path: root/PhysX_3.4/Snippets/SnippetRender/SnippetRender.cpp

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// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#include "SnippetRender.h"

using namespace physx;

static float gCylinderData[]={
	1.0f,0.0f,1.0f,1.0f,0.0f,1.0f,1.0f,0.0f,0.0f,1.0f,0.0f,0.0f,
	0.866025f,0.500000f,1.0f,0.866025f,0.500000f,1.0f,0.866025f,0.500000f,0.0f,0.866025f,0.500000f,0.0f,
	0.500000f,0.866025f,1.0f,0.500000f,0.866025f,1.0f,0.500000f,0.866025f,0.0f,0.500000f,0.866025f,0.0f,
	-0.0f,1.0f,1.0f,-0.0f,1.0f,1.0f,-0.0f,1.0f,0.0f,-0.0f,1.0f,0.0f,
	-0.500000f,0.866025f,1.0f,-0.500000f,0.866025f,1.0f,-0.500000f,0.866025f,0.0f,-0.500000f,0.866025f,0.0f,
	-0.866025f,0.500000f,1.0f,-0.866025f,0.500000f,1.0f,-0.866025f,0.500000f,0.0f,-0.866025f,0.500000f,0.0f,
	-1.0f,-0.0f,1.0f,-1.0f,-0.0f,1.0f,-1.0f,-0.0f,0.0f,-1.0f,-0.0f,0.0f,
	-0.866025f,-0.500000f,1.0f,-0.866025f,-0.500000f,1.0f,-0.866025f,-0.500000f,0.0f,-0.866025f,-0.500000f,0.0f,
	-0.500000f,-0.866025f,1.0f,-0.500000f,-0.866025f,1.0f,-0.500000f,-0.866025f,0.0f,-0.500000f,-0.866025f,0.0f,
	0.0f,-1.0f,1.0f,0.0f,-1.0f,1.0f,0.0f,-1.0f,0.0f,0.0f,-1.0f,0.0f,
	0.500000f,-0.866025f,1.0f,0.500000f,-0.866025f,1.0f,0.500000f,-0.866025f,0.0f,0.500000f,-0.866025f,0.0f,
	0.866026f,-0.500000f,1.0f,0.866026f,-0.500000f,1.0f,0.866026f,-0.500000f,0.0f,0.866026f,-0.500000f,0.0f,
	1.0f,0.0f,1.0f,1.0f,0.0f,1.0f,1.0f,0.0f,0.0f,1.0f,0.0f,0.0f
};

#define MAX_NUM_MESH_VEC3S  1024
static PxVec3 gVertexBuffer[MAX_NUM_MESH_VEC3S];

void renderGeometry(const PxGeometryHolder& h)
{
	switch(h.getType())
	{
	case PxGeometryType::eBOX:			
		{
			glScalef(h.box().halfExtents.x, h.box().halfExtents.y, h.box().halfExtents.z);
			glutSolidCube(2.0);
		}
		break;
	case PxGeometryType::eSPHERE:		
		{
			glutSolidSphere(GLdouble(h.sphere().radius), 10, 10);
		}
		break;
	case PxGeometryType::eCAPSULE:
		{

			const PxF32 radius = h.capsule().radius;
			const PxF32 halfHeight = h.capsule().halfHeight;

			//Sphere
			glPushMatrix();
			glTranslatef(halfHeight, 0.0f, 0.0f);
			glScalef(radius,radius,radius);
			glutSolidSphere(1, 10, 10);		
			glPopMatrix();

			//Sphere
			glPushMatrix();
			glTranslatef(-halfHeight, 0.0f, 0.0f);
			glScalef(radius,radius,radius);
			glutSolidSphere(1, 10, 10);		
			glPopMatrix();

			//Cylinder
			glPushMatrix();
			glTranslatef(-halfHeight, 0.0f, 0.0f);
			glScalef(2.0f*halfHeight, radius,radius);
			glRotatef(90.0f,0.0f,1.0f,0.0f);
			glEnableClientState(GL_VERTEX_ARRAY);
			glEnableClientState(GL_NORMAL_ARRAY);
			glVertexPointer(3, GL_FLOAT, 2*3*sizeof(float), gCylinderData);
			glNormalPointer(GL_FLOAT, 2*3*sizeof(float), gCylinderData+3);
			glDrawArrays(GL_TRIANGLE_STRIP, 0, 13*2);
			glDisableClientState(GL_VERTEX_ARRAY);
			glDisableClientState(GL_NORMAL_ARRAY);
			glPopMatrix();
		}
		break;
	case PxGeometryType::eCONVEXMESH:
		{

			//Compute triangles for each polygon.
			const PxVec3 scale = h.convexMesh().scale.scale;
			PxConvexMesh* mesh = h.convexMesh().convexMesh;
			const PxU32 nbPolys = mesh->getNbPolygons();
			const PxU8* polygons = mesh->getIndexBuffer();
			const PxVec3* verts = mesh->getVertices();
			PxU32 nbVerts = mesh->getNbVertices();
			PX_UNUSED(nbVerts);

