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

examples/OpenGLWindow/SimpleOpenGL2App.cpp
597 строк17 KB
Erwin Coumans
more fixes for retina + glfw + opengl2 fallback
20 сен 2017, 23:09
20 сен 2017, 23:09ae8f12e
#include "SimpleOpenGL2App.h"
#define USE_OPENGL2
#include "OpenGLInclude.h"
#include "ShapeData.h"
#include "Bullet3Common/b3Logging.h"//b3Assert?
#include "Bullet3Common/b3Scalar.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../OpenGLWindow/GLPrimitiveRenderer.h"
#include "GLInstanceGraphicsShape.h"
#include "stdlib.h"
#include "TwFonts.h"
#include "SimpleOpenGL2Renderer.h"

#ifdef B3_USE_GLFW
#include "GLFWOpenGLWindow.h"
#else

#ifdef __APPLE__
#include "MacOpenGLWindow.h"
#else


//#include "GL/glew.h"
#ifdef _WIN32
#include "Win32OpenGLWindow.h"
#else
//let's cross the fingers it is Linux/X11
#ifdef BT_USE_EGL
#include "EGLOpenGLWindow.h"
#else
#include "X11OpenGLWindow.h"
#endif //BT_USE_EGL
#endif //_WIN32
#endif//__APPLE__
#endif //#ifdef B3_USE_GLFW

#include <stdio.h>
#include "../CommonInterfaces/CommonRenderInterface.h"

static SimpleOpenGL2App* gApp2=0;

static void Simple2ResizeCallback( float widthf, float heightf)
{
	int width = (int)widthf;
	int height = (int)heightf;
	if (gApp2->m_renderer && gApp2->m_window)
        	gApp2->m_renderer->resize(width,height);//*gApp2->m_window->getRetinaScale(),height*gApp2->m_window->getRetinaScale());


}

static void Simple2KeyboardCallback(int key, int state)
{
    if (key==B3G_ESCAPE && gApp2 && gApp2->m_window)
    {
        gApp2->m_window->setRequestExit();
    } else
    {
        //gApp2->defaultKeyboardCallback(key,state);
    }
}

void Simple2MouseButtonCallback( int button, int state, float x, float y)
{
	if (gApp2 && gApp2->m_window)
	{
		gApp2->defaultMouseButtonCallback(button,state,x,y);
	}
}
void Simple2MouseMoveCallback(  float x, float y)
{

	if (gApp2 && gApp2->m_window)
	{
		gApp2->defaultMouseMoveCallback(x,y);
	}
}
	
void Simple2WheelCallback( float deltax, float deltay)
{
	gApp2->defaultWheelCallback(deltax,deltay);
}




struct SimpleOpenGL2AppInternalData
{
	GLuint m_fontTextureId;
	GLuint m_largeFontTextureId;
	int m_upAxis;
	SimpleOpenGL2AppInternalData()
		:m_upAxis(1)
	{
	}
	
};
static GLuint BindFont2(const CTexFont *_Font)
{
    GLuint TexID = 0;
    glGenTextures(1, &TexID);
    glBindTexture(GL_TEXTURE_2D, TexID);
    glPixelStorei(GL_UNPACK_SWAP_BYTES, GL_FALSE);
    glPixelStorei(GL_UNPACK_LSB_FIRST, GL_FALSE);
    glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
    glPixelStorei(GL_UNPACK_SKIP_ROWS, 0);
    glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0);
    glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
    glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE , _Font->m_TexWidth, _Font->m_TexHeight, 0, GL_LUMINANCE , GL_UNSIGNED_BYTE, _Font->m_TexBytes);
    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,GL_NEAREST);
    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,GL_NEAREST);
    glBindTexture(GL_TEXTURE_2D, 0);

    return TexID;
}


SimpleOpenGL2App::SimpleOpenGL2App(const char* title, int width, int height)
{
	gApp2 = this;
	m_data = new SimpleOpenGL2AppInternalData;

	m_window = new b3gDefaultOpenGLWindow();
	b3gWindowConstructionInfo ci;
	ci.m_title = title;
	ci.m_openglVersion = 2;
	ci.m_width = width;
	ci.m_height = height;
	m_window->createWindow(ci);

	m_window->setWindowTitle(title);


