redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/ExampleBrowser/OpenGLGuiHelper.cpp
554 строки15 KB
erwincoumans
enable URDF loading throught the 'File/Open' menu
01 май 2015, 21:42
01 май 2015, 21:42218e9f9
#include "OpenGLGuiHelper.h"

#include "btBulletDynamicsCommon.h"

#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "Bullet3Common/b3Scalar.h"

#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape

#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
//backwards compatibility
#include "GL_ShapeDrawer.h"


#define BT_LINE_BATCH_SIZE 512

struct MyDebugVec3
{
	MyDebugVec3(const btVector3& org)
	:x(org.x()),
	y(org.y()),
	z(org.z())
	{
	}

	float x;
	float y;
	float z;
};
class MyDebugDrawer : public btIDebugDraw
{
	CommonGraphicsApp* m_glApp;
	int m_debugMode;

    btAlignedObjectArray<MyDebugVec3> m_linePoints;
    btAlignedObjectArray<unsigned int> m_lineIndices;
    btVector3 m_currentLineColor;

public:

	MyDebugDrawer(CommonGraphicsApp* app)
		: m_glApp(app)
		,m_debugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb),
		m_currentLineColor(-1,-1,-1)
	{

	}
	virtual void	drawLine(const btVector3& from1,const btVector3& to1,const btVector3& color1)
	{
        //float from[4] = {from1[0],from1[1],from1[2],from1[3]};
        //float to[4] = {to1[0],to1[1],to1[2],to1[3]};
        //float color[4] = {color1[0],color1[1],color1[2],color1[3]};
		//m_glApp->m_instancingRenderer->drawLine(from,to,color);
		if (m_currentLineColor!=color1 || m_linePoints.size() >= BT_LINE_BATCH_SIZE)
        {
            flushLines();
            m_currentLineColor = color1;
        }
		MyDebugVec3 from(from1);
		MyDebugVec3 to(to1);
			
		m_linePoints.push_back(from);
		m_linePoints.push_back(to);

		m_lineIndices.push_back(m_lineIndices.size());
		m_lineIndices.push_back(m_lineIndices.size());

	}

	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
	{
        drawLine(PointOnB,PointOnB+normalOnB,color);
	}
     

	virtual void	reportErrorWarning(const char* warningString)
	{
	}

	virtual void	draw3dText(const btVector3& location,const char* textString)
	{
	}

	virtual void	setDebugMode(int debugMode)
	{
		m_debugMode = debugMode;
	}

	virtual int		getDebugMode() const
	{
		return m_debugMode;
	}

    virtual void flushLines()
	{
	    int sz = m_linePoints.size();
	    if (sz)
        {
			float debugColor[4];
		debugColor[0] = m_currentLineColor.x();
		debugColor[1] = m_currentLineColor.y();
		debugColor[2] = m_currentLineColor.z();
		debugColor[3] = 1.f;
		m_glApp->m_renderer->drawLines(&m_linePoints[0].x,debugColor,
														 m_linePoints.size(),sizeof(MyDebugVec3),
														 &m_lineIndices[0],
														 m_lineIndices.size(),
														 1);
            m_linePoints.clear();
            m_lineIndices.clear();
        }
	}

};

static btVector4 sColors[4] =
{
	btVector4(0.3,0.3,1,1),
	btVector4(0.6,0.6,1,1),
	btVector4(0,1,0,1),
	btVector4(0,1,1,1),
	//btVector4(1,1,0,1),
};


struct OpenGLGuiHelperInternalData
{
	struct CommonGraphicsApp* m_glApp;
	class MyDebugDrawer* m_debugDraw;
	GL_ShapeDrawer* m_gl2ShapeDrawer;
};



OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
{
	m_data = new OpenGLGuiHelperInternalData;
	m_data->m_glApp = glApp;
	m_data->m_debugDraw = 0;
	
	m_data->m_gl2ShapeDrawer = 0;

	if (useOpenGL2)
	{
		m_data->m_gl2ShapeDrawer = new GL_ShapeDrawer();

