo(0,0)-getRayTo(1,0); |
---|
| 860 | btVector3 vert = getRayTo(0,0)-getRayTo(0,1); |
---|
| 861 | btScalar multiplierX = 0.01; |
---|
| 862 | btScalar multiplierY = 0.01; |
---|
| 863 | if (m_ortho) |
---|
| 864 | { |
---|
| 865 | multiplierX = 1; |
---|
| 866 | multiplierY = 1; |
---|
| 867 | } |
---|
| 868 | |
---|
| 869 | |
---|
| 870 | m_cameraTargetPosition += hor* dx * multiplierX; |
---|
| 871 | m_cameraTargetPosition += vert* dy * multiplierY; |
---|
| 872 | } |
---|
| 873 | |
---|
| 874 | if(m_mouseButtons & (2 << 2) && m_mouseButtons & 1) |
---|
| 875 | { |
---|
| 876 | } |
---|
| 877 | else if(m_mouseButtons & 1) |
---|
| 878 | { |
---|
| 879 | m_azi += dx * 0.2; |
---|
| 880 | m_azi = fmodf(m_azi, 180.f); |
---|
| 881 | m_ele += dy * 0.2; |
---|
| 882 | m_ele = fmodf(m_ele, 180.f); |
---|
| 883 | } |
---|
| 884 | else if(m_mouseButtons & 4) |
---|
| 885 | { |
---|
| 886 | m_cameraDistance -= dy * 0.2f; |
---|
| 887 | if (m_cameraDistance<0.1) |
---|
| 888 | m_cameraDistance = 0.1; |
---|
| 889 | |
---|
| 890 | |
---|
| 891 | } |
---|
| 892 | } |
---|
| 893 | |
---|
| 894 | |
---|
| 895 | m_mouseOldX = x; |
---|
| 896 | m_mouseOldY = y; |
---|
| 897 | updateCamera(); |
---|
| 898 | |
---|
| 899 | |
---|
| 900 | } |
---|
| 901 | |
---|
| 902 | |
---|
| 903 | |
---|
| 904 | btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape) |
---|
| 905 | { |
---|
| 906 | btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE)); |
---|
| 907 | |
---|
| 908 | //rigidbody is dynamic if and only if mass is non zero, otherwise static |
---|
| 909 | bool isDynamic = (mass != 0.f); |
---|
| 910 | |
---|
| 911 | btVector3 localInertia(0,0,0); |
---|
| 912 | if (isDynamic) |
---|
| 913 | shape->calculateLocalInertia(mass,localInertia); |
---|
| 914 | |
---|
| 915 | //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects |
---|
| 916 | |
---|
| 917 | #define USE_MOTIONSTATE 1 |
---|
| 918 | #ifdef USE_MOTIONSTATE |
---|
| 919 | btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); |
---|
| 920 | |
---|
| 921 | btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia); |
---|
| 922 | |
---|
| 923 | btRigidBody* body = new btRigidBody(cInfo); |
---|
| 924 | |
---|
| 925 | #else |
---|
| 926 | btRigidBody* body = new btRigidBody(mass,0,shape,localInertia); |
---|
| 927 | body->setWorldTransform(startTransform); |
---|
| 928 | #endif// |
---|
| 929 | |
---|
| 930 | m_dynamicsWorld->addRigidBody(body); |
---|
| 931 | |
---|
| 932 | return body; |
---|
| 933 | } |
---|
| 934 | |
---|
| 935 | //See http://www.lighthouse3d.com/opengl/glut/index.php?bmpfontortho |
---|
| 936 | void DemoApplication::setOrthographicProjection() |
---|
| 937 | { |
---|
| 938 | |
---|
| 939 | // switch to projection mode |
---|
| 940 | glMatrixMode(GL_PROJECTION); |
---|
| 941 | |
---|
| 942 | // save previous matrix which contains the |
---|
| 943 | //settings for the perspective projection |
---|
| 944 | glPushMatrix(); |
---|
| 945 | // reset matrix |
---|
| 946 | glLoadIdentity(); |
---|
| 947 | // set a 2D orthographic projection |
---|
| 948 | gluOrtho2D(0, m_glutScreenWidth, 0, m_glutScreenHeight); |
---|
| 949 | glMatrixMode(GL_MODELVIEW); |
---|
| 950 | glLoadIdentity(); |
---|
| 951 | |
---|
| 952 | // invert the y axis, down is positive |
---|
| 953 | glScalef(1, -1, 1); |
---|
| 954 | // mover the origin from the bottom left corner |
---|
| 955 | // to the upper left corner |
---|
| 956 | glTranslatef(0, -m_glutScreenHeight, 0); |
---|
| 957 | |
---|
| 958 | } |
---|
| 959 | |
---|
| 960 | void DemoApplication::resetPerspectiveProjection() |
---|
| 961 | { |
