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

examples/ExampleBrowser/OpenGLExampleBrowser.cpp
1 249 строк30 KB
Erwin Coumans
prevent crash when using --opengl2 option in ExampleBrowser.
29 авг 2016, 21:48
29 авг 2016, 21:48e47c74c
#include "OpenGLExampleBrowser.h"
#include "LinearMath/btQuickprof.h"
#include "../OpenGLWindow/OpenGLInclude.h"
#include "../OpenGLWindow/SimpleOpenGL2App.h"
#ifndef NO_OPENGL3
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#endif
#include "../CommonInterfaces/CommonRenderInterface.h"
#ifdef __APPLE__
#include "../OpenGLWindow/MacOpenGLWindow.h"
#else
#ifdef _WIN32
#include "../OpenGLWindow/Win32OpenGLWindow.h"
#else
//let's cross the fingers it is Linux/X11
#include "../OpenGLWindow/X11OpenGLWindow.h"
#endif //_WIN32
#endif//__APPLE__
#include "../ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.h"

#include "Bullet3Common/b3Vector3.h"
#include "assert.h"
#include <stdio.h>
#include "GwenGUISupport/gwenInternalData.h"
#include "GwenGUISupport/gwenUserInterface.h"
#include "../Utils/b3Clock.h"
#include "GwenGUISupport/GwenParameterInterface.h"
#include "GwenGUISupport/GwenProfileWindow.h"
#include "GwenGUISupport/GwenTextureWindow.h"
#include "GwenGUISupport/GraphingTexture.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "../OpenGLWindow/SimpleCamera.h"
#include "../OpenGLWindow/SimpleOpenGL2Renderer.h"
#include "ExampleEntries.h"
#include "OpenGLGuiHelper.h"
#include "Bullet3Common/b3FileUtils.h"

#include "LinearMath/btIDebugDraw.h"
//quick test for file import, @todo(erwincoumans) make it more general and add other file formats
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportBullet/SerializeSetup.h"

#include "Bullet3Common/b3HashMap.h"

struct GL3TexLoader : public MyTextureLoader
{
	b3HashMap<b3HashString, GLint> m_hashMap;

	virtual void LoadTexture(Gwen::Texture* pTexture)
	{
		Gwen::String namestr = pTexture->name.Get();
		const char* n = namestr.c_str();
		GLint* texIdPtr = m_hashMap[n];
		if (texIdPtr)
		{
			pTexture->m_intData = *texIdPtr;
		}
	}
	virtual void FreeTexture(Gwen::Texture* pTexture)
	{
	}
};


struct OpenGLExampleBrowserInternalData
{
	Gwen::Renderer::Base* m_gwenRenderer;
	CommonGraphicsApp* m_app;
//	MyProfileWindow* m_profWindow;
	btAlignedObjectArray<Gwen::Controls::TreeNode*> m_nodes;
	GwenUserInterface* m_gui;
	GL3TexLoader* m_myTexLoader;
	struct MyMenuItemHander* m_handler2;
	btAlignedObjectArray<MyMenuItemHander*> m_handlers;

	OpenGLExampleBrowserInternalData()
		: m_gwenRenderer(0),
		m_app(0),
//		m_profWindow(0),
		m_gui(0),
		m_myTexLoader(0),
		m_handler2(0)
	{

	}
};

static CommonGraphicsApp* s_app=0;

static CommonWindowInterface* s_window = 0;
static CommonParameterInterface*	s_parameterInterface=0;
static CommonRenderInterface*	s_instancingRenderer=0;
static OpenGLGuiHelper*	s_guiHelper=0;
//static MyProfileWindow* s_profWindow =0;
static SharedMemoryInterface* sSharedMem = 0;

#define DEMO_SELECTION_COMBOBOX 13
const char* startFileName = "0_Bullet3Demo.txt";
char staticPngFileName[1024];
//static GwenUserInterface* gui  = 0;
static GwenUserInterface* gui2 = 0;
static int sCurrentDemoIndex = -1;
static int sCurrentHightlighted = 0;
static CommonExampleInterface* sCurrentDemo = 0;
static b3AlignedObjectArray<const char*> allNames;
static float gFixedTimeStep = 0;
bool gAllowRetina = true;
bool gDisableDemoSelection = false;
static class ExampleEntries* gAllExamples=0;
bool sUseOpenGL2 = false;
bool drawGUI=true;
#ifndef USE_OPENGL3
extern bool useShadowMap;
#endif

static bool visualWireframe=false;
static bool renderVisualGeometry=true;
static bool renderGrid = true;
static bool renderGui = true;
static bool enable_experimental_opencl = false;

int gDebugDrawFlags = 0;
static bool pauseSimulation=false;
static bool singleStepSimulation = false;
int midiBaseIndex = 176;
extern bool gDisableDeactivation;

int gSharedMemoryKey=-1;


