void InitGL()
{
// Setting Camera Moving Sensitivity..
hCamera.SetMouseSensitivity(0.1f, 0.02f, 0.1f);
// Generating bottom plate...
GLfloat gray[4] = {0.5f, 0.5f, 0.5f, 1.0f};
GLfloat black[4] = {0.0f, 0.0f, 0.0f, 1.0f};
btmPlate = hCamera.makeBottomPlate(gray, black, 80.0f, 80.0f, 10.0f, 0.0f);
// Generate an axis
g_glLtAxis = GenerateAxis(5.0f);
}
void OnMouseClick(int button, int state, int x, int y)
{
mouseButton = button;
if ( state == GLUT_DOWN )
{
bMousePressed = true;
hCamera.mousePress(x, y);
}
else if ( state == GLUT_UP )
{
bMousePressed = false;
hCamera.mouseRelease(x, y);
}
}
//===================
void Initialize()
//===================
{
/*if (glewInit() != GLEW_OK)
{
printf("GLEW initialization failed\n");
return;
}*/
GLfloat ambientLight[4] = {0.2f, 0.2f, 0.2f, 1.0f};
GLfloat diffuseLight[4] = {0.9f, 0.9f, 0.9f, 1.0f};
GLfloat diffuseLight1[4] = {0.2f, 0.2f, 0.2f, 1.0f};
GLfloat specularLight[4] = {0.8f, 0.8f, 0.8f, 1.0f};
GLfloat lightPosition[4] = {30.0f, 30.0f, 30.0f, 0.0f};
GLfloat lightPosition1[4] = {-30.0f, 30.0f, -30.0f, 0.0f};
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
glFrontFace(GL_CCW);
glEnable(GL_LIGHTING);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambientLight);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseLight);
//glLightfv(GL_LIGHT0, GL_SPECULAR, specularLight);
glLightfv(GL_LIGHT0, GL_POSITION, lightPosition);
glEnable(GL_LIGHT0);
glLightfv(GL_LIGHT1, GL_DIFFUSE, diffuseLight1);
glLightfv(GL_LIGHT1, GL_POSITION, lightPosition1);
glEnable(GL_LIGHT1);
// Setting Camera Moving Sensitivity..
hCamera.SetMouseSensitivity(0.05f, 0.3f, 0.3f);
// Generating bottom plate...
btmPlate = hCamera.makeBottomPlate(gray, black, 200.0f, 200.0f, 10.0f, 0.0f);
// Generate an axis
g_glLtAxis = GenerateAxis(5.0f);
// Create a rigidbody simulation
g_BulletSim.Create();
}
void OnMouseMove(int x, int y)
{
if ( bMousePressed )
{
if( mouseButton == GLUT_LEFT_BUTTON )
{
hCamera.mouseMove(x, y, Left_button);
}
else if( mouseButton == GLUT_RIGHT_BUTTON )
{
hCamera.mouseMove(x, y, Right_button);
}
else if( mouseButton == (GLUT_LEFT_BUTTON | GLUT_RIGHT_BUTTON) )
{
hCamera.mouseMove(x, y, Middle_button);
}
else if( mouseButton == GLUT_MIDDLE_BUTTON )
{
hCamera.mouseMove(x, y, Middle_button);
}
glutPostRedisplay();
}
}
void OnRender()
{
SetWindowTitle();
std::string sTitle = g_sWindowTitle;
glutSetWindowTitle(sTitle.c_str());
static GLfloat RedSurface[] = { 1.0f, 0.0f, 0.0f, 1.0f};
static GLfloat GreenSurface[] = { 0.0f, 1.0f, 0.0f, 1.0f};
static GLfloat BlueSurface[] = { 0.0f, 0.0f, 1.0f, 1.0f};
static GLfloat YellowSurface[] = { 1.0f, 1.0f, 0.0f, 1.0f};
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // clear screen and depth buffer
glLoadIdentity(); // reset modelview matrix
//---------------
//Draw background
//---------------
glDisable(GL_TEXTURE_2D);
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
glPushMatrix();
glLoadIdentity();
