//------------------------------------------------------------------------------
void GimpactConcaveDemo::keyboardCallback(unsigned char key, int x, int y)
{
switch (key)
{
case '.':
{
shootTrimesh(getCameraTargetPosition());
break;
}
case '2':
{
dts += 0.000001f;
break;
}
case '3':
{
dts -= 0.000001f; if(dts<0.000001f) dts = 0.000001f;
break;
}
default:
DemoApplication::keyboardCallback(key, x, y);
}
}
void
GeneralViewer::setCutPlaneCameraTargetOffset( float aOffset )
{
glm::fvec3 normal = getViewerState().mVolumeRenderConfig.cutPlane.normal();
glm::fvec3 point = getCameraTargetPosition() + aOffset * glm::fvec3(normal[0], normal[1], normal[2]);
soglu::Planef plane(glm::fvec3(point.x, point.y, point.z), normal );
getViewerState().mVolumeRenderConfig.cutPlane = plane;
getViewerState().mVolumeRenderConfig.cutPlaneCameraTargetOffset = aOffset;
notifyAboutSettingsChange();
update();
}
void
GeneralViewer::setCutPlane( const soglu::Planef &aCutPlane )
{
getViewerState().mVolumeRenderConfig.cutPlane = aCutPlane;
glm::fvec3 point = glm::fvec3(aCutPlane.point()[0], aCutPlane.point()[1], aCutPlane.point()[2]);
glm::fvec3 normal = glm::fvec3(aCutPlane.normal()[0], aCutPlane.normal()[1], aCutPlane.normal()[2]);
glm::fvec3 dir = vectorProjection(normal, point - getCameraTargetPosition());
float offset = glm::length(dir);
if( glm::dot(dir, normal) < 0.0f ) {
offset *= -1.0f;
}
getViewerState().mVolumeRenderConfig.cutPlaneCameraTargetOffset = offset;
notifyAboutSettingsChange();
update();
}
btVector3 getRayTo(float x, float y, int heightPixels, int widthPixels)
{
m_glutScreenWidth = widthPixels;
m_glutScreenHeight = heightPixels;
if (m_ortho)
{
btScalar aspect;
btVector3 extents;
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
extents.setValue(aspect * 1.0f, 1.0f,0);
extents *= m_cameraDistance;
btVector3 lower = m_cameraTargetPosition - extents;
btVector3 upper = m_cameraTargetPosition + extents;
btScalar u = x / btScalar(m_glutScreenWidth);
btScalar v = (m_glutScreenHeight - y) / btScalar(m_glutScreenHeight);
btVector3 p(0,0,0);
p.setValue((1.0f - u) * lower.getX() + u * upper.getX(),(1.0f - v) * lower.getY() + v * upper.getY(),m_cameraTargetPosition.getZ());
return p;
}
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = btScalar(2.0) * btAtan(tanFov);
btVector3 rayFrom = getCameraPosition();
btVector3 rayForward = (getCameraTargetPosition()-getCameraPosition());
rayForward.normalize();
float farPlane = 10000.f;
rayForward*= farPlane;
btVector3 rightOffset;
btVector3 vertical = m_cameraUp;
btVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
btScalar aspect;
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
hor*=aspect;
btVector3 rayToCenter = rayFrom + rayForward;
btVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += btScalar(x) * dHor;
rayTo -= btScalar(y) * dVert;
//rayTo = rayTo / 100.f;
return rayTo;
}
void Raytracer::displayCallback()
{
updateCamera();
for (int i=0;i<numObjects;i++)
{
transforms[i].setIdentity();
btVector3 pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
transforms[i].setOrigin( pos );
btQuaternion orn;
if (i < 2)
{
orn.setEuler(yaw,pitch,roll);
transforms[i].setRotation(orn);
}
}
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
if (!m_initialized)
{
m_initialized = true;
glGenTextures(1, &glTextureId);
}
glBindTexture(GL_TEXTURE_2D,glTextureId );
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glDisable(GL_TEXTURE_2D);
glDisable(GL_BLEND);
btVector4 rgba(1.f,0.f,0.f,0.5f);