	}
}

OpenGLGuiHelper::~OpenGLGuiHelper()
{
	delete m_data->m_gl2ShapeDrawer;
	delete m_data;
}

struct CommonRenderInterface* OpenGLGuiHelper::getRenderInterface()
{
	return m_data->m_glApp->m_renderer;
}

void OpenGLGuiHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
{
	createCollisionObjectGraphicsObject(body,color);
}

void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color)
{
	btCollisionShape* shape = body->getCollisionShape();
	btTransform startTransform = body->getWorldTransform();
	int graphicsShapeId = shape->getUserIndex();
	if (graphicsShapeId>=0)
	{
	//	btAssert(graphicsShapeId >= 0);
		btVector3 localScaling = shape->getLocalScaling();
		int graphicsInstanceId = m_data->m_glApp->m_renderer->registerGraphicsInstance(graphicsShapeId, startTransform.getOrigin(), startTransform.getRotation(), color, localScaling);
		body->setUserIndex(graphicsInstanceId);
	}
}

int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
{
	int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices);
	return shapeId;
}

int OpenGLGuiHelper::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
	return m_data->m_glApp->m_renderer->registerGraphicsInstance(shapeIndex,position,quaternion,color,scaling);
}

static void createCollisionShapeGraphicsObjectInternal(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{
//todo: support all collision shape types
	switch (collisionShape->getShapeType())
	{
		case SOFTBODY_SHAPE_PROXYTYPE:
		{
			//skip the soft body collision shape for now
			break;
		}
		case STATIC_PLANE_PROXYTYPE:
		{
			//draw a box, oriented along the plane normal
			const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(collisionShape);
			btScalar planeConst = staticPlaneShape->getPlaneConstant();
			const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
			btVector3 planeOrigin = planeNormal * planeConst;
			btVector3 vec0,vec1;
			btPlaneSpace1(planeNormal,vec0,vec1);
			btScalar vecLen = 100.f;
			btVector3 verts[4];

			verts[0] = planeOrigin + vec0*vecLen + vec1*vecLen;
			verts[1] = planeOrigin - vec0*vecLen + vec1*vecLen;
			verts[2] = planeOrigin - vec0*vecLen - vec1*vecLen;
			verts[3] = planeOrigin + vec0*vecLen - vec1*vecLen;
				
			int startIndex = verticesOut.size();
			indicesOut.push_back(startIndex+0);
			indicesOut.push_back(startIndex+1);
			indicesOut.push_back(startIndex+2);
			indicesOut.push_back(startIndex+0);
			indicesOut.push_back(startIndex+2);
			indicesOut.push_back(startIndex+3);

			btVector3 triNormal = parentTransform.getBasis()*planeNormal;
				

			for (int i=0;i<4;i++)
			{
				GLInstanceVertex vtx;
				btVector3 pos =parentTransform*verts[i];
				vtx.xyzw[0] = pos.x();
				vtx.xyzw[1] = pos.y();
				vtx.xyzw[2] = pos.z();
				vtx.xyzw[3] = 0.f;

				vtx.normal[0] =triNormal.x();
				vtx.normal[1] =triNormal.y();
				vtx.normal[2] =triNormal.z();

				vtx.uv[0] = 0.5f;
				vtx.uv[1] = 0.5f;
				verticesOut.push_back(vtx);
			}
			break;
		}
		case TRIANGLE_MESH_SHAPE_PROXYTYPE:
		{
			

			btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) collisionShape;
			btVector3 trimeshScaling = trimesh->getLocalScaling();
			btStridingMeshInterface* meshInterface = trimesh->getMeshInterface();
			btAlignedObjectArray<btVector3> vertices;
			btAlignedObjectArray<int> indices;
				
			for (int partId=0;partId<meshInterface->getNumSubParts();partId++)
			{
					
				const unsigned char *vertexbase = 0;
				int numverts = 0;
				PHY_ScalarType type = PHY_INTEGER;
				int stride = 0;
				const unsigned char *indexbase = 0;
				int indexstride = 0;
				int numfaces = 0;
				PHY_ScalarType indicestype = PHY_INTEGER;
				//PHY_ScalarType indexType=0;
					
				btVector3 triangleVerts[3];
				meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,	type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
				btVector3 aabbMin,aabbMax;
					
				for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
				{
					unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
						
