void GL2CL(CLPhysicsDemo& demo, GLInstancingRenderer& render)
{
BT_PROFILE("simulationLoop");
int VBOsize = demo.m_maxShapeBufferCapacityInBytes+demo.m_numPhysicsInstances*(4+4+4+3)*sizeof(float);
cl_int ciErrNum = CL_SUCCESS;
if(useInterop)
{
#ifndef __APPLE__
clBuffer = g_interopBuffer->getCLBUffer();
BT_PROFILE("clEnqueueAcquireGLObjects");
{
BT_PROFILE("clEnqueueAcquireGLObjects");
ciErrNum = clEnqueueAcquireGLObjects(g_cqCommandQue, 1, &clBuffer, 0, 0, NULL);
clFinish(g_cqCommandQue);
}
#else
assert(0);
#endif
} else
{
glBindBuffer(GL_ARRAY_BUFFER, render.getInternalData()->m_vbo);
glFlush();
BT_PROFILE("glMapBuffer and clEnqueueWriteBuffer");
blocking= CL_TRUE;
hostPtr= (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);//GL_WRITE_ONLY
if (!clBuffer)
{
int maxVBOsize = demo.m_maxShapeBufferCapacityInBytes+MAX_CONVEX_BODIES_CL*(4+4+4+3)*sizeof(float);
clBuffer = clCreateBuffer(g_cxMainContext, CL_MEM_READ_WRITE,maxVBOsize, 0, &ciErrNum);
clFinish(g_cqCommandQue);
oclCHECKERROR(ciErrNum, CL_SUCCESS);
ciErrNum = clEnqueueWriteBuffer ( g_cqCommandQue,
clBuffer,
blocking,
0,
VBOsize,
hostPtr,0,0,0
);
clFinish(g_cqCommandQue);
}
}
gFpIO.m_clObjectsBuffer = clBuffer;
gFpIO.m_positionOffset = demo.m_maxShapeBufferCapacityInBytes/4;
}
void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOnly)
{
int cubeShapeIndex = -1;
int strideInBytes = sizeof(float)*9;
if (!syncTransformsOnly)
{
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
cubeShapeIndex = renderer.registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
}
int curGraphicsIndex=0;
for(int i=0;i<physics_get_num_rigidbodies();i++)
{
const PfxRigidState &state = physics_get_state(i);
const PfxCollidable &coll = physics_get_collidable(i);
const PfxRigidBody& body = physics_get_body(i);
float color[4]={0,0,0,1};
if (body.getMass()==0.f)
{
color[0]=1.f;
} else
{
color[1]=1.f;
}
PfxTransform3 rbT(state.getOrientation(), state.getPosition());
PfxShapeIterator itrShape(coll);
for(int j=0;j<coll.getNumShapes();j++,++itrShape) {
const PfxShape &shape = *itrShape;
PfxTransform3 offsetT = shape.getOffsetTransform();
PfxTransform3 worldT = rbT * offsetT;
PfxQuat ornWorld( worldT.getUpper3x3());
switch(shape.getType()) {
case kPfxShapeSphere:
printf("render sphere\n");
/*render_sphere(
worldT,
PfxVector3(1,1,1),
PfxFloatInVec(shape.getSphere().m_radius));
*/
break;
case kPfxShapeBox:
{
// printf("render box\n");
float cubeScaling[4] = {shape.getBox().m_half.getX(),shape.getBox().m_half.getY(),shape.getBox().m_half.getZ(),1};
float rotOrn[4] = {ornWorld.getX(),ornWorld.getY(),ornWorld.getZ(),ornWorld.getW()};
float position[4]={worldT.getTranslation().getX(),worldT.getTranslation().getY(),worldT.getTranslation().getZ(),0};
if (!syncTransformsOnly)
{
renderer.registerGraphicsInstance(cubeShapeIndex,position,rotOrn,color,cubeScaling);
}
else
{
renderer.writeSingleInstanceTransformToCPU(position,rotOrn,curGraphicsIndex);
}
curGraphicsIndex++;
/* render_box(
worldT,
PfxVector3(1,1,1),
shape.getBox().m_half);
*/
break;
}
case kPfxShapeCapsule:
printf("render_capsule\n");
/*render_capsule(
worldT,
PfxVector3(1,1,1),
PfxFloatInVec(shape.getCapsule().m_radius),
PfxFloatInVec(shape.getCapsule().m_halfLen));
*/
break;
case kPfxShapeCylinder:
printf("render_cylinder\n");
/* render_cylinder(
worldT,
PfxVector3(1,1,1),
PfxFloatInVec(shape.getCylinder().m_radius),
PfxFloatInVec(shape.getCylinder().m_halfLen));
*/
break;