			PxU32 numTotalTriangles = 0;
			for(PxU32 i = 0; i < nbPolys; i++)
			{
				PxHullPolygon data;
				mesh->getPolygonData(i, data);

				const PxU32 nbTris = PxU32(data.mNbVerts - 2);
				const PxU8 vref0 = polygons[data.mIndexBase + 0];
				PX_ASSERT(vref0 < nbVerts);
				for(PxU32 j=0;j<nbTris;j++)
				{
					const PxU32 vref1 = polygons[data.mIndexBase + 0 + j + 1];
					const PxU32 vref2 = polygons[data.mIndexBase + 0 + j + 2];

					//generate face normal:
					PxVec3 e0 = verts[vref1] - verts[vref0];
					PxVec3 e1 = verts[vref2] - verts[vref0];

					PX_ASSERT(vref1 < nbVerts);
					PX_ASSERT(vref2 < nbVerts);

					PxVec3 fnormal = e0.cross(e1);
					fnormal.normalize();
			
					if(numTotalTriangles*6 < MAX_NUM_MESH_VEC3S)
					{
						gVertexBuffer[numTotalTriangles*6 + 0] = fnormal;
						gVertexBuffer[numTotalTriangles*6 + 1] = verts[vref0];
						gVertexBuffer[numTotalTriangles*6 + 2] = fnormal;
						gVertexBuffer[numTotalTriangles*6 + 3] = verts[vref1];
						gVertexBuffer[numTotalTriangles*6 + 4] = fnormal;
						gVertexBuffer[numTotalTriangles*6 + 5] = verts[vref2];
						numTotalTriangles++;
					}
				}
			}
			glPushMatrix();
			glScalef(scale.x, scale.y, scale.z);
			glEnableClientState(GL_NORMAL_ARRAY);
			glEnableClientState(GL_VERTEX_ARRAY);
			glNormalPointer(GL_FLOAT, 2*3*sizeof(float), gVertexBuffer);
			glVertexPointer(3, GL_FLOAT, 2*3*sizeof(float), gVertexBuffer+1);
			glDrawArrays(GL_TRIANGLES, 0, int(numTotalTriangles * 3));
			glPopMatrix();
		}
		break;
	case PxGeometryType::eTRIANGLEMESH:
		{
			const PxTriangleMeshGeometry& triGeom = h.triangleMesh();
			const PxTriangleMesh& mesh = *triGeom.triangleMesh;
			const PxVec3 scale = triGeom.scale.scale;

			const PxU32 triangleCount = mesh.getNbTriangles();
			const PxU32 has16BitIndices = mesh.getTriangleMeshFlags() & PxTriangleMeshFlag::e16_BIT_INDICES;
			const void* indexBuffer = mesh.getTriangles();

			const PxVec3* vertexBuffer = mesh.getVertices();

			const PxU32* intIndices = reinterpret_cast<const PxU32*>(indexBuffer);
			const PxU16* shortIndices = reinterpret_cast<const PxU16*>(indexBuffer);
			PxU32 numTotalTriangles = 0;
			for(PxU32 i=0; i < triangleCount; ++i)
			{
				PxVec3 triVert[3];

				if(has16BitIndices)
				{
					triVert[0] = vertexBuffer[*shortIndices++];
					triVert[1] = vertexBuffer[*shortIndices++];
					triVert[2] = vertexBuffer[*shortIndices++];
				}
				else
				{
					triVert[0] = vertexBuffer[*intIndices++];
					triVert[1] = vertexBuffer[*intIndices++];
					triVert[2] = vertexBuffer[*intIndices++];
				}

				PxVec3 fnormal = (triVert[1] - triVert[0]).cross(triVert[2] - triVert[0]);
				fnormal.normalize();

				if(numTotalTriangles*6 < MAX_NUM_MESH_VEC3S)
				{
					gVertexBuffer[numTotalTriangles*6 + 0] = fnormal;
					gVertexBuffer[numTotalTriangles*6 + 1] = triVert[0];
					gVertexBuffer[numTotalTriangles*6 + 2] = fnormal;
					gVertexBuffer[numTotalTriangles*6 + 3] = triVert[1];
					gVertexBuffer[numTotalTriangles*6 + 4] = fnormal;
					gVertexBuffer[numTotalTriangles*6 + 5] = triVert[2];
					numTotalTriangles++;
				}
			}
			glPushMatrix();
			glScalef(scale.x, scale.y, scale.z);
			glEnableClientState(GL_NORMAL_ARRAY);
			glEnableClientState(GL_VERTEX_ARRAY);
			glNormalPointer(GL_FLOAT, 2*3*sizeof(float), gVertexBuffer);
			glVertexPointer(3, GL_FLOAT, 2*3*sizeof(float), gVertexBuffer+1);
			glDrawArrays(GL_TRIANGLES, 0, int(numTotalTriangles * 3));
			glDisableClientState(GL_VERTEX_ARRAY);
			glDisableClientState(GL_NORMAL_ARRAY);
			glPopMatrix();
		}
		break;
	case PxGeometryType::eINVALID:
	case PxGeometryType::eHEIGHTFIELD:
	case PxGeometryType::eGEOMETRY_COUNT:	
	case PxGeometryType::ePLANE:
		break;
	}
}

