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

examples/OpenGLWindow/GLInstancingRenderer.cpp
1 812 строк53 KB
erwincoumans
Add rudimentary 'saveWorld' command in shared memory API and pybullet, see examples/pybullet/saveWorld.py
13 окт 2016, 09:03
13 окт 2016, 09:0333d9603
#ifndef NO_OPENGL3
/*
Copyright (c) 2012 Advanced Micro Devices, Inc.

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//Originally written by Erwin Coumans


///todo: make this configurable in the gui
bool useShadowMap = true;// true;//false;//true;
int shadowMapWidth= 2048;
int shadowMapHeight= 2048;
float shadowMapWorldSize=5;

#define MAX_POINTS_IN_BATCH 1024
#define MAX_LINES_IN_BATCH 1024


#include "OpenGLInclude.h"
#include "../CommonInterfaces/CommonWindowInterface.h"
//#include "Bullet3Common/b3MinMax.h"

#ifndef __APPLE__
#ifndef glVertexAttribDivisor
#define glVertexAttribDivisor glVertexAttribDivisorARB
#endif //glVertexAttribDivisor
#ifndef GL_COMPARE_REF_TO_TEXTURE
#define GL_COMPARE_REF_TO_TEXTURE GL_COMPARE_R_TO_TEXTURE
#endif //GL_COMPARE_REF_TO_TEXTURE
#ifndef glDrawElementsInstanced
#define glDrawElementsInstanced glDrawElementsInstancedARB
#endif
#endif //__APPLE__
#include "GLInstancingRenderer.h"

#include <string.h>
//#include "DemoSettings.h"
#include <stdio.h>

#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Matrix3x3.h"
#include "LoadShader.h"

#include "GLInstanceRendererInternalData.h"

//GLSL shader strings, embedded using build3/stringify
#include "Shaders/pointSpriteVS.h"
#include "Shaders/pointSpritePS.h"
#include "Shaders/instancingVS.h"
#include "Shaders/instancingPS.h"
#include "Shaders/createShadowMapInstancingVS.h"
#include "Shaders/createShadowMapInstancingPS.h"
#include "Shaders/useShadowMapInstancingVS.h"
#include "Shaders/useShadowMapInstancingPS.h"
#include "Shaders/linesPS.h"
#include "Shaders/linesVS.h"

#include "GLRenderToTexture.h"




//#include "../../opencl/gpu_rigidbody_pipeline/b3GpuNarrowphaseAndSolver.h"//for m_maxNumObjectCapacity

static InternalDataRenderer* sData2;

GLint lineWidthRange[2]={1,1};
static b3Vector3 gLightPos=b3MakeVector3(-5,12,-4);

struct b3GraphicsInstance
{
	GLuint               m_cube_vao;
	GLuint               m_index_vbo;
	GLuint				m_texturehandle;

	int m_numIndices;
	int m_numVertices;

	int m_numGraphicsInstances;

	int m_instanceOffset;
	int m_vertexArrayOffset;
	int	m_primitiveType;

	b3GraphicsInstance()
	:m_cube_vao(-1),
		m_index_vbo(-1),
		m_texturehandle(0),
		m_numIndices(-1),
		m_numVertices(-1),
		m_numGraphicsInstances(0),
		m_instanceOffset(0),
		m_vertexArrayOffset(0),
		m_primitiveType(B3_GL_TRIANGLES)
	{
	}

};




bool m_ortho = false;



//static GLfloat depthLightModelviewMatrix[16];

static void checkError(const char *functionName)
{
    GLenum error;
    while (( error = glGetError() ) != GL_NO_ERROR)
    {
        fprintf (stderr, "GL error 0x%X detected in %s\n", error, functionName);
    }
}



extern int gShapeIndex;






struct InternalTextureHandle
{
    GLuint  m_glTexture;
    int m_width;
    int m_height;
};



struct InternalDataRenderer : public GLInstanceRendererInternalData
{

	SimpleCamera	m_defaultCamera1;
    CommonCameraInterface* m_activeCamera;
    
	GLfloat m_projectionMatrix[16];
	GLfloat m_viewMatrix[16];


	GLuint				m_defaultTexturehandle;
	b3AlignedObjectArray<InternalTextureHandle>	m_textureHandles;

	GLRenderToTexture*	m_shadowMap;
	GLuint				m_shadowTexture;
	
	GLuint				m_renderFrameBuffer;
	
	
	InternalDataRenderer() :
		m_shadowMap(0),
		m_shadowTexture(0),
		m_renderFrameBuffer(0),
		m_activeCamera(&m_defaultCamera1)
	{
		//clear to zero to make it obvious if the matrix is used uninitialized
		for (int i=0;i<16;i++)
		{
			m_projectionMatrix[i]=0;
			m_viewMatrix[i]=0;
		}

	}

	

};

struct	GLInstanceRendererInternalData* GLInstancingRenderer::getInternalData()
{
	return m_data;
}


static GLuint               linesShader;        // The line renderer
static GLuint               useShadowMapInstancingShader;        // The shadow instancing renderer
static GLuint               createShadowMapInstancingShader;        // The shadow instancing renderer
static GLuint               instancingShader;        // The instancing renderer
static GLuint               instancingShaderPointSprite;        // The point sprite instancing renderer




//static bool                 done = false;

static GLint	lines_ModelViewMatrix=0;
static GLint	lines_ProjectionMatrix=0;
static GLint	lines_position=0;
static GLint	lines_colour=0;
GLuint lineVertexBufferObject=0;
GLuint lineVertexArrayObject=0;
GLuint lineIndexVbo = 0;

GLuint linesVertexBufferObject=0;
GLuint linesVertexArrayObject=0;
GLuint linesIndexVbo = 0;


static GLint	useShadow_ModelViewMatrix=0;
static GLint	useShadow_MVP=0;
static GLint  useShadow_lightDirIn=0;

static GLint	useShadow_ProjectionMatrix=0;
static GLint	useShadow_DepthBiasModelViewMatrix=0;
static GLint    useShadow_uniform_texture_diffuse = 0;
static GLint	useShadow_shadowMap = 0;

static GLint	createShadow_depthMVP=0;

static GLint	ModelViewMatrix=0;
static GLint	ProjectionMatrix=0;
static GLint	regularLightDirIn=0;


static GLint                uniform_texture_diffuse = 0;

static GLint	screenWidthPointSprite=0;
static GLint	ModelViewMatrixPointSprite=0;
static GLint	ProjectionMatrixPointSprite=0;
//static GLint	uniform_texture_diffusePointSprite= 0;



GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShapeCapacityInBytes)
	:
	m_textureenabled(true),
	m_textureinitialized(false),
	m_screenWidth(0),
	m_screenHeight(0),
	m_upAxis(1),
    m_enableBlend(false)
{

	m_data = new InternalDataRenderer;
	m_data->m_maxNumObjectCapacity = maxNumObjectCapacity;
	m_data->m_maxShapeCapacityInBytes=maxShapeCapacityInBytes;

	m_data->m_totalNumInstances = 0;

	sData2 = m_data;

	m_data->m_instance_positions_ptr.resize(m_data->m_maxNumObjectCapacity*4);
	m_data->m_instance_quaternion_ptr.resize(m_data->m_maxNumObjectCapacity*4);
	m_data->m_instance_colors_ptr.resize(m_data->m_maxNumObjectCapacity*4);
	m_data->m_instance_scale_ptr.resize(m_data->m_maxNumObjectCapacity*3);

