void b3GeometryUtil::getVerticesFromPlaneEquations(const b3AlignedObjectArray<b3Vector3>& planeEquations , b3AlignedObjectArray<b3Vector3>& verticesOut ) { const int numbrushes = planeEquations.size(); // brute force: for (int i=0;i<numbrushes;i++) { const b3Vector3& N1 = planeEquations[i]; for (int j=i+1;j<numbrushes;j++) { const b3Vector3& N2 = planeEquations[j]; for (int k=j+1;k<numbrushes;k++) { const b3Vector3& N3 = planeEquations[k]; b3Vector3 n2n3; n2n3 = N2.cross(N3); b3Vector3 n3n1; n3n1 = N3.cross(N1); b3Vector3 n1n2; n1n2 = N1.cross(N2); if ( ( n2n3.length2() > b3Scalar(0.0001) ) && ( n3n1.length2() > b3Scalar(0.0001) ) && ( n1n2.length2() > b3Scalar(0.0001) ) ) { //point P out of 3 plane equations: // d1 ( N2 * N3 ) + d2 ( N3 * N1 ) + d3 ( N1 * N2 ) //P = ------------------------------------------------------------------------- // N1 . ( N2 * N3 ) b3Scalar quotient = (N1.dot(n2n3)); if (b3Fabs(quotient) > b3Scalar(0.000001)) { quotient = b3Scalar(-1.) / quotient; n2n3 *= N1[3]; n3n1 *= N2[3]; n1n2 *= N3[3]; b3Vector3 potentialVertex = n2n3; potentialVertex += n3n1; potentialVertex += n1n2; potentialVertex *= quotient; //check if inside, and replace supportingVertexOut if needed if (isPointInsidePlanes(planeEquations,potentialVertex,b3Scalar(0.01))) { verticesOut.push_back(potentialVertex); } } } } } } }
static void clipEdge(const mat<4, 3, float>& triangleIn, int vertexIndexA, int vertexIndexB, b3AlignedObjectArray<Vec4f>& vertices) { Vec4f v0New = triangleIn.col(vertexIndexA); Vec4f v1New = triangleIn.col(vertexIndexB); bool v0Inside = v0New[3] > 0.f && v0New[2] > -v0New[3]; bool v1Inside = v1New[3] > 0.f && v1New[2] > -v1New[3]; if (v0Inside && v1Inside) { } else if (v0Inside || v1Inside) { float d0 = v0New[2] + v0New[3]; float d1 = v1New[2] + v1New[3]; float factor = 1.0 / (d1 - d0); Vec4f newVertex = (v0New * d1 - v1New * d0) * factor; if (v0Inside) { v1New = newVertex; } else { v0New = newVertex; } } else { return; } if (vertices.size() == 0 || !(equals(vertices[vertices.size() - 1], v0New))) { vertices.push_back(v0New); } vertices.push_back(v1New); }
void b3GeometryUtil::getPlaneEquationsFromVertices(b3AlignedObjectArray<b3Vector3>& vertices, b3AlignedObjectArray<b3Vector3>& planeEquationsOut ) { const int numvertices = vertices.size(); // brute force: for (int i=0;i<numvertices;i++) { const b3Vector3& N1 = vertices[i]; for (int j=i+1;j<numvertices;j++) { const b3Vector3& N2 = vertices[j]; for (int k=j+1;k<numvertices;k++) { const b3Vector3& N3 = vertices[k]; b3Vector3 planeEquation,edge0,edge1; edge0 = N2-N1; edge1 = N3-N1; b3Scalar normalSign = b3Scalar(1.); for (int ww=0;ww<2;ww++) { planeEquation = normalSign * edge0.cross(edge1); if (planeEquation.length2() > b3Scalar(0.0001)) { planeEquation.normalize(); if (notExist(planeEquation,planeEquationsOut)) { planeEquation[3] = -planeEquation.dot(N1); //check if inside, and replace supportingVertexOut if needed if (areVerticesBehindPlane(planeEquation,vertices,b3Scalar(0.01))) { planeEquationsOut.push_back(planeEquation); } } } normalSign = b3Scalar(-1.); } } } } }
static bool clipTriangleAgainstNearplane(const mat<4,3,float>& triangleIn, b3AlignedObjectArray<mat<4,3,float> >& clippedTrianglesOut) { //discard triangle if all vertices are behind near-plane if (triangleIn[3][0]<0 && triangleIn[3][1] <0 && triangleIn[3][2] <0) { return true; } //accept triangle if all vertices are in front of the near-plane if (triangleIn[3][0]>=0 && triangleIn[3][1] >=0 && triangleIn[3][2] >=0) { clippedTrianglesOut.push_back(triangleIn); return false; } Vec4f vtxCache[5]; b3AlignedObjectArray<Vec4f> vertices; vertices.initializeFromBuffer(vtxCache,0,5); clipEdge(triangleIn,0,1,vertices); clipEdge(triangleIn,1,2,vertices); clipEdge(triangleIn,2,0,vertices); if (vertices.size()<3) return true; if (equals(vertices[0],vertices[vertices.size()-1])) { vertices.pop_back(); } //create a fan of triangles for (int i=1;i<vertices.size()-1;i++) { mat<4,3,float>& vtx = clippedTrianglesOut.expand(); vtx.set_col(0,vertices[0]); vtx.set_col(1,vertices[i]); vtx.set_col(2,vertices[i+1]); } return true; }
