void FractureDemo::showMessage()
{
if((getDebugMode() & btIDebugDraw::DBG_DrawText))
{
setOrthographicProjection();
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
int lineWidth=380;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
btFractureDynamicsWorld* world = (btFractureDynamicsWorld*)m_dynamicsWorld;
if (world->getFractureMode())
{
sprintf(buf,"Fracture mode");
} else
{
sprintf(buf,"Glue mode");
}
GLDebugDrawString(xStart,yStart,buf);
sprintf(buf,"f to toggle fracture/glue mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
sprintf(buf,"space to restart, mouse to pick/shoot");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
}
//to be implemented by the demo
void ForkLiftDemo::renderme()
{
updateCamera();
btScalar m[16];
int i;
btVector3 wheelColor(1,0,0);
btVector3 worldBoundsMin,worldBoundsMax;
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
for (i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i,true);
//draw wheels (cylinders)
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,m_wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
}
int lineWidth=250;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"SHIFT+Cursor Left/Right - rotate lift");
GLDebugDrawString(xStart,20,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"SHIFT+Cursor UP/Down - move fork up/down");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"F5 - toggle camera mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Click inside this window for keyboard focus");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
DemoApplication::renderme();
}
void ParticlesDemo::outputDebugInfo(int & xOffset,int & yStart, int yIncr)
{
char buf[124];
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
sprintf(buf,"mouse move+buttons to interact");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"space to reset");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"cursor keys and z,x to navigate");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"i to toggle simulation, s single step");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"q to quit");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"h to toggle help text");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"p to toggle profiling (+results to file)");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"j to toggle between demos (integration/OECake2D/OECake3D)");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
{
sprintf(buf,"G to draw broadphase grid");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"D and U to toggle between GPU and CPU");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
}
}
void CcdPhysicsDemo::displayText()
{
#ifndef __QNX__
int lineWidth=440;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
{
setOrthographicProjection();
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
glRasterPos3f(xStart, yStart, 0);
switch (m_ccdMode)
{
case USE_CCD:
{
sprintf(buf,"Predictive contacts and motion clamping");
break;
}
case USE_NO_CCD:
{
sprintf(buf,"CCD handling disabled");
break;
}
default:
{
sprintf(buf,"unknown CCD setting");
};
};
GLDebugDrawString(xStart,20,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Press 'p' to change CCD mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Press '.' or right mouse to shoot bullets");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"space to restart, h(elp), t(ext), w(ire)");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
#endif
}
void GL_TextControl::draw(int& parentHorPos,int& parentVertPos,btScalar deltaTime)
{
for (int i=0;i<m_textLines.size();i++)
{
GLDebugDrawString(parentHorPos,parentVertPos,m_textLines[i]);
parentVertPos+=20;
}
}
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);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
#endif //BT_DEBUG_MEMORY_ALLOCATIONS
glFlush();
glutSwapBuffers();
}
void BasicDemo3D::DrawConstraintInfo()