}

void GLInstancingRenderer::removeAllInstances()
{
	m_data->m_totalNumInstances = 0;

	for (int i=0;i<m_graphicsInstances.size();i++)
	{
		if (m_graphicsInstances[i]->m_index_vbo)
		{
			glDeleteBuffers(1,&m_graphicsInstances[i]->m_index_vbo);
		}
		if (m_graphicsInstances[i]->m_cube_vao)
		{
			glDeleteVertexArrays(1,&m_graphicsInstances[i]->m_cube_vao);
		}
		delete m_graphicsInstances[i];
	}
	m_graphicsInstances.clear();
}


GLInstancingRenderer::~GLInstancingRenderer()
{
	delete m_data->m_shadowMap;
	glDeleteTextures(1,&m_data->m_shadowTexture);
	glDeleteTextures(1,&m_data->m_defaultTexturehandle);

	removeAllInstances();

	sData2=0;

	if (m_data)
	{
		if (m_data->m_vbo)
			glDeleteBuffers(1,&m_data->m_vbo);
	}
	delete m_data;
}









void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)
{
	b3Assert(srcIndex<m_data->m_totalNumInstances);
	b3Assert(srcIndex>=0);
	m_data->m_instance_positions_ptr[srcIndex*4+0]=position[0];
	m_data->m_instance_positions_ptr[srcIndex*4+1]=position[1];
	m_data->m_instance_positions_ptr[srcIndex*4+2]=position[2];
	m_data->m_instance_positions_ptr[srcIndex*4+3]=1;

	m_data->m_instance_quaternion_ptr[srcIndex*4+0]=orientation[0];
	m_data->m_instance_quaternion_ptr[srcIndex*4+1]=orientation[1];
	m_data->m_instance_quaternion_ptr[srcIndex*4+2]=orientation[2];
	m_data->m_instance_quaternion_ptr[srcIndex*4+3]=orientation[3];

/*	m_data->m_instance_colors_ptr[srcIndex*4+0]=color[0];
	m_data->m_instance_colors_ptr[srcIndex*4+1]=color[1];
	m_data->m_instance_colors_ptr[srcIndex*4+2]=color[2];
	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
	*/
}


void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex, float* position, float* orientation)
{
	b3Assert(srcIndex<m_data->m_totalNumInstances);
	b3Assert(srcIndex>=0);
	position[0] = m_data->m_instance_positions_ptr[srcIndex*4+0];
	position[1] = m_data->m_instance_positions_ptr[srcIndex*4+1];
	position[2] = m_data->m_instance_positions_ptr[srcIndex*4+2];
	
	orientation[0] = m_data->m_instance_quaternion_ptr[srcIndex*4+0];
	orientation[1] = m_data->m_instance_quaternion_ptr[srcIndex*4+1];
	orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
	orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
}
void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
{
	m_data->m_instance_colors_ptr[srcIndex*4+0]=float(color[0]);
	m_data->m_instance_colors_ptr[srcIndex*4+1]=float(color[1]);
	m_data->m_instance_colors_ptr[srcIndex*4+2]=float(color[2]);
	m_data->m_instance_colors_ptr[srcIndex*4+3]=float(color[3]);
}

void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int srcIndex)
{

	m_data->m_instance_colors_ptr[srcIndex*4+0]=color[0];
	m_data->m_instance_colors_ptr[srcIndex*4+1]=color[1];
	m_data->m_instance_colors_ptr[srcIndex*4+2]=color[2];
	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
}

void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
{
	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
}

void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
{
	m_data->m_instance_scale_ptr[srcIndex*3+0]=scale[0];
	m_data->m_instance_scale_ptr[srcIndex*3+1]=scale[1];
	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
}

void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, float* orientation, int objectIndex)
{
	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
	//glFlush();

	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
	//b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
	int totalNumInstances= 0;
	for (int k=0;k<m_graphicsInstances.size();k++)
	{
		b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
		totalNumInstances+=gfxObj->m_numGraphicsInstances;
	}

	int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);

	char* base = orgBase;

	float* positions = (float*)(base+m_data->m_maxShapeCapacityInBytes);
	float* orientations = (float*)(base+m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE);


	positions[objectIndex*4] = position[0];
	positions[objectIndex*4+1] = position[1];
	positions[objectIndex*4+2] = position[2];
	positions[objectIndex*4+3] = position[3];

	orientations [objectIndex*4] = orientation[0];
	orientations [objectIndex*4+1] = orientation[1];
	orientations [objectIndex*4+2] = orientation[2];
	orientations [objectIndex*4+3] = orientation[3];

	glUnmapBuffer( GL_ARRAY_BUFFER);
	//glFlush();
}


void GLInstancingRenderer::writeTransforms()
{

	b3Assert(glGetError() ==GL_NO_ERROR);


	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
	//glFlush();

	b3Assert(glGetError() ==GL_NO_ERROR);
	

#ifdef B3_DEBUG
	{
		int totalNumInstances= 0;
		for (int k=0;k<m_graphicsInstances.size();k++)
		{
			b3GraphicsInstance* gfxObj = m_graphicsInstances[k];
			totalNumInstances+=gfxObj->m_numGraphicsInstances;
		}
		b3Assert(m_data->m_totalNumInstances == totalNumInstances);
	}
#endif//B3_DEBUG

	int POSITION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
	int ORIENTATION_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
	int COLOR_BUFFER_SIZE = (m_data->m_totalNumInstances*sizeof(float)*4);
//	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);

#if 1
	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
 						&m_data->m_instance_positions_ptr[0]);
	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
 						&m_data->m_instance_quaternion_ptr[0]);
	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
 						&m_data->m_instance_colors_ptr[0]);
	glBufferSubData(	GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
					 	&m_data->m_instance_scale_ptr[0]);
#else

	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
	if (orgBase)
	{


		
		

		for (int k=0;k<m_graphicsInstances.size();k++)
		{
			//int k=0;
			b3GraphicsInstance* gfxObj = m_graphicsInstances[k];



			

			char* base = orgBase;

			float* positions = (float*)(base+m_data->m_maxShapeCapacityInBytes);
			float* orientations = (float*)(base+m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE);
			float* colors= (float*)(base+m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE);
			float* scaling= (float*)(base+m_data->m_maxShapeCapacityInBytes + POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE);

			//static int offset=0;
			//offset++;


			for (int i=0;i<gfxObj->m_numGraphicsInstances;i++)
			{

				int srcIndex=i+gfxObj->m_instanceOffset;

				positions[srcIndex*4] = m_data->m_instance_positions_ptr[srcIndex*4];
				positions[srcIndex*4+1] = m_data->m_instance_positions_ptr[srcIndex*4+1];
				positions[srcIndex*4+2] = m_data->m_instance_positions_ptr[srcIndex*4+2];
				positions[srcIndex*4+3] = m_data->m_instance_positions_ptr[srcIndex*4+3];

				orientations[srcIndex*4]=m_data->m_instance_quaternion_ptr[srcIndex*4];
				orientations[srcIndex*4+1]=m_data->m_instance_quaternion_ptr[srcIndex*4+1];
				orientations[srcIndex*4+2]=m_data->m_instance_quaternion_ptr[srcIndex*4+2];
				orientations[srcIndex*4+3]=m_data->m_instance_quaternion_ptr[srcIndex*4+3];

				colors[srcIndex*4]=m_data->m_instance_colors_ptr[srcIndex*4];
				colors[srcIndex*4+1]=m_data->m_instance_colors_ptr[srcIndex*4+1];
				colors[srcIndex*4+2]=m_data->m_instance_colors_ptr[srcIndex*4+2];
				colors[srcIndex*4+3]=m_data->m_instance_colors_ptr[srcIndex*4+3];

				scaling[srcIndex*3]=m_data->m_instance_scale_ptr[srcIndex*3];
				scaling[srcIndex*3+1]=m_data->m_instance_scale_ptr[srcIndex*3+1];
				scaling[srcIndex*3+2]=m_data->m_instance_scale_ptr[srcIndex*3+2];

