// Execute OpenGL Material
void GLC_Material::glExecute(float overwriteTransparency)
{
GLfloat pAmbientColor[4]= {ambientColor().redF(),
ambientColor().greenF(),
ambientColor().blueF(),
overwriteTransparency};
GLfloat pDiffuseColor[4]= {diffuseColor().redF(),
diffuseColor().greenF(),
diffuseColor().blueF(),
overwriteTransparency};
GLfloat pSpecularColor[4]= {specularColor().redF(),
specularColor().greenF(),
specularColor().blueF(),
overwriteTransparency};
GLfloat pLightEmission[4]= {emissiveColor().redF(),
emissiveColor().greenF(),
emissiveColor().blueF(),
overwriteTransparency};
const bool textureIsEnable= glIsEnabled(GL_TEXTURE_2D);
if (m_pTexture != NULL)
{
if (!textureIsEnable) glEnable(GL_TEXTURE_2D);
m_pTexture->glcBindTexture();
if (GLC_State::glslUsed())
{
if (GLC_Shader::hasActiveShader())
{
GLC_Shader::currentShaderHandle()->programShaderHandle()->setUniformValue("tex", GLint(0));
GLC_Shader::currentShaderHandle()->programShaderHandle()->setUniformValue("useTexture", true);
}
}
}
else
{
if (textureIsEnable) glDisable(GL_TEXTURE_2D);
if (GLC_State::glslUsed())
{
if (GLC_Shader::hasActiveShader())
{
GLC_Shader::currentShaderHandle()->programShaderHandle()->setUniformValue("tex", GLint(0));
GLC_Shader::currentShaderHandle()->programShaderHandle()->setUniformValue("useTexture", false);
}
}
}
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, pAmbientColor);
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, pDiffuseColor);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pSpecularColor);
glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pLightEmission);
glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, &m_Shininess);
glColor4fv(pDiffuseColor);
// OpenGL Error handler
GLenum error= glGetError();
if (error != GL_NO_ERROR)
{
GLC_OpenGlException OpenGlException("GLC_Material::glExecute(float overwriteTransparency) ", error);
throw(OpenGlException);
}
}
void Material::ExportMaterials(FbxScene* scene, FbxMesh* mesh, const ImporterMesh& importedMesh, const ImporterMaterial* importedMaterials)
{
for (int i = 0; i < importedMesh.material_count; i++)
{
FbxNode* node = mesh->GetNode();
FbxString materialName = importedMaterials[importedMesh.material_Id[i]].name;
FbxString shadingName;
FbxDouble3 diffuseColor(importedMaterials[importedMesh.material_Id[i]].diffuse[0], importedMaterials[importedMesh.material_Id[i]].diffuse[1], importedMaterials[importedMesh.material_Id[i]].diffuse[2]);
FbxDouble3 ambientColor(importedMaterials[importedMesh.material_Id[i]].ambient[0], importedMaterials[importedMesh.material_Id[i]].ambient[1], importedMaterials[importedMesh.material_Id[i]].ambient[2]);
FbxDouble3 emissiveColor(importedMaterials[importedMesh.material_Id[i]].incandescence[0], importedMaterials[importedMesh.material_Id[i]].incandescence[1], importedMaterials[importedMesh.material_Id[i]].incandescence[2]);
FbxDouble3 transparencyColor(importedMaterials[importedMesh.material_Id[i]].transparency_color[0], importedMaterials[importedMesh.material_Id[i]].transparency_color[1], importedMaterials[importedMesh.material_Id[i]].transparency_color[2]);
FbxDouble3 specularColor(importedMaterials[importedMesh.material_Id[i]].specular[0], importedMaterials[importedMesh.material_Id[i]].specular[1] , importedMaterials[importedMesh.material_Id[i]].specular[2]);
const char* pathName = "C://Users/Litet/Documents/GitHub/SmallGameProject/FBX Export/FBX Export/";
// Lambert
if (importedMaterials[importedMesh.material_Id[i]].mtrl_type == 0)
{
shadingName = "Lambert";
FbxSurfaceLambert* material = NULL;
material= node->GetSrcObject<FbxSurfaceLambert>(0);
material = FbxSurfaceLambert::Create(scene, materialName.Buffer());
materialName += i;
material->Emissive.Set(emissiveColor);
material->Ambient.Set(ambientColor);
material->Diffuse.Set(diffuseColor);
material->DiffuseFactor.Set(importedMaterials[importedMesh.material_Id[i]].diffuse_factor);
material->TransparentColor.Set(transparencyColor);
FbxNode* node = mesh->GetNode();
if (node)
{
node->AddMaterial(material);
}
// Diffuse Texture
FbxFileTexture* texture = FbxFileTexture::Create(scene, "Diffuse Texture");
std::cout << "DAFUSE MAP LENGTH: " << importedMaterials[importedMesh.material_Id[i]].duffuse_map_length << std::endl;
if (importedMaterials[importedMesh.material_Id[i]].duffuse_map_length > 0)
{
std::string tmp(pathName);
tmp += importedMaterials[importedMesh.material_Id[i]].diffuse_map;
texture->SetFileName(tmp.c_str());
texture->SetTextureUse(FbxTexture::eStandard);
texture->SetMappingType(FbxTexture::eUV);
texture->SetMaterialUse(FbxFileTexture::eModelMaterial);
texture->SetSwapUV(false);
texture->SetTranslation(0.0, 0.0);
texture->SetScale(1.0, 1.0);
texture->SetRotation(0.0, 0.0);
if (material)
material->Diffuse.ConnectSrcObject(texture);
}
// Normal Texture
texture = FbxFileTexture::Create(scene, "Normal Texture");
if (importedMaterials[importedMesh.material_Id[i]].normal_map_length > 0)
{
texture->SetFileName(importedMaterials[importedMesh.material_Id[i]].normal_map);
texture->SetTextureUse(FbxTexture::eStandard);
texture->SetMappingType(FbxTexture::eUV);
texture->SetMaterialUse(FbxFileTexture::eModelMaterial);
texture->SetSwapUV(false);
texture->SetTranslation(0.0, 0.0);
texture->SetScale(1.0, 1.0);
texture->SetRotation(0.0, 0.0);
if (material)
material->NormalMap.ConnectSrcObject(texture);
}
}
// Phong
else
{
shadingName = "Phong";
FbxSurfacePhong* material = NULL;
material = node->GetSrcObject<FbxSurfacePhong>(0);
material = FbxSurfacePhong::Create(scene, materialName.Buffer());
materialName += i;
material->Emissive.Set(emissiveColor);
material->Ambient.Set(ambientColor);
material->Diffuse.Set(diffuseColor);
material->DiffuseFactor.Set(importedMaterials[importedMesh.material_Id[i]].diffuse_factor);
material->TransparentColor.Set(transparencyColor);
material->Specular.Set(specularColor);
// No need... super boost?