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = 2.0 * atanf (tanFov);
btVector3 rayFrom = getCameraPosition();
btVector3 rayForward = getCameraTargetPosition()-getCameraPosition();
rayForward.normalize();
float farPlane = 600.f;
rayForward*= farPlane;
btVector3 rightOffset;
btVector3 vertical(0.f,1.f,0.f);
btVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
btVector3 rayToCenter = rayFrom + rayForward;
btVector3 dHor = hor * 1.f/float(screenWidth);
btVector3 dVert = vertical * 1.f/float(screenHeight);
btTransform rayFromTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(rayFrom);
btTransform rayFromLocal;
btTransform rayToLocal;
int x;
///clear texture
for (x=0;x<screenWidth;x++)
{
for (int y=0;y<screenHeight;y++)
{
btVector4 rgba(0.2f,0.2f,0.2f,1.f);
raytracePicture->setPixel(x,y,rgba);
}
}
#if 1
btVector3 rayTo;
btTransform colObjWorldTransform;
colObjWorldTransform.setIdentity();
int mode = 0;
for (x=0;x<screenWidth;x++)
{
for (int y=0;y<screenHeight;y++)
{
rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += x * dHor;
rayTo -= y * dVert;
btVector3 worldNormal(0,0,0);
btVector3 worldPoint(0,0,0);
bool hasHit = false;
int mode = 0;
switch (mode)
{
case 0:
hasHit = lowlevelRaytest(rayFrom,rayTo,worldNormal,worldPoint);
break;
case 1:
hasHit = singleObjectRaytest(rayFrom,rayTo,worldNormal,worldPoint);
break;
case 2:
hasHit = worldRaytest(rayFrom,rayTo,worldNormal,worldPoint);
break;
default:
{
}
}
if (hasHit)
{
float lightVec0 = worldNormal.dot(btVector3(0,-1,-1));//0.4f,-1.f,-0.4f));
float lightVec1= worldNormal.dot(btVector3(-1,0,-1));//-0.4f,-1.f,-0.4f));
rgba = btVector4(lightVec0,lightVec1,0,1.f);
rgba.setMin(btVector3(1,1,1));
rgba.setMax(btVector3(0.2,0.2,0.2));
rgba[3] = 1.f;
raytracePicture->setPixel(x,y,rgba);
} else
btVector4 rgba = raytracePicture->getPixel(x,y);
if (!rgba.length2())
{
raytracePicture->setPixel(x,y,btVector4(1,1,1,1));
}
}
}
#endif
extern unsigned char sFontData[];
if (0)
{
const char* text="ABC abc 123 !@#";
int x=0;
for (int cc = 0;cc<strlen(text);cc++)
{
char testChar = text[cc];//'b';
char ch = testChar-32;
int startx=ch%16;
int starty=ch/16;
//for (int i=0;i<256;i++)
for (int i=startx*16;i<(startx*16+16);i++)
{
int y=0;
//for (int j=0;j<256;j++)
//for (int j=0;j<256;j++)
for (int j=starty*16;j<(starty*16+16);j++)
{
btVector4 rgba(0,0,0,1);
rgba[0] = (sFontData[i*3+255*256*3-(256*j)*3])/255.f;
//rgba[0] += (sFontData[(i+1)*3+255*256*3-(256*j)*3])/255.*0.25f;
//rgba[0] += (sFontData[(i)*3+255*256*3-(256*j+1)*3])/255.*0.25f;
//rgba[0] += (sFontData[(i+1)*3+255*256*3-(256*j+1)*3])/255.*0.25;
//if (rgba[0]!=0.f)
{
rgba[1]=rgba[0];
rgba[2]=rgba[0];
rgba[3]=1.f;
//raytracePicture->setPixel(x,y,rgba);
raytracePicture->addPixel(x,y,rgba);
}
y++;
}
x++;
}
}
}
//raytracePicture->grapicalPrintf("CCD RAYTRACER",sFontData);
char buffer[256];
sprintf(buffer,"%d rays",screenWidth*screenHeight*numObjects);
//sprintf(buffer,"Toggle",screenWidth*screenHeight*numObjects);
//sprintf(buffer,"TEST",screenWidth*screenHeight*numObjects);
//raytracePicture->grapicalPrintf(buffer,sFontData,0,10);//&BMF_font_helv10,0,10);
raytracePicture->grapicalPrintf(buffer,sFontData,0,0);//&BMF_font_helv10,0,10);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glFrustum(-1.0,1.0,-1.0,1.0,3,2020.0);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity(); // reset The Modelview Matrix
glTranslatef(0.0f,0.0f,-3.1f); // Move Into The Screen 5 Units
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,glTextureId );
const unsigned char *ptr = raytracePicture->getBuffer();
