예제 #1
0
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;
}
예제 #2
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;
}