//-----------------------------------------------------------------------------
void Rigid::integrate(F32 delta)
{
// Update Angular position
F32 angle = angVelocity.len();
if (angle != 0.0f) {
QuatF dq;
F32 sinHalfAngle;
mSinCos(angle * delta * -0.5f, sinHalfAngle, dq.w);
sinHalfAngle *= 1.0f / angle;
dq.x = angVelocity.x * sinHalfAngle;
dq.y = angVelocity.y * sinHalfAngle;
dq.z = angVelocity.z * sinHalfAngle;
QuatF tmp = angPosition;
angPosition.mul(tmp, dq);
angPosition.normalize();
// Rotate the position around the center of mass
Point3F lp = linPosition - worldCenterOfMass;
dq.mulP(lp,&linPosition);
linPosition += worldCenterOfMass;
}
// Update angular momentum
angMomentum = angMomentum + torque * delta;
// Update linear position, momentum
linPosition = linPosition + linVelocity * delta;
linMomentum = linMomentum + force * delta;
linVelocity = linMomentum * oneOverMass;
// Update dependent state variables
updateInertialTensor();
updateVelocity();
updateCenterOfMass();
}
F32 Rigid::getKineticEnergy()
{
Point3F w;
QuatF qmat = angPosition;
qmat.inverse();
qmat.mulP(angVelocity,&w);
const F32* f = invObjectInertia;
return 0.5f * ((mass * mDot(linVelocity,linVelocity)) +
w.x * w.x / f[0] +
w.y * w.y / f[5] +
w.z * w.z / f[10]);
}
void GuiTSCtrl::onRender(Point2I offset, const RectI &updateRect)
{
// Save the current transforms so we can restore
// it for child control rendering below.
GFXTransformSaver saver;
bool renderingToTarget = false;
if(!processCameraQuery(&mLastCameraQuery))
{
// We have no camera, but render the GUI children
// anyway. This makes editing GuiTSCtrl derived
// controls easier in the GuiEditor.
renderChildControls( offset, updateRect );
return;
}
GFXTargetRef origTarget = GFX->getActiveRenderTarget();
// Set up the appropriate render style
U32 prevRenderStyle = GFX->getCurrentRenderStyle();
Point2F prevProjectionOffset = GFX->getCurrentProjectionOffset();
Point2I renderSize = getExtent();
if(mRenderStyle == RenderStyleStereoSideBySide)
{
GFX->setCurrentRenderStyle(GFXDevice::RS_StereoSideBySide);
GFX->setCurrentProjectionOffset(mLastCameraQuery.projectionOffset);
GFX->setStereoEyeOffsets(mLastCameraQuery.eyeOffset);
if (!mLastCameraQuery.hasStereoTargets)
{
// Need to calculate our current viewport here
mLastCameraQuery.stereoViewports[0] = updateRect;
mLastCameraQuery.stereoViewports[0].extent.x /= 2;
mLastCameraQuery.stereoViewports[1] = mLastCameraQuery.stereoViewports[0];
mLastCameraQuery.stereoViewports[1].point.x += mLastCameraQuery.stereoViewports[1].extent.x;
}
if (!mLastCameraQuery.hasFovPort)
{
// Need to make our own fovPort
mLastCameraQuery.fovPort[0] = CalculateFovPortForCanvas(mLastCameraQuery.stereoViewports[0], mLastCameraQuery);
mLastCameraQuery.fovPort[1] = CalculateFovPortForCanvas(mLastCameraQuery.stereoViewports[1], mLastCameraQuery);
}
GFX->setStereoFovPort(mLastCameraQuery.fovPort); // NOTE: this specifies fov for BOTH eyes
GFX->setSteroViewports(mLastCameraQuery.stereoViewports);
GFX->setStereoTargets(mLastCameraQuery.stereoTargets);
MatrixF myTransforms[2];
if (smUseLatestDisplayTransform)
{
// Use the view matrix determined from the display device
myTransforms[0] = mLastCameraQuery.eyeTransforms[0];
myTransforms[1] = mLastCameraQuery.eyeTransforms[1];
}
else
{
// Use the view matrix determined from the control object
myTransforms[0] = mLastCameraQuery.cameraMatrix;
myTransforms[1] = mLastCameraQuery.cameraMatrix;
QuatF qrot = mLastCameraQuery.cameraMatrix;
Point3F pos = mLastCameraQuery.cameraMatrix.getPosition();
Point3F rotEyePos;
myTransforms[0].setPosition(pos + qrot.mulP(mLastCameraQuery.eyeOffset[0], &rotEyePos));
myTransforms[1].setPosition(pos + qrot.mulP(mLastCameraQuery.eyeOffset[1], &rotEyePos));
}
GFX->setStereoEyeTransforms(myTransforms);
// Allow render size to originate from the render target
if (mLastCameraQuery.stereoTargets[0])
{
renderSize = mLastCameraQuery.stereoViewports[0].extent;
renderingToTarget = true;
}
}
else
{
GFX->setCurrentRenderStyle(GFXDevice::RS_Standard);
}
if ( mReflectPriority > 0 )
{
// Get the total reflection priority.