RenderInstancingDemo(CommonGraphicsApp* app) :m_app(app), m_x(0), m_y(0), m_z(0) { m_app->setUpAxis(2); { b3Vector3 extents=b3MakeVector3(100,100,100); extents[m_app->getUpAxis()]=1; int xres = 20; int yres = 20; b3Vector4 color0=b3MakeVector4(0.1, 0.1, 0.1,1); b3Vector4 color1=b3MakeVector4(0.6, 0.6, 0.6,1); m_app->registerGrid(xres, yres, color0, color1); } { int boxId = m_app->registerCubeShape(0.1,0.1,0.1); for (int i=-numCubesX/2;i<numCubesX/2;i++) { for (int j = -numCubesY/2;j<numCubesY/2;j++) { b3Vector3 pos=b3MakeVector3(i,j,j); pos[app->getUpAxis()] = 1; b3Quaternion orn(0,0,0,1); b3Vector4 color=b3MakeVector4(0.3,0.3,0.3,1); b3Vector3 scaling=b3MakeVector3(1,1,1); int instanceId = m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling); m_movingInstances.push_back(instanceId); } } } m_app->m_renderer->writeTransforms(); }
int main(int argc, char* argv[]) { int sz = sizeof(b3Generic6DofConstraint); int sz2 = sizeof(b3Point2PointConstraint); int sz3 = sizeof(b3TypedConstraint); int sz4 = sizeof(b3TranslationalLimitMotor); int sz5 = sizeof(b3RotationalLimitMotor); int sz6 = sizeof(b3Transform); //b3OpenCLUtils::setCachePath("/Users/erwincoumans/develop/mycache"); b3SetCustomEnterProfileZoneFunc(b3ProfileManager::Start_Profile); b3SetCustomLeaveProfileZoneFunc(b3ProfileManager::Stop_Profile); b3SetCustomPrintfFunc(myprintf); b3Vector3 test=b3MakeVector3(1,2,3); test.x = 1; test.y = 4; printf("main start"); b3CommandLineArgs args(argc,argv); ParticleDemo::ConstructionInfo ci; if (args.CheckCmdLineFlag("help")) { Usage(); return 0; } selectedDemo = loadCurrentDemoEntry(sStartFileName); args.GetCmdLineArgument("selected_demo",selectedDemo); if (args.CheckCmdLineFlag("new_batching")) { useNewBatchingKernel = true; } bool benchmark=args.CheckCmdLineFlag("benchmark"); args.GetCmdLineArgument("max_framecount",maxFrameCount); args.GetCmdLineArgument("shadowmap_size",shadowMapWorldSize); args.GetCmdLineArgument("shadowmap_resolution",shadowMapWidth); shadowMapHeight=shadowMapWidth; if (args.CheckCmdLineFlag("disable_shadowmap")) { useShadowMap = false; } args.GetCmdLineArgument("pair_benchmark_file",gPairBenchFileName); gDebugLauncherCL = args.CheckCmdLineFlag("debug_kernel_launch"); dump_timings=args.CheckCmdLineFlag("dump_timings"); ci.useOpenCL = !args.CheckCmdLineFlag("disable_opencl"); ci.m_useConcaveMesh = true;//args.CheckCmdLineFlag("use_concave_mesh"); if (ci.m_useConcaveMesh) { enableExperimentalCpuConcaveCollision = true; } ci.m_useInstancedCollisionShapes = !args.CheckCmdLineFlag("no_instanced_collision_shapes"); args.GetCmdLineArgument("cl_device", ci.preferredOpenCLDeviceIndex); args.GetCmdLineArgument("cl_platform", ci.preferredOpenCLPlatformIndex); gAllowCpuOpenCL = args.CheckCmdLineFlag("allow_opencl_cpu"); gUseLargeBatches = args.CheckCmdLineFlag("use_large_batches"); gUseJacobi = args.CheckCmdLineFlag("use_jacobi"); gUseDbvt = args.CheckCmdLineFlag("use_dbvt"); gDumpContactStats = args.CheckCmdLineFlag("dump_contact_stats"); gCalcWorldSpaceAabbOnCpu = args.CheckCmdLineFlag("calc_aabb_cpu"); gUseCalculateOverlappingPairsHost = args.CheckCmdLineFlag("calc_pairs_cpu"); gIntegrateOnCpu = args.CheckCmdLineFlag("integrate_cpu"); gConvertConstraintOnCpu = args.CheckCmdLineFlag("convert_constraints_cpu"); useUniformGrid = args.CheckCmdLineFlag("use_uniform_grid"); args.GetCmdLineArgument("x_dim", ci.arraySizeX); args.GetCmdLineArgument("y_dim", ci.arraySizeY); args.GetCmdLineArgument("z_dim", ci.arraySizeZ); args.GetCmdLineArgument("x_gap", ci.gapX); args.GetCmdLineArgument("y_gap", ci.gapY); args.GetCmdLineArgument("z_gap", ci.gapZ); gPause = args.CheckCmdLineFlag("paused"); gDebugForceLoadingFromSource = args.CheckCmdLineFlag("load_cl_kernels_from_disk"); gDebugSkipLoadingBinary = args.CheckCmdLineFlag("disable_cached_cl_kernels"); #ifndef B3_NO_PROFILE b3ProfileManager::Reset(); #endif //B3_NO_PROFILE window = new b3gDefaultOpenGLWindow(); b3gWindowConstructionInfo wci(g_OpenGLWidth,g_OpenGLHeight); window->createWindow(wci); window->setResizeCallback(MyResizeCallback); window->setMouseMoveCallback(MyMouseMoveCallback); window->setMouseButtonCallback(MyMouseButtonCallback); window->setKeyboardCallback(MyKeyboardCallback); window->setWindowTitle("Bullet 3.x GPU Rigid Body http://bulletphysics.org"); printf("-----------------------------------------------------\n"); #ifndef __APPLE__ glewInit(); #endif gui = new GwenUserInterface(); printf("started GwenUserInterface"); GLPrimitiveRenderer prim(g_OpenGLWidth,g_OpenGLHeight); stash = initFont(&prim); if (gui) { gui->init(g_OpenGLWidth,g_OpenGLHeight,stash,window->getRetinaScale()); printf("init fonts"); gui->setToggleButtonCallback(MyButtonCallback); gui->registerToggleButton(MYPAUSE,"Pause"); gui->registerToggleButton(MYPROFILE,"Profile"); gui->registerToggleButton(MYRESET,"Reset"); int numItems = sizeof(allDemos)/sizeof(ParticleDemo::CreateFunc*); demoNames.clear(); for (int i=0;i<numItems;i++) { GpuDemo* demo = allDemos[i](); demoNames.push_back(demo->getName()); delete demo; } gui->registerComboBox(MYCOMBOBOX1,numItems,&demoNames[0],selectedDemo); gui->setComboBoxCallback(MyComboBoxCallback); } do { bool syncOnly = false; gReset = false; { GLint err; glEnable(GL_BLEND); err = glGetError(); b3Assert(err==GL_NO_ERROR); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glDisable(GL_DEPTH_TEST); err = glGetError(); b3Assert(err==GL_NO_ERROR); window->startRendering(); glClearColor(1,1,1,1); glClear(GL_COLOR_BUFFER_BIT| GL_DEPTH_BUFFER_BIT);//|GL_STENCIL_BUFFER_BIT); glEnable(GL_DEPTH_TEST); sth_begin_draw(stash); //sth_draw_text(stash, droidRegular,12.f, dx, dy-50, "How does this OpenGL True Type font look? ", &dx,width,height); int spacing = 0;//g_OpenGLHeight; float sx,sy,dx,dy,lh; sx = 0; sy = g_OpenGLHeight; dx = sx; dy = sy; //if (1) const char* msg[] = {"Please wait, initializing the OpenCL demo", "Please make sure to run the demo on a high-end discrete GPU with OpenCL support", "The first time it can take a bit longer to compile the OpenCL kernels.", "Check the console if it takes longer than 1 minute or if a demos has issues.", "Please share the full commandline output when reporting issues:", "App_Bullet3_OpenCL_Demos_* >> error.log", "", "", #ifdef _DEBUG "Some of the demos load a large .obj file,", "please use an optimized build of this app for faster parsing", "", "", #endif "You can press F1 to create a single screenshot,", "or press F2 toggle screenshot (useful to create movies)", "", "", "There are various command-line options such as --benchmark", "See http://github.com/erwincoumans/bullet3 for more information" }; int fontSize = 68; int nummsg = sizeof(msg)/sizeof(const char*); for (int i=0;i<nummsg;i++) { char txt[512]; sprintf(txt,"%s",msg[i]); //sth_draw_text(stash, droidRegular,i, 10, dy-spacing, txt, &dx,g_OpenGLWidth,g_OpenGLHeight); sth_draw_text(stash, droidRegular,fontSize, 10, spacing, txt, &dx,g_OpenGLWidth,g_OpenGLHeight); spacing+=fontSize; fontSize = 32; } sth_end_draw(stash); sth_flush_draw(stash); window->endRendering(); } static bool once=true; //glClearColor(0.3f, 0.3f, 0.3f, 1.0f); glClearColor(1,1,1,1); glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT); window->setWheelCallback(b3DefaultWheelCallback); { GpuDemo* demo = allDemos[selectedDemo](); sDemo = demo; // demo->myinit(); bool useGpu = false; //int maxObjectCapacity=128*1024; int maxObjectCapacity=1024*1024; maxObjectCapacity = b3Max(maxObjectCapacity,ci.arraySizeX*ci.arraySizeX*ci.arraySizeX+10); { ci.m_instancingRenderer = new GLInstancingRenderer(maxObjectCapacity);//render.getInstancingRenderer(); ci.m_window = window; ci.m_gui = gui; ci.m_instancingRenderer->init(); ci.m_instancingRenderer->resize(g_OpenGLWidth,g_OpenGLHeight); ci.m_instancingRenderer->InitShaders(); ci.m_primRenderer = &prim; // render.init(); } { demo->initPhysics(ci); } printf("-----------------------------------------------------\n"); FILE* csvFile = 0; FILE* detailsFile = 0; if (benchmark) { char prefixFileName[1024]; char csvFileName[1024]; char detailsFileName[1024]; b3OpenCLDeviceInfo info; b3OpenCLUtils::getDeviceInfo(demo->getInternalData()->m_clDevice,&info); //todo: move this time stuff into the Platform/Window class #ifdef _WIN32 SYSTEMTIME time; GetLocalTime(&time); char buf[1024]; DWORD dwCompNameLen = 1024; if (0 != GetComputerName(buf, &dwCompNameLen)) { printf("%s", buf); } else { printf("unknown", buf); } sprintf(prefixFileName,"%s_%s_%s_%d_%d_%d_date_%d-%d-%d_time_%d-%d-%d",info.m_deviceName,buf,demoNames[selectedDemo],ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ,time.wDay,time.wMonth,time.wYear,time.wHour,time.wMinute,time.wSecond); #else timeval now; gettimeofday(&now,0); struct tm* ptm; ptm = localtime (&now.tv_sec); char buf[1024]; #ifdef __APPLE__ sprintf(buf,"MacOSX"); #else sprintf(buf,"Unix"); #endif sprintf(prefixFileName,"%s_%s_%s_%d_%d_%d_date_%d-%d-%d_time_%d-%d-%d",info.m_deviceName,buf,demoNames[selectedDemo],ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ, ptm->tm_mday, ptm->tm_mon+1, ptm->tm_year+1900, ptm->tm_hour, ptm->tm_min, ptm->tm_sec); #endif sprintf(csvFileName,"%s.csv",prefixFileName); sprintf(detailsFileName,"%s.txt",prefixFileName); printf("Open csv file %s and details file %s\n", csvFileName,detailsFileName); //GetSystemTime(&time2); csvFile=fopen(csvFileName,"w"); detailsFile = fopen(detailsFileName,"w"); if (detailsFile) defaultOutput = detailsFile; //if (f) // fprintf(f,"%s (%dx%dx%d=%d),\n", g_deviceName,ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ,ci.arraySizeX*ci.arraySizeY*ci.arraySizeZ); } fprintf(defaultOutput,"Demo settings:\n"); fprintf(defaultOutput," SelectedDemo=%d, demoname = %s\n", selectedDemo, demo->getName()); fprintf(defaultOutput," x_dim=%d, y_dim=%d, z_dim=%d\n",ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ); fprintf(defaultOutput," x_gap=%f, y_gap=%f, z_gap=%f\n",ci.gapX,ci.gapY,ci.gapZ); fprintf(defaultOutput,"\nOpenCL settings:\n"); fprintf(defaultOutput," Preferred cl_device index %d\n", ci.preferredOpenCLDeviceIndex); fprintf(defaultOutput," Preferred cl_platform index%d\n", ci.preferredOpenCLPlatformIndex); fprintf(defaultOutput,"\n"); if (demo->getInternalData()->m_platformId) { b3OpenCLUtils::printPlatformInfo( demo->getInternalData()->m_platformId); fprintf(defaultOutput,"\n"); b3OpenCLUtils::printDeviceInfo( demo->getInternalData()->m_clDevice); fprintf(defaultOutput,"\n"); } do { GLint err = glGetError(); assert(err==GL_NO_ERROR); if (exportFrame || exportMovie) { if (!renderTexture) { renderTexture = new GLRenderToTexture(); GLuint renderTextureId; glGenTextures(1, &renderTextureId); // "Bind" the newly created texture : all future texture functions will modify this texture glBindTexture(GL_TEXTURE_2D, renderTextureId); // Give an empty image to OpenGL ( the last "0" ) //glTexImage2D(GL_TEXTURE_2D, 0,GL_RGB, g_OpenGLWidth,g_OpenGLHeight, 0,GL_RGBA, GL_UNSIGNED_BYTE, 0); //glTexImage2D(GL_TEXTURE_2D, 0,GL_RGBA32F, g_OpenGLWidth,g_OpenGLHeight, 0,GL_RGBA, GL_FLOAT, 0); glTexImage2D(GL_TEXTURE_2D, 0,GL_RGBA32F, g_OpenGLWidth,g_OpenGLHeight, 0,GL_RGBA, GL_FLOAT, 0); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); //glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); //glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); renderTexture->init(g_OpenGLWidth,g_OpenGLHeight,renderTextureId, RENDERTEXTURE_COLOR); } bool result = renderTexture->enable(); } err = glGetError(); assert(err==GL_NO_ERROR); b3ProfileManager::Reset(); b3ProfileManager::Increment_Frame_Counter(); // render.reshape(g_OpenGLWidth,g_OpenGLHeight); ci.m_instancingRenderer->resize(g_OpenGLWidth,g_OpenGLHeight); prim.setScreenSize(g_OpenGLWidth,g_OpenGLHeight); err = glGetError(); assert(err==GL_NO_ERROR); window->startRendering(); err = glGetError(); assert(err==GL_NO_ERROR); glClear(GL_COLOR_BUFFER_BIT| GL_DEPTH_BUFFER_BIT);//|GL_STENCIL_BUFFER_BIT); glEnable(GL_DEPTH_TEST); err = glGetError(); assert(err==GL_NO_ERROR); if (!gPause) { B3_PROFILE("clientMoveAndDisplay"); demo->clientMoveAndDisplay(); } else { } { B3_PROFILE("renderScene"); demo->renderScene(); } err = glGetError(); assert(err==GL_NO_ERROR); /*if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getNumCollisionObjects()) { B3_PROFILE("renderPhysicsWorld"); b3AlignedObjectArray<b3CollisionObject*> arr = demo->getDynamicsWorld()->getCollisionObjectArray(); b3CollisionObject** colObjArray = &arr[0]; render.renderPhysicsWorld(demo->getDynamicsWorld()->getNumCollisionObjects(),colObjArray, syncOnly); syncOnly = true; } */ if (exportFrame || exportMovie) { char fileName[1024]; sprintf(fileName,"screenShot%d.png",frameIndex++); writeTextureToPng(g_OpenGLWidth,g_OpenGLHeight,fileName); exportFrame = false; renderTexture->disable(); } { B3_PROFILE("gui->draw"); if (gui && gDrawGui) gui->draw(g_OpenGLWidth,g_OpenGLHeight); } err = glGetError(); assert(err==GL_NO_ERROR); { B3_PROFILE("window->endRendering"); window->endRendering(); } err = glGetError(); assert(err==GL_NO_ERROR); { B3_PROFILE("glFinish"); } if (dump_timings) { b3ProfileManager::dumpAll(stdout); } if (csvFile) { static int frameCount=0; if (frameCount>0) { DumpSimulationTime(csvFile); if (detailsFile) { fprintf(detailsFile,"\n==================================\nFrame %d:\n", frameCount); b3ProfileManager::dumpAll(detailsFile); } } if (frameCount>=maxFrameCount) window->setRequestExit(); frameCount++; } if (gStep) gPause=true; } while (!window->requestedExit() && !gReset); demo->exitPhysics(); b3ProfileManager::CleanupMemory(); delete ci.m_instancingRenderer; delete demo; sDemo = 0; if (detailsFile) { fclose(detailsFile); detailsFile=0; } if (csvFile) { fclose(csvFile); csvFile=0; } } } while (gReset); if (gui) gui->setComboBoxCallback(0); { delete gui; gui=0; exitFont(); window->closeWindow(); delete window; window = 0; } return 0; }