#ifndef NO_GLEW
#ifndef __APPLE__
#ifndef _WIN32
    //some Linux implementations need the 'glewExperimental' to be true
    glewExperimental = GL_TRUE;
#endif //_WIN32
    
#ifndef B3_USE_GLFW
    if (glewInit() != GLEW_OK)
    {
        b3Error("glewInit failed");
        exit(1);
    }
    if (!GLEW_VERSION_2_1)  // check that the machine supports the 2.1 API.
    {
        b3Error("GLEW_VERSION_2_1 needs to support 2_1");
        exit(1); // or handle the error in a nicer way
    }
#endif //B3_USE_GLFW
#endif //__APPLE__
#endif //NO_GLEW

	
	TwGenerateDefaultFonts();
	m_data->m_fontTextureId = BindFont2(g_DefaultNormalFont);
	m_data->m_largeFontTextureId = BindFont2(g_DefaultLargeFont);
	

    glGetError();//don't remove this call, it is needed for Ubuntu
	glClearColor(	m_backgroundColorRGB[0],
					m_backgroundColorRGB[1],
					m_backgroundColorRGB[2],
					1.f);
	

    b3Assert(glGetError() ==GL_NO_ERROR);

	//m_primRenderer = new GLPrimitiveRenderer(width,height);
	m_parameterInterface = 0;

    b3Assert(glGetError() ==GL_NO_ERROR);

	//m_renderer = new GLInstancingRenderer(128*1024,32*1024*1024);
	//m_renderer->init();
	//m_renderer->resize(width,height);

	b3Assert(glGetError() ==GL_NO_ERROR);

	//m_renderer->InitShaders();

	m_window->setMouseMoveCallback(Simple2MouseMoveCallback);
	m_window->setMouseButtonCallback(Simple2MouseButtonCallback);
    m_window->setKeyboardCallback(Simple2KeyboardCallback);
    m_window->setWheelCallback(Simple2WheelCallback);
	m_window->setResizeCallback(Simple2ResizeCallback);

	m_renderer = new SimpleOpenGL2Renderer(width,height);

}

SimpleOpenGL2App::~SimpleOpenGL2App()
{
	gApp2 = 0;
	delete m_data;
}

void SimpleOpenGL2App::setBackgroundColor(float red, float green, float blue)
{
	CommonGraphicsApp::setBackgroundColor(red,green,blue);
	glClearColor(m_backgroundColorRGB[0],m_backgroundColorRGB[1],m_backgroundColorRGB[2],1.f);
}

void SimpleOpenGL2App::drawGrid(DrawGridData data)
{
	 int gridSize = data.gridSize;
    float upOffset = data.upOffset;
    int upAxis = data.upAxis;
    float gridColor[4];
    gridColor[0] = data.gridColor[0];
    gridColor[1] = data.gridColor[1];
    gridColor[2] = data.gridColor[2];
    gridColor[3] = data.gridColor[3];

	int sideAxis=-1;
	int forwardAxis=-1;

	switch (upAxis)
	{
		case 1:
			forwardAxis=2;
			sideAxis=0;
			break;
		case 2:
			forwardAxis=1;
			sideAxis=0;
			break;
		default:
			b3Assert(0);
	};
	//b3Vector3 gridColor = b3MakeVector3(0.5,0.5,0.5);

	 b3AlignedObjectArray<unsigned int> indices;
		 b3AlignedObjectArray<b3Vector3> vertices;
	int lineIndex=0;
	for(int i=-gridSize;i<=gridSize;i++)
	{
		{
			b3Assert(glGetError() ==GL_NO_ERROR);
			b3Vector3 from = b3MakeVector3(0,0,0);
			from[sideAxis] = float(i);
			from[upAxis] = upOffset;
			from[forwardAxis] = float(-gridSize);
			b3Vector3 to=b3MakeVector3(0,0,0);
			to[sideAxis] = float(i);
			to[upAxis] = upOffset;
			to[forwardAxis] = float(gridSize);
			vertices.push_back(from);
			indices.push_back(lineIndex++);
			vertices.push_back(to);
			indices.push_back(lineIndex++);
		//	m_renderer->drawLine(from,to,gridColor);
		}

