test/gui/DiffabsDemo/DiffabsDemo.cpp

   1 /*
   2   Bullet Continuous Collision Detection and Physics Library
   3   Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
   4
   5   This software is provided 'as-is', without any express or implied warranty.
   6   In no event will the authors be held liable for any damages arising from the use of this software.
   7   Permission is granted to anyone to use this software for any purpose,
   8   including commercial applications, and to alter it and redistribute it freely,
   9   subject to the following restrictions:
  10
  11   1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
  12   2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13   3. This notice may not be removed or altered from any source distribution.
  14 */
  15
  16 /* This file is part of the hkl3d library.
  17  *
  18  * The hkl library is free software: you can redistribute it and/or modify
  19  * it under the terms of the GNU General Public License as published by
  20  * the Free Software Foundation, either version 3 of the License, or
  21  * (at your option) any later version.
  22  *
  23  * The hkl library is distributed in the hope that it will be useful,
  24  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  25  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  26  * GNU General Public License for more details.
  27  *
  28  * You should have received a copy of the GNU General Public License
  29  * along with the hkl library.  If not, see <http://www.gnu.org/licenses/>.
  30  *
  31  * Copyright (C) 2010      Synchrotron SOLEIL
  32  *                         L'Orme des Merisiers Saint-Aubin
  33  *                         BP 48 91192 GIF-sur-YVETTE CEDEX
  34  *
  35  * Authors: Oussama Sboui <oussama.sboui@synchrotron-soleil.fr>
  36  *          Picca Frédéric-Emmanuel <picca@synchrotron-soleil.fr>
  37  */
  38 #include "btBulletDynamicsCommon.h"
  39 #include "GLDebugDrawer.h"
  40
  41 #include "DiffabsDemo.h"
  42
  43 GLDebugDrawer debugDrawer;
  44
  45 float mu = 1185 * HKL_DEGTORAD;
  46 float komega = 1185 * HKL_DEGTORAD;
  47 float kappa = -1185 * HKL_DEGTORAD;
  48 float kphi = 0 * HKL_DEGTORAD;
  49 float ggamma = 0 * HKL_DEGTORAD;
  50 float delta = 0 * HKL_DEGTORAD;
  51
  52 // comment the next line for no animation
  53 #define ANIMATE
  54
  55 DiffabsDemo::DiffabsDemo(void)
  56 {
  57         const HklGeometryConfig *config;
  58
  59         config = hkl_geometry_factory_get_config_from_type(HKL_GEOMETRY_TYPE_KAPPA6C);
  60         _geometry = hkl_geometry_factory_new(config, 50 * HKL_DEGTORAD);
  61         hkl_geometry_set_values_v(_geometry, 6, mu, komega, kappa, kphi, ggamma, delta);
  62         hkl_geometry_fprintf(stdout, _geometry);
  63
  64         _hkl3d = new Hkl3D("../../../data/diffabs.dae", _geometry);
  65 }
  66
  67 DiffabsDemo::~DiffabsDemo(void)
  68 {
  69         if(_hkl3d)
  70                 delete _hkl3d;
  71
  72         if(_geometry)
  73                 hkl_geometry_free(_geometry);
  74 }
  75
  76 void DiffabsDemo::clientMoveAndDisplay(void)
  77 {
  78         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  79         this->displayCallback();
  80 }
  81
  82 void DiffabsDemo::displayCallback(void)
  83 {
  84         int i;
  85         int len;
  86         int numManifolds;
  87         btScalar m[16];
  88         btVector3 worldBoundsMin;
  89         btVector3 worldBoundsMax;
  90
  91         glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
  92         glDisable(GL_LIGHTING);
  93         GL_ShapeDrawer::drawCoordSystem();
  94         _hkl3d->_btCollisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
  95
  96 #ifdef ANIMATE
  97         // create an animation to see collisions
  98         mu += 5 * HKL_DEGTORAD;
  99         komega += 5 * HKL_DEGTORAD;
 100         kappa -= 5 * HKL_DEGTORAD;
 101         kphi += 5 * HKL_DEGTORAD;
 102         ggamma -= 5 * HKL_DEGTORAD;
 103         delta += 5 * HKL_DEGTORAD;
 104         hkl_geometry_set_values_v(_geometry, 6, mu, komega, kappa, kphi, ggamma, delta);
 105         hkl_geometry_fprintf(stdout, _geometry);
 106         _hkl3d->is_colliding();
 107 #endif
 108
 109         // draw the diffractometer
 110         // get the world bounding box from bullet
 111         _hkl3d->_btCollisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,
 112                                                                       worldBoundsMax);
 113
 114         len = _hkl3d->_btCollisionObjects.size();
 115         for(i=0; i<len; ++i){
 116                 btCollisionObject *object;
 117
 118                 object = _hkl3d->_btCollisionObjects[i];
 119                 object->getWorldTransform().getOpenGLMatrix( m );
 120                 m_shapeDrawer->drawOpenGL(m,
 121                                           object->getCollisionShape(),
 122                                           _hkl3d->_colors[i],
 123                                           this->getDebugMode(),
 124                                           worldBoundsMin,
 125                                           worldBoundsMax);
 126         }
 127
 128         ///one way to draw all the contact points is iterating over contact manifolds / points:
 129         numManifolds = _hkl3d->_btDispatcher->getNumManifolds();
 130         for (i=0; i<numManifolds; i++){
 131                 btPersistentManifold *contactManifold;
 132                 btCollisionObject *obA;
 133                 btCollisionObject *obB;
 134                 int numContacts;
 135                 int j;
 136
 137                 contactManifold = _hkl3d->_btDispatcher->getManifoldByIndexInternal(i);
 138                 obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
 139                 obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
 140
 141                 // draw the colliding object in debug mode so we can see them
 142                 obA->getWorldTransform().getOpenGLMatrix( m );
 143                 m_shapeDrawer->drawOpenGL(m,
 144                                           obA->getCollisionShape(),
 145                                           btVector3(1, 1, 1),
 146                                           1,
 147                                           worldBoundsMin,
 148                                           worldBoundsMax);
 149
 150                 obB->getWorldTransform().getOpenGLMatrix( m );
 151                 m_shapeDrawer->drawOpenGL(m,
 152                                           obB->getCollisionShape(),
 153                                           btVector3(1, 1, 1),
 154                                           1,
 155                                           worldBoundsMin,
 156                                           worldBoundsMax);
 157
 158                 // now draw the manifolds / points
 159                 numContacts = contactManifold->getNumContacts();
 160                 for (j=0; j<numContacts; j++){
 161                         btManifoldPoint & pt = contactManifold->getContactPoint(j);
 162
 163                         glBegin(GL_LINES);
 164                         glColor3f(1, 0, 1);
 165
 166                         btVector3 ptA = pt.getPositionWorldOnA();
 167                         btVector3 ptB = pt.getPositionWorldOnB();
 168
 169                         glVertex3d(ptA.x(),ptA.y(),ptA.z());
 170                         glVertex3d(ptB.x(),ptB.y(),ptB.z());
 171                         glEnd();
 172                 }
 173         }
 174
 175         glFlush();
 176         glutSwapBuffers();
 177 }
 178
 179 void DiffabsDemo::initPhysics(void)
 180 {
 181
 182 }