int main(int argc, char* argv[]) { b3SetCustomEnterProfileZoneFunc(b3ProfileManager::Start_Profile); b3SetCustomLeaveProfileZoneFunc(b3ProfileManager::Stop_Profile); b3SetCustomPrintfFunc(myprintf); b3Vector3 test=b3MakeVector3(1,2,3); test.x = 1; test.y = 4; b3Printf("main start"); b3CommandLineArgs args(argc,argv); if (args.CheckCmdLineFlag("help")) { Usage(); return 0; } args.GetCmdLineArgument("selected_demo",selectedDemo); bool benchmark=args.CheckCmdLineFlag("benchmark"); args.GetCmdLineArgument("max_framecount",maxFrameCount); dump_timings=args.CheckCmdLineFlag("dump_timings"); #ifndef B3_NO_PROFILE b3ProfileManager::Reset(); #endif //B3_NO_PROFILE window = new b3gDefaultOpenGLWindow(); b3gWindowConstructionInfo wci(g_OpenGLWidth,g_OpenGLHeight); window->createWindow(wci); window->setResizeCallback(MyResizeCallback); window->setMouseMoveCallback(MyMouseMoveCallback); window->setMouseButtonCallback(MyMouseButtonCallback); window->setKeyboardCallback(MyKeyboardCallback); window->setWindowTitle("Bullet 3.x GPU Rigid Body http://bulletphysics.org"); #ifndef __APPLE__ glewInit(); #endif gui = new GwenUserInterface(); b3Printf("started GwenUserInterface\n"); GLPrimitiveRenderer prim(g_OpenGLWidth,g_OpenGLHeight); stash = initFont(&prim); if (gui) { gui->init(g_OpenGLWidth,g_OpenGLHeight,stash,window->getRetinaScale()); b3Printf("init fonts\n"); gui->setToggleButtonCallback(MyButtonCallback); gui->registerToggleButton(MYPAUSE,"Pause"); gui->registerToggleButton(MYPROFILE,"Profile"); gui->registerToggleButton(MYRESET,"Reset"); int numItems = sizeof(allDemos)/sizeof(CpuDemo::CreateFunc*); demoNames.clear(); for (int i=0;i<numItems;i++) { CpuDemo* demo = allDemos[i](); demoNames.push_back(demo->getName()); delete demo; } gui->registerComboBox(MYCOMBOBOX1,numItems,&demoNames[0]); gui->setComboBoxCallback(MyComboBoxCallback); } do { bool syncOnly = false; gReset = false; static bool once=true; //glClearColor(0.3f, 0.3f, 0.3f, 1.0f); glClearColor(1,1,1,1); glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT); window->setWheelCallback(b3DefaultWheelCallback); { CpuDemo* demo = allDemos[selectedDemo](); sDemo = demo; // demo->myinit(); bool useGpu = false; int maxObjectCapacity=1024*1024;//128*1024; int maxShapeCapacityInBytes=10*1024*1024; //maxObjectCapacity = b3Max(maxObjectCapacity,ci.arraySizeX*ci.arraySizeX*ci.arraySizeX+10); CpuDemo::ConstructionInfo ci; ci.m_instancingRenderer = new GLInstancingRenderer(maxObjectCapacity,maxShapeCapacityInBytes); ci.m_window = window; ci.m_gui = gui; ci.m_instancingRenderer->init(); ci.m_instancingRenderer->resize(g_OpenGLWidth,g_OpenGLHeight); ci.m_instancingRenderer->InitShaders(); ci.m_primRenderer = &prim; // render.init(); { demo->initPhysics(ci); } FILE* csvFile = 0; FILE* detailsFile = 0; if (benchmark) { gPause = false; char prefixFileName[1024]; char csvFileName[1024]; char detailsFileName[1024]; //todo: move this time stuff into the Platform/Window class #ifdef _WIN32 SYSTEMTIME time; GetLocalTime(&time); char buf[1024]; DWORD dwCompNameLen = 1024; if (0 != GetComputerName(buf, &dwCompNameLen)) { printf("%s", buf); } else { printf("unknown", buf); } sprintf(prefixFileName,"%s_%s_%s_date_%d-%d-%d_time_%d-%d-%d","CPU",buf,demoNames[selectedDemo],time.wDay,time.wMonth,time.wYear,time.wHour,time.wMinute,time.wSecond); #else timeval now; gettimeofday(&now,0); struct tm* ptm; ptm = localtime (&now.tv_sec); char buf[1024]; #ifdef __APPLE__ sprintf(buf,"MacOSX"); #else sprintf(buf,"Unix"); #endif sprintf(prefixFileName,"%s_%s_%s_%d_%d_%d_date_%d-%d-%d_time_%d-%d-%d",info.m_deviceName,buf,demoNames[selectedDemo],ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ, ptm->tm_mday, ptm->tm_mon+1, ptm->tm_year+1900, ptm->tm_hour, ptm->tm_min, ptm->tm_sec); #endif sprintf(csvFileName,"%s.csv",prefixFileName); sprintf(detailsFileName,"%s.txt",prefixFileName); printf("Open csv file %s and details file %s\n", csvFileName,detailsFileName); //GetSystemTime(&time2); csvFile=fopen(csvFileName,"w"); detailsFile = fopen(detailsFileName,"w"); if (detailsFile) defaultOutput = detailsFile; //if (f) // fprintf(f,"%s (%dx%dx%d=%d),\n", g_deviceName,ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ,ci.arraySizeX*ci.arraySizeY*ci.arraySizeZ); } do { GLint err = glGetError(); assert(err==GL_NO_ERROR); if (exportFrame || exportMovie) { if (!renderTexture) { renderTexture = new GLRenderToTexture(); GLuint renderTextureId; glGenTextures(1, &renderTextureId); // "Bind" the newly created texture : all future texture functions will modify this texture