		b3Assert(glGetError() ==GL_NO_ERROR);
		{

			b3Assert(glGetError() ==GL_NO_ERROR);
			b3Vector3 from=b3MakeVector3(0,0,0);
			from[sideAxis] = float(-gridSize);
			from[upAxis] = upOffset;
			from[forwardAxis] = float(i);
			b3Vector3 to=b3MakeVector3(0,0,0);
			to[sideAxis] = float(gridSize);
			to[upAxis] = upOffset;
			to[forwardAxis] = float(i);
			vertices.push_back(from);
			indices.push_back(lineIndex++);
			vertices.push_back(to);
			indices.push_back(lineIndex++);
		//	m_renderer->drawLine(from,to,gridColor);
		}

	}


	m_renderer->drawLines(&vertices[0].x,
			gridColor,
			vertices.size(),sizeof(b3Vector3),&indices[0],indices.size(),1);
	

	m_renderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(1,0,0),b3MakeVector3(1,0,0),3);
	m_renderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(0,1,0),b3MakeVector3(0,1,0),3);
	m_renderer->drawLine(b3MakeVector3(0,0,0),b3MakeVector3(0,0,1),b3MakeVector3(0,0,1),3);

//	void GLInstancingRenderer::drawPoints(const float* positions, const float color[4], int numPoints, int pointStrideInBytes, float pointDrawSize)

	//we don't use drawPoints because all points would have the same color
//	b3Vector3 points[3] = { b3MakeVector3(1, 0, 0), b3MakeVector3(0, 1, 0), b3MakeVector3(0, 0, 1) };
//	m_renderer->drawPoints(&points[0].x, b3MakeVector3(1, 0, 0), 3, sizeof(b3Vector3), 6);
}
void SimpleOpenGL2App::setUpAxis(int axis)
{
	this->m_data->m_upAxis = axis;
}
int SimpleOpenGL2App::getUpAxis() const
{
	return this->m_data->m_upAxis;
}
	
void SimpleOpenGL2App::swapBuffer()
{
	m_window->endRendering();
	m_window->startRendering();

}

void SimpleOpenGL2App::drawText( const char* txt, int posXi, int posYi, float size, float colorRGBA[4])
{

}


static		void	restoreOpenGLState()
			{
				
				
				glPopClientAttrib();
				glPopAttrib();
			


			}

		static	void	saveOpenGLState(int screenWidth, int screenHeight)
			{
				glPushAttrib(GL_ALL_ATTRIB_BITS);
				glPushClientAttrib(GL_CLIENT_ALL_ATTRIB_BITS);

		

				glDisable(GL_TEXTURE_GEN_S);
				glDisable(GL_TEXTURE_GEN_T);
				glDisable(GL_TEXTURE_GEN_R);

				glDisable(GL_LINE_SMOOTH);
			//    glDisable(GL_LINE_STIPPLE);
				glDisable(GL_CULL_FACE);
				glDisable(GL_DEPTH_TEST);
				glDisable(GL_LIGHTING);
				glEnable(GL_BLEND);

				glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);

				glTexEnvi(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
				glDisable(GL_TEXTURE_2D);

			}

void SimpleOpenGL2App::drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag)
{

}

void SimpleOpenGL2App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
{
	saveOpenGLState(gApp2->m_renderer->getScreenWidth(),gApp2->m_renderer->getScreenHeight());
	float viewMat[16];
	float projMat[16];
	CommonCameraInterface* cam = gApp2->m_renderer->getActiveCamera();

	cam->getCameraViewMatrix(viewMat);
	cam->getCameraProjectionMatrix(projMat);

	
	float camPos[4];
	cam->getCameraPosition(camPos);
	//b3Vector3 cp= b3MakeVector3(camPos[0],camPos[2],camPos[1]);
//	b3Vector3 p = b3MakeVector3(worldPosX,worldPosY,worldPosZ);

	glEnable(GL_BLEND);
	glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
	//glBlendFunc(GL_ONE, GL_ONE_MINUS_SRC_ALPHA);

	glAlphaFunc( GL_GREATER, 1.0f );	
	
