684 lines
15 KiB
C++
684 lines
15 KiB
C++
/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#include <testbed/framework/draw.h>
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#if defined (U_OPENGL_2)
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#include <testbed/framework/draw_gl2.h>
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#elif defined (U_OPENGL_4)
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#include <testbed/framework/draw_gl4.h>
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#else
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#endif
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#include <imgui/imgui.h>
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Camera* g_camera = nullptr;
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Draw* g_draw = nullptr;
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bool g_glDrawPoints;
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bool g_glDrawLines;
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bool g_glDrawTriangles;
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b3Mat44 g_glViewMatrix;
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b3Mat44 g_glProjectionMatrix;
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Camera::Camera()
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{
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m_center.SetZero();
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m_q.SetIdentity();
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m_width = 1024.0f;
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m_height = 768.0f;
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m_zNear = 1.0f;
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m_zFar = 1000.0f;
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m_fovy = 0.25f * B3_PI;
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m_zoom = 10.0f;
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}
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b3Mat44 Camera::BuildProjectionMatrix() const
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{
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float32 w = m_width, h = m_height;
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float32 t = tan(0.5f * m_fovy);
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float32 ratio = w / h;
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float32 sx = 1.0f / (ratio * t);
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float32 sy = 1.0f / t;
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float32 inv_range = 1.0f / (m_zNear - m_zFar);
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float32 sz = inv_range * (m_zNear + m_zFar);
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float32 tz = inv_range * m_zNear * m_zFar;
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b3Mat44 m;
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m.x = b3Vec4(sx, 0.0f, 0.0f, 0.0f);
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m.y = b3Vec4(0.0f, sy, 0.0f, 0.0f);
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m.z = b3Vec4(0.0f, 0.0f, sz, -1.0f);
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m.w = b3Vec4(0.0f, 0.0f, tz, 0.0f);
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return m;
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}
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b3Transform Camera::BuildWorldTransform() const
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{
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b3Transform xf;
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xf.rotation = b3QuatMat33(m_q);
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xf.position = (m_zoom * xf.rotation.z) - m_center;
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return xf;
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}
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b3Mat44 Camera::BuildWorldMatrix() const
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{
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b3Transform xf = BuildWorldTransform();
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return b3TransformMat44(xf);
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}
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b3Transform Camera::BuildViewTransform() const
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{
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b3Transform xf;
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xf.rotation = b3QuatMat33(m_q);
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xf.position = (m_zoom * xf.rotation.z) - m_center;
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return b3Inverse(xf);
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}
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b3Mat44 Camera::BuildViewMatrix() const
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{
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b3Transform xf = BuildViewTransform();
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return b3TransformMat44(xf);
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}
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b3Vec2 Camera::ConvertWorldToScreen(const b3Vec3& pw3) const
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{
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float32 w = m_width, h = m_height;
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b3Mat44 P = BuildProjectionMatrix();
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b3Mat44 V = BuildViewMatrix();
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b3Vec4 pw(pw3.x, pw3.y, pw3.z, 1.0f);
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b3Vec4 pp = P * V * pw;
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b3Vec3 pn(pp.x, pp.y, pp.z);
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float32 inv_w = pp.w != 0.0f ? 1.0f / pp.w : 1.0f;
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pn *= inv_w;
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float32 u = 0.5f * (pn.x + 1.0f);
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float32 v = 0.5f * (pn.y + 1.0f);
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b3Vec2 ps;
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ps.x = u * w;
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ps.y = (1.0f - v) * h;
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return ps;
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}
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b3Ray3 Camera::ConvertScreenToWorld(const b3Vec2& ps) const
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{
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float32 w = m_width, h = m_height;
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float32 t = tan(0.5f * m_fovy);
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float32 ratio = w / h;
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b3Vec3 vv;
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vv.x = 2.0f * ratio * ps.x / w - ratio;
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vv.y = -2.0f * ps.y / h + 1.0f;
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vv.z = -1.0f / t;
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b3Transform xf = BuildWorldTransform();
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b3Vec3 vw = xf.rotation * vv;
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vw.Normalize();
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b3Ray3 rw;
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rw.direction = vw;
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rw.origin = xf.position;
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rw.fraction = m_zFar;
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return rw;
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}
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Draw::Draw()
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{
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g_glViewMatrix.SetZero();
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g_glProjectionMatrix.SetZero();
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g_glDrawPoints = true;
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g_glDrawLines = true;
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g_glDrawTriangles = true;
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m_points = new DrawPoints();
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m_lines = new DrawLines();
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m_triangles = new DrawTriangles();
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m_wire = new DrawWire();
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m_solid = new DrawSolid();
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}
