void TSRODERigidBody::AddWorldSphereCollision( TSRPhysicsWorld* _pWorldInterface, const TSRVector3& _vCenter, float _fRadius, float _fDensity )
{
TSRODEPhysicsWorld* _pWorld = ( TSRODEPhysicsWorld* ) _pWorldInterface;
TSRMatrix4 geomWorldMatrix = TSRMatrix4::Identity;
geomWorldMatrix.GetLoc() = _vCenter;
TSRMatrix4 bodyWorldMatrix;
const float* pBodyPosition = dBodyGetPosition( m_BodyID );
const float* pBodyRotation = dBodyGetRotation( m_BodyID );
ODEToMatrix4( bodyWorldMatrix, pBodyPosition, pBodyRotation );
TSRMatrix4 invBodyTransform;
Matrix4Inverse( bodyWorldMatrix, invBodyTransform );
TSRMatrix4 bodyToGeomMatrix;
bodyToGeomMatrix = geomWorldMatrix * invBodyTransform;
AddSphereGeometry( _pWorld, bodyToGeomMatrix, _fRadius, _fDensity );
}
void TSRODERigidBody::AddWorldOBBCollision( TSRPhysicsWorld* _pWorldInterface, const TSRMatrix4& _worldTransform, const TSRVector3& _vObbMin, const TSRVector3& _vObbMax, float _fDensity )
{
TSRODEPhysicsWorld* _pWorld = ( TSRODEPhysicsWorld* ) _pWorldInterface;
TSRMatrix4 geomWorldMatrix = _worldTransform;
TSRVector3 obbExtents;
WorldOBBMinMaxToWorldOBBExtents( _worldTransform, _vObbMin, _vObbMax, geomWorldMatrix, obbExtents );
TSRMatrix4 bodyWorldMatrix;
const float* pBodyPosition = dBodyGetPosition( m_BodyID );
const float* pBodyRotation = dBodyGetRotation( m_BodyID );
ODEToMatrix4( bodyWorldMatrix, pBodyPosition, pBodyRotation );
TSRMatrix4 invBodyTransform;
Matrix4Inverse( bodyWorldMatrix, invBodyTransform );
TSRMatrix4 bodyToGeomMatrix;
bodyToGeomMatrix = geomWorldMatrix * invBodyTransform;
AddBoxGeometry( _pWorld, bodyToGeomMatrix, obbExtents, _fDensity );
}
void TSRODERigidBody::AddWorldCylinderCollision( TSRPhysicsWorld* _pWorldInterface, const TSRMatrix4& _worldTransform, const TSRVector3& _vObbMin, const TSRVector3& _vObbMax, float _fDensity, float _fRadius, float _fLength )
{
TSRODEPhysicsWorld* _pWorld = ( TSRODEPhysicsWorld* ) _pWorldInterface;
TSRMatrix4 geomWorldMatrix=_worldTransform;
TSRVector3 obbExtents;
//float rd = ( _vObbMax.y - _vObbMin.y ) * 0.5f * _worldTransform.GetLocalY().Mag();
WorldOBBMinMaxToWorldOBBExtents( _worldTransform, _vObbMin, _vObbMax, geomWorldMatrix, obbExtents );
TSRMatrix4 bodyWorldMatrix;
const float* pBodyPosition = dBodyGetPosition( m_BodyID );
const float* pBodyRotation = dBodyGetRotation( m_BodyID );
ODEToMatrix4( bodyWorldMatrix, pBodyPosition, pBodyRotation );
TSRMatrix4 invBodyTransform;
Matrix4Inverse( bodyWorldMatrix, invBodyTransform );
TSRMatrix4 bodyToGeomMatrix;
bodyToGeomMatrix = geomWorldMatrix * invBodyTransform;
bodyToGeomMatrix.Rotate( 0.0f, PI * 0.5f, 0.0f );
AddCylinderGeometry( _pWorld, bodyToGeomMatrix, _fRadius, _fLength, _fDensity );
//AddBoxGeometry(bodyToGeomMatrix,obbExtents,density);
}
/**
****************************************************************************************************
\fn void UnitTest( void )
\brief The unit test of Matrix class
\param NONE
\return NONE
****************************************************************************************************
*/
void GameEngine::Math::Matrix::UnitTest( void )
{
FUNCTION_START;
Matrix matrix2x2( 2, 2 );
// Check creation
for( UINT8 i = 0; i < 2; ++i )
{
for( UINT8 j = 0; j < 2; ++j )
assert( matrix2x2(i, j) == 0 );
}
// Check matrix identity
matrix2x2(0, 0) = 1;
matrix2x2(0, 1) = 2;
matrix2x2(1, 0) = 3;
matrix2x2(1, 1) = 4;
Matrix identityMatrix( 2, 2 );