///some quick test variable for the OpenCL examples

int gPreferredOpenCLDeviceIndex=-1;
int gPreferredOpenCLPlatformIndex=-1;
int gGpuArraySizeX=15;
int gGpuArraySizeY=15;
int gGpuArraySizeZ=15;

//#include <float.h>
//unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM);




void deleteDemo()
{
    if (sCurrentDemo)
	{
		sCurrentDemo->exitPhysics();
		s_instancingRenderer->removeAllInstances();
		delete sCurrentDemo;
		sCurrentDemo=0;
		delete s_guiHelper;
		s_guiHelper = 0;
	}
}

const char* gPngFileName = 0;
int gPngSkipFrames = 0;




b3KeyboardCallback prevKeyboardCallback = 0;

void MyKeyboardCallback(int key, int state)
{

	//b3Printf("key=%d, state=%d", key, state);
	bool handled = false;
	
	if (gui2 && !handled )
	{
		handled = gui2->keyboardCallback(key, state);
	}
	
	if (!handled && sCurrentDemo)
	{
		handled = sCurrentDemo->keyboardCallback(key,state);
	}

	
	

	//checkout: is it desired to ignore keys, if the demo already handles them?
	//if (handled)
	//	return;

	if (key=='a' && state)
	{
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawAabb;
	}
	if (key=='c' && state)
	{
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawContactPoints;
	}
	if (key == 'd' && state)
	{
		gDebugDrawFlags ^= btIDebugDraw::DBG_NoDeactivation;
		gDisableDeactivation = ((gDebugDrawFlags & btIDebugDraw::DBG_NoDeactivation) != 0);
	}
	if (key == 'k' && state)
	{
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraints;
	}

	if (key=='l' && state)
	{
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraintLimits;
	}
	if (key=='w' && state)
	{
		visualWireframe=!visualWireframe;
		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawWireframe;
	}


	if (key=='v' && state)
	{
		renderVisualGeometry = !renderVisualGeometry;
	}
	if (key=='g' && state)
	{
		renderGrid = !renderGrid;
		renderGui = !renderGui;
	}


	if (key=='i' && state)
	{
		pauseSimulation = !pauseSimulation;
	}
	if (key == 'o' && state)
	{
		singleStepSimulation = true;
	}


#ifndef NO_OPENGL3
	if (key=='s' && state)
	{
		useShadowMap=!useShadowMap;
	}
#endif
	if (key==B3G_F1)
	{
		static int count=0;
		if (state)
		{
			b3Printf("F1 pressed %d", count++);

			if (gPngFileName)
			{
				b3Printf("disable image dump");

				gPngFileName=0;
			} else
			{
				gPngFileName = gAllExamples->getExampleName(sCurrentDemoIndex);
				b3Printf("enable image dump %s",gPngFileName);

			}
		} else 
		{
			b3Printf("F1 released %d",count++);
		}
	}
	if (key==B3G_ESCAPE && s_window)
	{
        
		s_window->setRequestExit();
	}

	if (prevKeyboardCallback)
		prevKeyboardCallback(key,state);
}


b3MouseMoveCallback prevMouseMoveCallback = 0;
static void MyMouseMoveCallback( float x, float y)
{
  	bool handled = false;
	if (sCurrentDemo)
		handled = sCurrentDemo->mouseMoveCallback(x,y);
	if (!handled && gui2)
		handled = gui2->mouseMoveCallback(x,y);
	if (!handled)
	{
		if (prevMouseMoveCallback)
			prevMouseMoveCallback(x,y);
	}
}

b3MouseButtonCallback prevMouseButtonCallback  = 0;

static void MyMouseButtonCallback(int button, int state, float x, float y)
{
	bool handled = false;
	//try picking first
	if (sCurrentDemo)
		handled = sCurrentDemo->mouseButtonCallback(button,state,x,y);

	if (!handled && gui2)
		handled = gui2->mouseButtonCallback(button,state,x,y);

	if (!handled)
	{
		if (prevMouseButtonCallback )
			prevMouseButtonCallback (button,state,x,y);
	}
	//	b3DefaultMouseButtonCallback(button,state,x,y);
}