---|
| 962 | |
---|
| 963 | glMatrixMode(GL_PROJECTION); |
---|
| 964 | glPopMatrix(); |
---|
| 965 | glMatrixMode(GL_MODELVIEW); |
---|
| 966 | updateCamera(); |
---|
| 967 | } |
---|
| 968 | |
---|
| 969 | |
---|
| 970 | |
---|
| 971 | |
---|
| 972 | extern CProfileIterator * m_profileIterator; |
---|
| 973 | |
---|
| 974 | void DemoApplication::displayProfileString(int xOffset,int yStart,char* message) |
---|
| 975 | { |
---|
| 976 | glRasterPos3f(xOffset,yStart,0); |
---|
| 977 | GLDebugDrawString(xOffset,yStart,message); |
---|
| 978 | } |
---|
| 979 | |
---|
| 980 | |
---|
| 981 | void DemoApplication::showProfileInfo(int& xOffset,int& yStart, int yIncr) |
---|
| 982 | { |
---|
| 983 | #ifndef BT_NO_PROFILE |
---|
| 984 | |
---|
| 985 | static double time_since_reset = 0.f; |
---|
| 986 | if (!m_idle) |
---|
| 987 | { |
---|
| 988 | time_since_reset = CProfileManager::Get_Time_Since_Reset(); |
---|
| 989 | } |
---|
| 990 | |
---|
| 991 | |
---|
| 992 | { |
---|
| 993 | //recompute profiling data, and store profile strings |
---|
| 994 | |
---|
| 995 | char blockTime[128]; |
---|
| 996 | |
---|
| 997 | double totalTime = 0; |
---|
| 998 | |
---|
| 999 | int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset(); |
---|
| 1000 | |
---|
| 1001 | m_profileIterator->First(); |
---|
| 1002 | |
---|
| 1003 | double parent_time = m_profileIterator->Is_Root() ? time_since_reset : m_profileIterator->Get_Current_Parent_Total_Time(); |
---|
| 1004 | |
---|
| 1005 | { |
---|
| 1006 | sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---", m_profileIterator->Get_Current_Parent_Name(), parent_time ); |
---|
| 1007 | displayProfileString(xOffset,yStart,blockTime); |
---|
| 1008 | yStart += yIncr; |
---|
| 1009 | sprintf(blockTime,"press number (1,2...) to display child timings, or 0 to go up to parent" ); |
---|
| 1010 | displayProfileString(xOffset,yStart,blockTime); |
---|
| 1011 | yStart += yIncr; |
---|
| 1012 | |
---|
| 1013 | } |
---|
| 1014 | |
---|
| 1015 | |
---|
| 1016 | double accumulated_time = 0.f; |
---|
| 1017 | |
---|
| 1018 | for (int i = 0; !m_profileIterator->Is_Done(); m_profileIterator->Next()) |
---|
| 1019 | { |
---|
| 1020 | double current_total_time = m_profileIterator->Get_Current_Total_Time(); |
---|
| 1021 | accumulated_time += current_total_time; |
---|
| 1022 | double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f; |
---|
| 1023 | |
---|
| 1024 | sprintf(blockTime,"%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)", |
---|
| 1025 | ++i, m_profileIterator->Get_Current_Name(), fraction, |
---|
| 1026 | (current_total_time / (double)frames_since_reset),m_profileIterator->Get_Current_Total_Calls()); |
---|
| 1027 | displayProfileString(xOffset,yStart,blockTime); |
---|
| 1028 | yStart += yIncr; |
---|
| 1029 | totalTime += current_total_time; |
---|
| 1030 | } |
---|
| 1031 | |
---|
| 1032 | sprintf(blockTime,"%s (%.3f %%) :: %.3f ms", "Unaccounted", |
---|
| 1033 | // (min(0, time_since_reset - totalTime) / time_since_reset) * 100); |
---|
| 1034 | parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time); |
---|
| 1035 | |
---|
| 1036 | displayProfileString(xOffset,yStart,blockTime); |
---|
| 1037 | yStart += yIncr; |
---|
| 1038 | |
---|
| 1039 | |
---|
| 1040 | |
---|
| 1041 | sprintf(blockTime,"-------------------------------------------------"); |
---|
| 1042 | displayProfileString(xOffset,yStart,blockTime); |
---|
| 1043 | yStart += yIncr; |
---|
| 1044 | |
---|
| 1045 | } |
---|
| 1046 | #endif//BT_NO_PROFILE |
---|
| 1047 | |
---|
| 1048 | |
---|
| 1049 | |
---|
| 1050 | |
---|
| 1051 | } |
---|