{
char buf[32];
float xOffs = m_glutScreenWidth - 50;
float yOffs = 30;
glColor4f(1, 1, 1,1);
glDisable(GL_LIGHTING);
glRasterPos3f(xOffs-40.f, yOffs, 0);
sprintf(buf,"solver %2d on %s", gUseSolver2 ? 2 : 1, gUseCPUSolver ? "CPU" : "CUDA");
GLDebugDrawString(xOffs-140.f, yOffs,buf);
yOffs += 15.f;
btCudaDemoDynamicsWorld3D* cddw = (btCudaDemoDynamicsWorld3D*)m_dynamicsWorld;
for(int i = 0; i < CUDA_DEMO_DYNAMICS_WORLD3D_MAX_BATCHES; i++)
{
const float* pCol = cBatchColorTab + i * 3;
glColor3f(pCol[0], pCol[1], pCol[2]);
glRasterPos3f(xOffs, yOffs, 0);
sprintf(buf,"%2d : %5d", i, cddw->m_numInBatches[i]);
GLDebugDrawString(xOffs-80, yOffs,buf);
yOffs += 15.f;
}
}
void BasicDemo::DrawConstraintInfo()
{
int fontW = 10; // hack, could be changed
int fontH = 14; // hack, could be changed
char buf[32];
float xOffs;
float yOffs = fontH * 2;
glDisable(GL_LIGHTING);
glColor3f(1, 1, 1);
sprintf(buf,"solver on %s", gUseCPUSolver ? "CPU" : "OpenCL");
xOffs = m_glutScreenWidth - (strlen(buf) + 1) * fontW;
GLDebugDrawString(xOffs, yOffs,buf);
yOffs += fontH;
btGpuDemoDynamicsWorld* cddw = (btGpuDemoDynamicsWorld*)m_dynamicsWorld;
for(int i = 0; i < CUDA_DEMO_DYNAMICS_WORLD_MAX_BATCHES; i++)
{
const float* pCol = cBatchColorTab + i * 3;
glColor3f(pCol[0], pCol[1], pCol[2]);
sprintf(buf,"%2d : %5d", i, cddw->m_numInBatches[i]);
xOffs = m_glutScreenWidth - (strlen(buf) + 1) * fontW;
GLDebugDrawString(xOffs, yOffs,buf);
yOffs += fontH;
}
}
void VoronoiFractureDemo::renderme()
{
DemoApplication::renderme();
char buf[124];
int lineWidth = 200;
int xStart = m_glutScreenWidth - lineWidth;
if (useMpr)
{
sprintf(buf, "Using GJK+MPR");
}
else
{
sprintf(buf, "Using GJK+EPA");
}
GLDebugDrawString(xStart, 20, buf);
}
void BasicDemo3D::outputDebugInfo(int & xOffset,int & yStart, int yIncr)
{
char buf[124];
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"mouse to interact");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"space to reset");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"cursor keys and z,x to navigate");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"i to toggle simulation, s single step");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"q to quit");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"h to toggle help text");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"p to toggle profiling (+results to file)");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"w to toggle wireframe/solid rendering");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"c to toggle constraint drawing");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"b to draw single constraint batch");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"u to toggle between CPU and CUDA solvers");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"d to toggle between different batch builders");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"m to toggle between CUDA / CPU motion integrators");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
if (getDynamicsWorld())
{
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# skipped collisions=%d",gSkippedCol);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# processed collisions=%d",gProcessedCol);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
btScalar fract = (gProcessedCol+gSkippedCol)? btScalar(gSkippedCol)/(gProcessedCol+gSkippedCol) : 0.f;
sprintf(buf,"culled narrowphase collisions=%f",fract);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
gProcessedCol = 0;
gSkippedCol = 0;
}
} // BasicDemo3D::outputDebugInfo()
void GL_DialogWindow::draw(btScalar deltaTime)
{
if (!m_screenWidth || !m_screenHeight)
return;
m_dialogHorPos = int(m_collisionObject->getWorldTransform().getOrigin()[0]+m_screenWidth/2.f-m_dialogWidth/2.f);
m_dialogVertPos = int(m_collisionObject->getWorldTransform().getOrigin()[1]+m_screenHeight/2.f-m_dialogHeight/2.f);