#include <string.h>
struct FileImporterByExtension
{
    std::string m_extension;
    CommonExampleInterface::CreateFunc*		m_createFunc;
};

static btAlignedObjectArray<FileImporterByExtension> gFileImporterByExtension;

void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExampleInterface::CreateFunc*		createFunc)
{
    FileImporterByExtension fi;
    fi.m_extension = extension;
    fi.m_createFunc = createFunc;
    gFileImporterByExtension.push_back(fi);
}

void openFileDemo(const char* filename)
{

    if (sCurrentDemo)
    {
		sCurrentDemo->exitPhysics();
		s_instancingRenderer->removeAllInstances();
		delete sCurrentDemo;
		sCurrentDemo=0;
		delete s_guiHelper;
		s_guiHelper = 0;
    }
   
	s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
    s_parameterInterface->removeAllParameters();
   

	CommonExampleOptions options(s_guiHelper,1);
	options.m_fileName = filename;
	char fullPath[1024];
	sprintf(fullPath, "%s", filename);
	b3FileUtils::toLower(fullPath);
	
	for (int i=0;i<gFileImporterByExtension.size();i++)
    {
        if (strstr(fullPath, gFileImporterByExtension[i].m_extension.c_str()))
        {
            sCurrentDemo = gFileImporterByExtension[i].m_createFunc(options);
        }   
    }
    
	
    if (sCurrentDemo)
    {
        sCurrentDemo->initPhysics();
		sCurrentDemo->resetCamera();
    }


}



void selectDemo(int demoIndex)
{
	bool resetCamera = (sCurrentDemoIndex != demoIndex);
	sCurrentDemoIndex = demoIndex;
	sCurrentHightlighted = demoIndex;
	int numDemos = gAllExamples->getNumRegisteredExamples();
	
	

	if (demoIndex>numDemos)
	{
		demoIndex = 0;
	}
	deleteDemo();
    
	CommonExampleInterface::CreateFunc* func = gAllExamples->getExampleCreateFunc(demoIndex);
	if (func)
	{
		if (s_parameterInterface)
		{
			s_parameterInterface->removeAllParameters();
		}
		int option = gAllExamples->getExampleOption(demoIndex);
		s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
		CommonExampleOptions options(s_guiHelper, option);
		options.m_sharedMem = sSharedMem;
		sCurrentDemo = (*func)(options);
		if (sCurrentDemo)
		{
			if (gui2)
			{
				gui2->setStatusBarMessage("Status: OK", false);
			}
			b3Printf("Selected demo: %s",gAllExamples->getExampleName(demoIndex));
			if (gui2)
			{
				gui2->setExampleDescription(gAllExamples->getExampleDescription(demoIndex));
			}
			
			sCurrentDemo->initPhysics();
			if(resetCamera)
			{
				sCurrentDemo->resetCamera();
			}
		}
	}

}

#include <stdio.h>


static void saveCurrentSettings(int currentEntry,const char* startFileName)
{
	FILE* f = fopen(startFileName,"w");
	if (f)
	{
		fprintf(f,"--start_demo_name=%s\n", gAllExamples->getExampleName(sCurrentDemoIndex));
		fprintf(f,"--mouse_move_multiplier=%f\n", s_app->getMouseMoveMultiplier());
		fprintf(f,"--mouse_wheel_multiplier=%f\n", s_app->getMouseWheelMultiplier());
		float red,green,blue;
		s_app->getBackgroundColor(&red,&green,&blue);
		fprintf(f,"--background_color_red= %f\n", red);
		fprintf(f,"--background_color_green= %f\n", green);
		fprintf(f,"--background_color_blue= %f\n", blue);
		fprintf(f,"--fixed_timestep= %f\n", gFixedTimeStep);
		if (!gAllowRetina)
		{
			fprintf(f,"--disable_retina");
		}

		if (enable_experimental_opencl)
		{
			fprintf(f,"--enable_experimental_opencl\n");
		}
		if (sUseOpenGL2 )
		{
			fprintf(f,"--opengl2\n");
		}

		fclose(f);
	}
};

static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& args)
{
	int currentEntry= 0;
	FILE* f = fopen(startFileName,"r");
	if (f)
	{
		char oneline[1024];
		char* argv[] = {0,&oneline[0]};
		
		while( fgets (oneline, 1024, f)!=NULL ) 
		{
			char *pos;
			if ((pos=strchr(oneline, '\n')) != NULL)
				*pos = '\0';
			args.addArgs(2,argv);
		}
		fclose(f);
	}