F32 totalPriority = 0;
for ( U32 i=0; i < smAwakeTSCtrls.size(); i++ )
if ( smAwakeTSCtrls[i]->isVisible() )
totalPriority += smAwakeTSCtrls[i]->mReflectPriority;
REFLECTMGR->update( mReflectPriority / totalPriority,
getExtent(),
mLastCameraQuery );
}
if(mForceFOV != 0)
mLastCameraQuery.fov = mDegToRad(mForceFOV);
if(mCameraZRot)
{
MatrixF rotMat(EulerF(0, 0, mDegToRad(mCameraZRot)));
mLastCameraQuery.cameraMatrix.mul(rotMat);
}
Frustum frustum;
if(mRenderStyle == RenderStyleStereoSideBySide)
{
// NOTE: these calculations are essentially overridden later by the fov port settings when rendering each eye.
MathUtils::makeFovPortFrustum(&frustum, mLastCameraQuery.ortho, mLastCameraQuery.nearPlane, mLastCameraQuery.farPlane, mLastCameraQuery.fovPort[0]);
}
else
{
// set up the camera and viewport stuff:
F32 wwidth;
F32 wheight;
F32 renderWidth = F32(renderSize.x);
F32 renderHeight = F32(renderSize.y);
F32 aspectRatio = renderWidth / renderHeight;
// Use the FOV to calculate the viewport height scale
// then generate the width scale from the aspect ratio.
if(!mLastCameraQuery.ortho)
{
wheight = mLastCameraQuery.nearPlane * mTan(mLastCameraQuery.fov / 2.0f);
wwidth = aspectRatio * wheight;
}
else
{
wheight = mLastCameraQuery.fov;
wwidth = aspectRatio * wheight;
}
F32 hscale = wwidth * 2.0f / renderWidth;
F32 vscale = wheight * 2.0f / renderHeight;
F32 left = (updateRect.point.x - offset.x) * hscale - wwidth;
F32 right = (updateRect.point.x + updateRect.extent.x - offset.x) * hscale - wwidth;
F32 top = wheight - vscale * (updateRect.point.y - offset.y);
F32 bottom = wheight - vscale * (updateRect.point.y + updateRect.extent.y - offset.y);
frustum.set( mLastCameraQuery.ortho, left, right, top, bottom, mLastCameraQuery.nearPlane, mLastCameraQuery.farPlane );
}
// Manipulate the frustum for tiled screenshots
const bool screenShotMode = gScreenShot && gScreenShot->isPending();
if ( screenShotMode )
{
gScreenShot->tileFrustum( frustum );
GFX->setViewMatrix(MatrixF::Identity);
}
RectI tempRect = updateRect;
if (!renderingToTarget)
{
#ifdef TORQUE_OS_MAC
Point2I screensize = getRoot()->getWindowSize();
tempRect.point.y = screensize.y - (tempRect.point.y + tempRect.extent.y);
#endif
GFX->setViewport( tempRect );
}
else
{
// Activate stereo RT
GFX->activateStereoTarget(-1);
}
// Clear the zBuffer so GUI doesn't hose object rendering accidentally
GFX->clear( GFXClearZBuffer , ColorI(20,20,20), 1.0f, 0 );
//GFX->clear( GFXClearTarget, ColorI(255,0,0), 1.0f, 0);
GFX->setFrustum( frustum );
if(mLastCameraQuery.ortho)
{
mOrthoWidth = frustum.getWidth();
mOrthoHeight = frustum.getHeight();
}
// We're going to be displaying this render at size of this control in
// pixels - let the scene know so that it can calculate e.g. reflections
// correctly for that final display result.
gClientSceneGraph->setDisplayTargetResolution(renderSize);
// Set the GFX world matrix to the world-to-camera transform, but don't
// change the cameraMatrix in mLastCameraQuery. This is because
// mLastCameraQuery.cameraMatrix is supposed to contain the camera-to-world
// transform. In-place invert would save a copy but mess up any GUIs that
// depend on that value.