| 1052 | |
---|
| 1053 | |
---|
| 1054 | // |
---|
| 1055 | void DemoApplication::renderscene(int pass) |
---|
| 1056 | { |
---|
| 1057 | btScalar m[16]; |
---|
| 1058 | btMatrix3x3 rot;rot.setIdentity(); |
---|
| 1059 | const int numObjects=m_dynamicsWorld->getNumCollisionObjects(); |
---|
| 1060 | btVector3 wireColor(1,0,0); |
---|
| 1061 | for(int i=0;i<numObjects;i++) |
---|
| 1062 | { |
---|
| 1063 | btCollisionObject* colObj=m_dynamicsWorld->getCollisionObjectArray()[i]; |
---|
| 1064 | btRigidBody* body=btRigidBody::upcast(colObj); |
---|
| 1065 | if(body&&body->getMotionState()) |
---|
| 1066 | { |
---|
| 1067 | btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState(); |
---|
| 1068 | myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m); |
---|
| 1069 | rot=myMotionState->m_graphicsWorldTrans.getBasis(); |
---|
| 1070 | } |
---|
| 1071 | else |
---|
| 1072 | { |
---|
| 1073 | colObj->getWorldTransform().getOpenGLMatrix(m); |
---|
| 1074 | rot=colObj->getWorldTransform().getBasis(); |
---|
| 1075 | } |
---|
| 1076 | btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation |
---|
| 1077 | if(i&1) wireColor=btVector3(0.f,0.0f,1.f); |
---|
| 1078 | ///color differently for active, sleeping, wantsdeactivation states |
---|
| 1079 | if (colObj->getActivationState() == 1) //active |
---|
| 1080 | { |
---|
| 1081 | if (i & 1) |
---|
| 1082 | { |
---|
| 1083 | wireColor += btVector3 (1.f,0.f,0.f); |
---|
| 1084 | } |
---|
| 1085 | else |
---|
| 1086 | { |
---|
| 1087 | wireColor += btVector3 (.5f,0.f,0.f); |
---|
| 1088 | } |
---|
| 1089 | } |
---|
| 1090 | if(colObj->getActivationState()==2) //ISLAND_SLEEPING |
---|
| 1091 | { |
---|
| 1092 | if(i&1) |
---|
| 1093 | { |
---|
| 1094 | wireColor += btVector3 (0.f,1.f, 0.f); |
---|
| 1095 | } |
---|
| 1096 | else |
---|
| 1097 | { |
---|
| 1098 | wireColor += btVector3 (0.f,0.5f,0.f); |
---|
| 1099 | } |
---|
| 1100 | } |
---|
| 1101 | |
---|
| 1102 | btVector3 aabbMin,aabbMax; |
---|
| 1103 | m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(aabbMin,aabbMax); |
---|
| 1104 | |
---|
| 1105 | aabbMin-=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); |
---|
| 1106 | aabbMax+=btVector3(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); |
---|
| 1107 | // printf("aabbMin=(%f,%f,%f)\n",aabbMin.getX(),aabbMin.getY(),aabbMin.getZ()); |
---|
| 1108 | // printf("aabbMax=(%f,%f,%f)\n",aabbMax.getX(),aabbMax.getY(),aabbMax.getZ()); |
---|
| 1109 | // m_dynamicsWorld->getDebugDrawer()->drawAabb(aabbMin,aabbMax,btVector3(1,1,1)); |
---|
| 1110 | |
---|
| 1111 | |
---|
| 1112 | switch(pass) |
---|
| 1113 | { |
---|
| 1114 | case 0: m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),aabbMin,aabbMax);break; |
---|
| 1115 | case 1: m_shapeDrawer->drawShadow(m,m_sundirection*rot,colObj->getCollisionShape(),aabbMin,aabbMax);break; |
---|
| 1116 | case 2: m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor*0.3,0,aabbMin,aabbMax);break; |
---|
| 1117 | } |
---|
| 1118 | } |
---|
| 1119 | } |
---|
| 1120 | |
---|
| 1121 | // |
---|
| 1122 | void DemoApplication::renderme() |
---|
| 1123 | { |
---|
| 1124 | myinit(); |
---|
| 1125 | |
---|
| 1126 | updateCamera(); |
---|
| 1127 | |
---|
| 1128 | if (m_dynamicsWorld) |
---|
| 1129 | { |
---|
| 1130 | if(m_enableshadows) |
---|
| 1131 | { |
---|
| 1132 | glClear(GL_STENCIL_BUFFER_BIT); |
---|
| 1133 | glEnable(GL_CULL_FACE); |
---|
| 1134 | renderscene(0); |
---|
| 1135 | |
---|
| 1136 | glDisable(GL_LIGHTING); |
---|
| 1137 | glDepthMask(GL_FALSE); |
---|
| 1138 | glDepthFunc(GL_LEQUAL); |
---|
| 1139 | glEnable(GL_STENCIL_TEST); |