};

void	MyComboBoxCallback(int comboId, const char* item)
{
	//printf("comboId = %d, item = %s\n",comboId, item);
	if (comboId==DEMO_SELECTION_COMBOBOX)
	{
		//find selected item
		for (int i=0;i<allNames.size();i++)
		{
			if (strcmp(item,allNames[i])==0)
			{
				selectDemo(i);
				saveCurrentSettings(sCurrentDemoIndex,startFileName);
				break;
			}
		}
	}

}


void MyGuiPrintf(const char* msg)
{
	printf("b3Printf: %s\n",msg);
	if (!gDisableDemoSelection)
	{
		gui2->textOutput(msg);
		gui2->forceUpdateScrollBars();
	}
}



void MyStatusBarPrintf(const char* msg)
{
	printf("b3Printf: %s\n", msg);
	if (!gDisableDemoSelection)
	{
		bool isLeft = true;
		gui2->setStatusBarMessage(msg,isLeft);
	}
}


void MyStatusBarError(const char* msg)
{
	printf("Warning: %s\n", msg);
	if (!gDisableDemoSelection)
	{
		bool isLeft = false;
		gui2->setStatusBarMessage(msg,isLeft);
		gui2->textOutput(msg);
		gui2->forceUpdateScrollBars();
	}
  btAssert(0);

}

struct MyMenuItemHander :public Gwen::Event::Handler
{
	int					m_buttonId;

	MyMenuItemHander( int buttonId)
		:m_buttonId(buttonId)
	{
	}

	void onButtonA(Gwen::Controls::Base* pControl)
	{
		//const Gwen::String& name = pControl->GetName();
		Gwen::Controls::TreeNode* node = (Gwen::Controls::TreeNode*)pControl;
	//	Gwen::Controls::Label* l = node->GetButton();

		Gwen::UnicodeString la = node->GetButton()->GetText();// node->GetButton()->GetName();// GetText();
		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
	//	const char* ha = laa.c_str();

		//printf("selected %s\n", ha);
		//int dep = but->IsDepressed();
		//int tog = but->GetToggleState();
//		if (m_data->m_toggleButtonCallback)
	//		(*m_data->m_toggleButtonCallback)(m_buttonId, tog);
	}
	void onButtonB(Gwen::Controls::Base* pControl)
	{
		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
		//const char* ha = laa.c_str();

		if (!gDisableDemoSelection )
		{
			selectDemo(sCurrentHightlighted);
			saveCurrentSettings(sCurrentDemoIndex, startFileName);
		}
	}
	void onButtonC(Gwen::Controls::Base* pControl)
	{
		/*Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
		const char* ha = laa.c_str();


		printf("onButtonC ! %s\n", ha);
		*/
	}
	void onButtonD(Gwen::Controls::Base* pControl)
	{
/*		Gwen::Controls::Label* label = (Gwen::Controls::Label*) pControl;
		Gwen::UnicodeString la = label->GetText();// node->GetButton()->GetName();// GetText();
		Gwen::String laa = Gwen::Utility::UnicodeToString(la);
		const char* ha = laa.c_str();
		*/

	//	printf("onKeyReturn ! \n");
		if (!gDisableDemoSelection )
		{
			selectDemo(sCurrentHightlighted);
			saveCurrentSettings(sCurrentDemoIndex, startFileName);
		}

	}

	void onButtonE(Gwen::Controls::Base* pControl)
	{
	//	printf("select %d\n",m_buttonId);
		sCurrentHightlighted = m_buttonId;
		gui2->setExampleDescription(gAllExamples->getExampleDescription(sCurrentHightlighted));
	}

	void onButtonF(Gwen::Controls::Base* pControl)
	{
		//printf("selection changed!\n");
	}

	void onButtonG(Gwen::Controls::Base* pControl)
	{
		//printf("onButtonG !\n");
	}



};

void quitCallback()
{
   
    s_window->setRequestExit();
}

void fileOpenCallback()
{

 char filename[1024];
 int len = s_window->fileOpenDialog(filename,1024);
 if (len)
 {
     //todo(erwincoumans) check if it is actually URDF
     //printf("file open:%s\n", filename);
     openFileDemo(filename);
 }
}

#define MAX_GRAPH_WINDOWS 5

struct QuickCanvas : public Common2dCanvasInterface
{
	GL3TexLoader* m_myTexLoader;

