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

examples/RenderingExamples/TinyRendererSetup.cpp
463 строки14 KB
Erwin Coumans
fix many warnings
16 янв 2017, 09:26
16 янв 2017, 09:26c0c4c8b

#include "RaytracerSetup.h"

#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../TinyRenderer/TinyRenderer.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btBulletCollisionCommon.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../ExampleBrowser/CollisionShape2TriangleMesh.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "../CommonInterfaces/CommonParameterInterface.h"


struct TinyRendererSetupInternalData
{
	
	TGAImage m_rgbColorBuffer;
	b3AlignedObjectArray<float> m_depthBuffer;
    b3AlignedObjectArray<float> m_shadowBuffer;
	b3AlignedObjectArray<int> m_segmentationMaskBuffer;


	int m_width;
	int m_height;

	btAlignedObjectArray<btConvexShape*> m_shapePtr;
	btAlignedObjectArray<btTransform> m_transforms;
	btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;

	btVoronoiSimplexSolver	m_simplexSolver;
	btScalar m_pitch;
	btScalar m_roll;
	btScalar m_yaw;
	
	int m_textureHandle;
	int m_animateRenderer;

	TinyRendererSetupInternalData(int width, int height)
		:
		m_rgbColorBuffer(width,height,TGAImage::RGB),
	m_width(width),
	m_height(height),
	m_pitch(0),
	m_roll(0),
	m_yaw(0),
	m_textureHandle(0),
		m_animateRenderer(0)
	{
		m_depthBuffer.resize(m_width*m_height);
        m_shadowBuffer.resize(m_width*m_height);
//        m_segmentationMaskBuffer.resize(m_width*m_height);

    }
	void updateTransforms()
	{
		int numObjects = m_shapePtr.size();
		m_transforms.resize(numObjects);
		for (int i=0;i<numObjects;i++)
		{
			m_transforms[i].setIdentity();
			//btVector3	pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
			btVector3	pos(0.f,+i*2.5f, 0.f);
			m_transforms[i].setIdentity();
			m_transforms[i].setOrigin( pos );
			btQuaternion orn;
			if (i < 2)
			{
				orn.setEuler(m_yaw,m_pitch,m_roll);
				m_transforms[i].setRotation(orn);
			}
		}
		if (m_animateRenderer)
        {
            m_pitch += 0.005f;
            m_yaw += 0.01f;
		}
	}

};

struct TinyRendererSetup : public CommonExampleInterface
{
	
	struct GUIHelperInterface* m_guiHelper;
	struct CommonGraphicsApp* m_app;
	struct TinyRendererSetupInternalData* m_internalData;
    bool m_useSoftware;
    

	TinyRendererSetup(struct GUIHelperInterface* guiHelper);

	virtual ~TinyRendererSetup();

	virtual void initPhysics();

	virtual void exitPhysics();

	virtual void stepSimulation(float deltaTime);


	virtual void	physicsDebugDraw(int debugFlags);

	virtual void syncPhysicsToGraphics(struct GraphicsPhysicsBridge& gfxBridge);

	virtual bool	mouseMoveCallback(float x,float y);

	virtual bool	mouseButtonCallback(int button, int state, float x, float y);

	virtual bool	keyboardCallback(int key, int state);

	virtual void	renderScene()
	{
	}
   
    void animateRenderer(int animateRendererIndex)
    {
        m_internalData->m_animateRenderer = animateRendererIndex;
    }
   
   
    void selectRenderer(int rendererIndex)
    {
        m_useSoftware = (rendererIndex==0);
    }

	void resetCamera()
	{
		float dist = 11;
		float pitch = 52;
		float yaw = 35;
		float targetPos[3]={0,0.46,0};
		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
	}

};


TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
{
    m_useSoftware = false;
    
	m_guiHelper = gui;
	m_app = gui->getAppInterface();
	m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight());
	
	m_app->m_renderer->enableBlend(true);
    
	const char* fileName = "textured_sphere_smooth.obj";
    fileName = "cube.obj";
    fileName = "torus/torus_with_plane.obj";

