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SnippetRender.cpp
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SnippetRender.cpp
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// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#include "foundation/PxPreprocessor.h"
#define USE_CUDA_INTEROP (!PX_PUBLIC_RELEASE)
#if (PX_SUPPORT_GPU_PHYSX && USE_CUDA_INTEROP)
#if PX_LINUX && PX_CLANG
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wdocumentation"
#endif
#include "cuda.h"
#include "SnippetRender.h"
#include "cudaGL.h"
#if PX_LINUX && PX_CLANG
#pragma clang diagnostic pop
#endif
#else
#include "SnippetRender.h"
#endif
#include "SnippetFontRenderer.h"
#include "SnippetCamera.h"
#include "foundation/PxArray.h"
#include "foundation/PxMathUtils.h"
#include <vector>
#define MAX_NUM_ACTOR_SHAPES 128
#define INITIAL_SCREEN_WIDTH 768
#define INITIAL_SCREEN_HEIGHT 768
using namespace physx;
static GLFontRenderer gTexter;
static float gCylinderData[]={
1.0f,0.0f,1.0f,1.0f,0.0f,1.0f,1.0f,0.0f,0.0f,1.0f,0.0f,0.0f,
0.866025f,0.500000f,1.0f,0.866025f,0.500000f,1.0f,0.866025f,0.500000f,0.0f,0.866025f,0.500000f,0.0f,
0.500000f,0.866025f,1.0f,0.500000f,0.866025f,1.0f,0.500000f,0.866025f,0.0f,0.500000f,0.866025f,0.0f,
-0.0f,1.0f,1.0f,-0.0f,1.0f,1.0f,-0.0f,1.0f,0.0f,-0.0f,1.0f,0.0f,
-0.500000f,0.866025f,1.0f,-0.500000f,0.866025f,1.0f,-0.500000f,0.866025f,0.0f,-0.500000f,0.866025f,0.0f,
-0.866025f,0.500000f,1.0f,-0.866025f,0.500000f,1.0f,-0.866025f,0.500000f,0.0f,-0.866025f,0.500000f,0.0f,
-1.0f,-0.0f,1.0f,-1.0f,-0.0f,1.0f,-1.0f,-0.0f,0.0f,-1.0f,-0.0f,0.0f,
-0.866025f,-0.500000f,1.0f,-0.866025f,-0.500000f,1.0f,-0.866025f,-0.500000f,0.0f,-0.866025f,-0.500000f,0.0f,
-0.500000f,-0.866025f,1.0f,-0.500000f,-0.866025f,1.0f,-0.500000f,-0.866025f,0.0f,-0.500000f,-0.866025f,0.0f,
0.0f,-1.0f,1.0f,0.0f,-1.0f,1.0f,0.0f,-1.0f,0.0f,0.0f,-1.0f,0.0f,
0.500000f,-0.866025f,1.0f,0.500000f,-0.866025f,1.0f,0.500000f,-0.866025f,0.0f,0.500000f,-0.866025f,0.0f,
0.866026f,-0.500000f,1.0f,0.866026f,-0.500000f,1.0f,0.866026f,-0.500000f,0.0f,0.866026f,-0.500000f,0.0f,
1.0f,0.0f,1.0f,1.0f,0.0f,1.0f,1.0f,0.0f,0.0f,1.0f,0.0f,0.0f
};
static std::vector<PxVec3>* gVertexBuffer = NULL;
static int gLastTime = 0;
static int gFrameCounter = 0;
static char gTitle[256];
static bool gWireFrame = false;
static PX_FORCE_INLINE void prepareVertexBuffer()
{
if(!gVertexBuffer)
gVertexBuffer = new std::vector<PxVec3>;
gVertexBuffer->clear();
}
static PX_FORCE_INLINE void pushVertex(const PxVec3& v0, const PxVec3& v1, const PxVec3& v2, const PxVec3& n)
{
PX_ASSERT(gVertexBuffer);
gVertexBuffer->push_back(n); gVertexBuffer->push_back(v0);
gVertexBuffer->push_back(n); gVertexBuffer->push_back(v1);
gVertexBuffer->push_back(n); gVertexBuffer->push_back(v2);
}
static PX_FORCE_INLINE void pushVertex(const PxVec3& v0, const PxVec3& v1, const PxVec3& v2, const PxVec3& n0, const PxVec3& n1, const PxVec3& n2, float normalSign = 1)
{
PX_ASSERT(gVertexBuffer);
gVertexBuffer->push_back(normalSign * n0); gVertexBuffer->push_back(v0);
gVertexBuffer->push_back(normalSign * n1); gVertexBuffer->push_back(v1);
gVertexBuffer->push_back(normalSign * n2); gVertexBuffer->push_back(v2);
}
static PX_FORCE_INLINE const PxVec3* getVertexBuffer()
{
PX_ASSERT(gVertexBuffer);
return &(*gVertexBuffer)[0];
}
static void releaseVertexBuffer()
{
if(gVertexBuffer)
{
delete gVertexBuffer;
gVertexBuffer = NULL;
}
}