			

	int viewport[4]={0,0,gApp2->m_renderer->getScreenWidth(),gApp2->m_renderer->getScreenHeight()};

	float posX = 450.f;
	float posY = 100.f;
	float winx,winy, winz;

	if (!projectWorldCoordToScreen(worldPosX, worldPosY, worldPosZ,viewMat,projMat,viewport,&winx, &winy, &winz))
	{
		return;
	}
	posX = winx;
	posY = gApp2->m_renderer->getScreenHeight()/2+(gApp2->m_renderer->getScreenHeight()/2)-winy;

	
	{
		//float width = 0.f;
		int pos=0;
		//float color[]={0.2f,0.2,0.2f,1.f};
		glActiveTexture(GL_TEXTURE0);
		glMatrixMode(GL_TEXTURE);
		glLoadIdentity();
		glMatrixMode(GL_PROJECTION);
		glLoadIdentity();
		glMatrixMode(GL_MODELVIEW);
		glLoadIdentity();
		
	
		glBindTexture(GL_TEXTURE_2D,m_data->m_largeFontTextureId);

		glEnable(GL_TEXTURE_2D);//BindTexture
		//float width = r.x;
		//float extraSpacing = 0.;

		float startX = posX;
		float startY = posY-g_DefaultLargeFont->m_CharHeight*size1;
		glEnable(GL_COLOR_MATERIAL);
		
		while (txt[pos])
		{
			int c = txt[pos];
			//r.h = g_DefaultNormalFont->m_CharHeight;
			//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
			float endX = startX+g_DefaultLargeFont->m_CharWidth[c]*size1;
			float endY = posY;


			float currentColor[]={1.f,0.2,0.2f,1.f};
			float u0 = g_DefaultLargeFont->m_CharU0[c];
			float u1 = g_DefaultLargeFont->m_CharU1[c];
			float v0 = g_DefaultLargeFont->m_CharV0[c];
			float v1 = g_DefaultLargeFont->m_CharV1[c];
			float color[4] = {currentColor[0],currentColor[1],currentColor[2],currentColor[3]};
			float x0 = startX;
			float x1 = endX;
			float y0 = startY;
			float y1 = endY;
			int screenWidth = gApp2->m_renderer->getScreenWidth();
			int screenHeight = gApp2->m_renderer->getScreenHeight();
			


			float z = 2.f*winz-1.f;//*(far
			 /*float identity[16]={1,0,0,0,
						0,1,0,0,
						0,0,1,0,
						0,0,0,1};
*/
			   PrimVertex vertexData[4] = {
					PrimVertex( PrimVec4(-1.f+2.f*x0/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)),
					PrimVertex( PrimVec4(-1.f+2.f*x0/float(screenWidth),  1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)),
					PrimVertex(PrimVec4( -1.f+2.f*x1/float(screenWidth),  1.f-2.f*y1/float(screenHeight), z, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)),
					PrimVertex( PrimVec4( -1.f+2.f*x1/float(screenWidth), 1.f-2.f*y0/float(screenHeight), z, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0))
				};
    
				glBegin(GL_TRIANGLES);
				//use red colored text for now
				glColor4f(1,0,0,1);
			
				float scaling = 1;
				
				glTexCoord2f(vertexData[0].uv.p[0],vertexData[0].uv.p[1]);
				glVertex3d(vertexData[0].position.p[0]*scaling, vertexData[0].position.p[1]*scaling,vertexData[0].position.p[2]*scaling);
				glTexCoord2f(vertexData[1].uv.p[0],vertexData[1].uv.p[1]);
				glVertex3d(vertexData[1].position.p[0]*scaling, vertexData[1].position.p[1]*scaling,vertexData[1].position.p[2]*scaling);
				glTexCoord2f(vertexData[2].uv.p[0],vertexData[2].uv.p[1]);
				glVertex3d(vertexData[2].position.p[0]*scaling, vertexData[2].position.p[1]*scaling,vertexData[2].position.p[2]*scaling);
				
				glTexCoord2f(vertexData[0].uv.p[0],vertexData[0].uv.p[1]);
				glVertex3d(vertexData[0].position.p[0]*scaling, vertexData[0].position.p[1]*scaling,vertexData[0].position.p[2]*scaling);
				glTexCoord2f(vertexData[2].uv.p[0],vertexData[2].uv.p[1]);
				glVertex3d(vertexData[2].position.p[0]*scaling, vertexData[2].position.p[1]*scaling,vertexData[2].position.p[2]*scaling);
				glTexCoord2f(vertexData[3].uv.p[0],vertexData[3].uv.p[1]);
				glVertex3d(vertexData[3].position.p[0]*scaling, vertexData[3].position.p[1]*scaling,vertexData[3].position.p[2]*scaling);
				
