static void loggerwindow_do_draw(LoggerWindow *lw) {
int i, ndisplines, startline;
int sb_rect[2][2], sb_thumb[2][2];
GHOST_ActivateWindowDrawingContext(lw->win);
glClearColor(1, 1, 1, 1);
glClear(GL_COLOR_BUFFER_BIT);
glColor3f(0.8, 0.8, 0.8);
rect_bevel_smooth(lw->textarea, 4);
scrollbar_get_rect(lw->scroll, sb_rect);
scrollbar_get_thumb(lw->scroll, sb_thumb);
glColor3f(0.6, 0.6, 0.6);
rect_bevel_smooth(sb_rect, 1);
if (scrollbar_is_scrolling(lw->scroll)) {
glColor3f(0.6, 0.7, 0.5);
} else {
glColor3f(0.9, 0.9, 0.92);
}
rect_bevel_smooth(sb_thumb, 1);
startline= scrollbar_get_thumbpos(lw->scroll)*(lw->nloglines-1);
ndisplines= min_i(lw->ndisplines, lw->nloglines-startline);
if (lw->fonttexid!=-1) {
glBindTexture(GL_TEXTURE_2D, lw->fonttexid);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_BLEND);
glEnable(GL_TEXTURE_2D);
}
glColor3f(0, 0, 0);
for (i=0; i<ndisplines; i++) {
/* stored in reverse order */
char *line= lw->loglines[(lw->nloglines-1)-(i+startline)];
int x_pos= lw->textarea[0][0] + 4;
int y_pos= lw->textarea[0][1] + 4 + i*lw->fontheight;
if (lw->fonttexid==-1) {
glRasterPos2i(x_pos, y_pos);
BMF_DrawString(lw->font, line);
} else {
BMF_DrawStringTexture(lw->font, line, x_pos, y_pos, 0.0);
}
}
if (lw->fonttexid!=-1) {
glDisable(GL_TEXTURE_2D);
glDisable(GL_BLEND);
}
GHOST_SwapWindowBuffers(lw->win);
}
virtual void clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
glColor3f(0, 0, 0);
setOrthographicProjection();
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedAllocs= %d",gNumAlignedAllocs);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
#endif //BT_DEBUG_MEMORY_ALLOCATIONS
glFlush();
glutSwapBuffers();
}
static void
doPrint
(
int x,
int& y,
int dy,
const char * text
)
{
glRasterPos3f(x, y, 0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10), text);
y += dy;
}
void GLDebugDrawer::DrawContactPoint(const SimdVector3& pointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color)
{
if (m_debugMode & IDebugDraw::DBG_DrawContactPoints)
{
SimdVector3 to=pointOnB+normalOnB*distance;
const SimdVector3&from = pointOnB;
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
glRasterPos3f(from.x(), from.y(), from.z());
char buf[12];
sprintf(buf," %d",lifeTime);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
}
int BMF_DrawCharacter(BMF_Font* font, char c)
{
char str[2] = {c, '\0'};
return BMF_DrawString(font, str);
}
void ParticleRenderer::displayProfileString(int xOffset,int yStart,char* message)
{
glRasterPos3f(xOffset,yStart,0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),message);
}
//to be implemented by the demo
void renderme()
{
debugDrawer.SetDebugMode(getDebugMode());
//render the hinge axis
if (createConstraint)
{
SimdVector3 color(1,0,0);
SimdVector3 dirLocal(0,1,0);
SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
SimdVector3 from = physObjects[1]->GetRigidBody()->getCenterOfMassTransform()(pivotInA);
SimdVector3 fromB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform()(pivotInB);
SimdVector3 dirWorldA = physObjects[1]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
SimdVector3 dirWorldB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
debugDrawer.DrawLine(from,from+dirWorldA,color);
debugDrawer.DrawLine(fromB,fromB+dirWorldB,color);
}
float m[16];
int i;
if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)
{
//don't use Bullet, use quickstep
physicsEnvironmentPtr->setSolverType(0);
} else
{
//Bullet LCP solver
physicsEnvironmentPtr->setSolverType(1);
}
if (getDebugMode() & IDebugDraw::DBG_EnableCCD)
{
physicsEnvironmentPtr->setCcdMode(3);
} else
{
physicsEnvironmentPtr->setCcdMode(0);
}
bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);
physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