---|
| 1140 | glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE); |
---|
| 1141 | glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL); |
---|
| 1142 | glFrontFace(GL_CCW); |
---|
| 1143 | glStencilOp(GL_KEEP,GL_KEEP,GL_INCR); |
---|
| 1144 | renderscene(1); |
---|
| 1145 | glFrontFace(GL_CW); |
---|
| 1146 | glStencilOp(GL_KEEP,GL_KEEP,GL_DECR); |
---|
| 1147 | renderscene(1); |
---|
| 1148 | glFrontFace(GL_CCW); |
---|
| 1149 | |
---|
| 1150 | glPolygonMode(GL_FRONT,GL_FILL); |
---|
| 1151 | glPolygonMode(GL_BACK,GL_FILL); |
---|
| 1152 | glShadeModel(GL_SMOOTH); |
---|
| 1153 | glEnable(GL_DEPTH_TEST); |
---|
| 1154 | glDepthFunc(GL_LESS); |
---|
| 1155 | glEnable(GL_LIGHTING); |
---|
| 1156 | glDepthMask(GL_TRUE); |
---|
| 1157 | glCullFace(GL_BACK); |
---|
| 1158 | glFrontFace(GL_CCW); |
---|
| 1159 | glEnable(GL_CULL_FACE); |
---|
| 1160 | glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE); |
---|
| 1161 | |
---|
| 1162 | glDepthFunc(GL_LEQUAL); |
---|
| 1163 | glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL ); |
---|
| 1164 | glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP ); |
---|
| 1165 | glDisable(GL_LIGHTING); |
---|
| 1166 | renderscene(2); |
---|
| 1167 | glEnable(GL_LIGHTING); |
---|
| 1168 | glDepthFunc(GL_LESS); |
---|
| 1169 | glDisable(GL_STENCIL_TEST); |
---|
| 1170 | glDisable(GL_CULL_FACE); |
---|
| 1171 | } |
---|
| 1172 | else |
---|
| 1173 | { |
---|
| 1174 | glDisable(GL_CULL_FACE); |
---|
| 1175 | renderscene(0); |
---|
| 1176 | } |
---|
| 1177 | |
---|
| 1178 | int xOffset = 10; |
---|
| 1179 | int yStart = 20; |
---|
| 1180 | int yIncr = 20; |
---|
| 1181 | char buf[124]; |
---|
| 1182 | |
---|
| 1183 | glDisable(GL_LIGHTING); |
---|
| 1184 | glColor3f(0, 0, 0); |
---|
| 1185 | |
---|
| 1186 | if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0) |
---|
| 1187 | { |
---|
| 1188 | setOrthographicProjection(); |
---|
| 1189 | |
---|
| 1190 | showProfileInfo(xOffset,yStart,yIncr); |
---|
| 1191 | |
---|
| 1192 | #ifdef USE_QUICKPROF |
---|
| 1193 | |
---|
| 1194 | |
---|
| 1195 | if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings) |
---|
| 1196 | { |
---|
| 1197 | static int counter = 0; |
---|
| 1198 | counter++; |
---|
| 1199 | std::map<std::string, hidden::ProfileBlock*>::iterator iter; |
---|
| 1200 | for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter) |
---|
| 1201 | { |
---|
| 1202 | char blockTime[128]; |
---|
| 1203 | sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT)); |
---|
| 1204 | glRasterPos3f(xOffset,yStart,0); |
---|
| 1205 | GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),blockTime); |
---|
| 1206 | yStart += yIncr; |
---|
| 1207 | |
---|
| 1208 | } |
---|
| 1209 | |
---|
| 1210 | } |
---|
| 1211 | #endif //USE_QUICKPROF |
---|
| 1212 | |
---|
| 1213 | |
---|
| 1214 | sprintf(buf,"mouse to interact"); |
---|
| 1215 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1216 | yStart += yIncr; |
---|
| 1217 | |
---|
| 1218 | sprintf(buf,"ALT + mouse to move camera"); |
---|
| 1219 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1220 | yStart += yIncr; |
---|
| 1221 | |
---|
| 1222 | sprintf(buf,"space to reset"); |
---|
| 1223 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1224 | yStart += yIncr; |
---|
| 1225 | |
---|
| 1226 | sprintf(buf,"cursor keys and z,x to navigate"); |
---|
| 1227 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1228 | yStart += yIncr; |
---|
| 1229 | |
---|
| 1230 | sprintf(buf,"i to toggle simulation, s single step"); |
---|
| 1231 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1232 | yStart += yIncr; |