	MyGraphWindow* m_gw[MAX_GRAPH_WINDOWS];
	GraphingTexture* m_gt[MAX_GRAPH_WINDOWS];
	int m_curNumGraphWindows;
	int m_curXpos;

	QuickCanvas(GL3TexLoader* myTexLoader)
		:m_myTexLoader(myTexLoader),
		m_curNumGraphWindows(0),
		m_curXpos(0)
	{
		for (int i=0;i<MAX_GRAPH_WINDOWS;i++)
		{
			m_gw[i] = 0;
			m_gt[i] = 0;
		}
	}
	virtual ~QuickCanvas() {}
	virtual int createCanvas(const char* canvasName, int width, int height)
	{
		if (m_curNumGraphWindows<MAX_GRAPH_WINDOWS)
		{
			//find a slot
			int slot = m_curNumGraphWindows;
			btAssert(slot<MAX_GRAPH_WINDOWS);
			if (slot>=MAX_GRAPH_WINDOWS)
				return 0;//don't crash
			
			m_curNumGraphWindows++;

			MyGraphInput input(gui2->getInternalData());
			input.m_width=width;
			input.m_height=height;
			input.m_xPos = m_curXpos;//GUI will clamp it to the right//300;
			m_curXpos+=width+20;
			input.m_yPos = 10000;//GUI will clamp it to bottom
			input.m_name=canvasName;
			input.m_texName = canvasName;
			m_gt[slot] = new GraphingTexture;
			m_gt[slot]->create(width,height);
			int texId = m_gt[slot]->getTextureId();
			m_myTexLoader->m_hashMap.insert(canvasName, texId);
			m_gw[slot] = setupTextureWindow(input);
			
			return slot;
		}
		return -1;
	}
	virtual void destroyCanvas(int canvasId)
	{
	    m_curXpos = 0;
		btAssert(canvasId>=0);
		delete m_gt[canvasId];
		m_gt[canvasId] = 0;
		destroyTextureWindow(m_gw[canvasId]);
		m_gw[canvasId] = 0;
		m_curNumGraphWindows--;
	}
	virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
	{
		btAssert(canvasId>=0);
		btAssert(canvasId<m_curNumGraphWindows);
		m_gt[canvasId]->setPixel(x,y,red,green,blue,alpha);
	}
	
	virtual void getPixel(int canvasId, int x, int y, unsigned char& red, unsigned char& green,unsigned char& blue, unsigned char& alpha)
	{
		btAssert(canvasId>=0);
		btAssert(canvasId<m_curNumGraphWindows);
		m_gt[canvasId]->getPixel(x,y,red,green,blue,alpha);
	}
	
	virtual void refreshImageData(int canvasId)
	{
		m_gt[canvasId]->uploadImageData();
	}
};


OpenGLExampleBrowser::OpenGLExampleBrowser(class ExampleEntries* examples)
{
	m_internalData = new OpenGLExampleBrowserInternalData;

	gAllExamples = examples;
}

OpenGLExampleBrowser::~OpenGLExampleBrowser()
{
	deleteDemo();
	for (int i = 0; i < m_internalData->m_nodes.size(); i++)
	{
		delete m_internalData->m_nodes[i];
	}
	delete m_internalData->m_handler2;
	for (int i = 0; i < m_internalData->m_handlers.size(); i++)
	{
		delete m_internalData->m_handlers[i];
	}
	m_internalData->m_handlers.clear();
	m_internalData->m_nodes.clear();
	delete s_parameterInterface;
	s_parameterInterface = 0;
	delete s_app->m_2dCanvasInterface;
	s_app->m_2dCanvasInterface = 0;

	m_internalData->m_gui->exit();
	

	delete m_internalData->m_gui;
	delete m_internalData->m_gwenRenderer;
	delete m_internalData->m_myTexLoader;




	
	delete m_internalData->m_app;
	s_app = 0;
	
	
	