			}
		}
	} else
	{
		b3Error("ERROR glMapBuffer failed\n");
	}
	b3Assert(glGetError() ==GL_NO_ERROR);

	glUnmapBuffer( GL_ARRAY_BUFFER);
	//if this glFinish is removed, the animation is not always working/blocks
	//@todo: figure out why
	//glFlush();

#endif

	glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);

    b3Assert(glGetError() ==GL_NO_ERROR);

}

int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const double* pos1, const double* orn1, const double* color1, const double* scaling1)
{
    float pos[4] = {(float)pos1[0],(float)pos1[1],(float)pos1[2],(float)pos1[3]};
    float orn[4] = {(float)orn1[0],(float)orn1[1],(float)orn1[2],(float)orn1[3]};
    float color[4] = {(float)color1[0],(float)color1[1],(float)color1[2],(float)color1[3]};
    float scaling[4] = {(float)scaling1[0],(float)scaling1[1],(float)scaling1[2],(float)scaling1[3]};
    return registerGraphicsInstance(shapeIndex,pos,orn,color,scaling);
}


int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
	b3Assert(shapeIndex == (m_graphicsInstances.size()-1));
	b3Assert(m_graphicsInstances.size()<m_data->m_maxNumObjectCapacity-1);

	b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];

	int index = gfxObj->m_numGraphicsInstances + gfxObj->m_instanceOffset;

	int maxElements = m_data->m_instance_positions_ptr.size();
	if (index*4<maxElements)
	{
		m_data->m_instance_positions_ptr[index*4]=position[0];
		m_data->m_instance_positions_ptr[index*4+1]=position[1];
		m_data->m_instance_positions_ptr[index*4+2]=position[2];
		m_data->m_instance_positions_ptr[index*4+3]=1;

		m_data->m_instance_quaternion_ptr[index*4]=quaternion[0];
		m_data->m_instance_quaternion_ptr[index*4+1]=quaternion[1];
		m_data->m_instance_quaternion_ptr[index*4+2]=quaternion[2];
		m_data->m_instance_quaternion_ptr[index*4+3]=quaternion[3];

		m_data->m_instance_colors_ptr[index*4]=color[0];
		m_data->m_instance_colors_ptr[index*4+1]=color[1];
		m_data->m_instance_colors_ptr[index*4+2]=color[2];
		m_data->m_instance_colors_ptr[index*4+3]=color[3];

		m_data->m_instance_scale_ptr[index*3] = scaling[0];
		m_data->m_instance_scale_ptr[index*3+1] = scaling[1];
		m_data->m_instance_scale_ptr[index*3+2] = scaling[2];

		gfxObj->m_numGraphicsInstances++;
		m_data->m_totalNumInstances++;
	} else
	{
		b3Error("registerGraphicsInstance out of range, %d\n", maxElements);
		return -1;
	}
	return index;//gfxObj->m_numGraphicsInstances;
}


int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width, int height)
{
	b3Assert(glGetError() ==GL_NO_ERROR);
	glActiveTexture(GL_TEXTURE0);
	int textureIndex = m_data->m_textureHandles.size();
    const GLubyte*	image= (const GLubyte*)texels;	
	GLuint textureHandle;
	glGenTextures(1,(GLuint*)&textureHandle);
	glBindTexture(GL_TEXTURE_2D,textureHandle);

	b3Assert(glGetError() ==GL_NO_ERROR);

	InternalTextureHandle h;
    h.m_glTexture = textureHandle;
    h.m_width = width;
    h.m_height = height;

	m_data->m_textureHandles.push_back(h);
	updateTexture(textureIndex, texels);
	return textureIndex;
}


void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels)
{
    if (textureIndex>=0)
    {
		
		

        glActiveTexture(GL_TEXTURE0);
        b3Assert(glGetError() ==GL_NO_ERROR);
        InternalTextureHandle& h = m_data->m_textureHandles[textureIndex];

		//textures need to be flipped for OpenGL...
		b3AlignedObjectArray<unsigned char> flippedTexels;
		flippedTexels.resize(h.m_width* h.m_height * 3);
		for (int i = 0; i < h.m_width; i++)
		{
			for (int j = 0; j < h.m_height; j++)
			{
				flippedTexels[(i + j*h.m_width) * 3] =      texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
				flippedTexels[(i + j*h.m_width) * 3+1] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
				flippedTexels[(i + j*h.m_width) * 3+2] =    texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+2];
			}
		}


        glBindTexture(GL_TEXTURE_2D,h.m_glTexture);
        b3Assert(glGetError() ==GL_NO_ERROR);
        const GLubyte*	image= (const GLubyte*)texels;	
        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&flippedTexels[0]);
        b3Assert(glGetError() ==GL_NO_ERROR);
        glGenerateMipmap(GL_TEXTURE_2D);
        b3Assert(glGetError() ==GL_NO_ERROR);
    }
}

void GLInstancingRenderer::activateTexture(int textureIndex)
{
    glActiveTexture(GL_TEXTURE0);
    
    if (textureIndex>=0)
    {
        glBindTexture(GL_TEXTURE_2D,m_data->m_textureHandles[textureIndex].m_glTexture);
    } else
    {
        glBindTexture(GL_TEXTURE_2D,0);
    }
}

void GLInstancingRenderer::updateShape(int shapeIndex, const float* vertices)
{
	b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
	int numvertices = gfxObj->m_numVertices;

	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
	char* dest=  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
	int vertexStrideInBytes = 9*sizeof(float);
	int sz = numvertices*vertexStrideInBytes;
	memcpy(dest+vertexStrideInBytes*gfxObj->m_vertexArrayOffset,vertices,sz);
	glUnmapBuffer( GL_ARRAY_BUFFER);
}

int GLInstancingRenderer::registerShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
	b3GraphicsInstance* gfxObj = new b3GraphicsInstance;

	if (textureId>=0)
	{
		gfxObj->m_texturehandle = m_data->m_textureHandles[textureId].m_glTexture;
	}

	gfxObj->m_primitiveType = primitiveType;

	if (m_graphicsInstances.size())
	{
		b3GraphicsInstance* prevObj = m_graphicsInstances[m_graphicsInstances.size()-1];
		gfxObj->m_instanceOffset = prevObj->m_instanceOffset + prevObj->m_numGraphicsInstances;
		gfxObj->m_vertexArrayOffset = prevObj->m_vertexArrayOffset + prevObj->m_numVertices;
	} else
	{
		gfxObj->m_instanceOffset = 0;
	}

	m_graphicsInstances.push_back(gfxObj);
	gfxObj->m_numIndices = numIndices;
	gfxObj->m_numVertices = numvertices;


	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
	char* dest=  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
	int vertexStrideInBytes = 9*sizeof(float);
	int sz = numvertices*vertexStrideInBytes;
#ifdef B3_DEBUG
	int totalUsed = vertexStrideInBytes*gfxObj->m_vertexArrayOffset+sz;
	b3Assert(totalUsed<m_data->m_maxShapeCapacityInBytes);
#endif//B3_DEBUG

	memcpy(dest+vertexStrideInBytes*gfxObj->m_vertexArrayOffset,vertices,sz);
	glUnmapBuffer( GL_ARRAY_BUFFER);

	glGenBuffers(1, &gfxObj->m_index_vbo);