static void renderSoftBodyGeometry(const PxTetrahedronMesh& mesh, const PxArray<PxVec4>& deformedPositionsInvMass)
{
const int tetFaces[4][3] = { {0,2,1}, {0,1,3}, {1,3,2}, {1,2,3} };
//Get the deformed vertices
//const PxVec3* vertices = mesh.getVertices();
const PxU32 tetCount = mesh.getNbTetrahedrons();
const PxU32 has16BitIndices = mesh.getTetrahedronMeshFlags() & PxTetrahedronMeshFlag::e16_BIT_INDICES;
const void* indexBuffer = mesh.getTetrahedrons();
prepareVertexBuffer();
const PxU32* intIndices = reinterpret_cast<const PxU32*>(indexBuffer);
const PxU16* shortIndices = reinterpret_cast<const PxU16*>(indexBuffer);
PxU32 numTotalTriangles = 0;
for (PxU32 i = 0; i < tetCount; ++i)
{
PxU32 vref[4];
if (has16BitIndices)
{
vref[0] = *shortIndices++;
vref[1] = *shortIndices++;
vref[2] = *shortIndices++;
vref[3] = *shortIndices++;
}
else
{
vref[0] = *intIndices++;
vref[1] = *intIndices++;
vref[2] = *intIndices++;
vref[3] = *intIndices++;
}
for (PxU32 j = 0; j < 4; ++j)
{
const PxVec4& v0 = deformedPositionsInvMass[vref[tetFaces[j][0]]];
const PxVec4& v1 = deformedPositionsInvMass[vref[tetFaces[j][1]]];
const PxVec4& v2 = deformedPositionsInvMass[vref[tetFaces[j][2]]];
PxVec3 fnormal = (v1.getXYZ() - v0.getXYZ()).cross(v2.getXYZ() - v0.getXYZ());
fnormal.normalize();
pushVertex(v0.getXYZ(), v1.getXYZ(), v2.getXYZ(), fnormal);
numTotalTriangles++;
}
}
glPushMatrix();
glScalef(1.0f, 1.0f, 1.0f);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_VERTEX_ARRAY);
const PxVec3* vertexBuffer = getVertexBuffer();
glNormalPointer(GL_FLOAT, 2 * 3 * sizeof(float), vertexBuffer);
glVertexPointer(3, GL_FLOAT, 2 * 3 * sizeof(float), vertexBuffer + 1);
glDrawArrays(GL_TRIANGLES, 0, int(numTotalTriangles * 3));
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
glPopMatrix();
}
static void renderGeometry(const PxGeometry& geom)
{
if (gWireFrame)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
switch(geom.getType())
{
case PxGeometryType::eBOX:
{
const PxBoxGeometry& boxGeom = static_cast<const PxBoxGeometry&>(geom);
glScalef(boxGeom.halfExtents.x, boxGeom.halfExtents.y, boxGeom.halfExtents.z);
glutSolidCube(2);
}
break;
case PxGeometryType::eSPHERE:
{
const PxSphereGeometry& sphereGeom = static_cast<const PxSphereGeometry&>(geom);
glutSolidSphere(GLdouble(sphereGeom.radius), 10, 10);
}
break;
case PxGeometryType::eCAPSULE:
{
const PxCapsuleGeometry& capsuleGeom = static_cast<const PxCapsuleGeometry&>(geom);
const PxF32 radius = capsuleGeom.radius;
const PxF32 halfHeight = capsuleGeom.halfHeight;
//Sphere
glPushMatrix();
glTranslatef(halfHeight, 0.0f, 0.0f);
glScalef(radius,radius,radius);
glutSolidSphere(1, 10, 10);
glPopMatrix();
//Sphere
glPushMatrix();
glTranslatef(-halfHeight, 0.0f, 0.0f);
glScalef(radius,radius,radius);
glutSolidSphere(1, 10, 10);
glPopMatrix();
//Cylinder
glPushMatrix();
glTranslatef(-halfHeight, 0.0f, 0.0f);
glScalef(2.0f*halfHeight, radius,radius);
glRotatef(90.0f,0.0f,1.0f,0.0f);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
glVertexPointer(3, GL_FLOAT, 2*3*sizeof(float), gCylinderData);
glNormalPointer(GL_FLOAT, 2*3*sizeof(float), gCylinderData+3);
glDrawArrays(GL_TRIANGLE_STRIP, 0, 13*2);
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
glPopMatrix();
}
break;
case PxGeometryType::eCONVEXMESH:
{
const PxConvexMeshGeometry& convexGeom = static_cast<const PxConvexMeshGeometry&>(geom);
//Compute triangles for each polygon.