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glBegin(GL_QUADS);
glColor3f(0.9F, 0.9F, 0.9F); glVertex2f( 1.0F, 1.0F);
glColor3f(0.9F, 0.9F, 0.9F); glVertex2f(-1.0F, 1.0F);
glColor3f(0.5F, 0.5F, 0.5F); glVertex2f(-1.0F, -1.0F);
glColor3f(0.5F, 0.5F, 0.5F); glVertex2f( 1.0F, -1.0F);
glEnd();
glEnable(GL_DEPTH_TEST);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
//----------------
// Applying camera
//----------------
hCamera.ApplyCamera();
glCallList(btmPlate);
glPushMatrix();
glCallList(g_glLtAxis);
glPopMatrix();
// Lights
GLfloat ambientLight[4] = {0.1f, 0.1f, 0.1f, 1.0f};
GLfloat diffuseLight[4] = {0.7f, 0.7f, 0.7f, 1.0f};
GLfloat lightPosition[4] = {200.0f, 200.0f, 100.0f, 0.0f};
glEnable(GL_DEPTH_TEST);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
glFrontFace(GL_CCW);
glEnable(GL_LIGHTING);
glLightfv(GL_LIGHT0, GL_AMBIENT, ambientLight);
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseLight);
glLightfv(GL_LIGHT0, GL_POSITION, lightPosition);
glEnable(GL_LIGHT0);
if ( !g_bPause )
{
if ( g_bOneStep )
{
g_bOneStep = false;
g_bPause = true;
}
g_WorldSim.Update(g_dt);
g_CurFrame++;
}
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
g_WorldSim.Render(g_bWireframe);
//------------
// Draw texts
//------------
/* We are going to do some 2-D orthographic drawing. */
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
int w = g_Width;
int h = g_Height;
GLdouble size = (GLdouble)((w >= h) ? w : h) / 2.0;
GLdouble aspect;
if (w <= h) {
aspect = (GLdouble)h/(GLdouble)w;
glOrtho(-size, size, -size*aspect, size*aspect, -1000000.0, 1000000.0);
}
else {
aspect = (GLdouble)w/(GLdouble)h;
glOrtho(-size*aspect, size*aspect, -size, size, -1000000.0, 1000000.0);
}
/* Make the world and window coordinates coincide so that 1.0 in */
/* model space equals one pixel in window space. */
glScaled(aspect, aspect, 1.0);
glDisable(GL_LIGHTING);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
std::string sInfo = "Current Algorithm(press 'a' to change): ";
sInfo.append(g_sWindowTitleInfo);
int linePos = 0;
DrawTextGlut(sInfo.c_str(), -g_Width/2 + 10, g_Height/2 - (linePos += 20));
// frame
char frame[10];
itoa(g_CurFrame, frame, 10);
sInfo = "Frame: ";
sInfo.append(frame);
DrawTextGlut(sInfo.c_str(), -g_Width/2 + 10, g_Height/2 - (linePos += 20));
//// batch
//char batch[5];
//itoa(g_WorldSim.m_RenderBatchIndex, batch, 10);
//sInfo = "Batch: ";
//sInfo.append(batch);
//DrawTextGlut(sInfo.c_str(), -g_Width/2 + 10, g_Height/2 - (linePos += 20));
//// toggle CPU/GPU
//if ( g_WorldSim.m_bGPU )
// sInfo = "GPU solver";
//else
// sInfo = "CPU solver";
//DrawTextGlut(sInfo.c_str(), -g_Width/2 + 10, g_Height/2 - (linePos += 20));
// help for keys
DrawTextGlut("space: advance one step", -g_Width/2 + 10, g_Height/2 - (linePos += 20));
DrawTextGlut("'s': start or stop", -g_Width/2 + 10, g_Height/2 - (linePos += 20));
DrawTextGlut("'r': toggle rotating", -g_Width/2 + 10, g_Height/2 - (linePos += 20));