	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, gfxObj->m_index_vbo);
	int indexBufferSizeInBytes = gfxObj->m_numIndices*sizeof(int);

	glBufferData(GL_ELEMENT_ARRAY_BUFFER, indexBufferSizeInBytes, NULL, GL_STATIC_DRAW);
	glBufferSubData(GL_ELEMENT_ARRAY_BUFFER,0,indexBufferSizeInBytes,indices);
	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);

	glGenVertexArrays(1, &gfxObj->m_cube_vao);
	glBindVertexArray(gfxObj->m_cube_vao);
	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
	glBindVertexArray(0);
	glBindBuffer(GL_ARRAY_BUFFER,0);
	glBindVertexArray(0);


	return m_graphicsInstances.size()-1;
}




void GLInstancingRenderer::InitShaders()
{

	int POSITION_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*4);
	int ORIENTATION_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*4);
	int COLOR_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*4);
	int SCALE_BUFFER_SIZE = (m_data->m_maxNumObjectCapacity*sizeof(float)*3);

	linesShader = gltLoadShaderPair(linesVertexShader,linesFragmentShader);
	lines_ModelViewMatrix = glGetUniformLocation(linesShader, "ModelViewMatrix");
	lines_ProjectionMatrix = glGetUniformLocation(linesShader, "ProjectionMatrix");
	lines_colour=glGetUniformLocation(linesShader, "colour");
	lines_position=glGetAttribLocation(linesShader, "position");
	glLinkProgram(linesShader);
	glUseProgram(linesShader);

	{
		glGenVertexArrays(1, &linesVertexArrayObject);
		glBindVertexArray(linesVertexArrayObject);

		glGenBuffers(1, &linesVertexBufferObject);
		glGenBuffers(1, &linesIndexVbo);

		int sz = MAX_LINES_IN_BATCH*sizeof(b3Vector3);
		glBindVertexArray(linesVertexArrayObject);
		glBindBuffer(GL_ARRAY_BUFFER, linesVertexBufferObject);
		glBufferData(GL_ARRAY_BUFFER, sz, 0, GL_DYNAMIC_DRAW);

		glBindVertexArray(0);
	}
	{
		glGenVertexArrays(1, &lineVertexArrayObject);
		glBindVertexArray(lineVertexArrayObject);

		glGenBuffers(1, &lineVertexBufferObject);
		glGenBuffers(1, &lineIndexVbo);

		int sz = MAX_POINTS_IN_BATCH*sizeof(b3Vector3);
		glBindVertexArray(lineVertexArrayObject);
		glBindBuffer(GL_ARRAY_BUFFER, lineVertexBufferObject);
		glBufferData(GL_ARRAY_BUFFER, sz, 0, GL_DYNAMIC_DRAW);

		glBindVertexArray(0);
	}

	//glGetIntegerv(GL_ALIASED_LINE_WIDTH_RANGE, range);
	glGetIntegerv(GL_SMOOTH_LINE_WIDTH_RANGE, lineWidthRange);




	useShadowMapInstancingShader = gltLoadShaderPair(useShadowMapInstancingVertexShader,useShadowMapInstancingFragmentShader);

	glLinkProgram(useShadowMapInstancingShader);
	glUseProgram(useShadowMapInstancingShader);
	useShadow_ModelViewMatrix = glGetUniformLocation(useShadowMapInstancingShader, "ModelViewMatrix");
	useShadow_MVP = 		glGetUniformLocation(useShadowMapInstancingShader, "MVP");
	useShadow_ProjectionMatrix = glGetUniformLocation(useShadowMapInstancingShader, "ProjectionMatrix");
	useShadow_DepthBiasModelViewMatrix = glGetUniformLocation(useShadowMapInstancingShader, "DepthBiasModelViewProjectionMatrix");
	useShadow_uniform_texture_diffuse = glGetUniformLocation(useShadowMapInstancingShader, "Diffuse");
	useShadow_shadowMap = glGetUniformLocation(useShadowMapInstancingShader,"shadowMap");
	useShadow_lightDirIn = glGetUniformLocation(useShadowMapInstancingShader,"lightDirIn");

	createShadowMapInstancingShader = gltLoadShaderPair(createShadowMapInstancingVertexShader,createShadowMapInstancingFragmentShader);
	glLinkProgram(createShadowMapInstancingShader);
	glUseProgram(createShadowMapInstancingShader);
	createShadow_depthMVP = glGetUniformLocation(createShadowMapInstancingShader, "depthMVP");

	glUseProgram(0);

	instancingShader = gltLoadShaderPair(instancingVertexShader,instancingFragmentShader);
	glLinkProgram(instancingShader);
	glUseProgram(instancingShader);
	ModelViewMatrix = glGetUniformLocation(instancingShader, "ModelViewMatrix");
	ProjectionMatrix = glGetUniformLocation(instancingShader, "ProjectionMatrix");
	uniform_texture_diffuse = glGetUniformLocation(instancingShader, "Diffuse");
	regularLightDirIn  = glGetUniformLocation(instancingShader,"lightDirIn");

	glUseProgram(0);

		instancingShaderPointSprite = gltLoadShaderPair(pointSpriteVertexShader,pointSpriteFragmentShader);
	glUseProgram(instancingShaderPointSprite);
	ModelViewMatrixPointSprite = glGetUniformLocation(instancingShaderPointSprite, "ModelViewMatrix");
	ProjectionMatrixPointSprite = glGetUniformLocation(instancingShaderPointSprite, "ProjectionMatrix");
	screenWidthPointSprite = glGetUniformLocation(instancingShaderPointSprite, "screenWidth");

	glUseProgram(0);

	//GLuint offset = 0;

	glGenBuffers(1, &m_data->m_vbo);
    checkError("glGenBuffers");

	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);


	int size = m_data->m_maxShapeCapacityInBytes  + POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE+SCALE_BUFFER_SIZE;
	m_data->m_vboSize = size;

	glBufferData(GL_ARRAY_BUFFER, size, 0, GL_DYNAMIC_DRAW);//GL_STATIC_DRAW);

	glBindBuffer(GL_ARRAY_BUFFER,0);
	glBindVertexArray(0);

	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);


}




void GLInstancingRenderer::init()
{
	b3Assert(glGetError() ==GL_NO_ERROR);


	glEnable(GL_DEPTH_TEST);
	glDepthFunc(GL_LESS);

    b3Assert(glGetError() ==GL_NO_ERROR);

//	glClearColor(float(0.),float(0.),float(0.4),float(0));

    b3Assert(glGetError() ==GL_NO_ERROR);


    b3Assert(glGetError() ==GL_NO_ERROR);

	{
		B3_PROFILE("texture");
		if(m_textureenabled)
		{
			if(!m_textureinitialized)
			{
				glActiveTexture(GL_TEXTURE0);

				GLubyte*	image=new GLubyte[256*256*3];
				for(int y=0;y<256;++y)
				{
//					const int	t=y>>5;
					GLubyte*	pi=image+y*256*3;
					for(int x=0;x<256;++x)
					{
						if (x<2||y<2||x>253||y>253)
						{
							pi[0]=255;//0;
							pi[1]=255;//0;
							pi[2]=255;//0;
						} else
						{
							pi[0]=255;
							pi[1]=255;
							pi[2]=255;
						}

						/*
						const int		s=x>>5;
						const GLubyte	b=180;
						GLubyte			c=b+((s+t&1)&1)*(255-b);
						pi[0]=c;
						pi[1]=c;
						pi[2]=c;
						*/

						pi+=3;
					}
				}

				glGenTextures(1,(GLuint*)&m_data->m_defaultTexturehandle);
				glBindTexture(GL_TEXTURE_2D,m_data->m_defaultTexturehandle);
				b3Assert(glGetError() ==GL_NO_ERROR);

				glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 256,256,0,GL_RGB,GL_UNSIGNED_BYTE,image);
				glGenerateMipmap(GL_TEXTURE_2D);

				b3Assert(glGetError() ==GL_NO_ERROR);

				delete[] image;
				m_textureinitialized=true;
			}

			b3Assert(glGetError() ==GL_NO_ERROR);

			glBindTexture(GL_TEXTURE_2D,m_data->m_defaultTexturehandle);
			b3Assert(glGetError() ==GL_NO_ERROR);