//	delete m_internalData->m_profWindow;
	
	delete m_internalData;
    
	gFileImporterByExtension.clear();
	gAllExamples = 0;
}

#include "EmptyExample.h"

bool OpenGLExampleBrowser::init(int argc, char* argv[])
{
    b3CommandLineArgs args(argc,argv);
    
	loadCurrentSettings(startFileName, args);

	args.GetCmdLineArgument("fixed_timestep",gFixedTimeStep);
	args.GetCmdLineArgument("png_skip_frames", gPngSkipFrames);	
	///The OpenCL rigid body pipeline is experimental and 
	///most OpenCL drivers and OpenCL compilers have issues with our kernels.
	///If you have a high-end desktop GPU such as AMD 7970 or better, or NVIDIA GTX 680 with up-to-date drivers
	///you could give it a try
	///Note that several old OpenCL physics examples still have to be ported over to this new Example Browser
	if (args.CheckCmdLineFlag("enable_experimental_opencl"))
	{
		enable_experimental_opencl = true;
		gAllExamples->initOpenCLExampleEntries();
	}
	if (args.CheckCmdLineFlag("disable_retina"))
	{
		gAllowRetina = false;
	}
		
	
	int width = 1024;
    int height=768;
#ifndef NO_OPENGL3
    SimpleOpenGL3App* simpleApp=0;
	sUseOpenGL2 =args.CheckCmdLineFlag("opengl2");
#else
	sUseOpenGL2 = true;
#endif
	const char* appTitle = "Bullet Physics ExampleBrowser";
#if defined (_DEBUG) || defined (DEBUG)
	const char* optMode = "Debug build (slow)";
#else
	const char* optMode = "Release build";
#endif

    if (sUseOpenGL2 )
    {
		char title[1024];
		sprintf(title,"%s using limited OpenGL2 fallback. %s", appTitle,optMode);
        s_app = new SimpleOpenGL2App(title,width,height);
        s_app->m_renderer = new SimpleOpenGL2Renderer(width,height);
    } 

#ifndef NO_OPENGL3
	else
    {
		char title[1024];
		sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
        simpleApp = new SimpleOpenGL3App(title,width,height, gAllowRetina);
        s_app = simpleApp;
    }
#endif
	m_internalData->m_app = s_app;
    char* gVideoFileName = 0;
    args.GetCmdLineArgument("mp4",gVideoFileName);
   #ifndef NO_OPENGL3 
    if (gVideoFileName)
        simpleApp->dumpFramesToVideo(gVideoFileName);
   #endif 
   
    s_instancingRenderer = s_app->m_renderer;
    s_window  = s_app->m_window;

    width = s_window->getWidth();
    height = s_window->getHeight();
    
	prevMouseMoveCallback  = s_window->getMouseMoveCallback();
	s_window->setMouseMoveCallback(MyMouseMoveCallback);
	
	prevMouseButtonCallback = s_window->getMouseButtonCallback();
	s_window->setMouseButtonCallback(MyMouseButtonCallback);
	prevKeyboardCallback = s_window->getKeyboardCallback();
	s_window->setKeyboardCallback(MyKeyboardCallback);

	s_app->m_renderer->getActiveCamera()->setCameraDistance(13);
	s_app->m_renderer->getActiveCamera()->setCameraPitch(0);
	s_app->m_renderer->getActiveCamera()->setCameraTargetPosition(0,0,0);

	float mouseMoveMult= s_app->getMouseMoveMultiplier();
	if (args.GetCmdLineArgument("mouse_move_multiplier", mouseMoveMult))
	{
		s_app->setMouseMoveMultiplier(mouseMoveMult);
	}

	
	float mouseWheelMult= s_app->getMouseWheelMultiplier();
	if (args.GetCmdLineArgument("mouse_wheel_multiplier",mouseWheelMult))
	{
		s_app->setMouseWheelMultiplier(mouseWheelMult);
	}

	
	args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey);
								
	float red,green,blue;
	s_app->getBackgroundColor(&red,&green,&blue);
	args.GetCmdLineArgument("background_color_red",red);
	args.GetCmdLineArgument("background_color_green",green);
	args.GetCmdLineArgument("background_color_blue",blue);
	s_app->setBackgroundColor(red,green,blue);

	b3SetCustomWarningMessageFunc(MyGuiPrintf);
	b3SetCustomPrintfFunc(MyGuiPrintf);
	b3SetCustomErrorMessageFunc(MyStatusBarError);
	

    assert(glGetError()==GL_NO_ERROR);
	
	{
		GL3TexLoader* myTexLoader = new GL3TexLoader;
		m_internalData->m_myTexLoader = myTexLoader;

		
		if (sUseOpenGL2)
		{
			m_internalData->m_gwenRenderer = new Gwen::Renderer::OpenGL_DebugFont();
		}
#ifndef NO_OPENGL3
		else
		{
			sth_stash* fontstash = simpleApp->getFontStash();
			m_internalData->m_gwenRenderer = new GwenOpenGL3CoreRenderer(simpleApp->m_primRenderer, fontstash, width, height, s_window->getRetinaScale(), myTexLoader);
		}
#endif

		gui2 = new GwenUserInterface;
		
		m_internalData->m_gui = gui2;
		
		m_internalData->m_myTexLoader = myTexLoader;


		
		gui2->init(width, height, m_internalData->m_gwenRenderer, s_window->getRetinaScale());
		