//DrawTextGlut("'c': reset", -g_Width/2 + 10, g_Height/2 - (linePos += 20));
//DrawTextGlut("'b' : next batch", -g_Width/2 + 10, g_Height/2 - (linePos += 20));
//DrawTextGlut("'g' : toggle CPU/GPU solver", -g_Width/2 + 10, g_Height/2 - (linePos += 20));
DrawTextGlut("===========================================", -g_Width/2 + 10, g_Height/2 - (linePos += 20));
char str[100];
sprintf(str, "Penetration depth:%11.9f", g_WorldSim.m_pNarrowPhase->GetPairs()[0].penetrationDepth);
DrawTextGlut(str, -g_Width/2 + 10, g_Height/2 - (linePos += 20));
{
const CTransform& trans = g_WorldSim.m_pNarrowPhase->GetPairs()[0].pObjA->GetTransform();
sprintf(str, "ObjectA translation(%11.9f, %11.9f, %11.9f)", trans.GetTranslation().m_X, trans.GetTranslation().m_Y, trans.GetTranslation().m_Z);
DrawTextGlut(str, -g_Width/2 + 10, g_Height/2 - (linePos += 20));
sprintf(str, "ObjectA rotation(%11.9f, %11.9f, %11.9f, %11.9f)", trans.GetRotation().m_X, trans.GetRotation().m_Y, trans.GetRotation().m_Z, trans.GetRotation().m_W);
DrawTextGlut(str, -g_Width/2 + 10, g_Height/2 - (linePos += 20));
}
{
const CTransform& trans = g_WorldSim.m_pNarrowPhase->GetPairs()[0].pObjB->GetTransform();
sprintf(str, "ObjectB translation(%11.9f, %11.9f, %11.9f)", trans.GetTranslation().m_X, trans.GetTranslation().m_Y, trans.GetTranslation().m_Z);
DrawTextGlut(str, -g_Width/2 + 10, g_Height/2 - (linePos += 20));
sprintf(str, "ObjectB rotation(%11.9f, %11.9f, %11.9f, %11.9f)", trans.GetRotation().m_X, trans.GetRotation().m_Y, trans.GetRotation().m_Z, trans.GetRotation().m_W);
DrawTextGlut(str, -g_Width/2 + 10, g_Height/2 - (linePos += 20));
}
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
glutSwapBuffers();
}
//===================
void RenderFunc()
//===================
{
static GLfloat RedSurface[] = { 1.0f, 0.0f, 0.0f, 1.0f};
static GLfloat GreenSurface[] = { 0.0f, 1.0f, 0.0f, 1.0f};
static GLfloat BlueSurface[] = { 0.0f, 0.0f, 1.0f, 1.0f};
static GLfloat YellowSurface[] = { 1.0f, 1.0f, 0.0f, 1.0f};
hCamera.Update();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); // clear screen and depth buffer
glLoadIdentity(); // reset modelview matrix
//---------------
//Draw background
//---------------
glDisable(GL_TEXTURE_2D);
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
glPushMatrix();
glLoadIdentity();
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
glBegin(GL_QUADS);
glColor3f(0.9F, 0.9F, 0.9F); glVertex2f( 1.0F, 1.0F);
glColor3f(0.9F, 0.9F, 0.9F); glVertex2f(-1.0F, 1.0F);
glColor3f(0.2F, 0.2F, 0.2F); glVertex2f(-1.0F, -1.0F);
glColor3f(0.2F, 0.2F, 0.2F); glVertex2f( 1.0F, -1.0F);
glEnd();
glEnable(GL_DEPTH_TEST);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
//----------------
// Applying camera
//----------------
hCamera.ApplyCamera();
glCallList(btmPlate);
//-------------------------------------------
// Rotate GL coordinate so that Z axis is up.