//material->SpecularFactor.Set(importedMaterials[importedMesh.material_Id[i]].specular_factor * 100);
material->Shininess.Set(importedMaterials[importedMesh.material_Id[i]].specular_factor);
material->Reflection.Set(FbxDouble3(importedMaterials[importedMesh.material_Id[i]].reflection[0], importedMaterials[importedMesh.material_Id[i]].reflection[1], importedMaterials[importedMesh.material_Id[i]].reflection[2]));
// Bugged...?
material->ReflectionFactor.Set(FbxDouble(importedMaterials[importedMesh.material_Id[i]].reflection_factor));
cout << importedMaterials[importedMesh.material_Id[i]].shininess << endl;
FbxNode* node = mesh->GetNode();
if (node)
{
node->AddMaterial(material);
}
// Diffuse Texture
FbxFileTexture* texture = FbxFileTexture::Create(scene, "Diffuse Texture");
if (importedMaterials[importedMesh.material_Id[i]].duffuse_map_length > 0)
{
texture->SetFileName(importedMaterials[importedMesh.material_Id[i]].diffuse_map);
texture->SetTextureUse(FbxTexture::eStandard);
texture->SetMappingType(FbxTexture::eUV);
texture->SetMaterialUse(FbxFileTexture::eModelMaterial);
texture->SetSwapUV(false);
texture->SetTranslation(0.0, 0.0);
texture->SetScale(1.0, 1.0);
texture->SetRotation(0.0, 0.0);
if (material)
material->Diffuse.ConnectSrcObject(texture);
}
// Specular Texture
texture = FbxFileTexture::Create(scene, "Specular Texture");
if (importedMaterials[importedMesh.material_Id[i]].specular_map_length > 0)
{
texture->SetFileName(importedMaterials[importedMesh.material_Id[i]].specular_map);
texture->SetTextureUse(FbxTexture::eStandard);
texture->SetMappingType(FbxTexture::eUV);
texture->SetMaterialUse(FbxFileTexture::eModelMaterial);
texture->SetSwapUV(false);
texture->SetTranslation(0.0, 0.0);
texture->SetScale(1.0, 1.0);
texture->SetRotation(0.0, 0.0);
if (material)
material->Specular.ConnectSrcObject(texture);
}
// Normal Texture
texture = FbxFileTexture::Create(scene, "Normal Texture");
if (importedMaterials[importedMesh.material_Id[i]].normal_map_length > 0)
{
texture->SetFileName(importedMaterials[importedMesh.material_Id[i]].normal_map);
texture->SetTextureUse(FbxTexture::eStandard);
texture->SetMappingType(FbxTexture::eUV);
texture->SetMaterialUse(FbxFileTexture::eModelMaterial);
texture->SetSwapUV(false);
texture->SetTranslation(0.0, 0.0);
texture->SetScale(1.0, 1.0);
texture->SetRotation(0.0, 0.0);
if (material)
material->NormalMap.ConnectSrcObject(texture);
}
}
}
}
btTransform ConvertURDF2BulletInternal(
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
URDF2BulletCachedData& cache, int urdfLinkIndex,
const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
bool createMultiBody, const char* pathPrefix,
int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut, bool recursive)
{
B3_PROFILE("ConvertURDF2BulletInternal2");
//b3Printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace;
linkTransformInWorldSpace.setIdentity();
int mbLinkIndex = cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
int urdfParentIndex = cache.getParentUrdfIndex(urdfLinkIndex);
int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
btRigidBody* parentRigidBody = 0;
//b3Printf("mb link index = %d\n",mbLinkIndex);
btTransform parentLocalInertialFrame;
parentLocalInertialFrame.setIdentity();
btScalar parentMass(1);
btVector3 parentLocalInertiaDiagonal(1, 1, 1);
if (urdfParentIndex == -2)
{
//b3Printf("root link has no parent\n");
}
else
{
//b3Printf("urdf parent index = %d\n",urdfParentIndex);
//b3Printf("mb parent index = %d\n",mbParentIndex);
parentRigidBody = cache.getRigidBodyFromLink(urdfParentIndex);
u2b.getMassAndInertia2(urdfParentIndex, parentMass, parentLocalInertiaDiagonal, parentLocalInertialFrame, flags);
}
btScalar mass = 0;
btTransform localInertialFrame;
localInertialFrame.setIdentity();
btVector3 localInertiaDiagonal(0, 0, 0);
u2b.getMassAndInertia2(urdfLinkIndex, mass, localInertiaDiagonal, localInertialFrame, flags);
btTransform parent2joint;
parent2joint.setIdentity();
int jointType;
btVector3 jointAxisInJointSpace;
btScalar jointLowerLimit;
btScalar jointUpperLimit;
btScalar jointDamping;
btScalar jointFriction;
btScalar jointMaxForce;
btScalar jointMaxVelocity;
bool hasParentJoint = u2b.getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorldSpace, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction, jointMaxForce, jointMaxVelocity);
std::string linkName = u2b.getLinkName(urdfLinkIndex);
if (flags & CUF_USE_SDF)
{
parent2joint = parentTransformInWorldSpace.inverse() * linkTransformInWorldSpace;
}
else
{
if (flags & CUF_USE_MJCF)
{
linkTransformInWorldSpace = parentTransformInWorldSpace * linkTransformInWorldSpace;
}
else
{
linkTransformInWorldSpace = parentTransformInWorldSpace * parent2joint;
}
}
btCompoundShape* tmpShape = u2b.convertLinkCollisionShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
btCollisionShape* compoundShape = tmpShape;
if (tmpShape->getNumChildShapes() == 1 && tmpShape->getChildTransform(0) == btTransform::getIdentity())
{
compoundShape = tmpShape->getChildShape(0);
}
int graphicsIndex;
{
B3_PROFILE("convertLinkVisualShapes");
if (cachedLinkGraphicsShapesIn && cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices.size() > (mbLinkIndex + 1))
{
graphicsIndex = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices[mbLinkIndex + 1];
UrdfMaterialColor matColor = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkColors[mbLinkIndex + 1];
u2b.setLinkColor2(urdfLinkIndex, matColor);
}
else
{
graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
if (cachedLinkGraphicsShapesOut)
{
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkVisualShapeIndices.push_back(graphicsIndex);
UrdfMaterialColor matColor;
u2b.getLinkColor2(urdfLinkIndex, matColor);
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkColors.push_back(matColor);
}
}
}
if (compoundShape)
{
UrdfMaterialColor matColor;