		} else
		{
			glDisable(GL_TEXTURE_2D);
			b3Assert(glGetError() ==GL_NO_ERROR);
		}
	}
	//glEnable(GL_COLOR_MATERIAL);

	b3Assert(glGetError() ==GL_NO_ERROR);

	//	  glEnable(GL_CULL_FACE);
	//	  glCullFace(GL_BACK);
}




void	GLInstancingRenderer::resize(int width, int height)
{
	m_screenWidth = width;
	m_screenHeight = height;
}


const CommonCameraInterface* GLInstancingRenderer::getActiveCamera() const
{
	return m_data->m_activeCamera;
}

CommonCameraInterface* GLInstancingRenderer::getActiveCamera()
{
	return m_data->m_activeCamera;
}


void GLInstancingRenderer::setActiveCamera(CommonCameraInterface* cam)
{
	m_data->m_activeCamera = cam;
}


void GLInstancingRenderer::updateCamera(int upAxis)
{

    b3Assert(glGetError() ==GL_NO_ERROR);
	m_upAxis = upAxis;
	switch (upAxis)
	{
    case 1:
    		gLightPos = b3MakeVector3(-50.f,100,30);
    	break;
    case 2:
			gLightPos = b3MakeVector3(-50.f,30,100);
			break;
    default:
    b3Assert(0);
	};

	m_data->m_activeCamera->setCameraUpAxis(upAxis);
	m_data->m_activeCamera->setAspectRatio((float)m_screenWidth/(float)m_screenHeight);
	m_data->m_defaultCamera1.update();
    m_data->m_activeCamera->getCameraProjectionMatrix(m_data->m_projectionMatrix);
    m_data->m_activeCamera->getCameraViewMatrix(m_data->m_viewMatrix);


}




//#define STB_IMAGE_WRITE_IMPLEMENTATION
#include "stb_image_write.h"
void writeTextureToPng(int textureWidth, int textureHeight, const char* fileName, int numComponents)
{

	b3Assert(glGetError() ==GL_NO_ERROR);
	glPixelStorei(GL_PACK_ALIGNMENT,4);

	glReadBuffer(GL_NONE);
	float* orgPixels = (float*)malloc(textureWidth*textureHeight*numComponents*4);
	char* pixels = (char*)malloc(textureWidth*textureHeight*numComponents*4);
	glReadPixels(0,0,textureWidth, textureHeight, GL_DEPTH_COMPONENT, GL_FLOAT, orgPixels);
	b3Assert(glGetError() ==GL_NO_ERROR);
	for (int j=0;j<textureHeight;j++)
	{
		for (int i=0;i<textureWidth;i++)
		{
			float val = orgPixels[(j*textureWidth+i)];
			if (val!=1.f)
			{
				//printf("val[%d,%d]=%f\n", i,j,val);
			}
			pixels[(j*textureWidth+i)*numComponents]=char(orgPixels[(j*textureWidth+i)]*255.f);
			pixels[(j*textureWidth+i)*numComponents+1]=0;//255.f;
			pixels[(j*textureWidth+i)*numComponents+2]=0;//255.f;
			pixels[(j*textureWidth+i)*numComponents+3]=127;


			//pixels[(j*textureWidth+i)*+1]=val;
			//pixels[(j*textureWidth+i)*numComponents+2]=val;
			//pixels[(j*textureWidth+i)*numComponents+3]=255;
		}

		/*	pixels[(j*textureWidth+j)*numComponents]=255;
			pixels[(j*textureWidth+j)*numComponents+1]=0;
			pixels[(j*textureWidth+j)*numComponents+2]=0;
			pixels[(j*textureWidth+j)*numComponents+3]=255;
			*/

	}
	if (0)
	{
		//swap the pixels
		unsigned char tmp;

		for (int j=0;j<textureHeight/2;j++)
		{
			for (int i=0;i<textureWidth;i++)
			{
				for (int c=0;c<numComponents;c++)
				{
					tmp = pixels[(j*textureWidth+i)*numComponents+c];
					pixels[(j*textureWidth+i)*numComponents+c]=
					pixels[((textureHeight-j-1)*textureWidth+i)*numComponents+c];
					pixels[((textureHeight-j-1)*textureWidth+i)*numComponents+c] = tmp;
				}
			}
		}
	}

	stbi_write_png(fileName, textureWidth,textureHeight, numComponents, pixels, textureWidth*numComponents);

	free(pixels);

}


void GLInstancingRenderer::renderScene()
{
	//avoid some Intel driver on a Macbook Pro to lock-up
	//todo: figure out what is going on on that machine

	//glFlush();

	if (useShadowMap)
	{

		renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
		//glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
		renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);

	} else
	{
		renderSceneInternal();
	}

}


void GLInstancingRenderer::drawPoint(const double* position, const double color[4], double pointDrawSize)
{
	float pos[4]={(float)position[0],(float)position[1],(float)position[2],0};
	float clr[4] = {(float)color[0],(float)color[1],(float)color[2],(float)color[3]};
	drawPoints(pos,clr,1,3*sizeof(float),float(pointDrawSize));
}

void GLInstancingRenderer::drawPoint(const float* positions, const float color[4], float pointDrawSize)
{
	drawPoints(positions,color,1,3*sizeof(float),pointDrawSize);
}
void GLInstancingRenderer::drawPoints(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, float pointDrawSize)
{

	glActiveTexture(GL_TEXTURE0);
	glBindTexture(GL_TEXTURE_2D,0);

	b3Assert(glGetError() ==GL_NO_ERROR);
	glUseProgram(linesShader);
	glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
	glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
	glUniform4f(lines_colour,color[0],color[1],color[2],color[3]);

	glPointSize(pointDrawSize);
	glBindVertexArray(lineVertexArrayObject);

    glBindBuffer(GL_ARRAY_BUFFER, lineVertexBufferObject);

	int maxPointsInBatch = MAX_POINTS_IN_BATCH;
	int remainingPoints = numPoints;
	int offsetNumPoints= 0;
	while (1)
	{
		int curPointsInBatch = b3Min(maxPointsInBatch, remainingPoints);
		if (curPointsInBatch)
		{

			glBufferSubData(GL_ARRAY_BUFFER, 0, curPointsInBatch*pointStrideInBytes, positions + offsetNumPoints*(pointStrideInBytes / sizeof(float)));
			glEnableVertexAttribArray(0);
			int numFloats = 3;// pointStrideInBytes / sizeof(float);
			glVertexAttribPointer(0, numFloats, GL_FLOAT, GL_FALSE, pointStrideInBytes, 0);
			glDrawArrays(GL_POINTS, 0, curPointsInBatch);
			remainingPoints -= curPointsInBatch;
			offsetNumPoints += curPointsInBatch;
		}
		 else
		 {
			 break;
		 }
	}

	glBindVertexArray(0);
	glPointSize(1);
	glUseProgram(0);
}

void GLInstancingRenderer::drawLines(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, const unsigned int* indices, int numIndices, float lineWidthIn)
{
	glActiveTexture(GL_TEXTURE0);
	glBindTexture(GL_TEXTURE_2D,0);

	float lineWidth = lineWidthIn;
	b3Clamp(lineWidth,(float)lineWidthRange[0],(float)lineWidthRange[1]);
	glLineWidth(lineWidth);