const PxVec3& scale = convexGeom.scale.scale;
PxConvexMesh* mesh = convexGeom.convexMesh;
const PxU32 nbPolys = mesh->getNbPolygons();
const PxU8* polygons = mesh->getIndexBuffer();
const PxVec3* verts = mesh->getVertices();
PxU32 nbVerts = mesh->getNbVertices();
PX_UNUSED(nbVerts);
prepareVertexBuffer();
PxU32 numTotalTriangles = 0;
for(PxU32 i = 0; i < nbPolys; i++)
{
PxHullPolygon data;
mesh->getPolygonData(i, data);
const PxU32 nbTris = PxU32(data.mNbVerts - 2);
const PxU8 vref0 = polygons[data.mIndexBase + 0];
PX_ASSERT(vref0 < nbVerts);
for(PxU32 j=0;j<nbTris;j++)
{
const PxU32 vref1 = polygons[data.mIndexBase + 0 + j + 1];
const PxU32 vref2 = polygons[data.mIndexBase + 0 + j + 2];
//generate face normal:
PxVec3 e0 = verts[vref1] - verts[vref0];
PxVec3 e1 = verts[vref2] - verts[vref0];
PX_ASSERT(vref1 < nbVerts);
PX_ASSERT(vref2 < nbVerts);
PxVec3 fnormal = e0.cross(e1);
fnormal.normalize();
pushVertex(verts[vref0], verts[vref1], verts[vref2], fnormal);
numTotalTriangles++;
}
}
glPushMatrix();
glScalef(scale.x, scale.y, scale.z);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_VERTEX_ARRAY);
const PxVec3* vertexBuffer = getVertexBuffer();
glNormalPointer(GL_FLOAT, 2*3*sizeof(float), vertexBuffer);
glVertexPointer(3, GL_FLOAT, 2*3*sizeof(float), vertexBuffer+1);
glDrawArrays(GL_TRIANGLES, 0, int(numTotalTriangles * 3));
glPopMatrix();
}
break;
case PxGeometryType::eTRIANGLEMESH:
{
const PxTriangleMeshGeometry& triGeom = static_cast<const PxTriangleMeshGeometry&>(geom);
const PxTriangleMesh& mesh = *triGeom.triangleMesh;
const PxVec3 scale = triGeom.scale.scale;
const PxU32 triangleCount = mesh.getNbTriangles();
const PxU32 has16BitIndices = mesh.getTriangleMeshFlags() & PxTriangleMeshFlag::e16_BIT_INDICES;
const void* indexBuffer = mesh.getTriangles();
const PxVec3* vertices = mesh.getVertices();
prepareVertexBuffer();
const PxU32* intIndices = reinterpret_cast<const PxU32*>(indexBuffer);
const PxU16* shortIndices = reinterpret_cast<const PxU16*>(indexBuffer);
PxU32 numTotalTriangles = 0;
for(PxU32 i=0; i < triangleCount; ++i)
{
PxU32 vref0, vref1, vref2;
if(has16BitIndices)
{
vref0 = *shortIndices++;
vref1 = *shortIndices++;
vref2 = *shortIndices++;
}
else
{
vref0 = *intIndices++;
vref1 = *intIndices++;
vref2 = *intIndices++;
}
const PxVec3& v0 = vertices[vref0];
const PxVec3& v1 = vertices[vref1];
const PxVec3& v2 = vertices[vref2];
PxVec3 fnormal = (v1 - v0).cross(v2 - v0);
fnormal.normalize();
pushVertex(v0, v1, v2, fnormal);
numTotalTriangles++;
}
glPushMatrix();
glScalef(scale.x, scale.y, scale.z);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_VERTEX_ARRAY);
const PxVec3* vertexBuffer = getVertexBuffer();
glNormalPointer(GL_FLOAT, 2*3*sizeof(float), vertexBuffer);
glVertexPointer(3, GL_FLOAT, 2*3*sizeof(float), vertexBuffer+1);
glDrawArrays(GL_TRIANGLES, 0, int(numTotalTriangles * 3));
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
glPopMatrix();
}
break;
case PxGeometryType::eTETRAHEDRONMESH:
{
const int tetFaces[4][3] = { {0,2,1}, {0,1,3}, {1,3,2}, {1,2,3} };
const PxTetrahedronMeshGeometry& tetGeom = static_cast<const PxTetrahedronMeshGeometry&>(geom);
const PxTetrahedronMesh& mesh = *tetGeom.tetrahedronMesh;
//Get the deformed vertices
const PxVec3* vertices = mesh.getVertices();
const PxU32 tetCount = mesh.getNbTetrahedrons();
const PxU32 has16BitIndices = mesh.getTetrahedronMeshFlags() & PxTetrahedronMeshFlag::e16_BIT_INDICES;