btVector4 color2 = selectColor2();
btVector3 specular(0.5, 0.5, 0.5);
if (u2b.getLinkColor2(urdfLinkIndex, matColor))
{
color2 = matColor.m_rgbaColor;
specular = matColor.m_specularColor;
}
/*
if (visual->material.get())
{
color.setValue(visual->material->color.r,visual->material->color.g,visual->material->color.b);//,visual->material->color.a);
}
*/
if (mass)
{
if (!(flags & CUF_USE_URDF_INERTIA))
{
compoundShape->calculateLocalInertia(mass, localInertiaDiagonal);
btAssert(localInertiaDiagonal[0] < 1e10);
btAssert(localInertiaDiagonal[1] < 1e10);
btAssert(localInertiaDiagonal[2] < 1e10);
}
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
//temporary inertia scaling until we load inertia from URDF
if (contactInfo.m_flags & URDF_CONTACT_HAS_INERTIA_SCALING)
{
localInertiaDiagonal *= contactInfo.m_inertiaScaling;
}
}
btRigidBody* linkRigidBody = 0;
btTransform inertialFrameInWorldSpace = linkTransformInWorldSpace * localInertialFrame;
bool canSleep = (flags & CUF_ENABLE_SLEEPING) != 0;
if (!createMultiBody)
{
btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
if (!canSleep)
{
body->forceActivationState(DISABLE_DEACTIVATION);
}
linkRigidBody = body;
world1->addRigidBody(body);
compoundShape->setUserIndex(graphicsIndex);
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
processContactParameters(contactInfo, body);
creation.createRigidBodyGraphicsInstance2(urdfLinkIndex, body, color2, specular, graphicsIndex);
cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
//untested: u2b.convertLinkVisualShapes2(linkIndex,urdfLinkIndex,pathPrefix,localInertialFrame,body);
}
else
{
if (cache.m_bulletMultiBody == 0)
{
bool isFixedBase = (mass == 0); //todo: figure out when base is fixed
int totalNumJoints = cache.m_totalNumJoints1;
cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints, mass, localInertiaDiagonal, isFixedBase, canSleep);
if (flags & CUF_GLOBAL_VELOCITIES_MB)
{
cache.m_bulletMultiBody->useGlobalVelocities(true);
}
if (flags & CUF_USE_MJCF)
{
cache.m_bulletMultiBody->setBaseWorldTransform(linkTransformInWorldSpace);
}
cache.registerMultiBody(urdfLinkIndex, cache.m_bulletMultiBody, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
}
}
//create a joint if necessary
if (hasParentJoint)
{
btTransform offsetInA, offsetInB;
offsetInA = parentLocalInertialFrame.inverse() * parent2joint;
offsetInB = localInertialFrame.inverse();
btQuaternion parentRotToThis = offsetInB.getRotation() * offsetInA.inverse().getRotation();
bool disableParentCollision = true;
if (createMultiBody && cache.m_bulletMultiBody)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction = jointFriction;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointLowerLimit = jointLowerLimit;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointUpperLimit = jointUpperLimit;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxForce = jointMaxForce;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointMaxVelocity = jointMaxVelocity;
}
switch (jointType)
{
case URDFSphericalJoint:
{
if (createMultiBody)
{
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
cache.m_bulletMultiBody->setupSpherical(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, offsetInA.getOrigin(), -offsetInB.getOrigin(),
disableParentCollision);
}
else
{
btAssert(0);
}
break;
}
case URDFPlanarJoint:
{
if (createMultiBody)
{
#if 0
void setupPlanar(int i, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia,
int parent,
const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0
const btVector3 &rotationAxis,
const btVector3 &parentComToThisComOffset, // vector from parent COM to this COM, in PARENT frame
bool disableParentCollision = false);
#endif
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
cache.m_bulletMultiBody->setupPlanar(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(),
disableParentCollision);
}
else
{
#if 0
//b3Printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = 0;
//backward compatibility
if (flags & CUF_RESERVED)
{
dof6 = creation.createFixedJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
}
else
{
dof6 = creation.createFixedJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
}
if (enableConstraints)
world1->addConstraint(dof6, true);
#endif
}
break;
}
case URDFFloatingJoint:
case URDFFixedJoint:
{
if ((jointType == URDFFloatingJoint) || (jointType == URDFPlanarJoint))
{
printf("Warning: joint unsupported, creating a fixed joint instead.");
}
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
if (createMultiBody)
{
//todo: adjust the center of mass transform and pivot axis properly
cache.m_bulletMultiBody->setupFixed(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, offsetInA.getOrigin(), -offsetInB.getOrigin());
}
else
{
//b3Printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = 0;
//backward compatibility
if (flags & CUF_RESERVED)
{
dof6 = creation.createFixedJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
}
else
{
dof6 = creation.createFixedJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
}
if (enableConstraints)
world1->addConstraint(dof6, true);
}
break;
}
case URDFContinuousJoint:
case URDFRevoluteJoint:
{
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
if (createMultiBody)
{
cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, quatRotate(offsetInB.getRotation(),
jointAxisInJointSpace),
offsetInA.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit)
{
//std::string name = u2b.getLinkName(urdfLinkIndex);
//printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
world1->addMultiBodyConstraint(con);
}
}
else
{
btGeneric6DofSpring2Constraint* dof6 = 0;
if (jointType == URDFRevoluteJoint && jointLowerLimit <= jointUpperLimit)
{
//backwards compatibility
if (flags & CUF_RESERVED)
{
dof6 = creation.createRevoluteJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB, jointAxisInJointSpace, jointLowerLimit, jointUpperLimit);
