Torque3D-clone/Engine/lib/bullet/examples/OpenCL/rigidbody/GpuCompoundScene.cpp

#include "GpuCompoundScene.h"
#include "GpuRigidBodyDemo.h"
#include "OpenGLWindow/ShapeData.h"

#include "OpenGLWindow/GLInstancingRenderer.h"
#include "Bullet3Common/b3Quaternion.h"
#include "OpenGLWindow/b3gWindowInterface.h"
#include "Bullet3OpenCL/BroadphaseCollision/b3GpuSapBroadphase.h"
#include "../GpuDemoInternalData.h"
#include "Bullet3OpenCL/Initialize/b3OpenCLUtils.h"
#include "OpenGLWindow/OpenGLInclude.h"
#include "OpenGLWindow/GLInstanceRendererInternalData.h"
#include "Bullet3OpenCL/ParallelPrimitives/b3LauncherCL.h"
#include "Bullet3OpenCL/RigidBody/b3GpuRigidBodyPipeline.h"
#include "Bullet3OpenCL/RigidBody/b3GpuNarrowPhase.h"
#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h"
#include "GpuRigidBodyDemoInternalData.h"
#include "Bullet3Common/b3Transform.h"

#include "OpenGLWindow/GLInstanceGraphicsShape.h"

#define NUM_COMPOUND_CHILDREN_X 4
#define NUM_COMPOUND_CHILDREN_Y 4
#define NUM_COMPOUND_CHILDREN_Z 4



void GpuCompoundScene::setupScene(const ConstructionInfo& ci)
{

	createStaticEnvironment(ci);

			int strideInBytes = 9*sizeof(float);
	int numVertices = sizeof(cube_vertices)/strideInBytes;
	int numIndices = sizeof(cube_indices)/sizeof(int);
		float scaling[4] = {1,1,1,1};

	GLInstanceVertex* cubeVerts = (GLInstanceVertex*)&cube_vertices[0];
	int stride2 = sizeof(GLInstanceVertex);
	b3Assert(stride2 == strideInBytes);
	int index=0;
	int colIndex = -1;
	b3AlignedObjectArray<GLInstanceVertex> vertexArray;
	b3AlignedObjectArray<int> indexArray;
	{
		int childColIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
		

/*		b3Vector3 childPositions[3] = {
			b3Vector3(0,-2,0),
			b3Vector3(0,0,0),
			b3Vector3(0,0,2)
		};
		*/

		
		b3AlignedObjectArray<b3GpuChildShape> childShapes;
		
		for (int x=0;x<NUM_COMPOUND_CHILDREN_X;x++)
		for (int y=0;y<NUM_COMPOUND_CHILDREN_Y;y++)
		for (int z=0;z<NUM_COMPOUND_CHILDREN_Z;z++)
		{
			int blax = x!=0 ?1 : 0;
			int blay = y!=0 ?1 : 0;
			int blaz = z!=0 ?1 : 0;
			int bla=blax+blay+blaz;
			if (bla!=1)
				continue;



			//for now, only support polyhedral child shapes
			b3GpuChildShape child;
			child.m_shapeIndex = childColIndex;
			b3Vector3 pos=b3MakeVector3((x-NUM_COMPOUND_CHILDREN_X/2.f)*2,(y-NUM_COMPOUND_CHILDREN_X/2.f)*2,(z-NUM_COMPOUND_CHILDREN_X/2.f)*2);//childPositions[i];
			b3Quaternion orn(0,0,0,1);
			for (int v=0;v<4;v++)
			{
				child.m_childPosition[v] = pos[v];
				child.m_childOrientation[v] = orn[v];
			}
			childShapes.push_back(child);
			b3Transform tr;
			tr.setIdentity();
			tr.setOrigin(pos);
			tr.setRotation(orn);

			int baseIndex = vertexArray.size();
			for (int j=0;j<numIndices;j++)
				indexArray.push_back(cube_indices[j]+baseIndex);

			//add transformed graphics vertices and indices
			for (int v=0;v<numVertices;v++)
			{
				GLInstanceVertex vert = cubeVerts[v];
				b3Vector3 vertPos=b3MakeVector3(vert.xyzw[0],vert.xyzw[1],vert.xyzw[2]);
				b3Vector3 newPos = tr*vertPos;
				vert.xyzw[0] = newPos[0];
				vert.xyzw[1] = newPos[1];
				vert.xyzw[2] = newPos[2];
				vert.xyzw[3] = 0.f;
				vertexArray.push_back(vert);
			}

		}
		colIndex= m_data->m_np->registerCompoundShape(&childShapes);
		