	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
	b3Assert(glGetError() ==GL_NO_ERROR);
	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);

	glActiveTexture(GL_TEXTURE0);
	glBindTexture(GL_TEXTURE_2D,0);

	b3Assert(glGetError() ==GL_NO_ERROR);
	glUseProgram(linesShader);
	glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
	glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
	glUniform4f(lines_colour,color[0],color[1],color[2],color[3]);

//	glPointSize(pointDrawSize);
	glBindVertexArray(linesVertexArrayObject);

	b3Assert(glGetError() ==GL_NO_ERROR);
    glBindBuffer(GL_ARRAY_BUFFER, linesVertexBufferObject);

	{

		glBufferData(GL_ARRAY_BUFFER, numPoints*pointStrideInBytes, 0,GL_DYNAMIC_DRAW);

		glBufferSubData(GL_ARRAY_BUFFER, 0, numPoints*pointStrideInBytes, positions);
		b3Assert(glGetError() ==GL_NO_ERROR);
		glBindBuffer(GL_ARRAY_BUFFER, 0);
		glBindBuffer(GL_ARRAY_BUFFER, linesVertexBufferObject);
		glEnableVertexAttribArray(0);

		b3Assert(glGetError() ==GL_NO_ERROR);
		int numFloats = 3;
		glVertexAttribPointer(0, numFloats, GL_FLOAT, GL_FALSE, pointStrideInBytes, 0);
		b3Assert(glGetError() ==GL_NO_ERROR);

		glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, linesIndexVbo);
		int indexBufferSizeInBytes = numIndices*sizeof(int);

		glBufferData(GL_ELEMENT_ARRAY_BUFFER, indexBufferSizeInBytes, NULL, GL_DYNAMIC_DRAW);
		glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, 0, indexBufferSizeInBytes, indices);

		glDrawElements(GL_LINES, numIndices, GL_UNSIGNED_INT, 0);
	}

	glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
	glBindBuffer(GL_ARRAY_BUFFER, 0);
//	for (int i=0;i<numIndices;i++)
//		printf("indicec[i]=%d]\n",indices[i]);
	b3Assert(glGetError() ==GL_NO_ERROR);
	glBindVertexArray(0);
	b3Assert(glGetError() ==GL_NO_ERROR);
	glPointSize(1);
    b3Assert(glGetError() ==GL_NO_ERROR);
	glUseProgram(0);
}

void GLInstancingRenderer::drawLine(const double fromIn[4], const double toIn[4], const double colorIn[4], double lineWidthIn)
{
	float from[4]={float(fromIn[0]),float(fromIn[1]),float(fromIn[2]),float(fromIn[3])};
	float to[4]={float(toIn[0]),float(toIn[1]),float(toIn[2]),float(toIn[3])};
	float color[4]={float(colorIn[0]),float(colorIn[1]),float(colorIn[2]),float(colorIn[3])};
	float lineWidth=float(lineWidthIn);
	drawLine(from,to,color,lineWidth);
}
void GLInstancingRenderer::drawLine(const float from[4], const float to[4], const float color[4], float lineWidth)
{
		
	b3Assert(glGetError() ==GL_NO_ERROR);

	glActiveTexture(GL_TEXTURE0);
	glBindTexture(GL_TEXTURE_2D,0);
	b3Assert(glGetError() ==GL_NO_ERROR);



	glUseProgram(linesShader);

	b3Assert(glGetError() ==GL_NO_ERROR);

	glUniformMatrix4fv(lines_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
	glUniformMatrix4fv(lines_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
	glUniform4f(lines_colour,color[0],color[1],color[2],color[3]);


	b3Assert(glGetError() ==GL_NO_ERROR);

	const float vertexPositions[] = {
		from[0],from[1],from[2],1,
		to[0],to[1],to[2],1
	};
	int sz = sizeof(vertexPositions);
	b3Assert(glGetError() ==GL_NO_ERROR);


	b3Clamp(lineWidth,(float)lineWidthRange[0],(float)lineWidthRange[1]);
	glLineWidth(lineWidth);

	b3Assert(glGetError() ==GL_NO_ERROR);

	glBindVertexArray(lineVertexArrayObject);
	b3Assert(glGetError() ==GL_NO_ERROR);

    glBindBuffer(GL_ARRAY_BUFFER, lineVertexBufferObject);

	b3Assert(glGetError() ==GL_NO_ERROR);


	{
		glBufferSubData(GL_ARRAY_BUFFER, 0,sz, vertexPositions);
	}


	b3Assert(glGetError() ==GL_NO_ERROR);

    glBindBuffer(GL_ARRAY_BUFFER, 0);
	glBindBuffer(GL_ARRAY_BUFFER, lineVertexBufferObject);
	b3Assert(glGetError() ==GL_NO_ERROR);

	glEnableVertexAttribArray(0);
	glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 0, 0);
	b3Assert(glGetError() ==GL_NO_ERROR);

	glDrawArrays(GL_LINES, 0, 2);
	b3Assert(glGetError() ==GL_NO_ERROR);


	glBindVertexArray(0);
	glLineWidth(1);

	b3Assert(glGetError() ==GL_NO_ERROR);
	glUseProgram(0);
}

struct PointerCaster
{
	union {
		int m_baseIndex;
		GLvoid* m_pointer;
	};

	PointerCaster()
	:m_pointer(0)
		{
		}


};



#if 0
static void    b3CreateFrustum(
                        float left,
                        float right,
                        float bottom,
                        float top,
                        float nearVal,
                        float farVal,
                        float frustum[16])
{

    frustum[0*4+0] = (float(2) * nearVal) / (right - left);
    frustum[0*4+1] = float(0);
    frustum[0*4+2] = float(0);
    frustum[0*4+3] = float(0);

    frustum[1*4+0] = float(0);
    frustum[1*4+1] = (float(2) * nearVal) / (top - bottom);
    frustum[1*4+2] = float(0);
    frustum[1*4+3] = float(0);

    frustum[2*4+0] = (right + left) / (right - left);
    frustum[2*4+1] = (top + bottom) / (top - bottom);
    frustum[2*4+2] = -(farVal + nearVal) / (farVal - nearVal);
    frustum[2*4+3] = float(-1);

    frustum[3*4+0] = float(0);
    frustum[3*4+1] = float(0);
    frustum[3*4+2] = -(float(2) * farVal * nearVal) / (farVal - nearVal);
    frustum[3*4+3] = float(0);

}
#endif

static void b3Matrix4x4Mul(GLfloat aIn[4][4], GLfloat bIn[4][4], GLfloat result[4][4])
{
	for (int j=0;j<4;j++)
		for (int i=0;i<4;i++)
			result[j][i] = aIn[0][i] * bIn[j][0] + aIn[1][i] * bIn[j][1] + aIn[2][i] * bIn[j][2] + aIn[3][i] * bIn[j][3];
}

static void b3Matrix4x4Mul16(GLfloat aIn[16], GLfloat bIn[16], GLfloat result[16])
{
	for (int j=0;j<4;j++)
		for (int i=0;i<4;i++)
			result[j*4+i] = aIn[0*4+i] * bIn[j*4+0] + aIn[1*4+i] * bIn[j*4+1] + aIn[2*4+i] * bIn[j*4+2] + aIn[3*4+i] * bIn[j*4+3];
}


static void b3CreateDiagonalMatrix(GLfloat value, GLfloat result[4][4])
{
	for (int i=0;i<4;i++)
	{
		for (int j=0;j<4;j++)
		{
			if (i==j)
			{
				result[i][j] = value;
			} else
			{
				result[i][j] = 0.f;
			}
		}
	}
}