const void* indexBuffer = mesh.getTetrahedrons();
prepareVertexBuffer();
const PxU32* intIndices = reinterpret_cast<const PxU32*>(indexBuffer);
const PxU16* shortIndices = reinterpret_cast<const PxU16*>(indexBuffer);
PxU32 numTotalTriangles = 0;
for (PxU32 i = 0; i < tetCount; ++i)
{
PxU32 vref[4];
if (has16BitIndices)
{
vref[0] = *shortIndices++;
vref[1] = *shortIndices++;
vref[2] = *shortIndices++;
vref[3] = *shortIndices++;
}
else
{
vref[0] = *intIndices++;
vref[1] = *intIndices++;
vref[2] = *intIndices++;
vref[3] = *intIndices++;
}
for (PxU32 j = 0; j < 4; ++j)
{
const PxVec3& v0 = vertices[vref[tetFaces[j][0]]];
const PxVec3& v1 = vertices[vref[tetFaces[j][1]]];
const PxVec3& v2 = vertices[vref[tetFaces[j][2]]];
PxVec3 fnormal = (v1 - v0).cross(v2 - v0);
fnormal.normalize();
pushVertex(v0, v1, v2, fnormal);
numTotalTriangles++;
}
}
glPushMatrix();
glScalef(1.0f, 1.0f, 1.0f);
glEnableClientState(GL_NORMAL_ARRAY);
glEnableClientState(GL_VERTEX_ARRAY);
const PxVec3* vertexBuffer = getVertexBuffer();
glNormalPointer(GL_FLOAT, 2 * 3 * sizeof(float), vertexBuffer);
glVertexPointer(3, GL_FLOAT, 2 * 3 * sizeof(float), vertexBuffer + 1);
glDrawArrays(GL_TRIANGLES, 0, int(numTotalTriangles * 3));
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
glPopMatrix();
}
break;
default:
break;
}
if (gWireFrame)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
}
static Snippets::Camera* gCamera = NULL;
static KeyboardCallback gKbCb = NULL;
static PxU32 gScreenWidth = 0;
static PxU32 gScreenHeight = 0;
static void defaultReshapeCallback(int width, int height)
{
glViewport(0, 0, width, height);
gTexter.setScreenResolution(width, height);
gScreenWidth = width;
gScreenHeight = height;
}
static void defaultIdleCallback()
{
glutPostRedisplay();
}
static bool gMoveCamera = false;
static void defaultMotionCallback(int x, int y)
{
if(gCamera && gMoveCamera)
gCamera->handleMotion(x, y);
}
static void defaultMouseCallback(int button, int state, int x, int y)
{
if(button==0)
gMoveCamera = state==0;
if(gCamera)
gCamera->handleMouse(button, state, x, y);
}
static void defaultKeyboardCallback(unsigned char key, int x, int y)
{
if(key==27)
exit(0);
if (key == 110) //n
gWireFrame = !gWireFrame;
const bool status = gCamera ? gCamera->handleKey(key, x, y) : false;
if(!status && gKbCb)
gKbCb(key, gCamera ? gCamera->getTransform() : PxTransform(PxIdentity));
}
static void defaultSpecialCallback(int key, int x, int y)
{
switch(key)
{
case GLUT_KEY_UP: key='W'; break;
case GLUT_KEY_DOWN: key='S'; break;
case GLUT_KEY_LEFT: key='A'; break;
case GLUT_KEY_RIGHT: key='D'; break;
}
const bool status = gCamera ? gCamera->handleKey((unsigned char)key, x, y) : false;
if(!status && gKbCb)
gKbCb((unsigned char)key, gCamera ? gCamera->getTransform() : PxTransform(PxIdentity));
}
static ExitCallback gUserExitCB = NULL;
static void defaultExitCallback()
{
releaseVertexBuffer();
if(gUserExitCB)
(gUserExitCB)();
}
static void setupDefaultWindow(const char* name, RenderCallback rdcb)
{
char* namestr = new char[strlen(name)+1];
strcpy(namestr, name);
int argc = 1;
char* argv[1] = { namestr };
glutInit(&argc, argv);
gScreenWidth = INITIAL_SCREEN_WIDTH;
gScreenHeight = INITIAL_SCREEN_HEIGHT;
gTexter.init();
gTexter.setScreenResolution(gScreenWidth, gScreenHeight);
gTexter.setColor(1.0f, 1.0f, 1.0f, 1.0f);
glutInitWindowSize(gScreenWidth, gScreenHeight);
