void myGlutDisplay(void)
{
::glClearColor(0.2f, .7f, 0.7f, 1.0f);
::glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
::glEnable(GL_DEPTH_TEST);
::glEnable(GL_POLYGON_OFFSET_FILL );
::glPolygonOffset( 1.1f, 4.0f );
::glMatrixMode(GL_MODELVIEW);
::glLoadIdentity();
Com::View::SetModelViewTransform(cameras);
if( is_animation ){
StepTime3(); // solve rigid motion
cur_time += dt;
// caliculation of kinematic energy
double eng = 0;
for(unsigned int irb=0;irb<aRB.size();irb++){
double e = aRB[irb].GetKineticEnergy();
e -= Com::Dot(gravity,aRB[irb].GetDispCG())*aRB[irb].GetMass();
eng += e;
}
std::cout << "cur time " << cur_time << " " << eng << std::endl;
}
ShowBackGround();
{
::glLineWidth(1);
::glBegin(GL_LINES);
::glColor3d(1,0,0); ::glVertex3d(0,0,0); ::glVertex3d(1,0,0);
::glColor3d(0,1,0); ::glVertex3d(0,0,0); ::glVertex3d(0,1,0);
::glColor3d(0,0,1); ::glVertex3d(0,0,0); ::glVertex3d(0,0,1);
::glEnd();
}
for(unsigned int irb=0;irb<aRB.size();irb++){
DrawRigidBody(aRB[irb]);
// aRB[irb].Draw();
}
for(unsigned int ifix=0;ifix<apFix.size();ifix++){
DrawConstraint(apFix[ifix],aRB);
// apFix[ifix]->Draw(aRB);
}
ShowFPS();
glutSwapBuffers();
}
void UPhATEdSkeletalMeshComponent::RenderAssetTools(const FSceneView* View, class FPrimitiveDrawInterface* PDI, bool bHitTest)
{
check(SharedData);
UPhysicsAsset* const PhysicsAsset = GetPhysicsAsset();
check(PhysicsAsset);
bool bHitTestAndBodyMode = bHitTest && SharedData->EditingMode == FPhATSharedData::PEM_BodyEdit;
bool bHitTestAndConstraintMode = bHitTest && SharedData->EditingMode == FPhATSharedData::PEM_ConstraintEdit;
FPhATSharedData::EPhATRenderMode CollisionViewMode = SharedData->GetCurrentCollisionViewMode();
#if DEBUG_CLICK_VIEWPORT
PDI->DrawLine(SharedData->LastClickOrigin, SharedData->LastClickOrigin + SharedData->LastClickDirection * 5000.0f, FLinearColor(1, 1, 0, 1), SDPG_Foreground);
PDI->DrawPoint(SharedData->LastClickOrigin, FLinearColor(1, 0, 0), 5, SDPG_Foreground);
#endif
// Draw bodies
for (int32 i = 0; i <PhysicsAsset->BodySetup.Num(); ++i)
{
int32 BoneIndex = GetBoneIndex(PhysicsAsset->BodySetup[i]->BoneName);
// If we found a bone for it, draw the collision.
// The logic is as follows; always render in the ViewMode requested when not in hit mode - but if we are in hit mode and the right editing mode, render as solid
if (BoneIndex != INDEX_NONE)
{
FTransform BoneTM = GetBoneTransform(BoneIndex);
float Scale = BoneTM.GetScale3D().GetAbsMax();
FVector VectorScale(Scale);
BoneTM.RemoveScaling();
FKAggregateGeom* AggGeom = &PhysicsAsset->BodySetup[i]->AggGeom;
for (int32 j = 0; j <AggGeom->SphereElems.Num(); ++j)
{
if (bHitTest)
{
PDI->SetHitProxy(new HPhATEdBoneProxy(i, KPT_Sphere, j));
}
FTransform ElemTM = GetPrimitiveTransform(BoneTM, i, KPT_Sphere, j, Scale);
//solids are drawn if it's the ViewMode and we're not doing a hit, or if it's hitAndBodyMode
if( (CollisionViewMode == FPhATSharedData::PRM_Solid && !bHitTest) || bHitTestAndBodyMode)
{
UMaterialInterface* PrimMaterial = GetPrimitiveMaterial(i, KPT_Sphere, j, bHitTestAndBodyMode);
AggGeom->SphereElems[j].DrawElemSolid(PDI, ElemTM, VectorScale, PrimMaterial->GetRenderProxy(0));
}
//wires are never used during hit
if(!bHitTest)
{
if (CollisionViewMode == FPhATSharedData::PRM_Solid || CollisionViewMode == FPhATSharedData::PRM_Wireframe)
{
AggGeom->SphereElems[j].DrawElemWire(PDI, ElemTM, VectorScale, GetPrimitiveColor(i, KPT_Sphere, j));
}
}
if (bHitTest)
{
PDI->SetHitProxy(NULL);
}
}