case kPfxShapeConvexMesh:
printf("render_mesh\n");
/*
render_mesh(
worldT,
PfxVector3(1,1,1),
convexMeshId);
*/
break;
case kPfxShapeLargeTriMesh:
printf("render_mesh\n");
/*
render_mesh(
worldT,
PfxVector3(1,1,1),
landscapeMeshId);
*/
break;
default:
break;
}
}
}
}
void createSceneProgrammatically(GLInstancingRenderer& renderer)
{
int strideInBytes = sizeof(float)*9;
bool noHeightField = false;
int barrelShapeIndex = -1;
int cubeShapeIndex = -1;
int tetraShapeIndex = -1;
float position[4]={0,0,0,0};
btQuaternion born(btVector3(1,0,0),SIMD_PI*0.25*0.5);
float orn[4] = {0,0,0,1};
// float rotOrn[4] = {born.getX(),born.getY(),born.getZ(),born.getW()};//
float rotOrn[4] ={0,0,0,1};
float color[4] = {1,1,1,1};
int index=0;
float cubeScaling[4] = {1,1,1,1};
{
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
cubeShapeIndex = renderer.registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
}
if (1)
for (int i=0;i<NUM_OBJECTS_X;i++)
{
for (int j=0;j<NUM_OBJECTS_Y;j++)
{
int k=0;
for (;k<NUM_OBJECTS_Z;k++)
{
float mass = 1.f;//j? 1.f : 0.f;
position[0]=(i*X_GAP-NUM_OBJECTS_X/2)+(j&1);
position[1]=1+(j*Y_GAP);//-NUM_OBJECTS_Y/2);
position[2]=(k*Z_GAP-NUM_OBJECTS_Z/2)+(j&1);
position[3] = 0.f;
renderer.registerGraphicsInstance(cubeShapeIndex,position,rotOrn,color,cubeScaling);
index++;
}
}
}
{
{
int numVertices = sizeof(tetra_vertices)/strideInBytes;
int numIndices = sizeof(tetra_indices)/sizeof(int);
tetraShapeIndex = renderer.registerShape(&tetra_vertices[0],numVertices,tetra_indices,numIndices);
}
{
float groundScaling[4] = {2.5,2,2.5,1};
for (int i=0;i<50;i++)
for (int j=0;j<50;j++)
if (1)
{
void* ptr = (void*) index;
float posnew[4];
posnew[0] = i*5.01-120;
posnew[1] = 0;
posnew[2] = j*5.01-120;
posnew[3] = 1.f;
color[0] = 1.f;
color[1] = 0.f;
color[2] = 0.f;
renderer.registerGraphicsInstance(tetraShapeIndex,posnew,orn,color,groundScaling);
}
}
}
}
//very incomplete conversion from physics to graphics
void graphics_from_physics(GLInstancingRenderer& renderer, bool syncTransformsOnly, const btDiscreteDynamicsWorld* world)
{
int cubeShapeIndex = -1;
int strideInBytes = sizeof(float)*9;
if (!syncTransformsOnly)
{
int numVertices = sizeof(cube_vertices)/strideInBytes;
int numIndices = sizeof(cube_indices)/sizeof(int);
cubeShapeIndex = renderer.registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
}
int numColObj = world->getNumCollisionObjects();
int curGraphicsIndex = 0;
for (int i=0;i<numColObj;i++)
{
btCollisionObject* colObj = world->getCollisionObjectArray()[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
float position[4] = {pos.getX(),pos.getY(),pos.getZ(),0.f};
float orientation[4] = {orn.getX(),orn.getY(),orn.getZ(),orn.getW()};
float color[4] = {0,0,0,1};
btVector3 localScaling = colObj->getCollisionShape()->getLocalScaling();
if (colObj->isStaticOrKinematicObject())
{
color[0]=1.f;
}else
{
color[1]=1.f;
}
switch (colObj->getCollisionShape()->getShapeType())
{
case BOX_SHAPE_PROXYTYPE:
{
btBoxShape* box = (btBoxShape*)colObj->getCollisionShape();
btVector3 halfExtents = box->getHalfExtentsWithMargin();
float cubeScaling[4] = {halfExtents.getX(),halfExtents.getY(), halfExtents.getZ(),1};
if (!syncTransformsOnly)
{
renderer.registerGraphicsInstance(cubeShapeIndex,position,orientation,color,cubeScaling);
}
else
{
renderer.writeSingleInstanceTransformToCPU(position,orientation,curGraphicsIndex);
}
curGraphicsIndex++;
}
break;
default:
break;
}
//convert it now!