glTexImage2D(GL_TEXTURE_2D,
0,
GL_RGBA,
raytracePicture->getWidth(),raytracePicture->getHeight(),
0,
GL_RGBA,
GL_UNSIGNED_BYTE,
ptr);
glEnable (GL_BLEND);
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glColor4f (1,1,1,1); // alpha=0.5=half visible
glBegin(GL_QUADS);
glTexCoord2f(0.0f, 0.0f);
glVertex2f(-1,1);
glTexCoord2f(1.0f, 0.0f);
glVertex2f(1,1);
glTexCoord2f(1.0f, 1.0f);
glVertex2f(1,-1);
glTexCoord2f(0.0f, 1.0f);
glVertex2f(-1,-1);
glEnd();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glDisable(GL_TEXTURE_2D);
glDisable(GL_DEPTH_TEST);
GL_ShapeDrawer::drawCoordSystem();
{
for (int i=0;i<numObjects;i++)
{
btVector3 aabbMin,aabbMax;
shapePtr[i]->getAabb(transforms[i],aabbMin,aabbMax);
}
}
glPushMatrix();
glPopMatrix();
pitch += 0.005f;
yaw += 0.01f;
m_azi += 1.f;
glFlush();
glutSwapBuffers();
}
void Raytracer::displayCallback()
{
updateCamera();
for (int i=0;i<numObjects;i++)
{
transforms[i].setIdentity();
SimdVector3 pos(-3.5f+i*2.5f,0.f,0.f);
transforms[i].setOrigin( pos );
SimdQuaternion orn;
if (i < 2)
{
orn.setEuler(yaw,pitch,roll);
transforms[i].setRotation(orn);
}
}
myMink.SetTransformA(SimdTransform(transforms[0].getRotation()));
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
if (once)
{
glGenTextures(1, &glTextureId);
glBindTexture(GL_TEXTURE_2D,glTextureId );
once = 0;
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
}
glDisable(GL_TEXTURE_2D);
glDisable(GL_BLEND);
#define RAYTRACER
#ifdef RAYTRACER
SimdVector4 rgba(1.f,0.f,0.f,0.5f);
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = 2.0 * atanf (tanFov);
SimdVector3 rayFrom = getCameraPosition();
SimdVector3 rayForward = getCameraTargetPosition()-getCameraPosition();
rayForward.normalize();
float farPlane = 600.f;
rayForward*= farPlane;
SimdVector3 rightOffset;
SimdVector3 vertical(0.f,1.f,0.f);
SimdVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
SimdVector3 rayToCenter = rayFrom + rayForward;
SimdVector3 dHor = hor * 1.f/float(screenWidth);
SimdVector3 dVert = vertical * 1.f/float(screenHeight);
SimdTransform rayFromTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(rayFrom);
SimdTransform rayFromLocal;
SimdTransform rayToLocal;
SphereShape pointShape(0.0f);
///clear texture
for (int x=0;x<screenWidth;x++)
{
for (int y=0;y<screenHeight;y++)
{
SimdVector4 rgba(0.f,0.f,0.f,0.f);
raytracePicture->SetPixel(x,y,rgba);
}
}
ConvexCast::CastResult rayResult;
SimdTransform rayToTrans;
rayToTrans.setIdentity();
SimdVector3 rayTo;
for (int x=0;x<screenWidth;x++)
{
for (int y=0;y<screenHeight;y++)
{
rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += x * dHor;
rayTo -= y * dVert;
rayToTrans.setOrigin(rayTo);
for (int s=0;s<numObjects;s++)
{
// rayFromLocal = transforms[s].inverse()* rayFromTrans;
// rayToLocal = transforms[s].inverse()* rayToTrans;
//choose the continuous collision detection method
SubsimplexConvexCast convexCaster(&pointShape,shapePtr[s],&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,shapePtr[0],&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,shapePtr[0],&simplexSolver,0);
// BU_Simplex1to4 ptShape(SimdVector3(0,0,0));//algebraic needs features, doesnt use 'supporting vertex'
// BU_CollisionPair convexCaster(&ptShape,shapePtr[0]);
//reset previous result
rayResult.m_fraction = 1.f;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,transforms[s],transforms[s],rayResult))
{
//float fog = 1.f - 0.1f * rayResult.m_fraction;
rayResult.m_normal.normalize();
SimdVector3 worldNormal;
worldNormal = transforms[s].getBasis() *rayResult.m_normal;