identityMatrix(0, 0) = 1;
identityMatrix(1, 1) = 1;
Matrix m( 2, 2 );
m = matrix2x2.Identity();
assert( matrix2x2.Identity() == identityMatrix );
// Check matrix transpose
Matrix matrix2x3( 2, 3 );
matrix2x3( 0, 0 ) = 1;
matrix2x3( 0, 1 ) = 2;
matrix2x3( 0, 2 ) = 3;
matrix2x3( 1, 0 ) = 4;
matrix2x3( 1, 1 ) = 5;
matrix2x3( 1, 2 ) = 6;
matrix2x3.Transpose();
Matrix matrix3x2( 3, 2 );
matrix3x2( 0, 0 ) = 1;
matrix3x2( 0, 1 ) = 4;
matrix3x2( 1, 0 ) = 2;
matrix3x2( 1, 1 ) = 5;
matrix3x2( 2, 0 ) = 3;
matrix3x2( 2, 1 ) = 6;
assert( matrix2x3 == matrix3x2 );
// Check matrix 3x3 inverse
Matrix matrix3x3( 3, 3 );
matrix3x3( 0, 0 ) = 2;
matrix3x3( 0, 1 ) = -1;
matrix3x3( 0, 2 ) = 3;
matrix3x3( 1, 0 ) = 1;
matrix3x3( 1, 1 ) = 6;
matrix3x3( 1, 2 ) = -4;
matrix3x3( 2, 0 ) = 5;
matrix3x3( 2, 1 ) = 0;
matrix3x3( 2, 2 ) = 8;
Matrix matrix3x3Inverse( 3, 3 );
Matrix3Inverse( matrix3x3, matrix3x3Inverse );
assert( (matrix3x3 * matrix3x3Inverse) == matrix3x3.Identity() );
// Check matrix 4x4 inverse
Matrix matrix4x4( 4, 4 );
matrix4x4( 0, 0 ) = 2;
matrix4x4( 0, 1 ) = 3;
matrix4x4( 0, 2 ) = 4;
matrix4x4( 0, 3 ) = 5;
matrix4x4( 1, 0 ) = 5;
matrix4x4( 1, 1 ) = 7;
matrix4x4( 1, 2 ) = 9;
matrix4x4( 1, 3 ) = 9;
matrix4x4( 2, 0 ) = 5;
matrix4x4( 2, 1 ) = 8;
matrix4x4( 2, 2 ) = 7;
matrix4x4( 2, 3 ) = 4;
matrix4x4( 3, 0 ) = 4;
matrix4x4( 3, 1 ) = 3;
matrix4x4( 3, 2 ) = 3;
matrix4x4( 3, 3 ) = 2;
Matrix matrix4x4Inverse( 4, 4 );
Matrix4Inverse( matrix4x4, matrix4x4Inverse );
Matrix matrix4x4Result( 4, 4 );
matrix4x4Result = matrix4x4 * matrix4x4Inverse;
assert( (matrix4x4 * matrix4x4Inverse) == matrix4x4.Identity() );
FUNCTION_FINISH;
}
//#ifndef OPENGL_RENDERER
/// do the lighting using the deferred shading system, uses GBuffer and lighting in screen space is done is a post step
void TSRLightingManager::RenderAllLightsPassesDeferred( TSRGBufferPass* _pGBuffer, TSRSceneWorldInterface* _pWorld )
{
/// set the gbuffer component to start doing the lighting
TSRGlobalConstants.m_DiffuseTexture.Set( _pGBuffer->m_pColorTarget );
TSRGlobalConstants.m_SpecularTexture.Set( _pGBuffer->m_pSpecularTarget );
TSRGlobalConstants.m_NormalTexture.Set( _pGBuffer->m_pNormalTarget );
TSRGlobalConstants.m_DepthTexture.Set( _pGBuffer->m_pDepthTarget );
/// set the inverse view projection matrix
TSRMatrix4 viewProj;
const TSRMatrix4& view = _pWorld->GetMainCamera()->GetViewMatrix();
const TSRMatrix4& proj = _pWorld->GetMainCamera()->GetProjectionMatrix();
TSRMaterial whiteMaterial;
TSRGlobalConstants.SetMaterial( whiteMaterial );
_pWorld->GetMainCamera()->ComputeViewProjMatrix( viewProj );
TSRMatrix4 invViewProj;
Matrix4Inverse( viewProj, invViewProj );
_pGBuffer->m_InverseViewProjection.Set( invViewProj );
TSRMatrix4 invView;
TSRMatrix4 invProj;
Matrix4Inverse( view, invView );
_pGBuffer->m_InverseView.Set( invView );
_pGBuffer->m_CameraView.Set( view );
Matrix4Inverse( proj, invProj );
_pGBuffer->m_InverseProjection.Set( invProj );
Graphics()->SetDepthStencilState( Graphics()->m_DepthTestDisabledWriteDisabled );
if ( m_SceneLightsContext.GetDirectionalLightsCount() > 0 )
{
TSRGlobalConstants.SetLight( 0, *m_SceneLightsContext.m_DirectionalLights[ 0 ] );
TSRImmediateDraw::RenderFullScreenQuad( ( m_EffectsDisabledMask & TWISTER_SHADER_FLAG_SHADOWMAP ) ? m_pMainLightShader : m_pMainLightAndShadowShader );
}
Graphics()->SetBlendState( Graphics()->m_BlendAdditiveColor );
/// additional directional lights..