glutInitDisplayMode(GLUT_RGB|GLUT_DOUBLE|GLUT_DEPTH);
int mainHandle = glutCreateWindow(name);
GLenum err = glewInit();
if (GLEW_OK != err)
{
fprintf(stderr, "Error: %s\n", glewGetErrorString(err));
}
glutSetWindow(mainHandle);
glutReshapeFunc(defaultReshapeCallback);
glutIdleFunc(defaultIdleCallback);
glutKeyboardFunc(defaultKeyboardCallback);
glutSpecialFunc(defaultSpecialCallback);
glutMouseFunc(defaultMouseCallback);
glutMotionFunc(defaultMotionCallback);
if(rdcb)
glutDisplayFunc(rdcb);
defaultMotionCallback(0,0);
delete[] namestr;
}
static void setupDefaultRenderState()
{
// Setup default render states
// glClearColor(0.3f, 0.4f, 0.5f, 1.0);
glClearColor(0.2f, 0.2f, 0.2f, 1.0);
glEnable(GL_DEPTH_TEST);
glEnable(GL_COLOR_MATERIAL);
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
// Setup lighting
/* glEnable(GL_LIGHTING);
PxReal ambientColor[] = { 0.0f, 0.1f, 0.2f, 0.0f };
PxReal diffuseColor[] = { 1.0f, 1.0f, 1.0f, 0.0f };
PxReal specularColor[] = { 0.0f, 0.0f, 0.0f, 0.0f };
PxReal position[] = { 100.0f, 100.0f, 400.0f, 1.0f };
glLightfv(GL_LIGHT0, GL_AMBIENT, ambientColor);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseColor);
glLightfv(GL_LIGHT0, GL_SPECULAR, specularColor);
glLightfv(GL_LIGHT0, GL_POSITION, position);
glEnable(GL_LIGHT0);*/
}
static void InitLighting()
{
glEnable(GL_COLOR_MATERIAL);
glEnable(GL_NORMALIZE);
const float zero[] = { 0.0f, 0.0f, 0.0f, 0.0f };
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, zero);
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, zero);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, zero);
glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, zero);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 0.0f);
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, zero);
glEnable(GL_LIGHTING);
PxVec3 Dir(-1.0f, 1.0f, 0.5f);
// PxVec3 Dir(0.0f, 1.0f, 0.0f);
Dir.normalize();
const float AmbientValue = 0.3f;
const float ambientColor0[] = { AmbientValue, AmbientValue, AmbientValue, 0.0f };
glLightfv(GL_LIGHT0, GL_AMBIENT, ambientColor0);
const float specularColor0[] = { 0.0f, 0.0f, 0.0f, 0.0f };
glLightfv(GL_LIGHT0, GL_SPECULAR, specularColor0);
const float diffuseColor0[] = { 1.0f, 1.0f, 1.0f, 0.0f };
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseColor0);
const float position0[] = { Dir.x, Dir.y, Dir.z, 0.0f };
glLightfv(GL_LIGHT0, GL_POSITION, position0);
glEnable(GL_LIGHT0);
// glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
// glColor4f(0.0f, 0.0f, 0.0f, 0.0f);
/* glEnable(GL_LIGHTING);
PxReal ambientColor[] = { 0.0f, 0.1f, 0.2f, 0.0f };
PxReal diffuseColor[] = { 1.0f, 1.0f, 1.0f, 0.0f };
PxReal specularColor[] = { 0.0f, 0.0f, 0.0f, 0.0f };
PxReal position[] = { 100.0f, 100.0f, 400.0f, 1.0f };
glLightfv(GL_LIGHT0, GL_AMBIENT, ambientColor);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseColor);
glLightfv(GL_LIGHT0, GL_SPECULAR, specularColor);
glLightfv(GL_LIGHT0, GL_POSITION, position);
glEnable(GL_LIGHT0);*/
if(0)
{
glEnable(GL_FOG);
glFogi(GL_FOG_MODE,GL_LINEAR);
//glFogi(GL_FOG_MODE,GL_EXP);
//glFogi(GL_FOG_MODE,GL_EXP2);
glFogf(GL_FOG_START, 0.0f);
glFogf(GL_FOG_END, 100.0f);
glFogf(GL_FOG_DENSITY, 0.005f);
// glClearColor(0.2f, 0.2f, 0.2f, 1.0);
// const PxVec3 FogColor(0.2f, 0.2f, 0.2f);
const PxVec3 FogColor(0.3f, 0.4f, 0.5f);
// const PxVec3 FogColor(1.0f);
glFogfv(GL_FOG_COLOR, &FogColor.x);