#ifdef USE_HULL
//some testing code for SAT
if (isSatEnabled)
{
for (int s=0;s<numShapes;s++)
{
CollisionShape* shape = shapePtr[s];
if (shape->IsPolyhedral())
{
PolyhedralConvexShape* polyhedron = static_cast<PolyhedralConvexShape*>(shape);
if (!polyhedron->m_optionalHull)
{
//first convert vertices in 'Point3' format
int numPoints = polyhedron->GetNumVertices();
Point3* points = new Point3[numPoints+1];
//first 4 points should not be co-planar, so add central point to satisfy MakeHull
points[0] = Point3(0.f,0.f,0.f);
SimdVector3 vertex;
for (int p=0;p<numPoints;p++)
{
polyhedron->GetVertex(p,vertex);
points[p+1] = Point3(vertex.getX(),vertex.getY(),vertex.getZ());
}
Hull* hull = Hull::MakeHull(numPoints+1,points);
polyhedron->m_optionalHull = hull;
}
}
}
}
#endif //USE_HULL
for (i=0;i<numObjects;i++)
{
SimdTransform transA;
transA.setIdentity();
float pos[3];
float rot[4];
ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);
SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
transA.setRotation(q);
SimdPoint3 dpos;
dpos.setValue(pos[0],pos[1],pos[2]);
transA.setOrigin( dpos );
transA.getOpenGLMatrix( m );
SimdVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
{
wireColor = SimdVector3(0.f,0.0f,1.f);
}
///color differently for active, sleeping, wantsdeactivation states
if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
{
if (i & 1)
{
wireColor += SimdVector3 (1.f,0.f,0.f);
} else
{
wireColor += SimdVector3 (.5f,0.f,0.f);
}
}
if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
{
if (i & 1)
{
wireColor += SimdVector3 (0.f,1.f, 0.f);
} else
{
wireColor += SimdVector3 (0.f,0.5f,0.f);
}
}
char extraDebug[125];
sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
physObjects[i]->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
///this block is just experimental code to show some internal issues with replacing shapes on the fly.
if (getDebugMode()!=0 && (i>0))
{
if (physObjects[i]->GetRigidBody()->GetCollisionShape()->GetShapeType() == EMPTY_SHAPE_PROXYTYPE)
{
physObjects[i]->GetRigidBody()->SetCollisionShape(shapePtr[1]);
//remove the persistent collision pairs that were created based on the previous shape
BroadphaseProxy* bpproxy = physObjects[i]->GetRigidBody()->m_broadphaseHandle;
physicsEnvironmentPtr->GetBroadphase()->CleanProxyFromPairs(bpproxy);
SimdVector3 newinertia;
SimdScalar newmass = 10.f;
physObjects[i]->GetRigidBody()->GetCollisionShape()->CalculateLocalInertia(newmass,newinertia);
physObjects[i]->GetRigidBody()->setMassProps(newmass,newinertia);
physObjects[i]->GetRigidBody()->updateInertiaTensor();
}
}
}
if (!(getDebugMode() & IDebugDraw::DBG_NoHelpText))
{
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = -2.f;
char buf[124];
glColor3f(0, 0, 0);
#ifdef USE_QUICKPROF
if ( getDebugMode() & IDebugDraw::DBG_ProfileTimings)
{
static int counter = 0;
counter++;
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = Profiler::mProfileBlocks.begin(); iter != Profiler::mProfileBlocks.end(); ++iter)
{
char blockTime[128];
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),Profiler::getBlockTime((*iter).first, Profiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
glRasterPos3f(xOffset,yStart,0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
yStart += yIncr;
}
}
#endif //USE_QUICKPROF
//profiling << Profiler::createStatsString(Profiler::BLOCK_TOTAL_PERCENT);