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Draw::~Draw()
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{
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delete m_points;
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delete m_lines;
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delete m_triangles;
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delete m_wire;
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delete m_solid;
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}
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void Draw::SetViewMatrix(const b3Mat44& m)
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{
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g_glViewMatrix = m;
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}
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void Draw::SetProjectionMatrix(const b3Mat44& m)
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{
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g_glProjectionMatrix = m;
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}
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void Draw::EnableDrawPoints(bool flag)
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{
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g_glDrawPoints = flag;
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}
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void Draw::EnableDrawLines(bool flag)
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{
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g_glDrawLines = flag;
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}
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void Draw::EnableDrawTriangles(bool flag)
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{
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g_glDrawTriangles = flag;
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}
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void Draw::DrawPoint(const b3Vec3& p, float32 size, const b3Color& color)
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{
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m_points->Vertex(p, size, color);
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}
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void Draw::DrawSegment(const b3Vec3& p1, const b3Vec3& p2, const b3Color& color)
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{
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m_lines->Vertex(p1, color);
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m_lines->Vertex(p2, color);
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}
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void Draw::DrawTriangle(const b3Vec3& p1, const b3Vec3& p2, const b3Vec3& p3, const b3Color& color)
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{
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DrawSegment(p1, p2, color);
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DrawSegment(p2, p3, color);
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DrawSegment(p3, p1, color);
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}
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void Draw::DrawSolidTriangle(const b3Vec3& normal, const b3Vec3& p1, const b3Vec3& p2, const b3Vec3& p3, const b3Color& color)
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{
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m_triangles->Vertex(p1, color, normal);
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m_triangles->Vertex(p2, color, normal);
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m_triangles->Vertex(p3, color, normal);
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}
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void Draw::DrawPolygon(const b3Vec3* vertices, u32 count, const b3Color& color)
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{
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b3Vec3 p1 = vertices[count - 1];
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for (u32 i = 0; i < count; ++i)
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{
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b3Vec3 p2 = vertices[i];
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m_lines->Vertex(p1, color);
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m_lines->Vertex(p2, color);
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p1 = p2;
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}
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}
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void Draw::DrawSolidPolygon(const b3Vec3& normal, const b3Vec3* vertices, u32 count, const b3Color& color)
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{
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b3Color fillColor(color.r, color.g, color.b, color.a);
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b3Vec3 p1 = vertices[0];
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for (u32 i = 1; i < count - 1; ++i)
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{
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b3Vec3 p2 = vertices[i];
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b3Vec3 p3 = vertices[i + 1];
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m_triangles->Vertex(p1, fillColor, normal);
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m_triangles->Vertex(p2, fillColor, normal);
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m_triangles->Vertex(p3, fillColor, normal);
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}
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}
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void Draw::DrawCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
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{
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// Build a tangent vector to normal.
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b3Vec3 u = b3Cross(normal, b3Vec3(1.0f, 0.0f, 0.0f));
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b3Vec3 v = b3Cross(normal, b3Vec3(0.0f, 1.0f, 0.0f));
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// Handle edge cases (zero cross product).
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b3Vec3 n1;
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if (b3LengthSquared(u) > b3LengthSquared(v))
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{
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n1 = u;
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}
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else
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{
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n1 = v;
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}
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n1.Normalize();
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// Build a quaternion to rotate the tangent about the normal.
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u32 kEdgeCount = 20;
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float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
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b3Quat q(normal, kAngleInc);
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b3Vec3 p1 = center + radius * n1;
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for (u32 i = 0; i < kEdgeCount; ++i)
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{
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b3Vec3 n2 = b3Mul(q, n1);
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b3Vec3 p2 = center + radius * n2;
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m_lines->Vertex(p1, color);
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m_lines->Vertex(p2, color);
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n1 = n2;
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p1 = p2;
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}
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}
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void Draw::DrawSolidCircle(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color)
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{
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b3Color fillColor(color.r, color.g, color.b, color.a);
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b3Color frameColor(0.5f * color.r, 0.5f * color.g, 0.5f * color.b, 1.0f);
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// Build a tangent vector to normal.
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b3Vec3 u = b3Cross(normal, b3Vec3(1.0f, 0.0f, 0.0f));
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b3Vec3 v = b3Cross(normal, b3Vec3(0.0f, 1.0f, 0.0f));
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// Handle edge cases (zero cross product).