static void b3CreateOrtho(GLfloat left, GLfloat right, GLfloat bottom, GLfloat top, GLfloat zNear, GLfloat zFar, GLfloat result[4][4])
{
	b3CreateDiagonalMatrix(1.f,result);

	result[0][0] = 2.f / (right - left);
	result[1][1] = 2.f / (top - bottom);
	result[2][2] = - 2.f / (zFar - zNear);
	result[3][0] = - (right + left) / (right - left);
	result[3][1] = - (top + bottom) / (top - bottom);
	result[3][2] = - (zFar + zNear) / (zFar - zNear);
}

static void    b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,const b3Vector3& up, GLfloat result[16])
{
    b3Vector3 f = (center - eye).normalized();
    b3Vector3 u = up.normalized();
    b3Vector3 s = (f.cross(u)).normalized();
    u = s.cross(f);

    result[0*4+0] = s.x;
    result[1*4+0] = s.y;
    result[2*4+0] = s.z;

	result[0*4+1] = u.x;
    result[1*4+1] = u.y;
    result[2*4+1] = u.z;

    result[0*4+2] =-f.x;
    result[1*4+2] =-f.y;
    result[2*4+2] =-f.z;

	result[0*4+3] = 0.f;
    result[1*4+3] = 0.f;
    result[2*4+3] = 0.f;

    result[3*4+0] = -s.dot(eye);
    result[3*4+1] = -u.dot(eye);
    result[3*4+2] = f.dot(eye);
    result[3*4+3] = 1.f;
}




void GLInstancingRenderer::renderSceneInternal(int renderMode)
{

//	glEnable(GL_DEPTH_TEST);

	GLint dims[4];
        glGetIntegerv(GL_VIEWPORT, dims);
	//we need to get the viewport dims, because on Apple Retina the viewport dimension is different from screenWidth
	//printf("dims=%d,%d,%d,%d\n",dims[0],dims[1],dims[2],dims[3]);
	// Accept fragment if it closer to the camera than the former one
	//glDepthFunc(GL_LESS);

	// Cull triangles which normal is not towards the camera
	glEnable(GL_CULL_FACE);



	 B3_PROFILE("GLInstancingRenderer::RenderScene");

	 {
		B3_PROFILE("init");
		init();
	 }


    b3Assert(glGetError() ==GL_NO_ERROR);

	float depthProjectionMatrix[4][4];
	GLfloat depthModelViewMatrix[4][4];
	//GLfloat depthModelViewMatrix2[4][4];

	// Compute the MVP matrix from the light's point of view
	if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE)
	{
		glEnable(GL_CULL_FACE);
		glCullFace(GL_FRONT);

		if (!m_data->m_shadowMap)
		{
			glActiveTexture(GL_TEXTURE0);

			glGenTextures(1,&m_data->m_shadowTexture);
			glBindTexture(GL_TEXTURE_2D,m_data->m_shadowTexture);
			//glTexImage2D(GL_TEXTURE_2D,0,GL_DEPTH_COMPONENT16,m_screenWidth,m_screenHeight,0,GL_DEPTH_COMPONENT,GL_FLOAT,0);
			//glTexImage2D(GL_TEXTURE_2D,0,GL_DEPTH_COMPONENT32,m_screenWidth,m_screenHeight,0,GL_DEPTH_COMPONENT,GL_FLOAT,0);

#ifdef OLD_SHADOWMAP_INIT
			glTexImage2D(GL_TEXTURE_2D, 0,GL_DEPTH_COMPONENT16, shadowMapWidth, shadowMapHeight, 0,GL_DEPTH_COMPONENT, GL_FLOAT, 0);
#else//OLD_SHADOWMAP_INIT
			//Reduce size of shadowMap if glTexImage2D call fails as may happen in some cases
			//https://github.com/bulletphysics/bullet3/issues/40
			
			int size;
			glGetIntegerv(GL_MAX_TEXTURE_SIZE, &size);
			if (size < shadowMapWidth){
				shadowMapWidth = size;
			}
			if (size < shadowMapHeight){
				shadowMapHeight = size;
			}
			GLuint err;
			do {
				glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT16, 
					shadowMapWidth, shadowMapHeight, 
					0, GL_DEPTH_COMPONENT, GL_FLOAT, 0);
				err = glGetError();
				if (err!=GL_NO_ERROR){
					shadowMapHeight >>= 1;
					shadowMapWidth >>= 1;
				}
			} while (err != GL_NO_ERROR && shadowMapWidth > 0);
#endif//OLD_SHADOWMAP_INIT

			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);



			float l_ClampColor[] = {1.0, 1.0, 1.0, 1.0};
			glTexParameterfv(GL_TEXTURE_2D, GL_TEXTURE_BORDER_COLOR, l_ClampColor);
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER);
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER);
//			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
//			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_LEQUAL);
			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_COMPARE_REF_TO_TEXTURE);

			m_data->m_shadowMap=new GLRenderToTexture();
			m_data->m_shadowMap->init(shadowMapWidth, shadowMapHeight,m_data->m_shadowTexture,RENDERTEXTURE_DEPTH);
		}
		m_data->m_shadowMap->enable();
		glViewport(0,0,shadowMapWidth,shadowMapHeight);
		//glClearColor(1,1,1,1);
		glClear(GL_DEPTH_BUFFER_BIT);
		//glClearColor(0.3,0.3,0.3,1);

//		m_data->m_shadowMap->disable();
	//	return;
		glEnable(GL_CULL_FACE);
		glCullFace(GL_FRONT); // Cull back-facing triangles -> draw only front-facing triangles

	b3Assert(glGetError() ==GL_NO_ERROR);
	} else
	{
		//glDisable(GL_CULL_FACE);
		glCullFace(GL_BACK);

	}

	b3CreateOrtho(-shadowMapWorldSize,shadowMapWorldSize,-shadowMapWorldSize,shadowMapWorldSize,1,300,depthProjectionMatrix);//-14,14,-14,14,1,200, depthProjectionMatrix);
	float depthViewMatrix[4][4];
	b3Vector3 center = b3MakeVector3(0,0,0);
	float upf[3];
	m_data->m_activeCamera->getCameraUpVector(upf);
	b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
	b3CreateLookAt(gLightPos,center,up,&depthViewMatrix[0][0]);
	//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);

	GLfloat depthModelMatrix[4][4];
	b3CreateDiagonalMatrix(1.f,depthModelMatrix);

	b3Matrix4x4Mul(depthViewMatrix, depthModelMatrix, depthModelViewMatrix);

	GLfloat depthMVP[4][4];
	b3Matrix4x4Mul(depthProjectionMatrix,depthModelViewMatrix,depthMVP);

	GLfloat biasMatrix[4][4]={
			{ 0.5, 0.0, 0.0, 0.0 },
			{ 0.0, 0.5, 0.0, 0.0 },
			{ 0.0, 0.0, 0.5, 0.0 },
			{ 0.5, 0.5, 0.5, 1.0 }
	};

	GLfloat depthBiasMVP[4][4];
	b3Matrix4x4Mul(biasMatrix,depthMVP,depthBiasMVP);


	//float m_frustumZNear=0.1;
    //float m_frustumZFar=100.f;



	//b3CreateFrustum(-m_frustumZNear, m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar,(float*)depthProjectionMatrix);


    //b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,0,1),(float*)depthModelViewMatrix);

	{
		B3_PROFILE("updateCamera");
	//	updateCamera();
		m_data->m_activeCamera->getCameraProjectionMatrix(m_data->m_projectionMatrix);
        m_data->m_activeCamera->getCameraViewMatrix(m_data->m_viewMatrix);

	}

b3Assert(glGetError() ==GL_NO_ERROR);