saveOpenGLState();
//drawRect(m_dialogHorPos,m_dialogVertPos,m_dialogHorPos+m_dialogWidth,m_dialogVertPos+m_dialogHeight,0xa6000000);
unsigned int argbColor = 0x86000000;
int charHeight = 16;
int charWidth = 10;
int titleHeight = charHeight + 2;
drawRect(m_dialogHorPos,m_dialogVertPos,m_dialogHorPos+m_dialogWidth-1,m_dialogVertPos+titleHeight,argbColor,argbColor,argbColor,argbColor);
//const unsigned int COL0 = 0x50ffffff;
const unsigned int COL0 = 0xffffffff;
const unsigned int COL1 = 0xff1f1f1f;
drawRect(m_dialogHorPos,m_dialogVertPos,m_dialogHorPos+m_dialogWidth-1,m_dialogVertPos+1,COL0,COL0,COL1,COL1);
argbColor = 0x864f4f4f;
drawRect(m_dialogHorPos+1,m_dialogVertPos+titleHeight,m_dialogHorPos+m_dialogWidth-1,m_dialogVertPos+m_dialogHeight,argbColor,argbColor,argbColor,argbColor);
int y = m_dialogVertPos+charHeight+1;
glLineWidth(3);
drawLine(m_dialogHorPos, y, m_dialogHorPos+m_dialogWidth-1, y, 0x80afafaf,0x80afafaf);
unsigned int clight = 0x5FFFFFFF; // bar contour
drawLine(m_dialogHorPos, m_dialogVertPos, m_dialogHorPos, m_dialogVertPos+m_dialogHeight, clight,clight);
drawLine(m_dialogHorPos, m_dialogVertPos, m_dialogHorPos+m_dialogWidth, m_dialogVertPos, clight,clight);
drawLine(m_dialogHorPos+m_dialogWidth, m_dialogVertPos, m_dialogHorPos+m_dialogWidth, m_dialogVertPos+m_dialogHeight, clight,clight);
drawLine(m_dialogHorPos, m_dialogVertPos+m_dialogHeight, m_dialogHorPos+m_dialogWidth, m_dialogVertPos+m_dialogHeight, clight,clight);
int dshad = 3; // bar shadows
unsigned int cshad = (((0x40000000>>24)/2)<<24) & 0xFF000000;
drawRect(m_dialogHorPos, m_dialogVertPos+m_dialogHeight, m_dialogHorPos+dshad, m_dialogVertPos+m_dialogHeight+dshad, 0, cshad, 0, 0);
drawRect(m_dialogHorPos+dshad+1, m_dialogVertPos+m_dialogHeight, m_dialogHorPos+m_dialogWidth-1, m_dialogVertPos+m_dialogHeight+dshad, cshad, cshad, 0, 0);
drawRect(m_dialogHorPos+m_dialogWidth, m_dialogVertPos+m_dialogHeight, m_dialogHorPos+m_dialogWidth+dshad, m_dialogVertPos+m_dialogHeight+dshad, cshad, 0, 0, 0);
drawRect(m_dialogHorPos+m_dialogWidth, m_dialogVertPos, m_dialogHorPos+m_dialogWidth+dshad, m_dialogVertPos+dshad, 0, 0, cshad, 0);
drawRect(m_dialogHorPos+m_dialogWidth, m_dialogVertPos+dshad+1, m_dialogHorPos+m_dialogWidth+dshad, m_dialogVertPos+m_dialogHeight-1, cshad, 0, cshad, 0);
int yInc = 16;
int curHorPos = m_dialogHorPos+5;
int curVertPos = m_dialogVertPos;
curVertPos += yInc;
GLDebugDrawString(m_dialogHorPos+m_dialogWidth/2-((int(strlen(m_dialogTitle)/2))*charWidth),m_dialogVertPos+yInc ,m_dialogTitle);
curVertPos += 20;
for (int i=0;i<m_controls.size();i++)
{
m_controls[i]->draw(curHorPos,curVertPos,deltaTime);
}
restoreOpenGLState();
}
//to be implemented by the demo
void Hinge2Vehicle::renderScene()
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
#if 0
for (int i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i,true);
CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
if (renderer)
{
btTransform tr = m_vehicle->getWheelInfo(i).m_worldTransform;
btVector3 pos=tr.getOrigin();
btQuaternion orn = tr.getRotation();
renderer->writeSingleInstanceTransformToCPU(pos,orn,m_wheelInstances[i]);
}
}
#endif
m_guiHelper->render(m_dynamicsWorld);
btVector3 wheelColor(1,0,0);
btVector3 worldBoundsMin,worldBoundsMax;
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
#if 0
int lineWidth=400;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
sprintf(buf,"SHIFT+Cursor Left/Right - rotate lift");
GLDebugDrawString(xStart,20,buf);
yStart+=20;
sprintf(buf,"SHIFT+Cursor UP/Down - fork up/down");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
if (m_useDefaultCamera)
{
sprintf(buf,"F5 - camera mode (free)");
} else
{
sprintf(buf,"F5 - camera mode (follow)");
}
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
yStart+=20;
if (m_dynamicsWorld->getConstraintSolver()->getSolverType()==BT_MLCP_SOLVER)
{