for ( unsigned int i = 1; i < m_SceneLightsContext.GetDirectionalLightsCount(); i++ )
{
TSRGlobalConstants.SetLight( 0, *m_SceneLightsContext.m_DirectionalLights[ i ] );
TSRImmediateDraw::RenderFullScreenQuad( m_pDirectionalLightShader );
}
TSRVector3& vCameraSide = _pWorld->GetMainCamera()->m_Side;
TSRVector3& vCameraUp = _pWorld->GetMainCamera()->m_Up;
TSRVector3& vCameraFwd = _pWorld->GetMainCamera()->m_Fwd;
/// point lights
TSRVector3 vCameraPosition = _pWorld->GetMainCamera()->m_Loc;
m_pPointLightShader->Activate();
for ( unsigned int i = 0; i < m_SceneLightsContext.GetPointLightsCount(); i++ )
{
PointLightData& currLight = *m_SceneLightsContext.m_PointLights[ i ];
TSRGlobalConstants.SetLight( 0, currLight );
TSRVector3& vLightPosition = ( TSRVector3& ) currLight.m_Position;
float fRadius = currLight.m_Radius.x;
TSRGlobalConstants.PushMatrix();
TSRGlobalConstants.Translate( vLightPosition.x, vLightPosition.y, vLightPosition.z );
//TSRImmediateDraw::BillBoardCircle( vCameraSide, vCameraUp, vCameraFwd, fRadius * 1.1f );
TSRVector3 vCameraToLightDirection = vLightPosition - _pWorld->GetMainCamera()->m_Loc;
vCameraToLightDirection.Normalize();
if ( vCameraToLightDirection.Dot( vCameraFwd ) < 0.0f )
{
Graphics()->SetRasterizerState( Graphics()->m_FillDoubleSidedState );
TSRDebugDraw::RenderSphere( fRadius, m_pPointLightShader );
Graphics()->SetRasterizerState( Graphics()->m_FillSolidState );
}
else
{
TSRImmediateDraw::BillBoardCircle( vCameraSide, vCameraUp, vCameraFwd, fRadius * 1.1f );
}
TSRGlobalConstants.PopMatrix();
}
/// spot lights..
for ( unsigned int i = 0; i < m_SceneLightsContext.GetSpotLightsCount(); i++ )
{
SpotLightData& currSpot = *m_SceneLightsContext.m_SpotLights[ i ];
TSRGlobalConstants.SetLight( 0, currSpot );
/*Vector4& Position = currSpot.m_Position;
TSRGlobalConstants.PushMatrix();
TSRGlobalConstants.Translate( Position.x, Position.y, Position.z );
Vector3 direction = currSpot.m_Direction;
float angle = acosf( currSpot.m_SpotAngles.y );
float length = 1000.0f * cosf( angle );
float radius = 1000.0f * sinf( angle );
m_pSpotLightShader->Activate();
// TSRDebugDraw::RenderCone( length, radius, direction );
TSRGlobalConstants.PopMatrix(); //*/
TSRImmediateDraw::RenderFullScreenQuad( m_pSpotLightShader );
}
//*/
// Graphics()->SetDepthStencilState( Graphics()->m_DefaultDepthStencilState );
/// this sets the light, so that the blended stuff coming later would have the first lights context used
SetShaderConstants( m_SceneLightsContext );
}