glBindTexture(GL_TEXTURE_2D, renderTextureId); // Give an empty image to OpenGL ( the last "0" ) //glTexImage2D(GL_TEXTURE_2D, 0,GL_RGB, g_OpenGLWidth,g_OpenGLHeight, 0,GL_RGBA, GL_UNSIGNED_BYTE, 0); //glTexImage2D(GL_TEXTURE_2D, 0,GL_RGBA32F, g_OpenGLWidth,g_OpenGLHeight, 0,GL_RGBA, GL_FLOAT, 0); glTexImage2D(GL_TEXTURE_2D, 0,GL_RGBA32F, g_OpenGLWidth,g_OpenGLHeight, 0,GL_RGBA, GL_FLOAT, 0); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); //glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); //glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); renderTexture->init(g_OpenGLWidth,g_OpenGLHeight,renderTextureId, RENDERTEXTURE_COLOR); } bool result = renderTexture->enable(); } err = glGetError(); assert(err==GL_NO_ERROR); b3ProfileManager::Reset(); b3ProfileManager::Increment_Frame_Counter(); // render.reshape(g_OpenGLWidth,g_OpenGLHeight); ci.m_instancingRenderer->resize(g_OpenGLWidth,g_OpenGLHeight); prim.setScreenSize(g_OpenGLWidth,g_OpenGLHeight); err = glGetError(); assert(err==GL_NO_ERROR); window->startRendering(); err = glGetError(); assert(err==GL_NO_ERROR); glClear(GL_COLOR_BUFFER_BIT| GL_DEPTH_BUFFER_BIT);//|GL_STENCIL_BUFFER_BIT); glEnable(GL_DEPTH_TEST); err = glGetError(); assert(err==GL_NO_ERROR); if (!gPause) { B3_PROFILE("clientMoveAndDisplay"); demo->clientMoveAndDisplay(); } else { } { B3_PROFILE("renderScene"); demo->renderScene(); } err = glGetError(); assert(err==GL_NO_ERROR); /*if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getNumCollisionObjects()) { B3_PROFILE("renderPhysicsWorld"); b3AlignedObjectArray<b3CollisionObject*> arr = demo->getDynamicsWorld()->getCollisionObjectArray(); b3CollisionObject** colObjArray = &arr[0]; render.renderPhysicsWorld(demo->getDynamicsWorld()->getNumCollisionObjects(),colObjArray, syncOnly); syncOnly = true; } */ if (exportFrame || exportMovie) { char fileName[1024]; sprintf(fileName,"screenShot%d.png",frameIndex++); writeTextureToPng(g_OpenGLWidth,g_OpenGLHeight,fileName); exportFrame = false; renderTexture->disable(); } { B3_PROFILE("gui->draw"); if (gui && gDrawGui) gui->draw(g_OpenGLWidth,g_OpenGLHeight); } err = glGetError(); assert(err==GL_NO_ERROR); { B3_PROFILE("window->endRendering"); window->endRendering(); } err = glGetError(); assert(err==GL_NO_ERROR); { B3_PROFILE("glFinish"); } if (dump_timings) { b3ProfileManager::dumpAll(stdout); } if (csvFile) { static int frameCount=0; if (frameCount>0) { DumpSimulationTime(csvFile); if (detailsFile) { fprintf(detailsFile,"\n==================================\nFrame %d:\n", frameCount); b3ProfileManager::dumpAll(detailsFile); } } if (frameCount>=maxFrameCount) window->setRequestExit(); frameCount++; } if (gStep) gPause=true; } while (!window->requestedExit() && !gReset); demo->exitPhysics(); b3ProfileManager::CleanupMemory(); delete ci.m_instancingRenderer; delete demo; sDemo = 0; if (detailsFile) { fclose(detailsFile); detailsFile=0; } if (csvFile) { fclose(csvFile); csvFile=0; } } } while (gReset); if (gui) gui->setComboBoxCallback(0); { delete gui; gui=0; exitFont(); window->closeWindow(); delete window; window = 0; } return 0; }
int main(int argc, char* argv[]) { b3SetCustomPrintfFunc(myprintf); b3Vector3 test(1,2,3); test.x = 1; test.y = 4; printf("main start"); b3CommandLineArgs args(argc,argv); ParticleDemo::ConstructionInfo ci; if (args.CheckCmdLineFlag("help")) { Usage(); return 0; } args.GetCmdLineArgument("selected_demo",selectedDemo); if (args.CheckCmdLineFlag("new_batching")) { useNewBatchingKernel = true; } bool benchmark=args.CheckCmdLineFlag("benchmark"); dump_timings=args.CheckCmdLineFlag("dump_timings"); ci.useOpenCL = !args.CheckCmdLineFlag("disable_opencl"); ci.m_useConcaveMesh = true;//args.CheckCmdLineFlag("use_concave_mesh"); if (ci.m_useConcaveMesh) { enableExperimentalCpuConcaveCollision = true; } args.GetCmdLineArgument("cl_device", ci.preferredOpenCLDeviceIndex); args.GetCmdLineArgument("cl_platform", ci.preferredOpenCLPlatformIndex); args.GetCmdLineArgument("x_dim", ci.arraySizeX); args.GetCmdLineArgument("y_dim", ci.arraySizeY); args.GetCmdLineArgument("z_dim", ci.arraySizeZ); args.GetCmdLineArgument("x_gap", ci.gapX); args.GetCmdLineArgument("y_gap", ci.gapY); args.GetCmdLineArgument("z_gap", ci.gapZ); #ifndef B3_NO_PROFILE b3ProfileManager::Reset(); #endif //B3_NO_PROFILE window = new b3gDefaultOpenGLWindow(); b3gWindowConstructionInfo