sprintf(buf,"F6 - solver (direct MLCP)");
} else
{
sprintf(buf,"F6 - solver (sequential impulse)");
}
GLDebugDrawString(xStart,yStart,buf);
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) m_dynamicsWorld;
if (world->getLatencyMotionStateInterpolation())
{
sprintf(buf,"F7 - motionstate interpolation (on)");
} else
{
sprintf(buf,"F7 - motionstate interpolation (off)");
}
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
sprintf(buf,"Click window for keyboard focus");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
#endif
}
//------------------------------------------------------------------------------
void GimpactConcaveDemo::renderme()
{
updateCamera();
btScalar m[16];
if (m_dynamicsWorld)
{
btVector3 worldBoundsMin,worldBoundsMax;
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
colObj->getWorldTransform().getOpenGLMatrix(m);
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
{
wireColor = btVector3(0.f,0.0f,1.f);
}
///color differently for active, sleeping, wantsdeactivation states
if (colObj->getActivationState() == 1) //active
{
if (i & 1)
{
wireColor += btVector3 (0.8f,0.1f,0.1f);
} else
{
wireColor += btVector3 (0.5f,0.f,0.f);
}
}
if (colObj->getActivationState() == 2) //ISLAND_SLEEPING
{
if (i & 1)
{
wireColor += btVector3 (0.5f,0.8f, 0.5f);
} else
{
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
m_shapeDrawer->drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
}
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,"mouse to interact");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
/* glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"space to reset");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
*/
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"cursor keys and z,x to navigate");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"i to toggle simulation, s single step");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"q to quit");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,". to shoot TRIMESH (dot)");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
// not yet hooked up again after refactoring...
/* glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"d to toggle deactivation");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
*/
/*
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"a to draw temporal AABBs");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
*/
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"h to toggle help text");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
bool useCCD = ((getDebugMode() & btIDebugDraw::DBG_EnableCCD) != 0);
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
#ifdef SHOW_NUM_DEEP_PENETRATIONS
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
#endif //SHOW_NUM_DEEP_PENETRATIONS
resetPerspectiveProjection();
}
}
void DemoApplication::renderme()
{
myinit();
updateCamera();
if (m_dynamicsWorld)
{
if(m_enableshadows)
{
glClear(GL_STENCIL_BUFFER_BIT);
glEnable(GL_CULL_FACE);
renderscene(0);
glDisable(GL_LIGHTING);
glDepthMask(GL_FALSE);
glDepthFunc(GL_LEQUAL);
glEnable(GL_STENCIL_TEST);
glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE);
glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL);
glFrontFace(GL_CCW);
glStencilOp(GL_KEEP,GL_KEEP,GL_INCR);
renderscene(1);
glFrontFace(GL_CW);
glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
renderscene(1);
glFrontFace(GL_CCW);
glPolygonMode(GL_FRONT,GL_FILL);
glPolygonMode(GL_BACK,GL_FILL);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glEnable(GL_LIGHTING);
glDepthMask(GL_TRUE);
glCullFace(GL_BACK);
glFrontFace(GL_CCW);
glEnable(GL_CULL_FACE);
glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE);
glDepthFunc(GL_LEQUAL);
glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL );
glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
glDisable(GL_LIGHTING);
renderscene(2);
glEnable(GL_LIGHTING);
