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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifdef RENDER_SNIPPET
#include <vector>
#include "PxPhysicsAPI.h"
#include "PxImmediateMode.h"
#include "../snippetrender/SnippetRender.h"
#include "../snippetrender/SnippetCamera.h"
using namespace physx;
extern void initPhysics(bool interactive);
extern void stepPhysics(bool interactive);
extern void cleanupPhysics(bool interactive);
extern void keyPress(unsigned char key, const PxTransform& camera);
extern PxU32 getNbGeoms();
extern const PxGeometryHolder* getGeoms();
extern const PxTransform* getGeomPoses();
extern PxU32 getNbContacts();
extern const Gu::ContactPoint* getContacts();
extern PxU32 getNbArticulations();
extern Dy::ArticulationV** getArticulations();
extern PxU32 getNbBounds();
extern const PxBounds3* getBounds();
namespace
{
Snippets::Camera* sCamera;
void motionCallback(int x, int y)
{
sCamera->handleMotion(x, y);
}
void keyboardCallback(unsigned char key, int x, int y)
{
if(key==27)
exit(0);
if(!sCamera->handleKey(key, x, y))
keyPress(key, sCamera->getTransform());
}
void keyboardCallback2(int key, int /*x*/, int /*y*/)
{
keyPress(key, sCamera->getTransform());
}
void mouseCallback(int button, int state, int x, int y)
{
sCamera->handleMouse(button, state, x, y);
}
void idleCallback()
{
glutPostRedisplay();
}
static void DrawLine(const PxVec3& p0, const PxVec3& p1, const PxVec3& color)
{
glDisable(GL_LIGHTING);
glColor4f(color.x, color.y, color.z, 1.0f);
const PxVec3 Pts[] = { p0, p1 };
glEnableClientState(GL_VERTEX_ARRAY);
glVertexPointer(3, GL_FLOAT, sizeof(PxVec3), &Pts[0].x);
glDrawArrays(GL_LINES, 0, 2);
glDisableClientState(GL_VERTEX_ARRAY);
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
glEnable(GL_LIGHTING);
}
static void DrawFrame(const PxVec3& pt, float scale=1.0f)
{
DrawLine(pt, pt + PxVec3(scale, 0.0f, 0.0f), PxVec3(1.0f, 0.0f, 0.0f));
DrawLine(pt, pt + PxVec3(0.0f, scale, 0.0f), PxVec3(0.0f, 1.0f, 0.0f));
DrawLine(pt, pt + PxVec3(0.0f, 0.0f, scale), PxVec3(0.0f, 0.0f, 1.0f));
}
static void DrawBounds(const PxBounds3& box)
{
DrawLine(PxVec3(box.minimum.x, box.minimum.y, box.minimum.z), PxVec3(box.maximum.x, box.minimum.y, box.minimum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.maximum.x, box.minimum.y, box.minimum.z), PxVec3(box.maximum.x, box.maximum.y, box.minimum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.maximum.x, box.maximum.y, box.minimum.z), PxVec3(box.minimum.x, box.maximum.y, box.minimum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.minimum.x, box.maximum.y, box.minimum.z), PxVec3(box.minimum.x, box.minimum.y, box.minimum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.minimum.x, box.minimum.y, box.minimum.z), PxVec3(box.minimum.x, box.minimum.y, box.maximum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.minimum.x, box.minimum.y, box.maximum.z), PxVec3(box.maximum.x, box.minimum.y, box.maximum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.maximum.x, box.minimum.y, box.maximum.z), PxVec3(box.maximum.x, box.maximum.y, box.maximum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.maximum.x, box.maximum.y, box.maximum.z), PxVec3(box.minimum.x, box.maximum.y, box.maximum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.minimum.x, box.maximum.y, box.maximum.z), PxVec3(box.minimum.x, box.minimum.y, box.maximum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.minimum.x, box.minimum.y, box.maximum.z), PxVec3(box.minimum.x, box.minimum.y, box.minimum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.maximum.x, box.minimum.y, box.minimum.z), PxVec3(box.maximum.x, box.minimum.y, box.maximum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.maximum.x, box.maximum.y, box.minimum.z), PxVec3(box.maximum.x, box.maximum.y, box.maximum.z), PxVec3(1.0f, 1.0f, 0.0f));