---|
| 1233 | |
---|
| 1234 | sprintf(buf,"q to quit"); |
---|
| 1235 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1236 | yStart += yIncr; |
---|
| 1237 | |
---|
| 1238 | sprintf(buf,". to shoot box"); |
---|
| 1239 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1240 | yStart += yIncr; |
---|
| 1241 | |
---|
| 1242 | // not yet hooked up again after refactoring... |
---|
| 1243 | |
---|
| 1244 | sprintf(buf,"d to toggle deactivation"); |
---|
| 1245 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1246 | yStart += yIncr; |
---|
| 1247 | |
---|
| 1248 | |
---|
| 1249 | sprintf(buf,"g to toggle mesh animation (ConcaveDemo)"); |
---|
| 1250 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1251 | yStart += yIncr; |
---|
| 1252 | |
---|
| 1253 | |
---|
| 1254 | sprintf(buf,"h to toggle help text"); |
---|
| 1255 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1256 | yStart += yIncr; |
---|
| 1257 | |
---|
| 1258 | sprintf(buf,"o to toggle orthogonal/perspective view"); |
---|
| 1259 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1260 | yStart += yIncr; |
---|
| 1261 | |
---|
| 1262 | |
---|
| 1263 | //bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP); |
---|
| 1264 | //bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD); |
---|
| 1265 | //glRasterPos3f(xOffset,yStart,0); |
---|
| 1266 | //sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD); |
---|
| 1267 | //GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf); |
---|
| 1268 | //yStart += yIncr; |
---|
| 1269 | |
---|
| 1270 | |
---|
| 1271 | |
---|
| 1272 | sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed); |
---|
| 1273 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1274 | yStart += yIncr; |
---|
| 1275 | |
---|
| 1276 | #ifdef SHOW_NUM_DEEP_PENETRATIONS |
---|
| 1277 | |
---|
| 1278 | |
---|
| 1279 | sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks); |
---|
| 1280 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1281 | yStart += yIncr; |
---|
| 1282 | |
---|
| 1283 | sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks); |
---|
| 1284 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1285 | yStart += yIncr; |
---|
| 1286 | |
---|
| 1287 | sprintf(buf,"gNumClampedCcdMotions = %d",gNumClampedCcdMotions); |
---|
| 1288 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1289 | yStart += yIncr; |
---|
| 1290 | |
---|
| 1291 | sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries); |
---|
| 1292 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1293 | yStart += yIncr; |
---|
| 1294 | |
---|
| 1295 | sprintf(buf,"gNumAlignedAllocs = %d",gNumAlignedAllocs); |
---|
| 1296 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1297 | yStart += yIncr; |
---|
| 1298 | |
---|
| 1299 | sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree); |
---|
| 1300 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1301 | yStart += yIncr; |
---|
| 1302 | |
---|
| 1303 | sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree); |
---|
| 1304 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1305 | yStart += yIncr; |
---|
| 1306 | |
---|
| 1307 | //enable BT_DEBUG_MEMORY_ALLOCATIONS define in Bullet/src/LinearMath/btAlignedAllocator.h for memory leak detection |
---|
| 1308 | #ifdef BT_DEBUG_MEMORY_ALLOCATIONS |
---|
| 1309 | glRasterPos3f(xOffset,yStart,0); |
---|
| 1310 | sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs); |
---|
| 1311 | GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf); |
---|
| 1312 | yStart += yIncr; |
---|
| 1313 | #endif //BT_DEBUG_MEMORY_ALLOCATIONS |
---|
| 1314 | |