	}
	

	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
	int shapeId = ci.m_instancingRenderer->registerShape(&vertexArray[0].xyzw[0],vertexArray.size(),&indexArray[0],indexArray.size());

	b3Vector4 colors[4] = 
	{
		b3MakeVector4(1,0,0,1),
		b3MakeVector4(0,1,0,1),
		b3MakeVector4(0,0,1,1),
		b3MakeVector4(0,1,1,1),
	};
		
	int curColor = 0;
	for (int i=0;i<ci.arraySizeX;i++)
	{
		for (int j=0;j<ci.arraySizeY;j++)
		{
			for (int k=0;k<ci.arraySizeZ;k++)
			{
				float mass = 1;//j==0? 0.f : 1.f;

				b3Vector3 position=b3MakeVector3((i-ci.arraySizeX/2.)*ci.gapX,35+j*3*ci.gapY,(k-ci.arraySizeZ/2.f)*ci.gapZ);
				//b3Quaternion orn(0,0,0,1);
				b3Quaternion orn(b3MakeVector3(1,0,0),0.7);
				
				b3Vector4 color = colors[curColor];
				curColor++;
				curColor&=3;
				b3Vector4 scaling=b3MakeVector4(1,1,1,1);
				int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
				int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);
				
				index++;
			}
		}
	}

	m_data->m_rigidBodyPipeline->writeAllInstancesToGpu();
	

	float camPos[4]={0,0,0};//65.5,4.5,65.5,0};
	//float camPos[4]={1,12.5,1.5,0};
	m_instancingRenderer->setCameraTargetPosition(camPos);
	m_instancingRenderer->setCameraDistance(320);
	
}






void GpuCompoundScene::createStaticEnvironment(const ConstructionInfo& ci)
{

		int strideInBytes = 9*sizeof(float);

	
	

	//int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
	int group=1;
	int mask=1;
	int index=0;
	int colIndex = 0;

	{
		if (1)
	{
			float radius = 41;
			int prevGraphicsShapeIndex = -1;
		{

			
		
			if (radius>=100)
			{
				int numVertices = sizeof(detailed_sphere_vertices)/strideInBytes;
				int numIndices = sizeof(detailed_sphere_indices)/sizeof(int);
				prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&detailed_sphere_vertices[0],numVertices,detailed_sphere_indices,numIndices);
			} else
			{
				bool usePointSprites = false;
				if (usePointSprites)
				{
					int numVertices = sizeof(point_sphere_vertices)/strideInBytes;
					int numIndices = sizeof(point_sphere_indices)/sizeof(int);
					prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&point_sphere_vertices[0],numVertices,point_sphere_indices,numIndices,B3_GL_POINTS);
				} else
				{
					if (radius>=10)
					{
						int numVertices = sizeof(medium_sphere_vertices)/strideInBytes;
						int numIndices = sizeof(medium_sphere_indices)/sizeof(int);
						prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&medium_sphere_vertices[0],numVertices,medium_sphere_indices,numIndices);
					} else
					{
						int numVertices = sizeof(low_sphere_vertices)/strideInBytes;
						int numIndices = sizeof(low_sphere_indices)/sizeof(int);
						prevGraphicsShapeIndex = ci.m_instancingRenderer->registerShape(&low_sphere_vertices[0],numVertices,low_sphere_indices,numIndices);
					}
				}
			}

		}
		b3Vector4 colors[4] = 
		{
			b3MakeVector4(1,0,0,1),
			b3MakeVector4(0,1,0,1),
			b3MakeVector4(0,1,1,1),
			b3MakeVector4(1,1,0,1),
		};

		int curColor = 1;

		//int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
		int colIndex = m_data->m_np->registerSphereShape(radius);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
		float mass = 0.f;

		//b3Vector3 position((j&1)+i*2.2,1+j*2.,(j&1)+k*2.2);
		b3Vector3 position=b3MakeVector3(0,-41,0);

		
		b3Quaternion orn(0,0,0,1);

		b3Vector4 color = colors[curColor];
		curColor++;
		curColor&=3;
		b3Vector4 scaling=b3MakeVector4(radius,radius,radius,1);
		int id = ci.m_instancingRenderer->registerGraphicsInstance(prevGraphicsShapeIndex,position,orn,color,scaling);
		int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(mass,position,orn,colIndex,index,false);

		index++;


	}
	}
}

void GpuCompoundPlaneScene::createStaticEnvironment(const ConstructionInfo& ci)
{

	int index=0;
	b3Vector3 normal=b3MakeVector3(0,1,0);
	float constant=0.f;
	int strideInBytes = 9*sizeof(float);
	int numVertices = sizeof(cube_vertices)/strideInBytes;
	int numIndices = sizeof(cube_indices)/sizeof(int);
	
	b3Vector4 scaling=b3MakeVector4(400,1.,400,1);

	//int colIndex = m_data->m_np->registerPlaneShape(normal,constant);//>registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
	int colIndex = m_data->m_np->registerConvexHullShape(&cube_vertices[0],strideInBytes,numVertices, scaling);
	b3Vector3 position=b3MakeVector3(0,0,0);
	b3Quaternion orn(0,0,0,1);
	//		b3Quaternion orn(b3Vector3(1,0,0),0.3);
	b3Vector4 color=b3MakeVector4(0,0,1,1);
	
	int shapeId = ci.m_instancingRenderer->registerShape(&cube_vertices[0],numVertices,cube_indices,numIndices);
	
	
	int id = ci.m_instancingRenderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
	int pid = m_data->m_rigidBodyPipeline->registerPhysicsInstance(0.f,position,orn,colIndex,index,false);
}