}
}
namespace Snippets
{
void initFPS()
{
gLastTime = glutGet(GLUT_ELAPSED_TIME);
}
void showFPS(int updateIntervalMS, const char* info)
{
++gFrameCounter;
int currentTime = glutGet(GLUT_ELAPSED_TIME);
if (currentTime - gLastTime > updateIntervalMS)
{
if (info)
sprintf(gTitle, " FPS : %4.0f%s", gFrameCounter * 1000.0 / (currentTime - gLastTime), info);
else
sprintf(gTitle, " FPS : %4.0f", gFrameCounter * 1000.0 / (currentTime - gLastTime));
glutSetWindowTitle(gTitle);
gLastTime = currentTime;
gFrameCounter = 0;
}
}
PxU32 getScreenWidth()
{
return gScreenWidth;
}
PxU32 getScreenHeight()
{
return gScreenHeight;
}
void enableVSync(bool vsync)
{
#if PX_WIN32 || PX_WIN64
typedef void (APIENTRY * PFNWGLSWAPINTERVALPROC) (GLenum interval);
PFNWGLSWAPINTERVALPROC wglSwapIntervalEXT = (PFNWGLSWAPINTERVALPROC)wglGetProcAddress("wglSwapIntervalEXT");
wglSwapIntervalEXT(vsync);
#else
PX_UNUSED(vsync);
#endif
}
void setupDefault(const char* name, Camera* camera, KeyboardCallback kbcb, RenderCallback rdcb, ExitCallback excb)
{
gCamera = camera;
gKbCb = kbcb;
setupDefaultWindow(name, rdcb);
setupDefaultRenderState();
enableVSync(true);
#if PX_LINUX_FAMILY
glutSetOption( GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS );
#endif
gUserExitCB = excb;
atexit(defaultExitCallback);
}
Camera* getCamera()
{
return gCamera;
}
static float gNearClip = 0.0f;
static float gFarClip = 0.0f;
static float gFOV = 60.0f;
static float gTextScale = 0.0f;
static float gTextY = 0.0f;
PxVec3 computeWorldRayF(float xs, float ys, const PxVec3& camDir)
{
const float Width = float(gScreenWidth);
const float Height = float(gScreenHeight);
// Recenter coordinates in camera space ([-1, 1])
const float u = ((xs - Width*0.5f)/Width)*2.0f;
const float v = -((ys - Height*0.5f)/Height)*2.0f;
// Adjust coordinates according to camera aspect ratio
const float HTan = tanf(0.25f * fabsf(PxDegToRad(gFOV * 2.0f)));
const float VTan = HTan*(Width/Height);
// Ray in camera space
const PxVec3 CamRay(VTan*u, HTan*v, 1.0f);
// Compute ray in world space
PxVec3 Right, Up;
PxComputeBasisVectors(camDir, Right, Up);
const PxMat33 invView(-Right, Up, camDir);
return invView.transform(CamRay).getNormalized();
}
void startRender(const Camera* camera, float clipNear, float clipFar, float fov, bool setupLighting)
{
const PxVec3 cameraEye = camera->getEye();
const PxVec3 cameraDir = camera->getDir();
gNearClip = clipNear;
gFarClip = clipFar;
gFOV = fov;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup camera
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(GLdouble(fov), GLdouble(glutGet(GLUT_WINDOW_WIDTH)) / GLdouble(glutGet(GLUT_WINDOW_HEIGHT)), GLdouble(clipNear), GLdouble(clipFar));
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(GLdouble(cameraEye.x), GLdouble(cameraEye.y), GLdouble(cameraEye.z), GLdouble(cameraEye.x + cameraDir.x), GLdouble(cameraEye.y + cameraDir.y), GLdouble(cameraEye.z + cameraDir.z), 0.0, 1.0, 0.0);
glColor4f(0.4f, 0.4f, 0.4f, 1.0f);
if(setupLighting)
InitLighting();
gTextScale = 0.0175f * float(INITIAL_SCREEN_HEIGHT) / float(gScreenHeight);
gTextY = 1.0f - gTextScale;
gTexter.setColor(1.0f, 1.0f, 1.0f, 1.0f);
}
void finishRender()
{
glutSwapBuffers();
}
void print(const char* text)
{
gTexter.print(0.0f, gTextY, gTextScale, text);
gTextY -= gTextScale;
}
const PxVec3 shadowDir(0.0f, -0.7071067f, -0.7071067f);