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b3Vec3 n1;
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if (b3LengthSquared(u) > b3LengthSquared(v))
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{
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n1 = u;
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}
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else
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{
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n1 = v;
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}
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n1.Normalize();
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// Build a quaternion to rotate the tangent about the normal.
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const u32 kEdgeCount = 20;
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const float32 kAngleInc = 2.0f * B3_PI / float32(kEdgeCount);
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b3Quat q(normal, kAngleInc);
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b3Vec3 p1 = center + radius * n1;
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for (u32 i = 0; i < kEdgeCount; ++i)
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{
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b3Vec3 n2 = b3Mul(q, n1);
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b3Vec3 p2 = center + radius * n2;
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m_triangles->Vertex(center, fillColor, normal);
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m_triangles->Vertex(p1, fillColor, normal);
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m_triangles->Vertex(p2, fillColor, normal);
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n1 = n2;
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p1 = p2;
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}
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}
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void Draw::DrawSphere(const b3Vec3& center, float32 radius, const b3Color& color)
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{
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b3Transform xf;
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xf.SetIdentity();
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xf.position = center;
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m_wire->DrawSphere(radius, color, xf);
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}
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void Draw::DrawSolidSphere(const b3Vec3& center, float32 radius, const b3Color& color)
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{
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b3Transform xf;
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xf.SetIdentity();
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xf.position = center;
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m_solid->DrawSphere(radius, color, xf);
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}
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void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Color& color)
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{
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float32 height = b3Length(c1 - c2);
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{
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b3Transform xfc;
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xfc.rotation.SetIdentity();
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xfc.position = c1;
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m_wire->DrawSphere(radius, color, xfc);
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}
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if (height > 0.0f)
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{
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DrawSegment(c1, c2, color);
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{
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b3Transform xfc;
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xfc.rotation.SetIdentity();
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xfc.position = c2;
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m_wire->DrawSphere(radius, color, xfc);
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}
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}
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}
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void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Color& c)
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{
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float32 height = b3Length(c1 - c2);
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{
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b3Transform xfc;
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xfc.rotation.SetIdentity();
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xfc.position = c1;
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m_solid->DrawSphere(radius, c, xfc);
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}
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if (height > 0.0f)
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{
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{
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b3Mat33 R;
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R.y = (1.0f / height) * (c1 - c2);
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R.z = b3Perp(R.y);
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R.x = b3Cross(R.y, R.z);
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b3Transform xfc;
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xfc.position = 0.5f * (c1 + c2);
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xfc.rotation = R;
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m_solid->DrawCylinder(radius, height, c, xfc);
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}
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{
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b3Transform xfc;
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xfc.rotation.SetIdentity();
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xfc.position = c2;
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m_solid->DrawSphere(radius, c, xfc);
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}
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}
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}
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void Draw::DrawTransform(const b3Transform& xf)
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{
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float32 lenght = 1.0f;
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b3Color red(1.0f, 0.0f, 0.0f, 1.0f);
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b3Color green(0.0f, 1.0f, 0.0f, 1.0f);
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b3Color blue(0.0f, 0.0f, 1.0f, 1.0f);
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b3Vec3 position = xf.position;
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b3Mat33 rotation = xf.rotation;
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b3Vec3 A = position + lenght * rotation.x;
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b3Vec3 B = position + lenght * rotation.y;
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b3Vec3 C = position + lenght * rotation.z;
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DrawSegment(position, A, red);
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DrawSegment(position, B, green);
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DrawSegment(position, C, blue);
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}
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void Draw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
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{
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b3Vec3 lower = aabb.m_lower;
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b3Vec3 upper = aabb.m_upper;
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b3Vec3 vs[8];
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vs[0] = lower;
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vs[1] = b3Vec3(lower.x, upper.y, lower.z);
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vs[2] = b3Vec3(upper.x, upper.y, lower.z);
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vs[3] = b3Vec3(upper.x, lower.y, lower.z);
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vs[4] = upper;
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vs[5] = b3Vec3(upper.x, lower.y, upper.z);
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vs[6] = b3Vec3(lower.x, lower.y, upper.z);
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vs[7] = b3Vec3(lower.x, upper.y, upper.z);
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DrawSegment(vs[0], vs[1], color);
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DrawSegment(vs[1], vs[2], color);
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DrawSegment(vs[2], vs[3], color);
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DrawSegment(vs[3], vs[0], color);
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DrawSegment(vs[4], vs[5], color);
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DrawSegment(vs[5], vs[6], color);
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DrawSegment(vs[6], vs[7], color);
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DrawSegment(vs[7], vs[4], color);
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DrawSegment(vs[2], vs[4], color);
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DrawSegment(vs[5], vs[3], color);
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DrawSegment(vs[6], vs[0], color);
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DrawSegment(vs[1], vs[7], color);
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}
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void Draw::DrawString(const b3Color& color, const b3Vec2& ps, const char* text, ...)