for (int32 j = 0; j <AggGeom->BoxElems.Num(); ++j)
{
if (bHitTest)
{
PDI->SetHitProxy(new HPhATEdBoneProxy(i, KPT_Box, j));
}
FTransform ElemTM = GetPrimitiveTransform(BoneTM, i, KPT_Box, j, Scale);
if ( (CollisionViewMode == FPhATSharedData::PRM_Solid && !bHitTest) || bHitTestAndBodyMode)
{
UMaterialInterface* PrimMaterial = GetPrimitiveMaterial(i, KPT_Box, j, bHitTestAndBodyMode);
AggGeom->BoxElems[j].DrawElemSolid(PDI, ElemTM, VectorScale, PrimMaterial->GetRenderProxy(0));
}
if(!bHitTest)
{
if (CollisionViewMode == FPhATSharedData::PRM_Solid || CollisionViewMode == FPhATSharedData::PRM_Wireframe)
{
AggGeom->BoxElems[j].DrawElemWire(PDI, ElemTM, VectorScale, GetPrimitiveColor(i, KPT_Box, j));
}
}
if (bHitTest)
{
PDI->SetHitProxy(NULL);
}
}
for (int32 j = 0; j <AggGeom->SphylElems.Num(); ++j)
{
if (bHitTest)
{
PDI->SetHitProxy(new HPhATEdBoneProxy(i, KPT_Sphyl, j));
}
FTransform ElemTM = GetPrimitiveTransform(BoneTM, i, KPT_Sphyl, j, Scale);
if ( (CollisionViewMode == FPhATSharedData::PRM_Solid && !bHitTest) || bHitTestAndBodyMode)
{
UMaterialInterface* PrimMaterial = GetPrimitiveMaterial(i, KPT_Sphyl, j, bHitTestAndBodyMode);
AggGeom->SphylElems[j].DrawElemSolid(PDI, ElemTM, VectorScale, PrimMaterial->GetRenderProxy(0));
}
if(!bHitTest)
{
if (CollisionViewMode == FPhATSharedData::PRM_Solid || CollisionViewMode == FPhATSharedData::PRM_Wireframe)
{
AggGeom->SphylElems[j].DrawElemWire(PDI, ElemTM, VectorScale, GetPrimitiveColor(i, KPT_Sphyl, j));
}
}
if (bHitTest)
{
PDI->SetHitProxy(NULL);
}
}
for (int32 j = 0; j <AggGeom->ConvexElems.Num(); ++j)
{
if (bHitTest)
{
PDI->SetHitProxy(new HPhATEdBoneProxy(i, KPT_Convex, j));
}
FTransform ElemTM = GetPrimitiveTransform(BoneTM, i, KPT_Convex, j, Scale);
//convex doesn't have solid draw so render lines if we're in hitTestAndBodyMode
if(!bHitTest || bHitTestAndBodyMode)
{
if (CollisionViewMode == FPhATSharedData::PRM_Solid || CollisionViewMode == FPhATSharedData::PRM_Wireframe)
{
AggGeom->ConvexElems[j].DrawElemWire(PDI, ElemTM, Scale, GetPrimitiveColor(i, KPT_Convex, j));
}
}
if (bHitTest)
{
PDI->SetHitProxy(NULL);
}
}
if (!bHitTest && SharedData->bShowCOM && Bodies.IsValidIndex(i))
{
Bodies[i]->DrawCOMPosition(PDI, COMRenderSize, SharedData->COMRenderColor);
}
}
}
// Draw Constraints
FPhATSharedData::EPhATConstraintViewMode ConstraintViewMode = SharedData->GetCurrentConstraintViewMode();
if (ConstraintViewMode != FPhATSharedData::PCV_None)
{
for (int32 i = 0; i <PhysicsAsset->ConstraintSetup.Num(); ++i)
{
int32 BoneIndex1 = GetBoneIndex(PhysicsAsset->ConstraintSetup[i]->DefaultInstance.ConstraintBone1);
int32 BoneIndex2 = GetBoneIndex(PhysicsAsset->ConstraintSetup[i]->DefaultInstance.ConstraintBone2);
// if bone doesn't exist, do not draw it. It crashes in random points when we try to manipulate.
if (BoneIndex1 != INDEX_NONE && BoneIndex2 != INDEX_NONE)
{
if (bHitTest)
{
PDI->SetHitProxy(new HPhATEdConstraintProxy(i));
}
if(bHitTestAndConstraintMode || !bHitTest)
{
DrawConstraint(i, View, PDI, SharedData->EditorSimOptions->bShowConstraintsAsPoints);
}
if (bHitTest)
{
PDI->SetHitProxy(NULL);
}
}
}
}
if (!bHitTest && SharedData->EditingMode == FPhATSharedData::PEM_BodyEdit && SharedData->bShowInfluences)
{
DrawCurrentInfluences(PDI);
}
// If desired, draw bone hierarchy.
if (!bHitTest && SharedData->bShowHierarchy)
{
DrawHierarchy(PDI, false);
}
// If desired, draw animation skeleton.
if (!bHitTest && SharedData->bShowAnimSkel)
{
DrawHierarchy(PDI, SharedData->bRunningSimulation);
}
}