		
	}
	//gui = 0;// new GwenUserInterface;
	
	GL3TexLoader* myTexLoader = m_internalData->m_myTexLoader;
	// = myTexLoader;
    
    
 
	//

	if (gui2)
	{
		




		//	gui->getInternalData()->m_explorerPage
		Gwen::Controls::TreeControl* tree = gui2->getInternalData()->m_explorerTreeCtrl;


		//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);


//		s_profWindow= setupProfileWindow(gui2->getInternalData());
		//m_internalData->m_profWindow = s_profWindow;
	//	profileWindowSetVisible(s_profWindow,false);
		gui2->setFocus();

		s_parameterInterface = s_app->m_parameterInterface = new GwenParameterInterface(gui2->getInternalData());
		s_app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
	

	///add some demos to the gAllExamples

    
	int numDemos = gAllExamples->getNumRegisteredExamples();

	//char nodeText[1024];
	//int curDemo = 0;
	int selectedDemo = 0;
	Gwen::Controls::TreeNode* curNode = tree;
	m_internalData->m_handler2 = new MyMenuItemHander(-1);

	char* demoNameFromCommandOption = 0;
	args.GetCmdLineArgument("start_demo_name", demoNameFromCommandOption);
	if (demoNameFromCommandOption) {
		selectedDemo = -1;
	}

	tree->onReturnKeyDown.Add(m_internalData->m_handler2, &MyMenuItemHander::onButtonD);
	int firstAvailableDemoIndex=-1;
	Gwen::Controls::TreeNode* firstNode=0;

	for (int d = 0; d<numDemos; d++)
	{
//		sprintf(nodeText, "Node %d", i);
		Gwen::UnicodeString nodeUText = Gwen::Utility::StringToUnicode(gAllExamples->getExampleName(d));
		if (gAllExamples->getExampleCreateFunc(d))//was test for gAllExamples[d].m_menuLevel==1
		{
			Gwen::Controls::TreeNode* pNode = curNode->AddNode(nodeUText);
			
			if (firstAvailableDemoIndex<0)
			{
				firstAvailableDemoIndex = d;
				firstNode = pNode;
			}
			
			if (d == selectedDemo)
			{
				firstAvailableDemoIndex = d;
				firstNode = pNode;
				//pNode->SetSelected(true);
				//tree->ExpandAll();
			//	tree->ForceUpdateScrollBars();
			//tree->OnKeyLeft(true);
		//	tree->OnKeyRight(true);
			
			
			//tree->ExpandAll();

			//	selectDemo(d);


			}
			
			if (demoNameFromCommandOption )
			{
				const char* demoName = gAllExamples->getExampleName(d);
				int res = strcmp(demoName, demoNameFromCommandOption);
				if (res==0)
				{
					firstAvailableDemoIndex = d;
					firstNode = pNode;
				}
			}

#if 1
			MyMenuItemHander* handler = new MyMenuItemHander(d);
			m_internalData->m_handlers.push_back(handler);
			
			pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonA);
			pNode->GetButton()->onDoubleClick.Add(handler, &MyMenuItemHander::onButtonB);
			pNode->GetButton()->onDown.Add(handler, &MyMenuItemHander::onButtonC);
			pNode->onSelect.Add(handler, &MyMenuItemHander::onButtonE);
			pNode->onReturnKeyDown.Add(handler, &MyMenuItemHander::onButtonG);
			pNode->onSelectChange.Add(handler, &MyMenuItemHander::onButtonF);
			