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{
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va_list args;
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va_start(args, text);
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ImGui::SetNextWindowBgAlpha(0.0f);
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ImGui::SetNextWindowPos(ImVec2(0.0f, 0.0f));
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ImGui::SetNextWindowSize(ImVec2(g_camera->m_width, g_camera->m_height));
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ImGui::Begin("Superlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
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ImGui::SetCursorPos(ImVec2(ps.x, ps.y));
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ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, args);
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ImGui::End();
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va_end(args);
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}
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void Draw::DrawString(const b3Color& color, const b3Vec3& pw, const char* text, ...)
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{
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b3Vec2 ps = g_camera->ConvertWorldToScreen(pw);
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va_list args;
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va_start(args, text);
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ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
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ImGui::SetNextWindowBgAlpha(0.0f);
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ImGui::SetNextWindowPos(ImVec2(0.0f, 0.0f));
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ImGui::SetNextWindowSize(ImVec2(0.0f, 0.0f));
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ImGui::Begin("Superlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
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ImGui::SetCursorPos(ImVec2(ps.x, ps.y));
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ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, args);
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ImGui::End();
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ImGui::PopStyleVar();
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va_end(args);
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}
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void Draw::DrawString(const b3Color& color, const char* text, ...)
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{
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va_list args;
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va_start(args, text);
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ImGui::PushStyleVar(ImGuiStyleVar_WindowBorderSize, 0.0f);
|
|
ImGui::SetNextWindowBgAlpha(0.0f);
|
|
ImGui::SetNextWindowPos(ImVec2(0.0f, 40.0f));
|
|
ImGui::SetNextWindowSize(ImVec2(0.0f, 0.0f));
|
|
ImGui::Begin("Overlay", NULL, ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_AlwaysAutoResize | ImGuiWindowFlags_NoScrollbar);
|
|
ImGui::TextColoredV(ImVec4(color.r, color.g, color.b, color.a), text, args);
|
|
ImGui::End();
|
|
ImGui::PopStyleVar();
|
|
|
|
va_end(args);
|
|
}
|
|
|
|
void Draw::DrawSolidSphere(const b3SphereShape* s, const b3Color& c, const b3Transform& xf)
|
|
{
|
|
b3Transform xfc;
|
|
xfc.rotation = xf.rotation;
|
|
xfc.position = xf * s->m_center;
|
|
m_solid->DrawSphere(s->m_radius, c, xfc);
|
|
}
|
|
|
|
void Draw::DrawSolidCapsule(const b3CapsuleShape* s, const b3Color& c, const b3Transform& xf)
