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

examples/Collision/CollisionTutorialBullet2.cpp
387 строк11 KB
erwincoumans
Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer
25 июн 2017, 05:38
25 июн 2017, 05:38d5fe67c

#include "CollisionTutorialBullet2.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"

#include "../CommonInterfaces/CommonExampleInterface.h"
#include "LinearMath/btTransform.h"

#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../RenderingExamples/TimeSeriesCanvas.h"
#include "stb_image/stb_image.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Matrix3x3.h"
#include "../CommonInterfaces/CommonParameterInterface.h"

#include "LinearMath/btAlignedObjectArray.h"
#include "CollisionSdkC_Api.h"
#include "LinearMath/btQuickprof.h"

///Not Invented Here link reminder http://www.joelonsoftware.com/articles/fog0000000007.html

///todo: use the 'userData' to prevent this use of global variables
static int gTotalPoints = 0;
const int sPointCapacity = 10000;
const int sNumCompounds = 10;
const int sNumSpheres = 10;

lwContactPoint pointsOut[sPointCapacity];
int numNearCallbacks = 0;
static btVector4 sColors[4] = 
{
	btVector4(1,0.7,0.7,1),
	btVector4(1,1,0.7,1),
	btVector4(0.7,1,0.7,1),
	btVector4(0.7,1,1,1),
};

void myNearCallback(plCollisionSdkHandle sdkHandle, plCollisionWorldHandle worldHandle, void* userData, plCollisionObjectHandle objA, plCollisionObjectHandle objB)
{
	numNearCallbacks++;
	int remainingCapacity = sPointCapacity-gTotalPoints;
	btAssert(remainingCapacity>0);

	if (remainingCapacity>0)
	{
		lwContactPoint* pointPtr = &pointsOut[gTotalPoints];
		int numNewPoints = plCollide(sdkHandle, worldHandle, objA,objB,pointPtr,remainingCapacity);
		btAssert(numNewPoints <= remainingCapacity);
		gTotalPoints+=numNewPoints;
	}
}

class CollisionTutorialBullet2 : public CommonExampleInterface
{
    CommonGraphicsApp* m_app;
	GUIHelperInterface* m_guiHelper;
    int m_tutorialIndex;
	
	TimeSeriesCanvas*			m_timeSeriesCanvas0;
	
	plCollisionSdkHandle m_collisionSdkHandle;
	plCollisionWorldHandle m_collisionWorldHandle;
	
//	int m_stage;
//	int m_counter;
	
public:
    
    CollisionTutorialBullet2(GUIHelperInterface* guiHelper, int tutorialIndex)
    :m_app(guiHelper->getAppInterface()),
	m_guiHelper(guiHelper),
	m_tutorialIndex(tutorialIndex),
	m_timeSeriesCanvas0(0),
	m_collisionSdkHandle(0),
	m_collisionWorldHandle(0)
//	m_stage(0),
//	m_counter(0)
    {
		
		gTotalPoints = 0;
		m_app->setUpAxis(1);
		
		switch (m_tutorialIndex)
		{
			case TUT_SPHERE_PLANE_RTB3:
			case TUT_SPHERE_PLANE_BULLET2:
			{
				
				if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
				{
					m_collisionSdkHandle = plCreateBullet2CollisionSdk();
				} else
				{
#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
					m_collisionSdkHandle = plCreateRealTimeBullet3CollisionSdk();
#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
				}
				if (m_collisionSdkHandle)
				{
					int maxNumObjsCapacity=1024;
					int maxNumShapesCapacity=1024;
					int maxNumPairsCapacity=16384;
					btAlignedObjectArray<plCollisionObjectHandle> colliders;
					m_collisionWorldHandle = plCreateCollisionWorld(m_collisionSdkHandle,maxNumObjsCapacity,maxNumShapesCapacity,maxNumPairsCapacity);
					//create objects, do query etc
					{
						float radius = 1.f;

						void* userPointer = 0;
						{
							for (int j=0;j<sNumCompounds;j++)
							{
								plCollisionShapeHandle compoundShape =  plCreateCompoundShape(m_collisionSdkHandle,m_collisionWorldHandle);

								for (int i=0;i<sNumSpheres;i++)
								{
									btVector3 childPos(i*1.5,0,0);
									btQuaternion childOrn(0,0,0,1);
								
									btVector3 scaling(radius,radius,radius);
						
									plCollisionShapeHandle childShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle,radius);
									plAddChildShape(m_collisionSdkHandle,m_collisionWorldHandle,compoundShape, childShape,childPos,childOrn);
						
								
									//m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
								
								}
								if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
								{
									btCollisionShape* colShape = (btCollisionShape*) compoundShape;
									m_guiHelper->createCollisionShapeGraphicsObject(colShape);
								} else
								{
								}
							
								{
									btVector3 pos(j*sNumSpheres*1.5,-2.4,0);
									btQuaternion orn(0,0,0,1);
									plCollisionObjectHandle colObjHandle = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, -1,compoundShape,pos,orn);
									if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
									{
										btCollisionObject* colObj = (btCollisionObject*) colObjHandle;
										btVector4 color=sColors[j&3];
										m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
										colliders.push_back(colObjHandle);
										plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObjHandle);
									}
								}
							}
						}
					}