MatrixF worldToCamera = mLastCameraQuery.cameraMatrix;
worldToCamera.inverse();
GFX->setWorldMatrix( worldToCamera );
mSaveProjection = GFX->getProjectionMatrix();
mSaveModelview = GFX->getWorldMatrix();
mSaveViewport = updateRect;
mSaveWorldToScreenScale = GFX->getWorldToScreenScale();
mSaveFrustum = GFX->getFrustum();
mSaveFrustum.setTransform( mLastCameraQuery.cameraMatrix );
// Set the default non-clip projection as some
// objects depend on this even in non-reflect cases.
gClientSceneGraph->setNonClipProjection( mSaveProjection );
// Give the post effect manager the worldToCamera, and cameraToScreen matrices
PFXMGR->setFrameMatrices( mSaveModelview, mSaveProjection );
renderWorld(updateRect);
DebugDrawer::get()->render();
// Render the canvas overlay if its available
if (mRenderStyle == RenderStyleStereoSideBySide && mStereoGuiTarget.getPointer())
{
GFXDEBUGEVENT_SCOPE( StereoGui_Render, ColorI( 255, 0, 0 ) );
MatrixF proj(1);
Frustum originalFrustum = GFX->getFrustum();
GFXTextureObject *texObject = mStereoGuiTarget->getTexture(0);
const FovPort *currentFovPort = GFX->getStereoFovPort();
const MatrixF *eyeTransforms = GFX->getStereoEyeTransforms();
const Point3F *eyeOffset = GFX->getStereoEyeOffsets();
Frustum gfxFrustum = originalFrustum;
for (U32 i=0; i<2; i++)
{
GFX->activateStereoTarget(i);
MathUtils::makeFovPortFrustum(&gfxFrustum, true, gfxFrustum.getNearDist(), gfxFrustum.getFarDist(), currentFovPort[i], eyeTransforms[i]);
GFX->setFrustum(gfxFrustum);
MatrixF eyeWorldTrans(1);
eyeWorldTrans.setPosition(Point3F(eyeOffset[i].x,eyeOffset[i].y,eyeOffset[i].z));
MatrixF eyeWorld(1);
eyeWorld.mul(eyeWorldTrans);
eyeWorld.inverse();
GFX->setWorldMatrix(eyeWorld);
GFX->setViewMatrix(MatrixF::Identity);
if (!mStereoOverlayVB.getPointer())
{
mStereoOverlayVB.set(GFX, 4, GFXBufferTypeStatic);
GFXVertexPCT *verts = mStereoOverlayVB.lock(0, 4);
F32 texLeft = 0.0f;
F32 texRight = 1.0f;
F32 texTop = 1.0f;
F32 texBottom = 0.0f;
F32 rectRatio = gfxFrustum.getWidth() / gfxFrustum.getHeight();
F32 rectWidth = gfxFrustum.getWidth() * TS_OVERLAY_SCREEN_WIDTH;
F32 rectHeight = rectWidth * rectRatio;
F32 screenLeft = -rectWidth * 0.5;
F32 screenRight = rectWidth * 0.5;
F32 screenTop = -rectHeight * 0.5;
F32 screenBottom = rectHeight * 0.5;
const F32 fillConv = 0.0f;
const F32 frustumDepthAdjusted = gfxFrustum.getNearDist() + 0.012;
verts[0].point.set( screenLeft - fillConv, frustumDepthAdjusted, screenTop - fillConv );
verts[1].point.set( screenRight - fillConv, frustumDepthAdjusted, screenTop - fillConv );
verts[2].point.set( screenLeft - fillConv, frustumDepthAdjusted, screenBottom - fillConv );
verts[3].point.set( screenRight - fillConv, frustumDepthAdjusted, screenBottom - fillConv );
verts[0].color = verts[1].color = verts[2].color = verts[3].color = ColorI(255,255,255,255);
verts[0].texCoord.set( texLeft, texTop );
verts[1].texCoord.set( texRight, texTop );
verts[2].texCoord.set( texLeft, texBottom );
verts[3].texCoord.set( texRight, texBottom );
mStereoOverlayVB.unlock();
}
if (!mStereoGuiSB.getPointer())
{
// DrawBitmapStretchSR
GFXStateBlockDesc bitmapStretchSR;
bitmapStretchSR.setCullMode(GFXCullNone);
bitmapStretchSR.setZReadWrite(false, false);
bitmapStretchSR.setBlend(true, GFXBlendSrcAlpha, GFXBlendInvSrcAlpha);
bitmapStretchSR.samplersDefined = true;
bitmapStretchSR.samplers[0] = GFXSamplerStateDesc::getClampLinear();
bitmapStretchSR.samplers[0].minFilter = GFXTextureFilterPoint;
bitmapStretchSR.samplers[0].mipFilter = GFXTextureFilterPoint;
bitmapStretchSR.samplers[0].magFilter = GFXTextureFilterPoint;
mStereoGuiSB = GFX->createStateBlock(bitmapStretchSR);
}
GFX->setVertexBuffer(mStereoOverlayVB);
GFX->setStateBlock(mStereoGuiSB);
GFX->setTexture( 0, texObject );
GFX->setupGenericShaders( GFXDevice::GSModColorTexture );
GFX->drawPrimitive( GFXTriangleStrip, 0, 2 );
}
}
// Restore the previous matrix state before
// we begin rendering the child controls.