|
|
{
|
|
b3Vec3 c1 = s->m_centers[0];
|
|
b3Vec3 c2 = s->m_centers[1];
|
|
float32 height = b3Length(c1 - c2);
|
|
float32 radius = s->m_radius;
|
|
|
|
{
|
|
b3Transform xfc;
|
|
xfc.rotation = xf.rotation;
|
|
xfc.position = xf * c1;
|
|
m_solid->DrawSphere(radius, c, xfc);
|
|
}
|
|
|
|
if (height > 0.0f)
|
|
{
|
|
{
|
|
b3Mat33 R;
|
|
R.y = (1.0f / height) * (c1 - c2);
|
|
R.z = b3Perp(R.y);
|
|
R.x = b3Cross(R.y, R.z);
|
|
|
|
b3Transform xfc;
|
|
xfc.position = xf * (0.5f * (c1 + c2));
|
|
xfc.rotation = xf.rotation * R;
|
|
|
|
m_solid->DrawCylinder(radius, height, c, xfc);
|
|
}
|
|
|
|
{
|
|
b3Transform xfc;
|
|
xfc.rotation = xf.rotation;
|
|
xfc.position = xf * c2;
|
|
m_solid->DrawSphere(radius, c, xfc);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Draw::DrawSolidHull(const b3HullShape* s, const b3Color& c, const b3Transform& xf)
|
|
{
|
|
const b3Hull* hull = s->m_hull;
|
|
|
|
for (u32 i = 0; i < hull->faceCount; ++i)
|
|
{
|
|
const b3Face* face = hull->GetFace(i);
|
|
const b3HalfEdge* begin = hull->GetEdge(face->edge);
|
|
|
|
b3Vec3 n = xf.rotation * hull->planes[i].normal;
|
|
|
|
const b3HalfEdge* edge = hull->GetEdge(begin->next);
|
|
do
|
|
{
|
|
u32 i1 = begin->origin;
|
|
u32 i2 = edge->origin;
|
|
const b3HalfEdge* next = hull->GetEdge(edge->next);
|
|
u32 i3 = next->origin;
|
|
|
|
b3Vec3 p1 = xf * hull->vertices[i1];
|
|
b3Vec3 p2 = xf * hull->vertices[i2];
|
|
b3Vec3 p3 = xf * hull->vertices[i3];
|
|
|
|
m_triangles->Vertex(p1, c, n);
|
|
m_triangles->Vertex(p2, c, n);
|
|
m_triangles->Vertex(p3, c, n);
|
|
|
|
edge = next;
|
|
} while (hull->GetEdge(edge->next) != begin);
|
|
}
|
|
}
|
|
|
|
void Draw::DrawSolidMesh(const b3MeshShape* s, const b3Color& c, const b3Transform& xf)
|
|
{
|
|
const b3Mesh* mesh = s->m_mesh;
|
|
for (u32 i = 0; i < mesh->triangleCount; ++i)
|
|
{
|
|
const b3Triangle* t = mesh->triangles + i;
|
|
|
|
b3Vec3 p1 = xf * mesh->vertices[t->v1];
|
|
b3Vec3 p2 = xf * mesh->vertices[t->v2];
|
|
b3Vec3 p3 = xf * mesh->vertices[t->v3];
|
|
|
|
b3Vec3 n1 = b3Cross(p2 - p1, p3 - p1);
|
|
n1.Normalize();
|
|
|
|
m_triangles->Vertex(p1, c, n1);
|
|
m_triangles->Vertex(p2, c, n1);
|
|
m_triangles->Vertex(p3, c, n1);
|
|
|
|
b3Vec3 n2 = -n1;
|
|
|
|
m_triangles->Vertex(p1, c, n2);
|
|
m_triangles->Vertex(p3, c, n2);
|
|
m_triangles->Vertex(p2, c, n2);
|
|
}
|
|
}
|
|
|
|
void Draw::DrawSolidShape(const b3Shape* s, const b3Color& c, const b3Transform& xf)
|
|
{
|
|
switch (s->GetType())
|
|
{
|
|
case e_sphereShape:
|
|
{
|
|
DrawSolidSphere((b3SphereShape*)s, c, xf);
|
|
break;
|
|
}
|
|
case e_capsuleShape:
|
|
{
|
|
DrawSolidCapsule((b3CapsuleShape*)s, c, xf);
|
|
break;
|
|
}
|
|
case e_hullShape:
|
|
{
|
|
DrawSolidHull((b3HullShape*)s, c, xf);
|
|
break;
|
|
}
|
|
case e_meshShape:
|
|
{
|
|
DrawSolidMesh((b3MeshShape*)s, c, xf);
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void Draw::DrawSolidShapes(const b3World& world)
|
|
{
|
|
for (b3Body* b = world.GetBodyList().m_head; b; b = b->GetNext())
|
|
{
|
|
b3Color c;
|
|
if (b->IsAwake() == false)
|
|
{
|
|
c = b3Color(0.5f, 0.25f, 0.25f, 1.0f);
|
|
}
|
|
else if (b->GetType() == e_staticBody)
|
|
{
|
|
c = b3Color(0.5f, 0.5f, 0.5f, 1.0f);
|
|
}
|
|
else if (b->GetType() == e_dynamicBody)
|
|
{
|
|
c = b3Color(1.0f, 0.5f, 0.5f, 1.0f);
|
|
}
|
|
else
|
|
{
|
|
c = b3Color(0.5f, 0.5f, 1.0f, 1.0f);
|
|
}
|
|
|
|
b3Transform xf = b->GetTransform();
|
|
for (b3Shape* s = b->GetShapeList().m_head; s; s = s->GetNext())
|
|
{
|
|
DrawSolidShape(s, c, xf);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Draw::Flush()
|
|
{
|
|
m_triangles->Flush();
|
|
m_lines->Flush();
|
|
m_points->Flush();
|
|
} |