					{
						plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle,0,1,0,-3.5);
						btVector3 pos(0,0,0);
						btQuaternion orn(0,0,0,1);
						void* userPointer = 0;
						plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, 0,colShape,pos,orn);
						colliders.push_back(colObj);
						plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
					}

                    int numContacts = plCollide(m_collisionSdkHandle,m_collisionWorldHandle,colliders[0],colliders[1],pointsOut,sPointCapacity);
                    printf("numContacts = %d\n", numContacts);
                    void* myUserPtr = 0;
                    
                    plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
                    printf("total points=%d\n",gTotalPoints);
                    
                    //plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj);
					//plDeleteCollisionObject(m_collisionSdkHandle,colObj);
					//plDeleteShape(m_collisionSdkHandle,colShape);
				}
				

				/*
				m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
				
				m_timeSeriesCanvas0 ->setupTimeSeries(2,60, 0);
				m_timeSeriesCanvas0->addDataSource("X position (m)", 255,0,0);
				m_timeSeriesCanvas0->addDataSource("X velocity (m/s)", 0,0,255);
				m_timeSeriesCanvas0->addDataSource("dX/dt (m/s)", 0,0,0);
				 */
				break;
			}
			
			
			default:
			{
				
				m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Unknown");
				m_timeSeriesCanvas0 ->setupTimeSeries(1,60, 0);
				
			}
		};

		
		
		{

		 int boxId = m_app->registerCubeShape(100,0.01,100);
            b3Vector3 pos = b3MakeVector3(0,-3.5,0);
            b3Quaternion orn(0,0,0,1);
            b3Vector4 color = b3MakeVector4(1,1,1,1);
            b3Vector3 scaling = b3MakeVector3(1,1,1);
            m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
		}

		
		{
			int textureIndex = -1;
			
			if (1)
			{
				int width,height,n;
				
				const char* filename = "data/cube.png";
				const unsigned char* image=0;
				
				const char* prefix[]={"./","../","../../","../../../","../../../../"};
				int numprefix = sizeof(prefix)/sizeof(const char*);
				
				for (int i=0;!image && i<numprefix;i++)
				{
					char relativeFileName[1024];
					sprintf(relativeFileName,"%s%s",prefix[i],filename);
					image = stbi_load(relativeFileName, &width, &height, &n, 3);
				}
				
				b3Assert(image);
				if (image)
				{
					textureIndex = m_app->m_renderer->registerTexture(image,width,height);
				}
			}
			
		}
		
		m_app->m_renderer->writeTransforms();
    }
    virtual ~CollisionTutorialBullet2()
    {
		delete m_timeSeriesCanvas0;

		plDeleteCollisionWorld(m_collisionSdkHandle,m_collisionWorldHandle);

		plDeleteCollisionSdk(m_collisionSdkHandle);

		m_timeSeriesCanvas0 = 0;

    }
    
    
    virtual void    initPhysics()
    {
    }
    virtual void    exitPhysics()
    {
        
    }
	
	
    virtual void	stepSimulation(float deltaTime)
    {
#ifndef BT_NO_PROFILE
		CProfileManager::Reset();
#endif
		
		
		
		void* myUserPtr = 0;
                    
		gTotalPoints = 0;
		numNearCallbacks = 0;
		{
			BT_PROFILE("plWorldCollide");
			if (m_collisionSdkHandle && m_collisionWorldHandle)
			{
				plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
			}
		}

#if 0
		switch (m_tutorialIndex)
		{
			case TUT_SPHERE_SPHERE:
			{
				if (m_timeSeriesCanvas0)
				{
					float xPos = 0.f;
					float xVel = 1.f;
					m_timeSeriesCanvas0->insertDataAtCurrentTime(xPos,0,true);
					m_timeSeriesCanvas0->insertDataAtCurrentTime(xVel,1,true);
				}
				break;
			}
			

			default:
			{
			}
			
		};
#endif
		
		if (m_timeSeriesCanvas0)
			m_timeSeriesCanvas0->nextTick();
		
		
			
		//	m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
	
	
		 m_app->m_renderer->writeTransforms();
#ifndef BT_NO_PROFILE
		 CProfileManager::Increment_Frame_Counter();
#endif
    }
    virtual void	renderScene()
    {
		if (m_app && m_app->m_renderer)
		{
			m_app->m_renderer->renderScene();

			m_app->m_renderer->clearZBuffer();

			m_app->drawText3D("X",1,0,0,1);
			m_app->drawText3D("Y",0,1,0,1);
			m_app->drawText3D("Z",0,0,1,1);


			for (int i=0;i<gTotalPoints;i++)
			{
				const lwContactPoint& contact = pointsOut[i];
				btVector3 color(1,1,0);
				btScalar lineWidth=3;
				if (contact.m_distance<0)
				{
					color.setValue(1,0,0);
				}
				m_app->m_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
			}
		}
		
    }

	

    virtual void	physicsDebugDraw(int debugDrawFlags)
    {
      
		
    }
    virtual bool	mouseMoveCallback(float x,float y)
    {
		return false;   
    }
    virtual bool	mouseButtonCallback(int button, int state, float x, float y)
    {
        return false;   
    }
    virtual bool	keyboardCallback(int key, int state)
    {
        return false;   
    }
  

	virtual void resetCamera()
	{
		float dist = 10.5;
		float pitch = -32;
		float yaw = 136;
		float targetPos[3]={0,0,0};
		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
		{
			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
		}
	}
};

class CommonExampleInterface*    CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options)
{
	return new CollisionTutorialBullet2(options.m_guiHelper, options.m_option);
}