}
else
{
dof6 = creation.createRevoluteJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA, jointAxisInJointSpace, jointLowerLimit, jointUpperLimit);
}
}
else
{
//disable joint limits
if (flags & CUF_RESERVED)
{
dof6 = creation.createRevoluteJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB, jointAxisInJointSpace, 1, -1);
}
else
{
dof6 = creation.createRevoluteJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA, jointAxisInJointSpace, 1, -1);
}
}
if (enableConstraints)
world1->addConstraint(dof6, true);
//b3Printf("Revolute/Continuous joint\n");
}
break;
}
case URDFPrismaticJoint:
{
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
if (createMultiBody)
{
cache.m_bulletMultiBody->setupPrismatic(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(), //parent2joint.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);
if (jointLowerLimit <= jointUpperLimit)
{
//std::string name = u2b.getLinkName(urdfLinkIndex);
//printf("create btMultiBodyJointLimitConstraint for prismatic link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit,jointUpperLimit);
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
world1->addMultiBodyConstraint(con);
}
//printf("joint lower limit=%d, upper limit = %f\n", jointLowerLimit, jointUpperLimit);
}
else
{
btGeneric6DofSpring2Constraint* dof6 = creation.createPrismaticJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB, jointAxisInJointSpace, jointLowerLimit, jointUpperLimit);
if (enableConstraints)
world1->addConstraint(dof6, true);
//b3Printf("Prismatic\n");
}
break;
}
default:
{
//b3Printf("Error: unsupported joint type in URDF (%d)\n", jointType);
btAssert(0);
}
}
}
if (createMultiBody)
{
//if (compoundShape->getNumChildShapes()>0)
{
btMultiBodyLinkCollider* col = creation.allocateMultiBodyLinkCollider(urdfLinkIndex, mbLinkIndex, cache.m_bulletMultiBody);
compoundShape->setUserIndex(graphicsIndex);
col->setCollisionShape(compoundShape);
if (compoundShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)compoundShape;
if (trimeshShape->getTriangleInfoMap())
{
col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
}
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
col->setWorldTransform(tr);
//base and fixed? -> static, otherwise flag as dynamic
bool isDynamic = (mbLinkIndex < 0 && cache.m_bulletMultiBody->hasFixedBase()) ? false : true;
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int colGroup = 0, colMask = 0;
int collisionFlags = u2b.getCollisionGroupAndMask(urdfLinkIndex, colGroup, colMask);
if (collisionFlags & URDF_HAS_COLLISION_GROUP)
{
collisionFilterGroup = colGroup;
}
if (collisionFlags & URDF_HAS_COLLISION_MASK)
{
collisionFilterMask = colMask;
}
world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
btVector4 color2 = selectColor2(); //(0.0,0.0,0.5);
btVector3 specularColor(1, 1, 1);
UrdfMaterialColor matCol;
if (u2b.getLinkColor2(urdfLinkIndex, matCol))
{
color2 = matCol.m_rgbaColor;
specularColor = matCol.m_specularColor;
}
{
B3_PROFILE("createCollisionObjectGraphicsInstance2");
creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex, col, color2, specularColor);
}
{
B3_PROFILE("convertLinkVisualShapes2");
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
}
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
processContactParameters(contactInfo, col);
if (mbLinkIndex >= 0) //???? double-check +/- 1
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider = col;
if (flags & CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags &= ~BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
}
if (flags & CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION;
}
}
else
{
// if (canSleep)
{
if (cache.m_bulletMultiBody->getBaseMass() == 0)
//&& cache.m_bulletMultiBody->getNumDofs()==0)
{
//col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
}
}
cache.m_bulletMultiBody->setBaseCollider(col);
}
}
}
else
{
int mbLinkIndex = cache.getMbIndexFromUrdfIndex(urdfLinkIndex);
//u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
u2b.convertLinkVisualShapes2(-1, urdfLinkIndex, pathPrefix, localInertialFrame, linkRigidBody, u2b.getBodyUniqueId());
}
}
btAlignedObjectArray<int> urdfChildIndices;
u2b.getLinkChildIndices(urdfLinkIndex, urdfChildIndices);
int numChildren = urdfChildIndices.size();
if (recursive)
{
for (int i = 0; i < numChildren; i++)
{
int urdfChildLinkIndex = urdfChildIndices[i];
ConvertURDF2BulletInternal(u2b, creation, cache, urdfChildLinkIndex, linkTransformInWorldSpace, world1, createMultiBody, pathPrefix, flags, cachedLinkGraphicsShapesIn, cachedLinkGraphicsShapesOut, recursive);
}
}
return linkTransformInWorldSpace;
}
Color trace (const Ray& ray, std::set<IShape*>& sceneShapes,
std::set<Light*>& sceneLights, int depth)
{
Color pixelColor (0.3);
float near;
Color color;
Vector3D normal;
IShape *shape = calculateIntersect (ray, sceneShapes, &near, normal, color);
if (shape)
{
pixelColor = color;
Point intersectionPoint = ray.calculate (near);
Vector3D n;
Color c;
pixelColor = Color (0.0f);
//Calculate illumination on intersected pixel
for (auto light : sceneLights)
{
Vector3D lightDirection = (light->position () - intersectionPoint);
float lightLenght = lightDirection.normalize ();
const Ray shadowRay (intersectionPoint + normal * bias, lightDirection,
lightLenght);
float near = INFINITY;
IShape *s = calculateIntersect (shadowRay, sceneShapes, &near, n, c);
if (!s) //There is no object between the intersected pixel and this light.
{
float diffuseCoefficient = shape->diffuse ();
float specularCoefficient = shape->specular ();
pixelColor += ambientColor (color);
if (diffuseCoefficient > 0.0f)
pixelColor += diffuseColor (lightDirection, light, normal, color,
diffuseCoefficient);
if (specularCoefficient > 0.0f)
pixelColor += specularColor (lightDirection, normal, ray, light,
specularCoefficient);
}
else //Intersected pixel is shadowed!!!