	{
		
		{
			int shapeId = -1;

			b3ImportMeshData meshData;
			if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
			{
				int textureIndex = -1;

				if (meshData.m_textureImage)
				{
					textureIndex = m_guiHelper->getRenderInterface()->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
				}

				shapeId = m_guiHelper->getRenderInterface()->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], 
											meshData.m_gfxShape->m_numvertices, 
											&meshData.m_gfxShape->m_indices->at(0), 
											meshData.m_gfxShape->m_numIndices,
											B3_GL_TRIANGLES,
											textureIndex);

				float position[4]={0,0,0,1};
				float orn[4]={0,0,0,1};
				float color[4]={1,1,1,1};
				float scaling[4]={1,1,1,1};
                
				m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
				m_guiHelper->getRenderInterface()->writeTransforms();

				m_internalData->m_shapePtr.push_back(0);
				TinyRenderObjectData* ob = new TinyRenderObjectData(
					m_internalData->m_rgbColorBuffer,
					m_internalData->m_depthBuffer,
                    &m_internalData->m_shadowBuffer,
					&m_internalData->m_segmentationMaskBuffer,
					m_internalData->m_renderObjects.size());
                
                meshData.m_gfxShape->m_scaling[0] = scaling[0];
                meshData.m_gfxShape->m_scaling[1] = scaling[1];
                meshData.m_gfxShape->m_scaling[2] = scaling[2];
                
				const int* indices = &meshData.m_gfxShape->m_indices->at(0);
					ob->registerMeshShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
						meshData.m_gfxShape->m_numvertices,
						indices,
						meshData.m_gfxShape->m_numIndices,color, meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
                
                ob->m_localScaling.setValue(scaling[0],scaling[1],scaling[2]);
						
                m_internalData->m_renderObjects.push_back(ob);



				delete meshData.m_gfxShape;
				delete meshData.m_textureImage;
			}
		}
	}
		
		
}

TinyRendererSetup::~TinyRendererSetup()
{
	m_app->m_renderer->enableBlend(false);
	delete m_internalData;
}


const char* itemsanimate[] = {"Fixed", "Rotate"};
void TinyRendererComboCallbackAnimate(int combobox, const char* item, void* userPointer)
{
    TinyRendererSetup* cl = (TinyRendererSetup*) userPointer;
    b3Assert(cl);
    int index=-1;
    int numItems = sizeof(itemsanimate)/sizeof(char*);
    for (int i=0;i<numItems;i++)
    {
        if (!strcmp(item,itemsanimate[i]))
        {
            index = i;
        }
    }
    cl->animateRenderer(index);
}


const char* items[] = {"Software", "OpenGL"};


void TinyRendererComboCallback(int combobox, const char* item, void* userPointer)
{
    TinyRendererSetup* cl = (TinyRendererSetup*) userPointer;
    b3Assert(cl);
    int index=-1;
    int numItems = sizeof(items)/sizeof(char*);
    for (int i=0;i<numItems;i++)
    {
        if (!strcmp(item,items[i]))
        {
            index = i;
        }
    }
    cl->selectRenderer(index);
}


void TinyRendererSetup::initPhysics()
{
	//request a visual bitma/texture we can render to
	
    m_app->setUpAxis(2);
    
	CommonRenderInterface* render = m_app->m_renderer;
	
	m_internalData->m_textureHandle = render->registerTexture(m_internalData->m_rgbColorBuffer.buffer(),m_internalData->m_width,m_internalData->m_height);
    
    {
    ComboBoxParams comboParams;
    comboParams.m_userPointer = this;
    comboParams.m_numItems=sizeof(items)/sizeof(char*);
    comboParams.m_startItem = 1;
    comboParams.m_items=items;
    comboParams.m_callback =TinyRendererComboCallback;
    m_guiHelper->getParameterInterface()->registerComboBox( comboParams);
    }

    {
    
    ComboBoxParams comboParams;
    comboParams.m_userPointer = this;
    comboParams.m_numItems=sizeof(itemsanimate)/sizeof(char*);
    comboParams.m_startItem = 0;
    comboParams.m_items=itemsanimate;
    comboParams.m_callback =TinyRendererComboCallbackAnimate;
    m_guiHelper->getParameterInterface()->registerComboBox( comboParams);
    }
    
}


void TinyRendererSetup::exitPhysics()
{

}


void TinyRendererSetup::stepSimulation(float deltaTime)
{
    m_internalData->updateTransforms();
    
    if (!m_useSoftware)
    {
        
        for (int i=0;i<m_internalData->m_transforms.size();i++)
        {
            m_guiHelper->getRenderInterface()->writeSingleInstanceTransformToCPU(m_internalData->m_transforms[i].getOrigin(),m_internalData->m_transforms[i].getRotation(),i);
        }
        m_guiHelper->getRenderInterface()->writeTransforms();
        m_guiHelper->getRenderInterface()->renderScene();
    } else
    {
        