---|
| 1315 | if (getDynamicsWorld()) |
---|
| 1316 | { |
---|
| 1317 | glRasterPos3f(xOffset,yStart,0); |
---|
| 1318 | sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects()); |
---|
| 1319 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1320 | yStart += yIncr; |
---|
| 1321 | glRasterPos3f(xOffset,yStart,0); |
---|
| 1322 | sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs()); |
---|
| 1323 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1324 | yStart += yIncr; |
---|
| 1325 | sprintf(buf,"# hitPos = %f,%f,%f",gHitPos.getX(),gHitPos.getY(),gHitPos.getZ()); |
---|
| 1326 | GLDebugDrawString(xOffset,yStart,buf); |
---|
| 1327 | yStart += yIncr; |
---|
| 1328 | |
---|
| 1329 | } |
---|
| 1330 | |
---|
| 1331 | |
---|
| 1332 | #endif //SHOW_NUM_DEEP_PENETRATIONS |
---|
| 1333 | |
---|
| 1334 | resetPerspectiveProjection(); |
---|
| 1335 | } |
---|
| 1336 | |
---|
| 1337 | glEnable(GL_LIGHTING); |
---|
| 1338 | |
---|
| 1339 | |
---|
| 1340 | } |
---|
| 1341 | |
---|
| 1342 | updateCamera(); |
---|
| 1343 | |
---|
| 1344 | } |
---|
| 1345 | #include "BulletCollision/BroadphaseCollision/btAxisSweep3.h" |
---|
| 1346 | |
---|
| 1347 | void DemoApplication::clientResetScene() |
---|
| 1348 | { |
---|
| 1349 | #ifdef SHOW_NUM_DEEP_PENETRATIONS |
---|
| 1350 | gNumDeepPenetrationChecks = 0; |
---|
| 1351 | gNumGjkChecks = 0; |
---|
| 1352 | #endif //SHOW_NUM_DEEP_PENETRATIONS |
---|
| 1353 | |
---|
| 1354 | gNumClampedCcdMotions = 0; |
---|
| 1355 | int numObjects = 0; |
---|
| 1356 | int i; |
---|
| 1357 | |
---|
| 1358 | if (m_dynamicsWorld) |
---|
| 1359 | { |
---|
| 1360 | numObjects = m_dynamicsWorld->getNumCollisionObjects(); |
---|
| 1361 | |
---|
| 1362 | ///create a copy of the array, not a reference! |
---|
| 1363 | btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray(); |
---|
| 1364 | |
---|
| 1365 | |
---|
| 1366 | |
---|
| 1367 | |
---|
| 1368 | for (i=0;i<numObjects;i++) |
---|
| 1369 | { |
---|
| 1370 | btCollisionObject* colObj = copyArray[i]; |
---|
| 1371 | btRigidBody* body = btRigidBody::upcast(colObj); |
---|
| 1372 | if (body) |
---|
| 1373 | { |
---|
| 1374 | if (body->getMotionState()) |
---|
| 1375 | { |
---|
| 1376 | btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState(); |
---|
| 1377 | myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans; |
---|
| 1378 | body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans ); |
---|
| 1379 | colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans ); |
---|
| 1380 | colObj->forceActivationState(ACTIVE_TAG); |
---|
| 1381 | colObj->activate(); |
---|
| 1382 | colObj->setDeactivationTime(0); |
---|
| 1383 | //colObj->setActivationState(WANTS_DEACTIVATION); |
---|
| 1384 | } |
---|
| 1385 | //removed cached contact points (this is not necessary if all objects have been removed from the dynamics world) |
---|
| 1386 | //m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher()); |
---|
| 1387 | |
---|
| 1388 | btRigidBody* body = btRigidBody::upcast(colObj); |
---|
| 1389 | if (body && !body->isStaticObject()) |
---|
| 1390 | { |
---|
| 1391 | btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0)); |
---|
| 1392 | btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0)); |
---|
| 1393 | } |
---|
| 1394 | } |
---|
| 1395 | |
---|
| 1396 | } |
---|
| 1397 | |
---|
| 1398 | ///reset some internal cached data in the broadphase |
---|
| 1399 | m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher()); |
---|
| 1400 | m_dynamicsWorld->getConstraintSolver()->reset(); |
---|
| 1401 | |
---|
| 1402 | } |
---|
| 1403 | |
---|
| 1404 | } |
---|