saver.restore();
// Restore the render style and any stereo parameters
GFX->setActiveRenderTarget(origTarget);
GFX->setCurrentRenderStyle(prevRenderStyle);
GFX->setCurrentProjectionOffset(prevProjectionOffset);
if(mRenderStyle == RenderStyleStereoSideBySide && gLastStereoTexture)
{
GFX->setClipRect(updateRect);
GFX->getDrawUtil()->drawBitmapStretch(gLastStereoTexture, updateRect);
}
// Allow subclasses to render 2D elements.
GFX->setClipRect(updateRect);
renderGui( offset, updateRect );
if (shouldRenderChildControls())
{
renderChildControls(offset, updateRect);
}
smFrameCount++;
}
void SFXEmitter::_renderCone( F32 radialIncrements, F32 sweepIncrements,
F32 pointDistance,
F32 startAngle, F32 stopAngle,
F32 startVolume, F32 stopVolume,
const ColorI& color )
{
if( startAngle == stopAngle )
return;
const F32 startAngleRadians = mDegToRad( startAngle );
const F32 stopAngleRadians = mDegToRad( stopAngle );
const F32 radialIncrementsRadians = mDegToRad( radialIncrements );
// Unit quaternions representing the start and end angle so we
// can interpolate between the two without flipping.
QuatF rotateZStart( EulerF( 0.f, 0.f, startAngleRadians / 2.f ) );
QuatF rotateZEnd( EulerF( 0.f, 0.f, stopAngleRadians / 2.f ) );
// Do an angular sweep on one side of our XY disc. Since we do a full 360 radial sweep
// around Y for each angle, we only need to sweep over one side.
const F32 increment = 1.f / ( ( ( startAngle / 2.f ) - ( stopAngle / 2.f ) ) / sweepIncrements );
for( F32 t = 0.f; t < 1.0f; t += increment )
{
// Quaternion to rotate point into place on XY disc.
QuatF rotateZ;
rotateZ.interpolate( rotateZStart, rotateZEnd, t );
// Quaternion to rotate one position around Y axis. Used for radial sweep.
QuatF rotateYOne( EulerF( 0.f, radialIncrementsRadians, 0.f ) );
// Do a radial sweep each step along the distance axis. For each step, volume is
// the same for any point on the sweep circle.
for( F32 y = pointDistance; y <= mDescription.mMaxDistance; y += pointDistance )
{
ColorI c = color;
// Compute volume at current point. First off, find the interpolated volume
// in the cone. Only for the outer cone will this actually result in
// interpolation. For the remaining angles, the cone volume is constant.
F32 volume = mLerp( startVolume, stopVolume, t );
if( volume == 0.f )
c.alpha = 0;
else
{
// Apply distance attenuation.
F32 attenuatedVolume = SFXDistanceAttenuation(
SFX->getDistanceModel(),
mDescription.mMinDistance,
mDescription.mMaxDistance,
y,
volume,
SFX->getRolloffFactor() ); //RDTODO
// Fade alpha according to how much volume we
// have left at the current point.
c.alpha = F32( c.alpha ) * ( attenuatedVolume / 1.f );
}
PrimBuild::color( c );
// Create points by doing a full 360 degree radial sweep around Y.
Point3F p( 0.f, y, 0.f );
rotateZ.mulP( p, &p );
for( F32 radialAngle = 0.f; radialAngle < 360.f; radialAngle += radialIncrements )
{
PrimBuild::vertex3f( p.x, p.y, p.z );
rotateYOne.mulP( p, &p );
}
}
}
}