glDepthFunc(GL_LESS);
glDisable(GL_STENCIL_TEST);
glDisable(GL_CULL_FACE);
}
else
{
glDisable(GL_CULL_FACE);
renderscene(0);
}
int xOffset = 10;
int yStart = 20;
int yIncr = 20;
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
showProfileInfo(xOffset,yStart,yIncr);
#ifdef USE_QUICKPROF
if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
{
static int counter = 0;
counter++;
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
{
char blockTime[128];
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
glRasterPos3f(xOffset,yStart,0);
GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
yStart += yIncr;
}
}
#endif //USE_QUICKPROF
resetPerspectiveProjection();
}
glEnable(GL_LIGHTING);
}
updateCamera();
}
void SpheresGridDemo::renderme()
{
glPointSize(5.0f);
glEnable(GL_POINT_SPRITE_ARB);
glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE);
#ifndef __APPLE__
glEnable(GL_VERTEX_PROGRAM_POINT_SIZE_NV);
#endif //__APPLE__
glDepthMask(GL_TRUE);
glEnable(GL_DEPTH_TEST);
glUseProgram(m_shaderProgram);
btScalar dist = (m_glutScreenWidth > m_glutScreenHeight) ? m_glutScreenHeight : m_glutScreenWidth;
glUniform1f( glGetUniformLocation(m_shaderProgram, "pointScale"), dist );
// glUniform1f( glGetUniformLocation(m_shaderProgram, "pointRadius"), 0.5f );
#ifdef SPHERES_DEMO
#ifdef INTEGRATION_DEMO
int numSpheres = (m_demoType == DEMO_INTEGRATION) ? m_pWorldI->getNumSpheres() : m_pWorldS->getNumSpheres();
int col_vbo = (m_demoType == DEMO_INTEGRATION) ? m_pWorldI->m_colVbo : m_pWorldS->m_colVbo;
int curr_vbo = (m_demoType == DEMO_INTEGRATION) ? m_pWorldI->m_vbo : m_pWorldS->m_vbo;
float sphere_rad = (m_demoType == DEMO_INTEGRATION) ? m_pWorldI->m_sphereRad : m_pWorldS->m_sphereRad;
#else
int numSpheres = m_pWorldS->getNumSpheres();
int col_vbo = m_pWorldS->m_colVbo;
int curr_vbo = m_pWorldS->m_vbo;
float sphere_rad = m_pWorldS->m_sphereRad;
#endif
#else
int numSpheres = m_pWorldI->getNumSpheres();
int col_vbo = m_pWorldI->m_colVbo;
int curr_vbo = m_pWorldI->m_vbo;
float sphere_rad = m_pWorldI->m_sphereRad;
#endif
glUniform1f( glGetUniformLocation(m_shaderProgram, "pointRadius"), sphere_rad );
glColor3f(1, 1, 1);
// render from the vbo
glBindBuffer(GL_ARRAY_BUFFER, curr_vbo);
glVertexPointer(4, GL_FLOAT, 0, 0);
glEnableClientState(GL_VERTEX_ARRAY);
if(col_vbo)
{
glBindBufferARB(GL_ARRAY_BUFFER_ARB, col_vbo);
glColorPointer(4, GL_FLOAT, 0, 0);
glEnableClientState(GL_COLOR_ARRAY);
}
glDrawArrays(GL_POINTS, 0, numSpheres);
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
glUseProgram(0);
glDisable(GL_POINT_SPRITE_ARB);
glBindBufferARB(GL_ARRAY_BUFFER,0);
#ifdef SPHERES_DEMO
if((m_demoType != DEMO_INTEGRATION) && m_drawGridMode)
{
btVector3& wmin = m_pWorldS->m_worldMin;
btVector3& wmax = m_pWorldS->m_worldMax;
glBegin(GL_LINE_LOOP);
glVertex3f(wmin[0], wmin[1], wmin[2]);
glVertex3f(wmin[0], wmax[1], wmin[2]);
glVertex3f(wmax[0], wmax[1], wmin[2]);
glVertex3f(wmax[0], wmin[1], wmin[2]);
glVertex3f(wmax[0], wmin[1], wmax[2]);
glVertex3f(wmax[0], wmax[1], wmax[2]);
glVertex3f(wmin[0], wmax[1], wmax[2]);
glVertex3f(wmin[0], wmin[1], wmax[2]);
glEnd();
glBegin(GL_LINES);
glVertex3f(wmin[0], wmin[1], wmin[2]);
glVertex3f(wmax[0], wmin[1], wmin[2]);
glVertex3f(wmin[0], wmin[1], wmax[2]);
glVertex3f(wmax[0], wmin[1], wmax[2]);
glVertex3f(wmin[0], wmax[1], wmin[2]);
glVertex3f(wmin[0], wmax[1], wmax[2]);
glVertex3f(wmax[0], wmax[1], wmin[2]);
glVertex3f(wmax[0], wmax[1], wmax[2]);
glEnd();
if(m_drawGridMode == 2)
{
int szx = m_pWorldS->m_simParams.m_gridSize[0];
int szy = m_pWorldS->m_simParams.m_gridSize[1];
glBegin(GL_LINES);
for(int i = 1; i < (szx-1); i++)
{
float wgt = (float)i / (float)(szx-1);
btVector3 vtx = wmax * wgt + wmin * (1.0f - wgt);
glVertex3f(vtx[0], wmin[1], wmin[2]);
glVertex3f(vtx[0], wmax[1], wmin[2]);
}
for(int i = 1; i < (szy-1); i++)
{
float wgt = (float)i / (float)(szy-1);