{
pixelColor = color * 0.1;
break;
}
}
//Calculate the reflected color
if ((shape->reflection () > 0)
&& depth <= MAX_DEPTH)
{
Vector3D reflDir = ray.direction ()
- normal * 2 * ray.direction ().dot (normal);
reflDir.normalize ();
Ray reflectionRay (intersectionPoint + normal * bias, reflDir);
Color reflectionColor = trace (reflectionRay, sceneShapes, sceneLights,
depth + 1);
pixelColor += reflectionColor * shape->reflection ();
}
}
pixelColor.clamp ();
return pixelColor;
}
BxDF* XMLReader::LoadBxDF(QXmlStreamReader &xml_reader)
{
BxDF* result = NULL;
//First check what type of material we're supposed to load
QXmlStreamAttributes attribs(xml_reader.attributes());
QStringRef type = attribs.value(QString(), QString("type"));
if(QStringRef::compare(type, QString("lambert")) == 0)
{
glm::vec3 diffuseColor(0.5f);
QStringRef color = attribs.value(QString(), QString("diffuseColor"));
if(QStringRef::compare(color, QString("")) != 0)
{
diffuseColor = ToVec3(color);
}
result = new LambertBxDF(diffuseColor);
}
else if(QStringRef::compare(type, QString("specularReflection")) == 0)
{
glm::vec3 refl_color(0.5f);
QStringRef color = attribs.value(QString(), QString("reflectionColor"));
if(QStringRef::compare(color, QString("")) != 0)
{
refl_color = ToVec3(color);
}
result = new SpecularReflectionBxDF(refl_color);
}
else if(QStringRef::compare(type, QString("blinnMicrofacet")) == 0)
{
glm::vec3 refl_color(0.5f);
QStringRef color = attribs.value(QString(), QString("reflectionColor"));
if(QStringRef::compare(color, QString("")) != 0)
{
refl_color = ToVec3(color);
}
result = new BlinnMicrofacetBxDF(refl_color);
QStringRef exponent = attribs.value(QString(), QString("exponent"));
if(QStringRef::compare(exponent, QString("")) != 0)
{
((BlinnMicrofacetBxDF*)result)->exponent = exponent.toFloat();
}
}
else if(QStringRef::compare(type, QString("anisotropic")) == 0)
{
glm::vec3 refl_color(0.5f);
QStringRef color = attribs.value(QString(), QString("reflectionColor"));
if(QStringRef::compare(color, QString("")) != 0)
{
refl_color = ToVec3(color);
}
float exp1 = 4.0f;
QStringRef e1 = attribs.value(QString(), QString("exponent1"));
if(QStringRef::compare(e1, QString("")) != 0)
{
exp1 = e1.toFloat();
}
float exp2 = 20.0f;
QStringRef e2 = attribs.value(QString(), QString("exponent2"));
if(QStringRef::compare(e2, QString("")) != 0)
{
exp2 = e2.toFloat();
}
result = new AnisotropicBxDF(refl_color, exp1, exp2);
}
else if(QStringRef::compare(type, QString("phong")) == 0)
{
glm::vec3 diffuseColor(0.5f);
QStringRef diffuse_color = attribs.value(QString(), QString("diffuseColor"));
if(QStringRef::compare(diffuse_color, QString("")) != 0)
{
diffuseColor = ToVec3(diffuse_color);
}
glm::vec3 specularColor(1);
QStringRef specular_color = attribs.value(QString(), QString("specularColor"));
if(QStringRef::compare(specular_color, QString("")) != 0)
{
specularColor = ToVec3(specular_color);
}
float specularPower = 5.0f;
QStringRef specular_power = attribs.value(QString(), QString("specularPower"));
if(QStringRef::compare(specular_power, QString("")) != 0)
{
specularPower = specular_power.toFloat();
}
result = new PhongBxDF(diffuseColor, specularColor, specularPower);
}
else if(QStringRef::compare(type, QString("transmission")) == 0)
{
float ei = 1.0f;
float et = 1.0f;
QStringRef eta_i = attribs.value(QString(), QString("etai"));
if(QStringRef::compare(eta_i, QString("")) != 0)
{
ei = eta_i.toFloat();
}
QStringRef eta_t = attribs.value(QString(), QString("etat"));
if(QStringRef::compare(eta_i, QString("")) != 0)
{
et = eta_t.toFloat();
}
glm::vec3 transmissionColor(1);
QStringRef trans = attribs.value(QString(), QString("transmissionColor"));
if(QStringRef::compare(trans, QString("")) != 0)
{
transmissionColor = ToVec3(trans);
}
result = new TransmissionBxDF(ei,et,transmissionColor);
}
else
{
std::cout << "Could not parse the BxDF!" << std::endl;
return NULL;
}
result->name = attribs.value(QString(), QString("name")).toString();
return result;
}
int main( int argc, char **argv )
{
int width = 1024, height=768;
float widthf = (float) width, heightf = (float) height;
double t;
float fps = 0.f;
// Initialise GLFW
if( !glfwInit() )
{
fprintf( stderr, "Failed to initialize GLFW\n" );
exit( EXIT_FAILURE );
}
// Force core profile on Mac OSX
#ifdef __APPLE__
glfwOpenWindowHint(GLFW_OPENGL_VERSION_MAJOR, 3);
glfwOpenWindowHint(GLFW_OPENGL_VERSION_MINOR, 2);
glfwOpenWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
glfwOpenWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
#endif
// Open a window and create its OpenGL context
if( !glfwOpenWindow( width, height, 0,0,0,0, 24, 0, GLFW_WINDOW ) )
{
fprintf( stderr, "Failed to open GLFW window\n" );
glfwTerminate();
exit( EXIT_FAILURE );
}
glfwSetWindowTitle( "002_forward_a" );
// Core profile is flagged as experimental in glew
#ifdef __APPLE__
glewExperimental = GL_TRUE;