					for (int j=2;j>=0;j--)
					{
							
						int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
						if (type == PHY_FLOAT)
						{
							float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
							triangleVerts[j] = btVector3(
															graphicsbase[0]*trimeshScaling.getX(),
															graphicsbase[1]*trimeshScaling.getY(),
															graphicsbase[2]*trimeshScaling.getZ());
						}
						else
						{
							double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
							triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*trimeshScaling.getX()),
															btScalar(graphicsbase[1]*trimeshScaling.getY()),
															btScalar(graphicsbase[2]*trimeshScaling.getZ()));
						}
					}
					indices.push_back(vertices.size());
					vertices.push_back(triangleVerts[0]);
					indices.push_back(vertices.size());
					vertices.push_back(triangleVerts[1]);
					indices.push_back(vertices.size());
					vertices.push_back(triangleVerts[2]);

					btVector3 triNormal = (triangleVerts[1]-triangleVerts[0]).cross(triangleVerts[2]-triangleVerts[0]);
					triNormal.normalize();

					for (int v=0;v<3;v++)
					{
						GLInstanceVertex vtx;
						btVector3 pos =parentTransform*triangleVerts[v];
						vtx.xyzw[0] = pos.x();
						vtx.xyzw[1] = pos.y();
						vtx.xyzw[2] = pos.z();
						vtx.xyzw[3] = 0.f;


						vtx.normal[0] =triNormal.x();
						vtx.normal[1] =triNormal.y();
						vtx.normal[2] =triNormal.z();

						vtx.uv[0] = 0.5f;
						vtx.uv[1] = 0.5f;

						indicesOut.push_back(verticesOut.size());
						verticesOut.push_back(vtx);
					}

					
				}
			}
			
			break;
		}
		default:
		{
			if (collisionShape->isConvex())
			{
				btConvexShape* convex = (btConvexShape*)collisionShape;
				{
					btShapeHull* hull = new btShapeHull(convex);
					hull->buildHull(0.0);

					{
						//int strideInBytes = 9*sizeof(float);
						//int numVertices = hull->numVertices();
						//int numIndices =hull->numIndices();

						for (int t=0;t<hull->numTriangles();t++)
						{

							btVector3 triNormal;

							int index0 = hull->getIndexPointer()[t*3+0];
							int index1 = hull->getIndexPointer()[t*3+1];
							int index2 = hull->getIndexPointer()[t*3+2];
							btVector3 pos0 =parentTransform*hull->getVertexPointer()[index0];
							btVector3 pos1 =parentTransform*hull->getVertexPointer()[index1];
							btVector3 pos2 =parentTransform*hull->getVertexPointer()[index2];
							triNormal = (pos1-pos0).cross(pos2-pos0);
							triNormal.normalize();

							for (int v=0;v<3;v++)
							{
								int index = hull->getIndexPointer()[t*3+v];
								GLInstanceVertex vtx;
								btVector3 pos =parentTransform*hull->getVertexPointer()[index];
								vtx.xyzw[0] = pos.x();
								vtx.xyzw[1] = pos.y();
								vtx.xyzw[2] = pos.z();
								vtx.xyzw[3] = 0.f;

								vtx.normal[0] =triNormal.x();
								vtx.normal[1] =triNormal.y();
								vtx.normal[2] =triNormal.z();

								vtx.uv[0] = 0.5f;
								vtx.uv[1] = 0.5f;

								indicesOut.push_back(verticesOut.size());
								verticesOut.push_back(vtx);
							}
						}
					}
				}
			} else
			{
				if (collisionShape->isCompound())
				{
					btCompoundShape* compound = (btCompoundShape*) collisionShape;
					for (int i=0;i<compound->getNumChildShapes();i++)
					{

						btTransform childWorldTrans = parentTransform * compound->getChildTransform(i);
						createCollisionShapeGraphicsObjectInternal(compound->getChildShape(i),childWorldTrans,verticesOut,indicesOut);
					}
				} else
				{
					btAssert(0);
				}
					