}
}
int main(int argc, char* argv[])
{
CommandLineArgs args(argc,argv);
if (args.CheckCmdLineFlag("help"))
{
Usage();
return 0;
}
args.GetCmdLineArgument("enable_interop", useInterop);
printf("useInterop=%d\n",useInterop);
args.GetCmdLineArgument("enable_convexheightfield", useConvexHeightfield);
printf("enable_convexheightfield=%d\n",useConvexHeightfield);
args.GetCmdLineArgument("enable_gpusap", useSapGpuBroadphase);
printf("enable_gpusap=%d\n",useSapGpuBroadphase);
args.GetCmdLineArgument("pause_simulation", pauseSimulation);
printf("pause_simulation=%d\n",pauseSimulation);
args.GetCmdLineArgument("x_dim", NUM_OBJECTS_X);
args.GetCmdLineArgument("y_dim", NUM_OBJECTS_Y);
args.GetCmdLineArgument("z_dim", NUM_OBJECTS_Z);
args.GetCmdLineArgument("x_gap", X_GAP);
args.GetCmdLineArgument("y_gap", Y_GAP);
args.GetCmdLineArgument("z_gap", Z_GAP);
printf("x_dim=%d, y_dim=%d, z_dim=%d\n",NUM_OBJECTS_X,NUM_OBJECTS_Y,NUM_OBJECTS_Z);
printf("x_gap=%f, y_gap=%f, z_gap=%f\n",X_GAP,Y_GAP,Z_GAP);
args.GetCmdLineArgument("enable_static", keepStaticObjects);
printf("enable_static=%d\n",keepStaticObjects);
char* tmpfile = 0;
args.GetCmdLineArgument("load_bulletfile", tmpfile );
if (tmpfile)
fileName = tmpfile;
printf("load_bulletfile=%s\n",fileName);
printf("\n");
#ifdef _WIN32
Win32OpenGLWindow* window = new Win32OpenGLWindow();
#else
MacOpenGLWindow* window = new MacOpenGLWindow();
#endif
window->init(1024,768);
#ifdef _WIN32
GLenum err = glewInit();
#endif
window->startRendering();
window->endRendering();
GLInstancingRenderer render;
CLPhysicsDemo demo(window);
demo.init(-1,-1,useInterop);
render.InitShaders();
if (useInterop)
demo.setupInterop();
createScene(render, demo, useConvexHeightfield,fileName);
printf("numPhysicsInstances= %d\n", demo.m_numPhysicsInstances);
printf("numDynamicPhysicsInstances= %d\n", demo.m_numDynamicPhysicsInstances);
render.writeTransforms();
window->startRendering();
render.RenderScene();
window->endRendering();
while (!window->requestedExit())
{
CProfileManager::Reset();
if (shootObject)
{
shootObject = false;
btVector3 linVel;// = (m_cameraPosition-m_cameraTargetPosition).normalize()*-100;
int x,y;
window->getMouseCoordinates(x,y);
render.getMouseDirection(&linVel[0],x,y);
linVel.normalize();
linVel*=100;
// btVector3 startPos;
demo.setObjectLinearVelocity(&linVel[0],0);
float orn[4] = {0,0,0,1};
float pos[4] = {m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],1};
// demo.setObjectTransform(pos,orn,0);
render.writeSingleTransform(pos,orn,0);
// createScene(render, demo);
// printf("numPhysicsInstances= %d\n", demo.m_numPhysicsInstances);
// printf("numDynamicPhysicsInstances= %d\n", demo.m_numDynamicPhysicsInstances);
// render.writeTransforms();
}
if (!pauseSimulation )
demo.stepSimulation();
window->startRendering();
render.RenderScene();
window->endRendering();
{
BT_PROFILE("glFinish");
glFinish();
}
CProfileManager::Increment_Frame_Counter();
if (printStats && !pauseSimulation)
{
static int count = 3;
count--;
if (count<0)
{
count = 100;
CProfileManager::dumpAll();
printf("total broadphase pairs= %d\n", numPairsTotal);
printf("numPairsOut (culled) = %d\n", numPairsOut);
//printStats = false;
} else
{
// printf(".");
}
}
}
demo.cleanup();
render.CleanupShaders();
window->exit();
delete window;
return 0;
}