//-------------------------------------------
/*
Y Z
| |
| |
| ===> |
|________ X |________ Y
/ /
/ GL coordinate / Modeler coordinate
/ /
Z X
*/
//glRotatef(-90.0f, 0, 0, 1.0f);
//glRotatef(-90.0f, 0, 1.0f, 0);
//-------------
// Draw an axis
//-------------
glPushMatrix();
glCallList(g_glLtAxis);
glPopMatrix();
glEnable(GL_LIGHTING);
if ( !g_bPause )
g_BulletSim.Update();
g_BulletSim.Render(2);
glDisable(GL_LIGHTING);
}
//======================================================================================
// the Windows Procedure event handler
LRESULT CALLBACK WndProc(HWND hwnd, UINT message, WPARAM wParam, LPARAM lParam)
//======================================================================================
{
static HGLRC hRC; // rendering context
static HDC hDC; // device context
char string[] = "Hello, world!"; // text to be displayed
//int width, height; // window width and height
int cx, cy;
GLfloat h;
int mx, my;
switch(message)
{
case WM_CREATE: // window is being created
return 0;
break;
case WM_ACTIVATE: // Watch For Window Activate Message
{
if (!HIWORD(wParam)) // Check Minimization State
{
g_active=TRUE; // Program Is Active
}
else
{
g_active=FALSE; // Program Is No Longer Active
}
return 0; // Return To The Message Loop
}
case WM_CLOSE: // windows is closing
// send WM_QUIT to message queue
PostQuitMessage(0);
return 0;
case WM_KEYDOWN:
if(wParam == VK_ESCAPE)
g_bEnd = TRUE;
else if ( wParam == VK_SPACE )
{
g_bPause = !g_bPause;
}
else if ( wParam == 79 ) // 'o'
{
bool bPause = g_bPause;
g_bPause = true;
TCHAR lpstrFile[MAX_PATH]=""; // MAX_PATH = 260
OPENFILENAME OFN =
{
sizeof(OPENFILENAME),
g_hWnd, NULL,
"Bullet Physics Files (*.bullet)\0*.bullet\0ALL Files (*.*)\0*.*\0\0",
NULL, 0, 1,
lpstrFile, MAX_PATH,
NULL, 0,
NULL, "Load Bullet Physics File Dialog",
OFN_FILEMUSTEXIST | OFN_HIDEREADONLY, 0,
0, "bullet", 0,
NULL, NULL
};
if ( GetOpenFileName(&OFN) )
{
if ( !g_BulletSim.LoadBulletFile(lpstrFile) )
{
MessageBox(g_hWnd, "Failed to load the bullet file", "Error", MB_OK | MB_ICONERROR);
}
}
g_bPause = bPause;
}
else if ( wParam == 82 ) // 'r'
{
g_BulletSim.ReloadBulletFile();
}
break;
case WM_SIZE:
cy = HIWORD(lParam); // retrieve width and height
cx = LOWORD(lParam);
GLfloat w;
h = 1.0;
if(cy == 0)
w = (GLfloat) cx;
else
w = (GLfloat) cx / (GLfloat) cy;
glViewport(0, 0, cx, cy);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glFrustum(-w, w, -h, h, 3.0, 3000.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
return 0;
break;
case WM_LBUTTONDOWN:
mx = LOWORD(lParam);
my = HIWORD(lParam);
//SetCapture(g_hWnd);
hCamera.mousePress(mx, my);
return 0;
break;
case WM_LBUTTONUP:
mx = LOWORD(lParam);
my = HIWORD(lParam);
//ReleaseCapture();
hCamera.mouseRelease(mx, my);
return 0;
break;
case WM_RBUTTONDOWN:
mx = LOWORD(lParam);
my = HIWORD(lParam);
//SetCapture(g_hWnd);
hCamera.mousePress(mx, my);
return 0;
break;
case WM_RBUTTONUP:
mx = LOWORD(lParam);
my = HIWORD(lParam);
//ReleaseCapture();
hCamera.mouseRelease(mx, my);
return 0;
break;
case WM_MOUSEMOVE:
mx = LOWORD(lParam);
my = HIWORD(lParam);
gmx = mx; gmy = my;
if( wParam == MK_LBUTTON )
{
hCamera.mouseMove(mx, my, Left_button);
}
else if( wParam == MK_RBUTTON )
{
hCamera.mouseMove(mx, my, Right_button);
}
else if( wParam == (MK_RBUTTON | MK_LBUTTON) )
{
hCamera.mouseMove(mx, my, (Right_button | Left_button) );
}
return 0;
break;
default:
break;
}
return (DefWindowProc(hwnd, message, wParam, lParam));
}