			}
		}
	};
}

void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
	//already has a graphics object?
	if (collisionShape->getUserIndex()>=0)
		return;

	btAlignedObjectArray<GLInstanceVertex> vertices;
	btAlignedObjectArray<int> indices;
	btTransform startTrans;startTrans.setIdentity();

	createCollisionShapeGraphicsObjectInternal(collisionShape,startTrans,vertices,indices);

	if (vertices.size() && indices.size())
	{
		int shapeId = m_data->m_glApp->m_renderer->registerShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size());
		collisionShape->setUserIndex(shapeId);
	}
		
}
void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
	int numCollisionObjects = rbWorld->getNumCollisionObjects();
	for (int i = 0; i<numCollisionObjects; i++)
	{
		btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
		btVector3 pos = colObj->getWorldTransform().getOrigin();
		btQuaternion orn = colObj->getWorldTransform().getRotation();
		int index = colObj->getUserIndex();
		if (index >= 0)
		{
			m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
		}
	}
	m_data->m_glApp->m_renderer->writeTransforms();
}



void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld)
{

	m_data->m_glApp->m_renderer->renderScene();
	//backwards compatible OpenGL2 rendering

	if (m_data->m_gl2ShapeDrawer && rbWorld)
	{
		m_data->m_gl2ShapeDrawer->enableTexture(true);
		m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true);
	}
}
void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld)
{
	btAssert(rbWorld);
    m_data->m_debugDraw = new MyDebugDrawer(m_data->m_glApp);
    rbWorld->setDebugDrawer(m_data->m_debugDraw );


    m_data->m_debugDraw->setDebugMode(
        btIDebugDraw::DBG_DrawWireframe
        +btIDebugDraw::DBG_DrawAabb
        //btIDebugDraw::DBG_DrawContactPoints
        );

}

struct Common2dCanvasInterface*	OpenGLGuiHelper::get2dCanvasInterface()
{
	return m_data->m_glApp->m_2dCanvasInterface;
}

CommonParameterInterface* OpenGLGuiHelper::getParameterInterface()
{
	return m_data->m_glApp->m_parameterInterface;
}

void OpenGLGuiHelper::setUpAxis(int axis)
{
	m_data->m_glApp->setUpAxis(axis);
}

void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
{
	if (getRenderInterface() && getRenderInterface()->getActiveCamera())
	{
		getRenderInterface()->getActiveCamera()->setCameraDistance(camDist);
		getRenderInterface()->getActiveCamera()->setCameraPitch(pitch);
		getRenderInterface()->getActiveCamera()->setCameraYaw(yaw);
		getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPosX,camPosY,camPosZ);
	}
}




struct MyConvertPointerSizeT
{
	union 
	{
			const void* m_ptr;
			size_t m_int;
	};
};
bool shapePointerCompareFunc(const btCollisionObject* colA, const btCollisionObject* colB)
{
	MyConvertPointerSizeT a,b;
	a.m_ptr = colA->getCollisionShape();
	b.m_ptr = colB->getCollisionShape();
	return (a.m_int<b.m_int);
}

void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) 
{
	//sort the collision objects based on collision shape, the gfx library requires instances that re-use a shape to be added after eachother

	btAlignedObjectArray<btCollisionObject*> sortedObjects;
	sortedObjects.reserve(rbWorld->getNumCollisionObjects());
	for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
	{
		btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
		sortedObjects.push_back(colObj);
	}
	sortedObjects.quickSort(shapePointerCompareFunc);
	for (int i=0;i<sortedObjects.size();i++)
	{
		btCollisionObject* colObj = sortedObjects[i];
		//btRigidBody* body = btRigidBody::upcast(colObj);
		//does this also work for btMultiBody/btMultiBodyLinkCollider?
		createCollisionShapeGraphicsObject(colObj->getCollisionShape());
		int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;

		btVector3 color= sColors[colorIndex];
		createCollisionObjectGraphicsObject(colObj,color);
			
	}
}
    
void OpenGLGuiHelper::drawText3D( const char* txt, float posX, float posY, float posZ, float size)
{
    btAssert(m_data->m_glApp);
    m_data->m_glApp->drawText3D(txt,posX,posY,posZ,size);
}

struct CommonGraphicsApp* OpenGLGuiHelper::getAppInterface()
{
	return m_data->m_glApp;
}