btVector3 vtx = wmax * wgt + wmin * (1.0f - wgt);
glVertex3f(wmin[0], vtx[1], wmin[2]);
glVertex3f(wmax[0], vtx[1], wmin[2]);
}
glEnd();
}
}
#endif
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
int xOffset = 10.f;
int yStart = 20.f;
int yIncr = 20.f;
if(m_demoType == DEMO_INTEGRATION)
{
#ifdef INTEGRATION_DEMO
switch(m_pWorldI->m_usedDevice)
{
case 0:
GLDebugDrawString(xOffset,yStart,"CPU");
break;
case 1:
GLDebugDrawString(xOffset,yStart,"OpenCL");
break;
case 2:
GLDebugDrawString(xOffset,yStart,"CUDA");
break;
}
yStart += 30.f;
#endif
}
showProfileInfo(xOffset, yStart, yIncr);
outputDebugInfo(xOffset, yStart, yIncr);
resetPerspectiveProjection();
}
}
void DemoApplication::displayProfileString(int xOffset,int yStart,char* message)
{
glRasterPos3f(btScalar(xOffset),btScalar(yStart),btScalar(0));
GLDebugDrawString(xOffset,yStart,message);
}
void BasicDemo::outputDebugInfo(int & xOffset,int & yStart, int yIncr)
{
char buf[124];
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
sprintf(buf,"mouse move+buttons to interact");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"space to reset");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"cursor keys and z,x to navigate");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"i to toggle simulation, s single step");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"q to quit");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"h to toggle help text");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"p to toggle profiling (+results to file)");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"c to toggle constraint drawing");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"b to draw single constraint batch");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"u to toggle between CPU and OpenCL solvers");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"d to toggle between different batch builders");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
if (getDynamicsWorld())
{
sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
}
} // BasicDemo::outputDebugInfo()
void bulletBaseApp::displayProfileString(int xOffset,int yStart,char* message)
{
glRasterPos3f(xOffset,yStart,0);
GLDebugDrawString(xOffset,yStart,message);
}
static void doPrint(int x,int& y,int dy,const char * text)
{
GLDebugDrawString(x,y, text);
y += dy;
}
void InternalEdgeDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = getDeltaTimeMicroseconds() * 0.000001f;
if (m_animatedMesh)
{
static float offset=0.f;
offset+=0.01f;
// setVertexPositions(waveheight,offset);
#if 0 ///not currently supported, we need to update the btInternalTriangleInfoMap
int i;
int j;
btVector3 aabbMin(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
btVector3 aabbMax(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
for ( i=NUM_VERTS_X/2-3;i<NUM_VERTS_X/2+2;i++)
{
for (j=NUM_VERTS_X/2-3;j<NUM_VERTS_Y/2+2;j++)
{
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
0.f,
//waveheight*sinf((float)i+offset)*cosf((float)j+offset),
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
aabbMin.setMin(gVertices[i+j*NUM_VERTS_X]);
aabbMax.setMax(gVertices[i+j*NUM_VERTS_X]);
}
}
trimeshShape->partialRefitTree(aabbMin,aabbMax);
#else
btVector3 aabbMin,aabbMax;
trimeshShape->getMeshInterface()->calculateAabbBruteForce(aabbMin,aabbMax);
trimeshShape->refitTree(aabbMin,aabbMax);
#endif
//for debugging: clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
//m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
}
m_dynamicsWorld->stepSimulation(dt);
///enable one of the following to debug (render debug lines each frame)
//m_dynamicsWorld->stepSimulation(1./800.,0);
//m_dynamicsWorld->stepSimulation(1./60.,100,1./800.);
//m_dynamicsWorld->stepSimulation(1./60.,0);
int lineWidth=450;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
#ifndef __QNX__
if((getDebugMode() & btIDebugDraw::DBG_DrawText)!=0)