namespace Snippets
{

namespace
{
void reshapeCallback(int width, int height)
{
	glViewport(0, 0, width, height);
}
}

void setupDefaultWindow(const char *name)
{
	char* namestr = new char[strlen(name)+1];
	strcpy(namestr, name);
	int argc = 1;
	char* argv[1] = { namestr };

	glutInit(&argc, argv);
	
	glutInitWindowSize(512, 512);
	glutInitDisplayMode(GLUT_RGB|GLUT_DOUBLE|GLUT_DEPTH);
	int mainHandle = glutCreateWindow(name);
	glutSetWindow(mainHandle);
	glutReshapeFunc(reshapeCallback);
	
	delete[] namestr;
}

void setupDefaultRenderState()
{
	// Setup default render states
	glClearColor(0.3f, 0.4f, 0.5f, 1.0);
	glEnable(GL_DEPTH_TEST);
	glEnable(GL_COLOR_MATERIAL);

	// Setup lighting
	glEnable(GL_LIGHTING);
	PxReal ambientColor[]	= { 0.0f, 0.1f, 0.2f, 0.0f };
	PxReal diffuseColor[]	= { 1.0f, 1.0f, 1.0f, 0.0f };		
	PxReal specularColor[]	= { 0.0f, 0.0f, 0.0f, 0.0f };		
	PxReal position[]		= { 100.0f, 100.0f, 400.0f, 1.0f };		
	glLightfv(GL_LIGHT0, GL_AMBIENT, ambientColor);
	glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuseColor);
	glLightfv(GL_LIGHT0, GL_SPECULAR, specularColor);
	glLightfv(GL_LIGHT0, GL_POSITION, position);
	glEnable(GL_LIGHT0);
}


void startRender(const PxVec3& cameraEye, const PxVec3& cameraDir, PxReal clipNear, PxReal clipFar)
{
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

	// Setup camera
	glMatrixMode(GL_PROJECTION);
	glLoadIdentity();
	gluPerspective(60.0, GLdouble(glutGet(GLUT_WINDOW_WIDTH)) / GLdouble(glutGet(GLUT_WINDOW_HEIGHT)), GLdouble(clipNear), GLdouble(clipFar));

	glMatrixMode(GL_MODELVIEW);
	glLoadIdentity();
	gluLookAt(GLdouble(cameraEye.x), GLdouble(cameraEye.y), GLdouble(cameraEye.z), GLdouble(cameraEye.x + cameraDir.x), GLdouble(cameraEye.y + cameraDir.y), GLdouble(cameraEye.z + cameraDir.z), 0.0, 1.0, 0.0);

	glColor4f(0.4f, 0.4f, 0.4f, 1.0f);
}

void renderActors(PxRigidActor** actors, const PxU32 numActors, bool shadows, const PxVec3 & color)
{
	PxShape* shapes[MAX_NUM_ACTOR_SHAPES];
	for(PxU32 i=0;i<numActors;i++)
	{
		const PxU32 nbShapes = actors[i]->getNbShapes();
		PX_ASSERT(nbShapes <= MAX_NUM_ACTOR_SHAPES);
		actors[i]->getShapes(shapes, nbShapes);
		bool sleeping = actors[i]->is<PxRigidDynamic>() ? actors[i]->is<PxRigidDynamic>()->isSleeping() : false; 

		for(PxU32 j=0;j<nbShapes;j++)
		{
			const PxMat44 shapePose(PxShapeExt::getGlobalPose(*shapes[j], *actors[i]));
			PxGeometryHolder h = shapes[j]->getGeometry();

			if (shapes[j]->getFlags() & PxShapeFlag::eTRIGGER_SHAPE)
				glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
			
			// render object
			glPushMatrix();						
			glMultMatrixf(reinterpret_cast<const float*>(&shapePose));
			if(sleeping)
			{
				PxVec3 darkColor = color * 0.25f;
				glColor4f(darkColor.x, darkColor.y, darkColor.z, 1.0f);
			}
			else
				glColor4f(color.x, color.y, color.z, 1.0f);
			renderGeometry(h);
			glPopMatrix();

			glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );

			if(shadows)
			{
				const PxVec3 shadowDir(0.0f, -0.7071067f, -0.7071067f);
				const PxReal shadowMat[]={ 1,0,0,0, -shadowDir.x/shadowDir.y,0,-shadowDir.z/shadowDir.y,0, 0,0,1,0, 0,0,0,1 };
				glPushMatrix();						
				glMultMatrixf(shadowMat);
				glMultMatrixf(reinterpret_cast<const float*>(&shapePose));
				glDisable(GL_LIGHTING);
				glColor4f(0.1f, 0.2f, 0.3f, 1.0f);
				renderGeometry(h);
				glEnable(GL_LIGHTING);
				glPopMatrix();
			}
		}
	}
}

void finishRender()
{
	glutSwapBuffers();
}


} //namespace Snippets