//<< std::endl;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"mouse to interact");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"space to reset");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"cursor keys and z,x to navigate");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"i to toggle simulation, s single step");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"q to quit");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"d to toggle deactivation");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"a to draw temporal AABBs");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"h to toggle help text");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
bool useBulletLCP = !(getDebugMode() & IDebugDraw::DBG_DisableBulletLCP);
bool useCCD = (getDebugMode() & IDebugDraw::DBG_EnableCCD);
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"+- shooting speed = %10.2f",bulletSpeed);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
}
}
static void RenderCallback()
{
// Clear buffers
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Setup camera
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(60.0f, ((float)glutGet(GLUT_WINDOW_WIDTH))/((float)glutGet(GLUT_WINDOW_HEIGHT)), 1.0f, 10000.0f);
gluLookAt(Eye.x(), Eye.y(), Eye.z(), Eye.x() + Dir.x(), Eye.y() + Dir.y(), Eye.z() + Dir.z(), 0.0f, 1.0f, 0.0f);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glEnable(GL_LIGHTING);
//clear previous frames result
gNormal.setValue(10,0,0);
gPoint.setValue(0,0,0);
gDepth = 999.999;
gLastUsedMethod = -1;
gNumGjkIterations = -1;
TestEPA(gConvex0, gConvex1);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
btVector3 RefSep(btScalar(0.), btScalar(0.), btScalar(0.));
float RefDMin=0.f;
bool RefResult = false;
if(gRefMode)
RefResult = ReferenceCode(gConvex0, gConvex1, RefDMin, RefSep);
// DrawLine(gPoint, gPoint + gNormal*20.0f, btVector3(1,0,0), 2.0f);
// printf("%f: %f %f %f\n", gDepth, gNormal.x(), gNormal.y(), gNormal.z());
#ifdef VERBOSE_TEXT_ONSCREEN
glColor3f(255.f, 255.f, 255.f);
setOrthographicProjection();
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gDepth=%f: gNormal=(%f %f %f)\n", gDepth, gNormal.x(), gNormal.y(), gNormal.z());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"num GJK iterations =%d\n", gNumGjkIterations);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gLastUsedMethod=%d\n", gLastUsedMethod);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
if (gLastUsedMethod >= 3)
{
switch ( gMethod)
{
case 0:
sprintf(buf,"Bullet GjkEpa Penetration depth solver (zlib free\n" );
break;
case 1:
sprintf(buf,"Bullet Minkowski sampling Penetration depth solver\n" );
break;
case 2:
sprintf(buf,"Solid35 EPA Penetration depth solver\n" );
break;
case 3:
sprintf(buf,"EPA Penetration depth solver (Experimental/WorkInProgress, zlib free\n" );
break;
default:
sprintf(buf,"Unknown Penetration Depth\n" );
}
glRasterPos3f(xOffset,yStart,0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
} else
{
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"Hybrid GJK method %d\n", gLastUsedMethod);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
}
if (gLastDegenerateSimplex)
{
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"DegenerateSimplex %d\n", gLastDegenerateSimplex);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
}
resetPerspectiveProjection();
#endif //VERBOSE_TEXT_ONSCREEN
btVector3 color(0,0,0);
gConvex0.Render(false, color);
gConvex1.Render(false, color);
if(gDepth<0.0f)
{
btTransform Saved = gConvex0.mTransform;
gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() - btVector3(gNormal*gDepth));
gConvex0.Render(true, btVector3(1.0f, 0.5f, 0.0f));
gConvex0.mTransform = Saved;
}
else
{
DrawLine(gPoint, gPoint + gNormal, btVector3(0,1,0), 2.0f);
}
if(RefResult & gRefMode)
{
btTransform Saved = gConvex0.mTransform;
gConvex0.mTransform.setOrigin(gConvex0.mTransform.getOrigin() + btVector3(RefSep*RefDMin));
gConvex0.Render(true, btVector3(0.0f, 0.5f, 1.0f));
gConvex0.mTransform = Saved;
}
glutSwapBuffers();
}