{
setOrthographicProjection();
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
char buf[124];
glRasterPos3f(xStart, yStart, 0);
if (enable)
{
sprintf(buf,"InternalEdgeUtility enabled");
} else
{
sprintf(buf,"InternalEdgeUtility disabled");
}
GLDebugDrawString(xStart,20,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Press 'n' to toggle InternalEdgeUtility");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
#endif
renderme();
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
glFlush();
swapBuffers();
}
void DoublePrecisionDemo::displayCallback(void)
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
if (collisionWorld)
collisionWorld->performDiscreteCollisionDetection();
int i;
btVector3 worldBoundsMin,worldBoundsMax;
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
///one way to draw all the contact points is iterating over contact manifolds / points:
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
for (i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);
glBegin(GL_LINES);
glColor3f(1, 1, 1);
btVector3 ptA = pt.getPositionWorldOnA() - m_cameraPosition;
btVector3 ptB = pt.getPositionWorldOnB() - m_cameraPosition;
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
glEnd();
}
//you can un-comment out this line, and then all points are removed
//contactManifold->clearManifold();
}
btScalar m[16];
btTransform temp;
btVector3 color;
//int i;
for (i=0;i<numObjects;i++)
{
if (i % 2)
{
color = btVector3(1,0,0);
}
else
{
color = btVector3(0,0,1);
}
temp = objects[i].getWorldTransform();
temp.setOrigin(temp.getOrigin() - m_cameraPosition);
temp.getOpenGLMatrix( m );
m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
}
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
objects[0].getWorldTransform().setOrigin(objects[0].getWorldTransform().getOrigin()+btVector3(VERY_SMALL_INCREMENT,VERY_SMALL_INCREMENT,0));
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
glColor3f(0, 0, 0);
setOrthographicProjection();
glRasterPos3f(10.0f,yStart,0);
#ifdef BT_USE_DOUBLE_PRECISION
GLDebugDrawString(10.f,yStart,"Double Precision Mode");
#else
GLDebugDrawString(10.f,yStart,"Single Precision Mode");
#endif
yStart += yIncr;
glRasterPos3f(10.0f,yStart,0);
sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
GLDebugDrawString(10.f,yStart,buf);
yStart += yIncr;
glRasterPos3f(10.0f,yStart,0);
btScalar xValue = objects[0].getWorldTransform().getOrigin().x();
btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
GLDebugDrawString(10.f,yStart,buf);
yStart += yIncr;
xValue = objects[1].getWorldTransform().getOrigin().x();
yValue = objects[1].getWorldTransform().getOrigin().y();
zValue = objects[1].getWorldTransform().getOrigin().z();
glRasterPos3f(10.0f,yStart,0);
sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
GLDebugDrawString(10.f,yStart,buf);
yStart += yIncr;
glRasterPos3f(10.0f,yStart,0);
GLDebugDrawString(10.f,yStart,"w=toggle wireframe/solid");
resetPerspectiveProjection();
glFlush();
glutSwapBuffers();
}
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];
sprintf(buf,"gDepth=%f: gNormal=(%f %f %f)\n", gDepth, gNormal.x(), gNormal.y(), gNormal.z());
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"num GJK iterations =%d\n", gNumGjkIterations);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"gLastUsedMethod=%d\n", gLastUsedMethod);
GLDebugDrawString(xOffset,yStart,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" );
}
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
} else
{
sprintf(buf,"Hybrid GJK method %d\n", gLastUsedMethod);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
}
if (gLastDegenerateSimplex)
{
sprintf(buf,"DegenerateSimplex %d\n", gLastDegenerateSimplex);
GLDebugDrawString(xOffset,yStart,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();
}
void bulletBaseApp::renderme()
{
myinit();
updateCamera();
if (m_dynamicsWorld)
{