DrawLine(PxVec3(box.minimum.x, box.maximum.y, box.minimum.z), PxVec3(box.minimum.x, box.maximum.y, box.maximum.z), PxVec3(1.0f, 1.0f, 0.0f));
}
static void InitLighting()
{
glEnable(GL_COLOR_MATERIAL);
const float zero[] = { 0.0f, 0.0f, 0.0f, 0.0f };
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, zero);
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT, zero);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, zero);
glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, zero);
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 0.0f);
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, zero);
glEnable(GL_LIGHTING);
PxVec3 Dir(-1.0f, 1.0f, 0.5f);
// PxVec3 Dir(0.0f, 1.0f, 0.0f);
Dir.normalize();
const float AmbientValue = 0.3f;
const float ambientColor0[] = { AmbientValue, AmbientValue, AmbientValue, 0.0f };
glLightfv(GL_LIGHT0, GL_AMBIENT, ambientColor0);
const float specularColor0[] = { 0.0f, 0.0f, 0.0f, 0.0f };
glLightfv(GL_LIGHT0, GL_SPECULAR, specularColor0);
const float diffuseColor0[] = { 0.7f, 0.7f, 0.7f, 0.0f };
glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseColor0);
const float position0[] = { Dir.x, Dir.y, Dir.z, 0.0f };
glLightfv(GL_LIGHT0, GL_POSITION, position0);
glEnable(GL_LIGHT0);
// glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
// glColor4f(0.0f, 0.0f, 0.0f, 0.0f);
if(0)
{
glEnable(GL_FOG);
glFogi(GL_FOG_MODE,GL_LINEAR);
//glFogi(GL_FOG_MODE,GL_EXP);
//glFogi(GL_FOG_MODE,GL_EXP2);
glFogf(GL_FOG_START, 0.0f);
glFogf(GL_FOG_END, 100.0f);
glFogf(GL_FOG_DENSITY, 0.005f);
// glClearColor(0.2f, 0.2f, 0.2f, 1.0);
// const PxVec3 FogColor(0.2f, 0.2f, 0.2f);
const PxVec3 FogColor(1.0f);
glFogfv(GL_FOG_COLOR, &FogColor.x);
}
}
void renderCallback()
{
stepPhysics(true);
/* if(0)
{
PxVec3 camPos = sCamera->getEye();
PxVec3 camDir = sCamera->getDir();
printf("camPos: (%ff, %ff, %ff)\n", camPos.x, camPos.y, camPos.z);
printf("camDir: (%ff, %ff, %ff)\n", camDir.x, camDir.y, camDir.z);
}*/
Snippets::startRender(sCamera->getEye(), sCamera->getDir());
InitLighting();
const PxVec3 color(0.6f, 0.8f, 1.0f);
// const PxVec3 color(0.75f, 0.75f, 1.0f);
// const PxVec3 color(1.0f);
Snippets::renderGeoms(getNbGeoms(), getGeoms(), getGeomPoses(), true, color);
/* PxU32 getNbGeoms();
const PxGeometry* getGeoms();
const PxTransform* getGeomPoses();
Snippets::renderGeoms(getNbGeoms(), getGeoms(), getGeomPoses(), true, PxVec3(1.0f));*/
/* PxBoxGeometry boxGeoms[10];
for(PxU32 i=0;i<10;i++)
boxGeoms[i].halfExtents = PxVec3(1.0f);
PxTransform poses[10];
for(PxU32 i=0;i<10;i++)
{
poses[i] = PxTransform(PxIdentity);
poses[i].p.y += 1.5f;
poses[i].p.x = float(i)*2.5f;
}
Snippets::renderGeoms(10, boxGeoms, poses, true, PxVec3(1.0f));*/
if(1)
{
const PxU32 nbContacts = getNbContacts();
const Gu::ContactPoint* contacts = getContacts();
for(PxU32 j=0;j<nbContacts;j++)
{
DrawFrame(contacts[j].point, 1.0f);
}
}
if(0)
{
const PxU32 nbArticulations = getNbArticulations();
Dy::ArticulationV** articulations = getArticulations();
for(PxU32 j=0;j<nbArticulations;j++)
{
immediate::PxLinkData data[64];
const PxU32 nbLinks = immediate::PxGetAllLinkData(articulations[j], data);
for(PxU32 i=0;i<nbLinks;i++)
{
DrawFrame(data[i].pose.p, 1.0f);
}
}
}
const PxBounds3* bounds = getBounds();
const PxU32 nbBounds = getNbBounds();
for(PxU32 i=0;i<nbBounds;i++)
{
DrawBounds(bounds[i]);
}
Snippets::finishRender();
}
void exitCallback(void)
{
delete sCamera;
cleanupPhysics(true);
}
}
void renderLoop()
{
sCamera = new Snippets::Camera( PxVec3(8.526230f, 5.546278f, 5.448466f),
PxVec3(-0.784231f, -0.210605f, -0.583632f));
Snippets::setupDefaultWindow("PhysX Snippet Immediate Articulation");
Snippets::setupDefaultRenderState();
glutIdleFunc(idleCallback);
glutDisplayFunc(renderCallback);
glutKeyboardFunc(keyboardCallback);
glutSpecialFunc(keyboardCallback2);
glutMouseFunc(mouseCallback);
glutMotionFunc(motionCallback);
motionCallback(0,0);
atexit(exitCallback);
initPhysics(true);
glutMainLoop();
}
#endif