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;
}
}
}
}
//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!
}
}