#endif
//			pNode->onKeyReturn.Add(handler, &MyMenuItemHander::onButtonD);
//			pNode->GetButton()->onKeyboardReturn.Add(handler, &MyMenuItemHander::onButtonD);
	//		pNode->onNamePress.Add(handler, &MyMenuItemHander::onButtonD);
//			pNode->onKeyboardPressed.Add(handler, &MyMenuItemHander::onButtonD);
//			pNode->OnKeyPress
		}
		 else
		 {
			 curNode = tree->AddNode(nodeUText);
			 m_internalData->m_nodes.push_back(curNode);
		 }
	}

	if (sCurrentDemo==0)
	{
		if (firstAvailableDemoIndex>=0)
		{
			firstNode->SetSelected(true);
			while (firstNode != tree)
			{
				firstNode->ExpandAll();
				firstNode = (Gwen::Controls::TreeNode*)firstNode->GetParent();
			}
			
			selectDemo(firstAvailableDemoIndex);
		}

	}
	free(demoNameFromCommandOption);
	demoNameFromCommandOption = 0;

	btAssert(sCurrentDemo!=0);
	if (sCurrentDemo==0)
	{
		printf("Error, no demo/example\n");
		exit(0);
	}
	
    gui2->registerFileOpenCallback(fileOpenCallback);
	gui2->registerQuitCallback(quitCallback);
   }


	return true;
}



CommonExampleInterface* OpenGLExampleBrowser::getCurrentExample()
{
	btAssert(sCurrentDemo);
	return sCurrentDemo;
}

bool OpenGLExampleBrowser::requestedExit()
{
	return s_window->requestedExit();
}

void OpenGLExampleBrowser::update(float deltaTime)
{

		assert(glGetError()==GL_NO_ERROR);
		s_instancingRenderer->init();
        DrawGridData dg;
        dg.upAxis = s_app->getUpAxis();

        {
            BT_PROFILE("Update Camera and Light");

	

            s_instancingRenderer->updateCamera(dg.upAxis);
        }

		
		static int frameCount = 0;
		frameCount++;

		if (0)
		{
            BT_PROFILE("Draw frame counter");
            char bla[1024];
            sprintf(bla,"Frame %d", frameCount);
            s_app->drawText(bla,10,10);
		}

    if (gPngFileName)
    {
        
        static int skip = 0;
        skip--;
        if (skip<0)
        {
            skip=gPngSkipFrames;
            //printf("gPngFileName=%s\n",gPngFileName);
            static int s_frameCount = 100;
            
            sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
            //b3Printf("Made screenshot %s",staticPngFileName);
            s_app->dumpNextFrameToPng(staticPngFileName);
            glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
        }
    }

		
		if (sCurrentDemo)
		{
			if (!pauseSimulation || singleStepSimulation)
			{
				singleStepSimulation = false;
				//printf("---------------------------------------------------\n");
				//printf("Framecount = %d\n",frameCount);
				
				if (gFixedTimeStep>0)
				{
					sCurrentDemo->stepSimulation(gFixedTimeStep);
				} else
				{
					sCurrentDemo->stepSimulation(deltaTime);//1./60.f);
				}
			}
			
			if (renderGrid)
            {
                BT_PROFILE("Draw Grid");
                glPolygonOffset(3.0, 3);
                glEnable(GL_POLYGON_OFFSET_FILL);
                s_app->drawGrid(dg);
                
            }
			if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))
            {
				if (visualWireframe)
				{
					glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
				}
                BT_PROFILE("Render Scene");
                sCurrentDemo->renderScene();
            }
            {
				
				glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
                sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
            }
		}

    

		{
			
			if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
			{
				char msg[1024];
				float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
				float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
				float yaw = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraYaw();
				float camTarget[3];
				s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraTargetPosition(camTarget);
				sprintf(msg,"dist=%f, pitch=%f, yaw=%f,target=%f,%f,%f", camDist,pitch,yaw,camTarget[0],camTarget[1],camTarget[2]);
				gui2->setStatusBarMessage(msg, true);	
			}
			
		}

		static int toggle = 1;
		if (renderGui)
		{
			//            if (!pauseSimulation)
			//                processProfileData(s_profWindow,false);

			if (sUseOpenGL2)
			{

				saveOpenGLState(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
			}
			BT_PROFILE("Draw Gwen GUI");
			if (m_internalData->m_gui)
			{
				m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
			}
			if (gui2)
			{
				gui2->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
			}

            if (sUseOpenGL2)
            {
                restoreOpenGLState();
            }

		}
	
	
	
				
		toggle=1-toggle;
        {
            BT_PROFILE("Sync Parameters");
			if (s_parameterInterface)
			{
				s_parameterInterface->syncParameters();
			}
        }
        {
            BT_PROFILE("Swap Buffers");
            s_app->swapBuffer();
        }
	
		if (gui2)
		{
			gui2->forceUpdateScrollBars();
		}

}

void OpenGLExampleBrowser::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem)
{
	gDisableDemoSelection = true;
	sSharedMem = sharedMem;
}