#endif
GLenum err = glewInit();
if (GLEW_OK != err)
{
/* Problem: glewInit failed, something is seriously wrong. */
fprintf(stderr, "Error: %s\n", glewGetErrorString(err));
exit( EXIT_FAILURE );
}
// Ensure we can capture the escape key being pressed below
glfwEnable( GLFW_STICKY_KEYS );
// Enable vertical sync (on cards that support it)
glfwSwapInterval( 1 );
GLenum glerr = GL_NO_ERROR;
glerr = glGetError();
if (!imguiRenderGLInit(DroidSans_ttf, DroidSans_ttf_len))
{
fprintf(stderr, "Could not init GUI renderer.\n");
exit(EXIT_FAILURE);
}
// Init viewer structures
Camera camera;
camera_defaults(camera);
GUIStates guiStates;
init_gui_states(guiStates);
// GUI
float intensity = 1.0;
// Load images and upload textures
GLuint textures[3];
glGenTextures(3, textures);
int x;
int y;
int comp;
unsigned char * diffuse = stbi_load("textures/spnza_bricks_a_diff.tga", &x, &y, &comp, 3);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, textures[0]);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, x, y, 0, GL_RGB, GL_UNSIGNED_BYTE, diffuse);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
fprintf(stderr, "Diffuse %dx%d:%d\n", x, y, comp);
unsigned char * spec = stbi_load("textures/spnza_bricks_a_spec.tga", &x, &y, &comp, 1);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, textures[1]);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, x, y, 0, GL_RED, GL_UNSIGNED_BYTE, spec);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
fprintf(stderr, "Spec %dx%d:%d\n", x, y, comp);
// Try to load and compile shader
ShaderGLSL shader;
const char * shaderFile = "002/1.glsl";
//int status = load_shader_from_file(shader, shaderFile, ShaderGLSL::VERTEX_SHADER | ShaderGLSL::FRAGMENT_SHADER | ShaderGLSL::GEOMETRY_SHADER);
int status = load_shader_from_file(shader, shaderFile, ShaderGLSL::VERTEX_SHADER | ShaderGLSL::FRAGMENT_SHADER);
if ( status == -1 )
{
fprintf(stderr, "Error on loading %s\n", shaderFile);
exit( EXIT_FAILURE );
}
// Apply shader
GLuint program = shader.program;
glUseProgram(program);
GLuint projectionLocation = glGetUniformLocation(program, "Projection");
GLuint viewLocation = glGetUniformLocation(program, "View");
GLuint objectLocation = glGetUniformLocation(program, "Object");
GLuint timeLocation = glGetUniformLocation(program, "Time");
GLuint diffuseLocation = glGetUniformLocation(program, "Diffuse");
GLuint specLocation = glGetUniformLocation(program, "Spec");
GLuint intensityLocation = glGetUniformLocation(program, "Intensity");
GLuint cameraPositionLocation = glGetUniformLocation(program, "CameraPosition");
GLuint lightPositionLocation = glGetUniformLocation(program, "LightPosition");
GLuint lightIntensityLocation = glGetUniformLocation(program, "LightIntensity");
GLuint diffuseColorLocation = glGetUniformLocation(program, "DiffuseColor");
GLuint specularColorLocation = glGetUniformLocation(program, "SpecularColor");
GLuint specularFactorLocation = glGetUniformLocation(program, "SpecularFactor");
GLuint lightPositionLocation2 = glGetUniformLocation(program, "LightPosition2");
GLuint lightIntensityLocation2 = glGetUniformLocation(program, "LightIntensity2");
GLuint diffuseColorLocation2 = glGetUniformLocation(program, "DiffuseColor2");
GLuint specularColorLocation2 = glGetUniformLocation(program, "SpecularColor2");
GLuint specularFactorLocation2 = glGetUniformLocation(program, "SpecularFactor2");
GLuint spotLightExternalAngleLocation = glGetUniformLocation(program, "SpotLightExternalAngle");
GLuint spotLightInternalAngleLocation = glGetUniformLocation(program, "SpotLightInternalAngle");
// Load geometry
int cube_triangleCount = 12;
int cube_triangleList[] = {0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9, 10, 10, 9, 11, 12, 13, 14, 14, 13, 15, 16, 17, 18, 19, 17, 20, 21, 22, 23, 24, 25, 26, };
float cube_uvs[] = {0.f, 0.f, 0.f, 1.f, 1.f, 0.f, 1.f, 1.f, 0.f, 0.f, 0.f, 1.f, 1.f, 0.f, 1.f, 1.f, 0.f, 0.f, 0.f, 1.f, 1.f, 0.f, 1.f, 1.f, 0.f, 0.f, 0.f, 1.f, 1.f, 0.f, 1.f, 1.f, 0.f, 0.f, 0.f, 1.f, 1.f, 0.f, 1.f, 0.f, 1.f, 1.f, 0.f, 1.f, 1.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 1.f, 1.f, 0.f, };
float cube_vertices[] = {-0.5, -0.5, 0.5, 0.5, -0.5, 0.5, -0.5, 0.5, 0.5, 0.5, 0.5, 0.5, -0.5, 0.5, 0.5, 0.5, 0.5, 0.5, -0.5, 0.5, -0.5, 0.5, 0.5, -0.5, -0.5, 0.5, -0.5, 0.5, 0.5, -0.5, -0.5, -0.5, -0.5, 0.5, -0.5, -0.5, -0.5, -0.5, -0.5, 0.5, -0.5, -0.5, -0.5, -0.5, 0.5, 0.5, -0.5, 0.5, 0.5, -0.5, 0.5, 0.5, -0.5, -0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, -0.5, -0.5, -0.5, -0.5, -0.5, -0.5, 0.5, -0.5, 0.5, -0.5, -0.5, 0.5, -0.5, -0.5, -0.5, 0.5, -0.5, 0.5, 0.5 };
float cube_normals[] = {0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0, -1, 0, 0, };
int plane_triangleCount = 2;
int plane_triangleList[] = {0, 1, 2, 2, 1, 3};
float plane_uvs[] = {0.f, 0.f, 0.f, 10.f, 10.f, 0.f, 10.f, 10.f};