	//	glBindBuffer(GL_ARRAY_BUFFER, 0);
	{
		B3_PROFILE("glFlush2");

		glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
		//glFlush();
	}
b3Assert(glGetError() ==GL_NO_ERROR);

	int totalNumInstances = 0;

	for (int i=0;i<m_graphicsInstances.size();i++)
	{
		totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
	}

	int curOffset = 0;
	//GLuint lastBindTexture = 0;

	
	for (int i=0;i<m_graphicsInstances.size();i++)
	{

		b3GraphicsInstance* gfxObj = m_graphicsInstances[i];
		if (gfxObj->m_numGraphicsInstances)
		{
			glActiveTexture(GL_TEXTURE0);
			GLuint curBindTexture = 0;
			if (gfxObj->m_texturehandle)
				curBindTexture = gfxObj->m_texturehandle;
			else
				curBindTexture = m_data->m_defaultTexturehandle;

//disable lazy evaluation, it just leads to bugs
			//if (lastBindTexture != curBindTexture)
			{
				glBindTexture(GL_TEXTURE_2D,curBindTexture);
			}
			//lastBindTexture = curBindTexture;

b3Assert(glGetError() ==GL_NO_ERROR);
	//	int myOffset = gfxObj->m_instanceOffset*4*sizeof(float);

		int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
		int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
		int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
//		int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);

		glBindVertexArray(gfxObj->m_cube_vao);


		int vertexStride = 9*sizeof(float);
		PointerCaster vertex;
		vertex.m_baseIndex = gfxObj->m_vertexArrayOffset*vertexStride;


		glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer);
		glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
		glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));

		PointerCaster uv;
		uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex;

		PointerCaster normal;
		normal.m_baseIndex = 4*sizeof(float)+vertex.m_baseIndex;

		glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, 9*sizeof(float), uv.m_pointer);
		glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 9*sizeof(float), normal.m_pointer);
		glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
		glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));

		glEnableVertexAttribArray(0);
		glEnableVertexAttribArray(1);
		glEnableVertexAttribArray(2);
		glEnableVertexAttribArray(3);
		glEnableVertexAttribArray(4);
		glEnableVertexAttribArray(5);
		glEnableVertexAttribArray(6);
		glVertexAttribDivisor(0, 0);
		glVertexAttribDivisor(1, 1);
		glVertexAttribDivisor(2, 1);
		glVertexAttribDivisor(3, 0);
		glVertexAttribDivisor(4, 0);
		glVertexAttribDivisor(5, 1);
		glVertexAttribDivisor(6, 1);






			int indexCount = gfxObj->m_numIndices;
			GLvoid* indexOffset = 0;

			glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, gfxObj->m_index_vbo);
			{
				B3_PROFILE("glDrawElementsInstanced");

				if (gfxObj->m_primitiveType==B3_GL_POINTS)
				{
					glUseProgram(instancingShaderPointSprite);
					glUniformMatrix4fv(ProjectionMatrixPointSprite, 1, false, &m_data->m_projectionMatrix[0]);
					glUniformMatrix4fv(ModelViewMatrixPointSprite, 1, false, &m_data->m_viewMatrix[0]);
					glUniform1f(screenWidthPointSprite,float(m_screenWidth));

					//glUniform1i(uniform_texture_diffusePointSprite, 0);
					  b3Assert(glGetError() ==GL_NO_ERROR);
					  glPointSize(20);

#ifndef __APPLE__
					glEnable(GL_POINT_SPRITE_ARB);
//					glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE);
#endif

					glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
					glDrawElementsInstanced(GL_POINTS, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
				} else
				{
					switch (renderMode)
					{

					case B3_DEFAULT_RENDERMODE:
						{
							glUseProgram(instancingShader);
							glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
							glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
							
							b3Vector3 gLightDir = gLightPos;
							gLightDir.normalize();
							glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);

							glUniform1i(uniform_texture_diffuse, 0);
							glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
							break;
						}
						case B3_CREATE_SHADOWMAP_RENDERMODE:
						{
                            /*printf("createShadowMapInstancingShader=%d\n",createShadowMapInstancingShader);
                            printf("createShadow_depthMVP=%d\n",createShadow_depthMVP);
                            printf("indexOffset=%d\n",indexOffset);
                            printf("gfxObj->m_numGraphicsInstances=%d\n",gfxObj->m_numGraphicsInstances);
                            printf("indexCount=%d\n",indexCount);
				*/

							glUseProgram(createShadowMapInstancingShader);
							glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]);
							glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
							break;
						}

					case B3_USE_SHADOWMAP_RENDERMODE:
						{
                            if (m_enableBlend)
                            {
                                glEnable (GL_BLEND);
                                glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                            }
                            
							glUseProgram(useShadowMapInstancingShader);
							glUniformMatrix4fv(useShadow_ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
							glUniformMatrix4fv(useShadow_ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
							float MVP[16];
							b3Matrix4x4Mul16(m_data->m_projectionMatrix,m_data->m_viewMatrix,MVP);
							glUniformMatrix4fv(useShadow_MVP, 1, false, &MVP[0]);
							b3Vector3 gLightDir = gLightPos;
							gLightDir.normalize();
							glUniform3f(useShadow_lightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);
							glUniformMatrix4fv(useShadow_DepthBiasModelViewMatrix, 1, false, &depthBiasMVP[0][0]);
							glActiveTexture(GL_TEXTURE1);
							glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);
							glUniform1i(useShadow_shadowMap,1);
							glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
                            if (m_enableBlend)
                            {
                                glDisable (GL_BLEND);
                            }
                            glActiveTexture(GL_TEXTURE0);
							glBindTexture(GL_TEXTURE_2D,0);
                            break;
						}
					default:
						{
						//	b3Assert(0);
						}
					};
				}


				//glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances);
			}
		}
		curOffset+= gfxObj->m_numGraphicsInstances;
	}

	{
			B3_PROFILE("glFlush");
			//glFlush();
		}
	if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE)
	{
	//	writeTextureToPng(shadowMapWidth,shadowMapHeight,"shadowmap.png",4);
		m_data->m_shadowMap->disable();
		glBindFramebuffer( GL_FRAMEBUFFER, m_data->m_renderFrameBuffer);
		glViewport(dims[0],dims[1],dims[2],dims[3]);

	}

    b3Assert(glGetError() ==GL_NO_ERROR);
	{
		B3_PROFILE("glUseProgram(0);");
		glUseProgram(0);
		glBindBuffer(GL_ARRAY_BUFFER,0);
		glBindVertexArray(0);
	}



	glDisable(GL_CULL_FACE);
	b3Assert(glGetError() ==GL_NO_ERROR);
}


void GLInstancingRenderer::CleanupShaders()
{
}

void GLInstancingRenderer::enableShadowMap()
{
	glActiveTexture(GL_TEXTURE0);
	//glEnable(GL_TEXTURE_2D);
	glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);
	//glBindTexture(GL_TEXTURE_2D, m_data->m_defaultTexturehandle);

}

void GLInstancingRenderer::clearZBuffer()
{
	glClear(GL_DEPTH_BUFFER_BIT);
}

int GLInstancingRenderer::getMaxShapeCapacity() const
{
	return m_data->m_maxShapeCapacityInBytes;
}
int GLInstancingRenderer::getInstanceCapacity() const
{
	return m_data->m_maxNumObjectCapacity;
}

void GLInstancingRenderer::setRenderFrameBuffer(unsigned int renderFrameBuffer)
{
	m_data->m_renderFrameBuffer = (GLuint) renderFrameBuffer;
}

int GLInstancingRenderer::getTotalNumInstances() const
{
    return m_data->m_totalNumInstances;
}


#endif //NO_OPENGL3