float light = worldNormal.dot(SimdVector3(0.4f,-1.f,-0.4f));
if (light < 0.2f)
light = 0.2f;
if (light > 1.f)
light = 1.f;
rgba = SimdVector4(light,light,light,1.f);
raytracePicture->SetPixel(x,y,rgba);
} else
{
//clear is already done
//rgba = SimdVector4(0.f,0.f,0.f,0.f);
//raytracePicture->SetPixel(x,y,rgba);
}
}
}
}
#define TEST_PRINTF
#ifdef TEST_PRINTF
extern BMF_FontData BMF_font_helv10;
raytracePicture->Printf("CCD RAYTRACER",&BMF_font_helv10);
char buffer[256];
sprintf(buffer,"%d RAYS / Frame",screenWidth*screenHeight*numObjects);
raytracePicture->Printf(buffer,&BMF_font_helv10,0,10);
#endif //TEST_PRINTF
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glFrustum(-1.0,1.0,-1.0,1.0,3,2020.0);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity(); // Reset The Modelview Matrix
glTranslatef(0.0f,0.0f,-3.0f); // Move Into The Screen 5 Units
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D,glTextureId );
const unsigned char *ptr = raytracePicture->GetBuffer();
glTexImage2D(GL_TEXTURE_2D,
0,
GL_RGBA,
raytracePicture->GetWidth(),raytracePicture->GetHeight(),
0,
GL_RGBA,
GL_UNSIGNED_BYTE,
ptr);
glEnable (GL_BLEND);
glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glColor4f (1,1,1,1); // alpha=0.5=half visible
glBegin(GL_QUADS);
glTexCoord2f(0.0f, 0.0f);
glVertex2f(-1,1);
glTexCoord2f(1.0f, 0.0f);
glVertex2f(1,1);
glTexCoord2f(1.0f, 1.0f);
glVertex2f(1,-1);
glTexCoord2f(0.0f, 1.0f);
glVertex2f(-1,-1);
glEnd();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
#endif //RAYRACER
glDisable(GL_TEXTURE_2D);
glDisable(GL_DEPTH_TEST);
GL_ShapeDrawer::DrawCoordSystem();
glPushMatrix();
/*
/// normal opengl rendering
float m[16];
int i;
for (i=0;i<numObjects;i++)
{
transA.getOpenGLMatrix( m );
/// draw the simplex
GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1));
/// calculate closest point from simplex to the origin, and draw this vector
simplex.CalcClosest(m);
}
*/
glPopMatrix();
pitch += 0.005f;
yaw += 0.01f;
glFlush();
glutSwapBuffers();
}
btVector3 bulletBaseApp::getRayTo(int x,int y)
{
if (m_ortho)
{
btScalar aspect;
btVector3 extents;
if (m_glutScreenWidth > m_glutScreenHeight)
{
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
extents.setValue(aspect * 1.0f, 1.0f,0);
} else
{
aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
extents.setValue(1.0f, aspect*1.f,0);
}
extents *= m_cameraDistance;
btVector3 lower = m_cameraTargetPosition - extents;
btVector3 upper = m_cameraTargetPosition + extents;
btScalar u = x / btScalar(m_glutScreenWidth);
btScalar v = (m_glutScreenHeight - y) / btScalar(m_glutScreenHeight);
btVector3 p(0,0,0);
p.setValue((1.0f - u) * lower.getX() + u * upper.getX(),(1.0f - v) * lower.getY() + v * upper.getY(),m_cameraTargetPosition.getZ());
return p;
}
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = 2.0 * atanf (tanFov);
btVector3 rayFrom = getCameraPosition();
btVector3 rayForward = (getCameraTargetPosition()-getCameraPosition());
rayForward.normalize();
float farPlane = 10000.f;
rayForward*= farPlane;
btVector3 rightOffset;
btVector3 vertical = m_cameraUp;
btVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
btScalar aspect;
if (m_glutScreenWidth > m_glutScreenHeight)
{
aspect = m_glutScreenWidth / (btScalar)m_glutScreenHeight;
hor*=aspect;
} else
{
aspect = m_glutScreenHeight / (btScalar)m_glutScreenWidth;
vertical*=aspect;
}
btVector3 rayToCenter = rayFrom + rayForward;
btVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += x * dHor;
rayTo -= y * dVert;
return rayTo;
}