wci(g_OpenGLWidth,g_OpenGLHeight); window->createWindow(wci); window->setResizeCallback(MyResizeCallback); window->setMouseMoveCallback(MyMouseMoveCallback); window->setMouseButtonCallback(MyMouseButtonCallback); window->setKeyboardCallback(MyKeyboardCallback); window->setWindowTitle("Bullet 3.x GPU Rigid Body http://bulletphysics.org"); printf("-----------------------------------------------------\n"); #ifndef __APPLE__ glewInit(); #endif gui = new GwenUserInterface(); printf("started GwenUserInterface"); GLPrimitiveRenderer prim(g_OpenGLWidth,g_OpenGLHeight); stash = initFont(&prim); gui->init(g_OpenGLWidth,g_OpenGLHeight,stash,window->getRetinaScale()); printf("init fonts"); gui->setToggleButtonCallback(MyButtonCallback); gui->registerToggleButton(MYPAUSE,"Pause"); gui->registerToggleButton(MYPROFILE,"Profile"); gui->registerToggleButton(MYRESET,"Reset"); int numItems = sizeof(allDemos)/sizeof(ParticleDemo::CreateFunc*); demoNames.clear(); for (int i=0;i<numItems;i++) { GpuDemo* demo = allDemos[i](); demoNames.push_back(demo->getName()); delete demo; } gui->registerComboBox(MYCOMBOBOX1,numItems,&demoNames[0]); gui->setComboBoxCallback(MyComboBoxCallback); do { bool syncOnly = false; gReset = false; static bool once=true; glClearColor(1,0,0,1); glClear(GL_COLOR_BUFFER_BIT); { window->startRendering(); glFinish(); float color[4] = {1,1,1,1}; prim.drawRect(0,0,200,200,color); float retinaScale = 1; float x = 10; float y=220; float dx=0; if (1) { B3_PROFILE("font sth_draw_text"); glEnable(GL_BLEND); GLint err = glGetError(); assert(err==GL_NO_ERROR); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); err = glGetError(); assert(err==GL_NO_ERROR); glDisable(GL_DEPTH_TEST); err = glGetError(); assert(err==GL_NO_ERROR); glDisable(GL_CULL_FACE); sth_begin_draw(stash); sth_flush_draw(stash); sth_draw_text(stash, droidRegular,20.f, x, y, "Non-retina font rendering !@#$", &dx,g_OpenGLWidth,g_OpenGLHeight,0,1);//retinaScale); if (retinaScale!=1.f) sth_draw_text(stash, droidRegular,20.f*retinaScale, x, y+20, "Retina font rendering!@#$", &dx,g_OpenGLWidth,g_OpenGLHeight,0,retinaScale); sth_flush_draw(stash); sth_end_draw(stash); } gui->draw(g_OpenGLWidth,g_OpenGLHeight); window->endRendering(); glFinish(); } once=false; // OpenGL3CoreRenderer render; glClearColor(0,1,0,1); glClear(GL_COLOR_BUFFER_BIT); window->endRendering(); glFinish(); window->setWheelCallback(b3DefaultWheelCallback); { GpuDemo* demo = allDemos[selectedDemo](); // demo->myinit(); bool useGpu = false; int maxObjectCapacity=128*1024; ci.m_instancingRenderer = new GLInstancingRenderer(maxObjectCapacity);//render.getInstancingRenderer(); ci.m_window = window; ci.m_gui = gui; ci.m_instancingRenderer->init(); ci.m_instancingRenderer->InitShaders(); ci.m_primRenderer = &prim; // render.init(); demo->initPhysics(ci); printf("-----------------------------------------------------\n"); FILE* csvFile = 0; FILE* detailsFile = 0; if (benchmark) { gPause = false; char prefixFileName[1024]; char csvFileName[1024]; char detailsFileName[1024]; b3OpenCLDeviceInfo info; b3OpenCLUtils::getDeviceInfo(demo->getInternalData()->m_clDevice,&info); //todo: move this time stuff into the Platform/Window class #ifdef _WIN32 SYSTEMTIME time; GetLocalTime(&time); char buf[1024]; DWORD dwCompNameLen = 1024; if (0 != GetComputerName(buf, &dwCompNameLen)) { printf("%s", buf); } else { printf("unknown", buf); } sprintf(prefixFileName,"%s_%s_%s_%d_%d_%d_date_%d-%d-%d_time_%d-%d-%d",info.m_deviceName,buf,demoNames[selectedDemo],ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ,time.wDay,time.wMonth,time.wYear,time.wHour,time.wMinute,time.wSecond); #else timeval now; gettimeofday(&now,0); struct tm* ptm; ptm = localtime (&now.tv_sec); char buf[1024]; #ifdef __APPLE__ sprintf(buf,"MacOSX"); #else sprintf(buf,"Unix"); #endif sprintf(prefixFileName,"%s_%s_%s_%d_%d_%d_date_%d-%d-%d_time_%d-%d-%d",info.m_deviceName,buf,demoNames[selectedDemo],ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ, ptm->tm_mday, ptm->tm_mon+1, ptm->tm_year+1900, ptm->tm_hour, ptm->tm_min, ptm->tm_sec); #endif sprintf(csvFileName,"%s.csv",prefixFileName); sprintf(detailsFileName,"%s.txt",prefixFileName); printf("Open csv file %s and details file %s\n", csvFileName,detailsFileName); //GetSystemTime(&time2); csvFile=fopen(csvFileName,"w"); detailsFile = fopen(detailsFileName,"w"); if (detailsFile) defaultOutput = detailsFile; //if (f) // fprintf(f,"%s (%dx%dx%d=%d),\n", g_deviceName,ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ,ci.arraySizeX*ci.arraySizeY*ci.arraySizeZ); } fprintf(defaultOutput,"Demo settings:\n"); fprintf(defaultOutput," SelectedDemo=%d, demoname = %s\n", selectedDemo, demo->getName()); fprintf(defaultOutput," x_dim=%d, y_dim=%d, z_dim=%d\n",ci.arraySizeX,ci.arraySizeY,ci.arraySizeZ); fprintf(defaultOutput," x_gap=%f, y_gap=%f, z_gap=%f\n",ci.gapX,ci.gapY,ci.gapZ); fprintf(defaultOutput,"\nOpenCL settings:\n"); fprintf(defaultOutput," Preferred cl_device index %d\n", ci.preferredOpenCLDeviceIndex); fprintf(defaultOutput," Preferred cl_platform index%d\n", ci.preferredOpenCLPlatformIndex); fprintf(defaultOutput,"\n"); b3OpenCLUtils::printPlatformInfo( demo->getInternalData()->m_platformId); fprintf(defaultOutput,"\n"); b3OpenCLUtils::printDeviceInfo( demo->getInternalData()->m_clDevice); fprintf(defaultOutput,"\n"); do { GLint err = glGetError(); assert(err==GL_NO_ERROR); b3ProfileManager::Reset(); b3ProfileManager::Increment_Frame_Counter(); // render.reshape(g_OpenGLWidth,g_OpenGLHeight); ci.m_instancingRenderer->resize(g_OpenGLWidth,g_OpenGLHeight); prim.setScreenSize(g_OpenGLWidth,g_OpenGLHeight); window->startRendering(); glClearColor(0.6,0.6,0.6,1); glClear(GL_COLOR_BUFFER_BIT| GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT); glEnable(GL_DEPTH_TEST); if (!gPause) { B3_PROFILE("clientMoveAndDisplay"); demo->clientMoveAndDisplay(); } else { } { B3_PROFILE("renderScene"); demo->renderScene(); } err = glGetError(); assert(err==GL_NO_ERROR); /*if (demo->getDynamicsWorld() && demo->getDynamicsWorld()->getNumCollisionObjects()) { B3_PROFILE("renderPhysicsWorld"); b3AlignedObjectArray<b3CollisionObject*> arr = demo->getDynamicsWorld()->getCollisionObjectArray(); b3CollisionObject** colObjArray = &arr[0]; render.renderPhysicsWorld(demo->getDynamicsWorld()->getNumCollisionObjects(),colObjArray, syncOnly); syncOnly = true; } */ { B3_PROFILE("gui->draw"); gui->draw(g_OpenGLWidth,g_OpenGLHeight); } err = glGetError(); assert(err==GL_NO_ERROR); { B3_PROFILE("window->endRendering"); window->endRendering(); } err = glGetError(); assert(err==GL_NO_ERROR); { B3_PROFILE("glFinish"); } if (dump_timings) { b3ProfileManager::dumpAll(stdout); } if (csvFile) { static int frameCount=0; if (frameCount>0) { DumpSimulationTime(csvFile); if (detailsFile) { fprintf(detailsFile,"\n==================================\nFrame %d:\n", frameCount); b3ProfileManager::dumpAll(detailsFile); } } if (frameCount>=102) window->setRequestExit(); frameCount++; } } while (!window->requestedExit() && !gReset); demo->exitPhysics(); b3ProfileManager::CleanupMemory(); delete demo; if (detailsFile) { fclose(detailsFile); detailsFile=0; } if (csvFile) { fclose(csvFile); csvFile=0; } } } while (gReset); gui->setComboBoxCallback(0); delete gui; gui=0; window->closeWindow(); delete window; window = 0; return 0; }
int main(int argc, char* argv[]) { sOpenGLVerbose = false; float dt = 1./120.f; int width = 1024; int height=768; app = new SimpleOpenGL3App("AllBullet2Demos",width,height); app->m_instancingRenderer->setCameraDistance(13); app->m_instancingRenderer->setCameraPitch(0); app->m_instancingRenderer->setCameraTargetPosition(b3MakeVector3(0,0,0)); app->m_window->setMouseMoveCallback(MyMouseMoveCallback); app->m_window->setMouseButtonCallback(MyMouseButtonCallback); app->m_window->setKeyboardCallback(MyKeyboardCallback); GLint err = glGetError(); assert(err==GL_NO_ERROR); sth_stash* fontstash=app->getFontStash(); gui = new GwenUserInterface; gui->init(width,height,fontstash,app->m_window->getRetinaScale()); int numDemos = sizeof(allDemos)/sizeof(BulletDemoEntry); for (int i=0;i<numDemos;i++) { allNames.push_back(allDemos[i].m_name); } selectDemo(loadCurrentDemoEntry(startFileName)); gui->registerComboBox(DEMO_SELECTION_COMBOBOX,allNames.size(),&allNames[0],sCurrentDemoIndex); //const char* names2[] = {"comboF", "comboG","comboH"}; //gui->registerComboBox(2,3,&names2[0],0); gui->setComboBoxCallback(MyComboBoxCallback); do { GLint err = glGetError(); assert(err==GL_NO_ERROR); app->m_instancingRenderer->init(); app->m_instancingRenderer->updateCamera(); app->drawGrid(); if (0) { char bla[1024]; static int frameCount = 0; frameCount++; sprintf(bla,"Simple test frame %d", frameCount); app->drawText(bla,10,10); } if (sCurrentDemo) { if (!pauseSimulation) sCurrentDemo->stepSimulation(1./60.f); sCurrentDemo->renderScene(); } static int toggle = 1; if (1) { gui->draw(app->m_instancingRenderer->getScreenWidth(),app->m_instancingRenderer->getScreenHeight()); } toggle=1-toggle; app->swapBuffer(); } while (!app->m_window->requestedExit()); selectDemo(0); delete gui; delete app; return 0; }