const PxReal shadowMat[] = { 1,0,0,0, -shadowDir.x / shadowDir.y,0,-shadowDir.z / shadowDir.y,0, 0,0,1,0, 0,0,0,1 };
void renderSoftBody(PxSoftBody* softBody, const PxArray<PxVec4>& deformedPositionsInvMass, bool shadows, const PxVec3& color)
{
PxShape* shape = softBody->getShape();
const PxMat44 shapePose(PxIdentity); // (PxShapeExt::getGlobalPose(*shapes[j], *actors[i]));
const PxGeometry& geom = shape->getGeometry();
const PxTetrahedronMeshGeometry& tetGeom = static_cast<const PxTetrahedronMeshGeometry&>(geom);
const PxTetrahedronMesh& mesh = *tetGeom.tetrahedronMesh;
glPushMatrix();
glMultMatrixf(&shapePose.column0.x);
glColor4f(color.x, color.y, color.z, 1.0f);
renderSoftBodyGeometry(mesh, deformedPositionsInvMass);
glPopMatrix();
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
if (shadows)
{
glPushMatrix();
glMultMatrixf(shadowMat);
glMultMatrixf(&shapePose.column0.x);
glDisable(GL_LIGHTING);
//glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
glColor4f(0.1f, 0.1f, 0.1f, 1.0f);
renderSoftBodyGeometry(mesh, deformedPositionsInvMass);
glEnable(GL_LIGHTING);
glPopMatrix();
}
}
void renderHairSystem(physx::PxHairSystem* /*hairSystem*/, const physx::PxVec4* vertexPositionInvMass, PxU32 numVertices)
{
const PxVec3 color{ 1.0f, 0.0f, 0.0f };
const PxSphereGeometry geom(0.05f);
// draw the volume
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
for(PxU32 j=0;j<numVertices;j++)
{
const PxMat44 shapePose(PxTransform(reinterpret_cast<const PxVec3&>(vertexPositionInvMass[j])));
glPushMatrix();
glMultMatrixf(&shapePose.column0.x);
glColor4f(color.x, color.y, color.z, 1.0f);
renderGeometry(geom);
glPopMatrix();
}
// draw the cage lines
const GLdouble aspect = GLdouble(glutGet(GLUT_WINDOW_WIDTH)) / GLdouble(glutGet(GLUT_WINDOW_HEIGHT));
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60.0, aspect, GLdouble(gNearClip * 1.005f), GLdouble(gFarClip));
glMatrixMode(GL_MODELVIEW);
glDisable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glColor4f(0.0f, 0.0f, 0.0f, 1.0f);
for (PxU32 j = 0; j < numVertices; j++)
{
const PxMat44 shapePose(PxTransform(reinterpret_cast<const PxVec3&>(vertexPositionInvMass[j])));
glPushMatrix();
glMultMatrixf(&shapePose.column0.x);
renderGeometry(geom);
glPopMatrix();
}
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glEnable(GL_LIGHTING);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60.0, aspect, GLdouble(gNearClip), GLdouble(gFarClip));
glMatrixMode(GL_MODELVIEW);
}
void renderActors(PxRigidActor** actors, const PxU32 numActors, bool shadows, const PxVec3& color, TriggerRender* cb,
bool changeColorForSleepingActors, bool wireframePass)
{
PxShape* shapes[MAX_NUM_ACTOR_SHAPES];
for(PxU32 i=0;i<numActors;i++)
{
const PxU32 nbShapes = actors[i]->getNbShapes();
PX_ASSERT(nbShapes <= MAX_NUM_ACTOR_SHAPES);
actors[i]->getShapes(shapes, nbShapes);
bool sleeping;
if (changeColorForSleepingActors)
sleeping = actors[i]->is<PxRigidDynamic>() ? actors[i]->is<PxRigidDynamic>()->isSleeping() : false;
else
sleeping = false;
for(PxU32 j=0;j<nbShapes;j++)
{
const PxMat44 shapePose(PxShapeExt::getGlobalPose(*shapes[j], *actors[i]));
const PxGeometry& geom = shapes[j]->getGeometry();
const bool isTrigger = cb ? cb->isTrigger(shapes[j]) : shapes[j]->getFlags() & PxShapeFlag::eTRIGGER_SHAPE;
if(isTrigger)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
// render object
glPushMatrix();
glMultMatrixf(&shapePose.column0.x);