if(m_enableshadows)
{
glClear(GL_STENCIL_BUFFER_BIT);
glEnable(GL_CULL_FACE);
renderscene(0);
glDisable(GL_LIGHTING);
glDepthMask(GL_FALSE);
glDepthFunc(GL_LEQUAL);
glEnable(GL_STENCIL_TEST);
glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE);
glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL);
glFrontFace(GL_CCW);
glStencilOp(GL_KEEP,GL_KEEP,GL_INCR);
renderscene(1);
glFrontFace(GL_CW);
glStencilOp(GL_KEEP,GL_KEEP,GL_DECR);
renderscene(1);
glFrontFace(GL_CCW);
glPolygonMode(GL_FRONT,GL_FILL);
glPolygonMode(GL_BACK,GL_FILL);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glEnable(GL_LIGHTING);
glDepthMask(GL_TRUE);
glCullFace(GL_BACK);
glFrontFace(GL_CCW);
glEnable(GL_CULL_FACE);
glColorMask(GL_TRUE,GL_TRUE,GL_TRUE,GL_TRUE);
glDepthFunc(GL_LEQUAL);
glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL );
glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP );
glDisable(GL_LIGHTING);
renderscene(2);
glEnable(GL_LIGHTING);
glDepthFunc(GL_LESS);
glDisable(GL_STENCIL_TEST);
glDisable(GL_CULL_FACE);
}
else
{
glDisable(GL_CULL_FACE);
renderscene(0);
}
int xOffset = 10;
int yStart = 20;
int yIncr = 20;
char buf[124];
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
showProfileInfo(xOffset,yStart,yIncr);
#ifdef USE_QUICKPROF
if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
{
static int counter = 0;
counter++;
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
{
char blockTime[128];
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
glRasterPos3f(xOffset,yStart,0);
GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
yStart += yIncr;
}
}
#endif //USE_QUICKPROF
sprintf(buf,"mouse to interact");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"ALT + mouse to move camera");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"space to reset");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"cursor keys and z,x to navigate");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"i to toggle simulation, s single step");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"q to quit");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,". to shoot box");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
// not yet hooked up again after refactoring...
sprintf(buf,"d to toggle deactivation");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"g to toggle mesh animation (ConcaveDemo)");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"h to toggle help text");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"o to toggle orthogonal/perspective view");
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
//bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
//glRasterPos3f(xOffset,yStart,0);
//sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
//GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
//yStart += yIncr;
sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
#ifdef SHOW_NUM_DEEP_PENETRATIONS
sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"gNumClampedCcdMotions = %d",gNumClampedCcdMotions);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"gNumSplitImpulseRecoveries= %d",gNumSplitImpulseRecoveries);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"gNumAlignedAllocs = %d",gNumAlignedAllocs);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
//enable BT_DEBUG_MEMORY_ALLOCATIONS define in Bullet/src/LinearMath/btAlignedAllocator.h for memory leak detection
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
GLDebugDrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
#endif //BT_DEBUG_MEMORY_ALLOCATIONS
if (getDynamicsWorld())
{
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
sprintf(buf,"# hitPos = %f,%f,%f",gHitPos.getX(),gHitPos.getY(),gHitPos.getZ());
GLDebugDrawString(xOffset,yStart,buf);
yStart += yIncr;
}
#endif //SHOW_NUM_DEEP_PENETRATIONS
resetPerspectiveProjection();
}
glEnable(GL_LIGHTING);
}
updateCamera();
}