float plane_vertices[] = {-50.0, -1.0, 50.0, 50.0, -1.0, 50.0, -50.0, -1.0, -50.0, 50.0, -1.0, -50.0};
float plane_normals[] = {0, 1, 0, 0, 1, 0, 0, 1, 0, 0, 1, 0};
// Vertex Array Object
GLuint vao[2];
glGenVertexArrays(2, vao);
// Vertex Buffer Objects
GLuint vbo[8];
glGenBuffers(8, vbo);
// Cube
glBindVertexArray(vao[0]);
// Bind indices and upload data
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo[0]);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(cube_triangleList), cube_triangleList, GL_STATIC_DRAW);
// Bind vertices and upload data
glBindBuffer(GL_ARRAY_BUFFER, vbo[1]);
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(GL_FLOAT)*3, (void*)0);
glBufferData(GL_ARRAY_BUFFER, sizeof(cube_vertices), cube_vertices, GL_STATIC_DRAW);
// Bind normals and upload data
glBindBuffer(GL_ARRAY_BUFFER, vbo[2]);
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, sizeof(GL_FLOAT)*3, (void*)0);
glBufferData(GL_ARRAY_BUFFER, sizeof(cube_normals), cube_normals, GL_STATIC_DRAW);
// Bind uv coords and upload data
glBindBuffer(GL_ARRAY_BUFFER, vbo[3]);
glEnableVertexAttribArray(2);
glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, sizeof(GL_FLOAT)*2, (void*)0);
glBufferData(GL_ARRAY_BUFFER, sizeof(cube_uvs), cube_uvs, GL_STATIC_DRAW);
// Plane
glBindVertexArray(vao[1]);
// Bind indices and upload data
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo[4]);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(plane_triangleList), plane_triangleList, GL_STATIC_DRAW);
// Bind vertices and upload data
glBindBuffer(GL_ARRAY_BUFFER, vbo[5]);
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(GL_FLOAT)*3, (void*)0);
glBufferData(GL_ARRAY_BUFFER, sizeof(plane_vertices), plane_vertices, GL_STATIC_DRAW);
// Bind normals and upload data
glBindBuffer(GL_ARRAY_BUFFER, vbo[6]);
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, sizeof(GL_FLOAT)*3, (void*)0);
glBufferData(GL_ARRAY_BUFFER, sizeof(plane_normals), plane_normals, GL_STATIC_DRAW);
// Bind uv coords and upload data
glBindBuffer(GL_ARRAY_BUFFER, vbo[7]);
glEnableVertexAttribArray(2);
glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, sizeof(GL_FLOAT)*2, (void*)0);
glBufferData(GL_ARRAY_BUFFER, sizeof(plane_uvs), plane_uvs, GL_STATIC_DRAW);
// Unbind everything. Potentially illegal on some implementations
glBindVertexArray(0);
glBindBuffer(GL_ARRAY_BUFFER, 0);
// Viewport
glViewport( 0, 0, width, height );
// Default states
glm::vec3 lightPosition(0.0, 1.0, 10);
float lightIntensity = 1.0f;
glm::vec3 diffuseColor(1.0, 1.0, 1.0);
glm::vec3 specularColor(1.0, 1.0, 1.0);
float specularFactor = 100.f;
glm::vec3 lightPosition2(1.0, 0.0, 10);
float lightIntensity2 = 1.0f;
glm::vec3 diffuseColor2(1.0, 0.0, 0.0);
glm::vec3 specularColor2(1.0, 1.0, 1.0);
float specularFactor2 = 100.f;
float spotLightInternal = M_PI/32;
float spotLightExternal = M_PI/16;
bool checkedLight1 = true;
bool checkedLight2 = false;
bool checkedLight3 = false;
do
{
t = glfwGetTime();
glEnable(GL_DEPTH_TEST);
// Mouse states
int leftButton = glfwGetMouseButton( GLFW_MOUSE_BUTTON_LEFT );
int rightButton = glfwGetMouseButton( GLFW_MOUSE_BUTTON_RIGHT );
int middleButton = glfwGetMouseButton( GLFW_MOUSE_BUTTON_MIDDLE );
if( leftButton == GLFW_PRESS )
guiStates.turnLock = true;
else
guiStates.turnLock = false;
if( rightButton == GLFW_PRESS )
guiStates.zoomLock = true;
else
guiStates.zoomLock = false;
if( middleButton == GLFW_PRESS )
guiStates.panLock = true;
else
guiStates.panLock = false;
// Camera movements
int altPressed = glfwGetKey(GLFW_KEY_LSHIFT);
if (!altPressed && (leftButton == GLFW_PRESS || rightButton == GLFW_PRESS || middleButton == GLFW_PRESS))
{
int x; int y;
glfwGetMousePos(&x, &y);
guiStates.lockPositionX = x;
guiStates.lockPositionY = y;
}
if (altPressed == GLFW_PRESS)
{
int mousex; int mousey;
glfwGetMousePos(&mousex, &mousey);
int diffLockPositionX = mousex - guiStates.lockPositionX;
int diffLockPositionY = mousey - guiStates.lockPositionY;
if (guiStates.zoomLock)
{
float zoomDir = 0.0;
if (diffLockPositionX > 0)
zoomDir = -1.f;
else if (diffLockPositionX < 0 )
zoomDir = 1.f;
camera_zoom(camera, zoomDir * GUIStates::MOUSE_ZOOM_SPEED);
}
else if (guiStates.turnLock)
{
camera_turn(camera, diffLockPositionY * GUIStates::MOUSE_TURN_SPEED,
diffLockPositionX * GUIStates::MOUSE_TURN_SPEED);
}
else if (guiStates.panLock)
{
camera_pan(camera, diffLockPositionX * GUIStates::MOUSE_PAN_SPEED,
diffLockPositionY * GUIStates::MOUSE_PAN_SPEED);
}
guiStates.lockPositionX = mousex;
guiStates.lockPositionY = mousey;
}
// Get camera matrices
glm::mat4 projection = glm::perspective(45.0f, widthf / heightf, 0.1f, 100.f);
glm::mat4 worldToView = glm::lookAt(camera.eye, camera.o, camera.up);
glm::mat4 objectToWorld;
// Clear the front buffer
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Bind textures
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, textures[0]);