        TGAColor clearColor;
        clearColor.bgra[0] = 200;
        clearColor.bgra[1] = 200;
        clearColor.bgra[2] = 200;
        clearColor.bgra[3] = 255;
        for(int y=0;y<m_internalData->m_height;++y)
        {
            for(int x=0;x<m_internalData->m_width;++x)
            {
                m_internalData->m_rgbColorBuffer.set(x,y,clearColor);
                m_internalData->m_depthBuffer[x+y*m_internalData->m_width] = -1e30f;
                m_internalData->m_shadowBuffer[x+y*m_internalData->m_width] = -1e30f;
            }
        }


        ATTRIBUTE_ALIGNED16(btScalar modelMat2[16]);
        ATTRIBUTE_ALIGNED16(float viewMat[16]);
        ATTRIBUTE_ALIGNED16(float projMat[16]);
        CommonRenderInterface* render = this->m_app->m_renderer;
        render->getActiveCamera()->getCameraViewMatrix(viewMat);
        render->getActiveCamera()->getCameraProjectionMatrix(projMat);
            
        for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
        {
            
            const btTransform& tr = m_internalData->m_transforms[o];
            tr.getOpenGLMatrix(modelMat2);
            
            
            for (int i=0;i<4;i++)
            {
                for (int j=0;j<4;j++)
                {
                    m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]);
                    m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
                    m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i+4*j];
                    
                    btVector3 lightDirWorld;
                    switch (m_app->getUpAxis())
                    {
                        case 1:
                            lightDirWorld = btVector3(-50.f,100,30);
                            break;
                        case 2:
                            lightDirWorld = btVector3(-50.f,30,100);
                            break;
                        default:{}
                    };
                    
                    m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
                    
                    btVector3 lightColor(1.0,1.0,1.0);
                    m_internalData->m_renderObjects[o]->m_lightColor = lightColor;
                    
                    m_internalData->m_renderObjects[o]->m_lightDistance = 10.0;
                    m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6;
                    m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35;
                    m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05;
                }
            }
            TinyRenderer::renderObjectDepth(*m_internalData->m_renderObjects[o]);
        }
        
        for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
        {
                
            const btTransform& tr = m_internalData->m_transforms[o];
            tr.getOpenGLMatrix(modelMat2);
            
                    
            for (int i=0;i<4;i++)
            {
                for (int j=0;j<4;j++)
                {
                    m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]);
                    m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
                    m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i+4*j];
                    
					btVector3 lightDirWorld;
					switch (m_app->getUpAxis())
					{
					case 1:
    						lightDirWorld = btVector3(-50.f,100,30);
    					break;
					case 2:
							lightDirWorld = btVector3(-50.f,30,100);
							break;
					default:{}
					};
					
					m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
                    
                    btVector3 lightColor(1.0,1.0,1.0);
                    m_internalData->m_renderObjects[o]->m_lightColor = lightColor;
                    
                    m_internalData->m_renderObjects[o]->m_lightDistance = 10.0;
                    m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6;
                    m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35;
                    m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05;
					
                }
            }
            TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
        }
        //m_app->drawText("hello",500,500);
        render->activateTexture(m_internalData->m_textureHandle);
        render->updateTexture(m_internalData->m_textureHandle,m_internalData->m_rgbColorBuffer.buffer());
        float color[4] = {1,1,1,1};
        m_app->drawTexturedRect(0,0,m_app->m_window->getWidth(), m_app->m_window->getHeight(),color,0,0,1,1,true);
    }
}


void    TinyRendererSetup::physicsDebugDraw(int debugDrawFlags)
{
}

bool	TinyRendererSetup::mouseMoveCallback(float x,float y)
{
	return false;
}

bool	TinyRendererSetup::mouseButtonCallback(int button, int state, float x, float y)
{
	return false;
}

bool	TinyRendererSetup::keyboardCallback(int key, int state)
{
	return false;
}


void TinyRendererSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
{
}

 CommonExampleInterface*    TinyRendererCreateFunc(struct CommonExampleOptions& options)
 {
	 return new TinyRendererSetup(options.m_guiHelper);
 }