if(sleeping)
{
const PxVec3 darkColor = color * 0.25f;
glColor4f(darkColor.x, darkColor.y, darkColor.z, 1.0f);
}
else
glColor4f(color.x, color.y, color.z, 1.0f);
renderGeometry(geom);
glPopMatrix();
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
if(shadows)
{
glPushMatrix();
glMultMatrixf(shadowMat);
glMultMatrixf(&shapePose.column0.x);
glDisable(GL_LIGHTING);
//glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
glColor4f(0.1f, 0.1f, 0.1f, 1.0f);
renderGeometry(geom);
glEnable(GL_LIGHTING);
glPopMatrix();
}
}
}
if(wireframePass)
{
const GLdouble aspect = GLdouble(glutGet(GLUT_WINDOW_WIDTH)) / GLdouble(glutGet(GLUT_WINDOW_HEIGHT));
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60.0, aspect, GLdouble(gNearClip*1.005f), GLdouble(gFarClip));
glMatrixMode(GL_MODELVIEW);
glDisable(GL_LIGHTING);
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
glColor4f(0.0f, 0.0f, 0.0f, 1.0f);
for(PxU32 i=0;i<numActors;i++)
{
const PxU32 nbShapes = actors[i]->getNbShapes();
PX_ASSERT(nbShapes <= MAX_NUM_ACTOR_SHAPES);
actors[i]->getShapes(shapes, nbShapes);
for(PxU32 j=0;j<nbShapes;j++)
{
const PxMat44 shapePose(PxShapeExt::getGlobalPose(*shapes[j], *actors[i]));
glPushMatrix();
glMultMatrixf(&shapePose.column0.x);
renderGeometry(shapes[j]->getGeometry());
glPopMatrix();
}
}
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glEnable(GL_LIGHTING);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60.0, aspect, GLdouble(gNearClip), GLdouble(gFarClip));
glMatrixMode(GL_MODELVIEW);
}
}
/*static const PxU32 gGeomSizes[] = {
sizeof(PxSphereGeometry),
sizeof(PxPlaneGeometry),
sizeof(PxCapsuleGeometry),
sizeof(PxBoxGeometry),
sizeof(PxConvexMeshGeometry),
sizeof(PxTriangleMeshGeometry),
sizeof(PxHeightFieldGeometry),
};
void renderGeoms(const PxU32 nbGeoms, const PxGeometry* geoms, const PxTransform* poses, bool shadows, const PxVec3& color)
{
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
const PxVec3 shadowDir(0.0f, -0.7071067f, -0.7071067f);
const PxReal shadowMat[]={ 1,0,0,0, -shadowDir.x/shadowDir.y,0,-shadowDir.z/shadowDir.y,0, 0,0,1,0, 0,0,0,1 };
const PxU8* stream = reinterpret_cast<const PxU8*>(geoms);
for(PxU32 j=0;j<nbGeoms;j++)
{
const PxMat44 shapePose(poses[j]);
const PxGeometry& geom = *reinterpret_cast<const PxGeometry*>(stream);
stream += gGeomSizes[geom.getType()];
// render object
glPushMatrix();
glMultMatrixf(&shapePose.column0.x);
glColor4f(color.x, color.y, color.z, 1.0f);
renderGeometry(geom);
glPopMatrix();
if(shadows)
{
glPushMatrix();
glMultMatrixf(shadowMat);
glMultMatrixf(&shapePose.column0.x);
glDisable(GL_LIGHTING);
glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
renderGeometry(geom);
glEnable(GL_LIGHTING);
glPopMatrix();
}
}
}*/
void renderGeoms(const PxU32 nbGeoms, const PxGeometryHolder* geoms, const PxTransform* poses, bool shadows, const PxVec3& color)
{
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
// glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
//const PxVec3 shadowDir(0.0f, -0.7071067f, -0.7071067f);
//const PxReal shadowMat[]={ 1,0,0,0, -shadowDir.x/shadowDir.y,0,-shadowDir.z/shadowDir.y,0, 0,0,1,0, 0,0,0,1 };
for(PxU32 j=0;j<nbGeoms;j++)
{
const PxMat44 shapePose(poses[j]);
const PxGeometry& geom = geoms[j].any();
// render object
glPushMatrix();
glMultMatrixf(&shapePose.column0.x);
glColor4f(color.x, color.y, color.z, 1.0f);
renderGeometry(geom);
glPopMatrix();