glActiveTexture(GL_TEXTURE1);
glBindTexture(GL_TEXTURE_2D, textures[1]);
// Bind shader
glUseProgram(program);
// Upload uniforms
glUniformMatrix4fv(projectionLocation, 1, 0, glm::value_ptr(projection));
glUniformMatrix4fv(viewLocation, 1, 0, glm::value_ptr(worldToView));
glUniformMatrix4fv(objectLocation, 1, 0, glm::value_ptr(objectToWorld));
glUniform1f(timeLocation, t);
glUniform3fv(cameraPositionLocation, 1, glm::value_ptr(camera.eye));
glUniform1f(intensityLocation, intensity);
glUniform1i(diffuseLocation, 0);
glUniform1i(specLocation, 1);
glUniform3fv(lightPositionLocation, 1, glm::value_ptr(lightPosition));
glUniform1f(lightIntensityLocation, lightIntensity);
glUniform3fv(diffuseColorLocation, 1, glm::value_ptr(diffuseColor));
glUniform3fv(specularColorLocation, 1, glm::value_ptr(specularColor));
glUniform1f(specularFactorLocation, specularFactor);
glUniform3fv(lightPositionLocation2, 1, glm::value_ptr(lightPosition2));
glUniform1f(lightIntensityLocation2, lightIntensity2);
glUniform3fv(diffuseColorLocation2, 1, glm::value_ptr(diffuseColor2));
glUniform3fv(specularColorLocation2, 1, glm::value_ptr(specularColor2));
glUniform1f(specularFactorLocation2, specularFactor2);
glUniform1f(spotLightInternalAngleLocation, spotLightInternal);
glUniform1f(spotLightExternalAngleLocation, spotLightExternal);
// Render vaos
glBindVertexArray(vao[0]);
glDrawElementsInstanced(GL_TRIANGLES, cube_triangleCount * 3, GL_UNSIGNED_INT, (void*)0, 4);
glBindVertexArray(vao[1]);
glDrawElements(GL_TRIANGLES, plane_triangleCount * 3, GL_UNSIGNED_INT, (void*)0);
#if 1
// Draw UI
glDisable(GL_DEPTH_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glViewport(0, 0, width, height);
unsigned char mbut = 0;
int mscroll = 0;
int mousex; int mousey;
glfwGetMousePos(&mousex, &mousey);
mousey = height - mousey;
if( leftButton == GLFW_PRESS )
mbut |= IMGUI_MBUT_LEFT;
imguiBeginFrame(mousex, mousey, mbut, mscroll);
int logScroll = 0;
char lineBuffer[512];
imguiBeginScrollArea("001", 0, 0, 200, height, &logScroll);
sprintf(lineBuffer, "FPS %f", fps);
imguiLabel(lineBuffer);
int toggle = 0;
toggle = imguiCollapse("Light1", "", checkedLight1);
if(checkedLight1)
{
imguiIndent();
imguiIndent();
imguiLabel("Light Position");
imguiIndent();
imguiSlider("x", &lightPosition.x, -10, 10, 0.01);
imguiSlider("y", &lightPosition.y, -10, 10, 0.01);
imguiSlider("z", &lightPosition.z, -10, 10, 0.01);
imguiUnindent();
imguiSlider("Light Intensity", &lightIntensity, 0, 3, 0.01);
imguiLabel("Diffuse Color");
imguiIndent();
imguiSlider("r", &diffuseColor.x, 0, 1, 0.001);
imguiSlider("g", &diffuseColor.y, 0, 1, 0.001);
imguiSlider("b", &diffuseColor.z, 0, 1, 0.001);
imguiUnindent();
imguiLabel("Specular Color");
imguiIndent();
imguiSlider("r", &specularColor.x, 0, 1, 0.001);
imguiSlider("g", &specularColor.y, 0, 1, 0.001);
imguiSlider("b", &specularColor.z, 0, 1, 0.001);
imguiUnindent();
imguiSlider("Specular Intensity", &specularFactor, 0, 100, 1);
imguiUnindent();
imguiUnindent();
}
if (toggle)
{
checkedLight1 = !checkedLight1;
}
toggle = imguiCollapse("Light2", "", checkedLight2);
if(checkedLight2)
{
imguiIndent();
imguiIndent();
imguiLabel("Light Position");
imguiIndent();
imguiSlider("x", &lightPosition2.x, -10, 10, 0.01);
imguiSlider("y", &lightPosition2.y, -10, 10, 0.01);
imguiSlider("z", &lightPosition2.z, -10, 10, 0.01);
imguiUnindent();
imguiSlider("Light Intensity", &lightIntensity2, 0, 3, 0.01);
imguiLabel("Diffuse Color");
imguiIndent();
imguiSlider("r", &diffuseColor2.x, 0, 1, 0.001);
imguiSlider("g", &diffuseColor2.y, 0, 1, 0.001);
imguiSlider("b", &diffuseColor2.z, 0, 1, 0.001);
imguiUnindent();
imguiLabel("Specular Color");
imguiIndent();
imguiSlider("r", &specularColor2.x, 0, 1, 0.001);
imguiSlider("g", &specularColor2.y, 0, 1, 0.001);
imguiSlider("b", &specularColor2.z, 0, 1, 0.001);
imguiUnindent();
imguiSlider("Specular Intensity", &specularFactor2, 0, 100, 1);
imguiUnindent();
imguiUnindent();
}
if (toggle)
{
checkedLight2 = !checkedLight2;
}
toggle = imguiCollapse("SpotLight", "", checkedLight3);
if(checkedLight3)
{
imguiIndent();
imguiIndent();
imguiSlider("External Angle", &spotLightExternal, 0, 2, 0.01);
imguiSlider("Internal Angle", &spotLightInternal, 0, 2, 0.01);
imguiUnindent();
imguiUnindent();
}
if (toggle)
{
checkedLight3 = !checkedLight3;
}
imguiEndScrollArea();
imguiEndFrame();
imguiRenderGLDraw(width, height);
glDisable(GL_BLEND);
#endif
// Check for errors
GLenum err = glGetError();
if(err != GL_NO_ERROR)
{
fprintf(stderr, "OpenGL Error : %s\n", gluErrorString(err));
}
// Swap buffers
glfwSwapBuffers();
} // Check if the ESC key was pressed or the window was closed
while( glfwGetKey( GLFW_KEY_ESC ) != GLFW_PRESS &&
glfwGetWindowParam( GLFW_OPENED ) );
// Clean UI
imguiRenderGLDestroy();
// Close OpenGL window and terminate GLFW
glfwTerminate();
exit( EXIT_SUCCESS );
}