				glEnd();

			startX = endX;
			pos++;
		}
	}

	glBindTexture(GL_TEXTURE_2D,0);
	glDisable(GL_BLEND);
	glDisable(GL_TEXTURE_2D);

	restoreOpenGLState();
}


void SimpleOpenGL2App::registerGrid(int cells_x, int cells_z, float color0[4], float color1[4])
{
	b3Vector3 cubeExtents=b3MakeVector3(0.5,0.5,0.5);
	double halfHeight=0.1;
	cubeExtents[m_data->m_upAxis] = halfHeight;
	int cubeId = registerCubeShape(cubeExtents[0],cubeExtents[1],cubeExtents[2]);

	b3Quaternion orn(0,0,0,1);
	b3Vector3 center=b3MakeVector3(0,0,0,1);
	b3Vector3 scaling=b3MakeVector3(1,1,1,1);

	for ( int i = 0; i < cells_x; i++) 
	{
		for (int j = 0; j < cells_z; j++) 
		{
			float* color =0;
			if ((i + j) % 2 == 0) 
			{
				color = (float*)color0;
			} else {
				color = (float*)color1;
			}
			if (this->m_data->m_upAxis==1)
			{
				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, -halfHeight, (j + 0.5f) - cells_z * 0.5f);
			} else
			{
				center =b3MakeVector3((i + 0.5f) - cells_x * 0.5f, (j + 0.5f) - cells_z * 0.5f,-halfHeight );
			}
			m_renderer->registerGraphicsInstance(cubeId,center,orn,color,scaling);
		}
	}
	
}

int	SimpleOpenGL2App::registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId)
{

	int strideInBytes = 9*sizeof(float);

	int graphicsShapeIndex = -1;

	switch (lod)
	{
		case 		SPHERE_LOD_POINT_SPRITE:
		{
			int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
			int numIndices = sizeof(point_sphere_indices)/sizeof(int);
			graphicsShapeIndex = m_renderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS,textureId);
			break;
		}

		case SPHERE_LOD_LOW:
		{
			int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
			int numIndices = sizeof(low_sphere_indices)/sizeof(int);
			graphicsShapeIndex = m_renderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
			break;
		}
		case SPHERE_LOD_MEDIUM:
		{
			int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
			int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
			graphicsShapeIndex = m_renderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
			break;
		}
		case SPHERE_LOD_HIGH:
		default:
		{
			int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
			int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
			graphicsShapeIndex = m_renderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices,B3_GL_TRIANGLES,textureId);
			break;
		}
	};
	return graphicsShapeIndex;
}


int	SimpleOpenGL2App::registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex,  float textureScaling )
{
	int strideInBytes = 9*sizeof(float);
	int numVertices = sizeof(cube_vertices_textured)/strideInBytes;
	int numIndices = sizeof(cube_indices)/sizeof(int);

	b3AlignedObjectArray<GLInstanceVertex> verts;
	verts.resize(numVertices);
	for (int i=0;i<numVertices;i++)
	{
		verts[i].xyzw[0] = halfExtentsX*cube_vertices_textured[i*9];
		verts[i].xyzw[1] = halfExtentsY*cube_vertices_textured[i*9+1];
		verts[i].xyzw[2] = halfExtentsZ*cube_vertices_textured[i*9+2];
		verts[i].xyzw[3] = cube_vertices_textured[i*9+3];
		verts[i].normal[0] = cube_vertices_textured[i*9+4];
		verts[i].normal[1]= cube_vertices_textured[i*9+5];
		verts[i].normal[2] = cube_vertices_textured[i*9+6];
		verts[i].uv[0] = cube_vertices_textured[i*9+7]*textureScaling;
		verts[i].uv[1] = cube_vertices_textured[i*9+8]*textureScaling;
	}
	
	int shapeId = m_renderer->registerShape(&verts[0].xyzw[0],numVertices,cube_indices,numIndices,B3_GL_TRIANGLES,textureIndex);
	return shapeId;
}