C++ SimdTransform::getOpenGLMatrix方法代码示例

void renderme()
{
	float m[16];
	int i;

	for (i=0;i<numObjects;i++)
	{
		SimdTransform transA;
		transA.setIdentity();
		
		float pos[3];
		float rot[4];

		ms[i].getWorldPosition(pos[0],pos[1],pos[2]);
		ms[i].getWorldOrientation(rot[0],rot[1],rot[2],rot[3]);

		SimdQuaternion q(rot[0],rot[1],rot[2],rot[3]);
		transA.setRotation(q);

		SimdPoint3 dpos;
		dpos.setValue(pos[0],pos[1],pos[2]);

		transA.setOrigin( dpos );
		transA.getOpenGLMatrix( m );
		
		SimdVector3 wireColor(0.f,0.f,1.f); //wants deactivation

		///color differently for active, sleeping, wantsdeactivation states
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 1) //active
		{
			wireColor = SimdVector3 (1.f,0.f,0.f);
		}
		if (physObjects[i]->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
		{
			wireColor = SimdVector3 (0.f,1.f,0.f);
		}

		char	extraDebug[125];
		//sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
		shapePtr[shapeIndex[i]]->SetExtraDebugInfo(extraDebug);
		GL_ShapeDrawer::DrawOpenGL(m,shapePtr[shapeIndex[i]],wireColor,getDebugMode());
	}

}

void LinearConvexCastDemo::displayCallback(void) 
{
	updateCamera();

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
	glDisable(GL_LIGHTING);

	//GL_ShapeDrawer::DrawCoordSystem();

	float m[16];
	int i;

	for (i=0;i<numObjects;i++)
	{
		tr[i].getOpenGLMatrix( m );
		GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());
	}

	
	int shapeIndex = 1;

	SimdQuaternion orn;
	orn.setEuler(yaw,pitch,roll);
	tr[shapeIndex].setRotation(orn);
	

	if (m_stepping || m_singleStep)
	{
		m_singleStep = false;
		pitch += 0.005f;
		yaw += 0.01f;
	}

	SimdVector3 fromA(-25,11,0);
	SimdVector3 toA(15,11,0);

	SimdQuaternion ornFromA(0.f,0.f,0.f,1.f);
	SimdQuaternion ornToA(0.f,0.f,0.f,1.f);

	SimdTransform	rayFromWorld(ornFromA,fromA);
	SimdTransform	rayToWorld(ornToA,toA);

	tr[0] = rayFromWorld;

	if (drawLine)
	{
		glBegin(GL_LINES);
		glColor3f(0, 0, 1);
		glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
		glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
		glEnd();
	}

	//now perform a raycast on the shapes, in local (shape) space
	
	//choose one of the following lines

	

	for (i=1;i<numObjects;i++)
	{
		ContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0);
		GjkConvexCast	convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
		
		//BU_CollisionPair (algebraic version) is currently broken, will look into this
		//BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
		SubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
				
		gGjkSimplexSolver.reset();

		ConvexCast::CastResult rayResult;
		
	

		if (convexCaster3.calcTimeOfImpact(rayFromWorld,rayToWorld,tr[i],tr[i],rayResult))
		{

			glDisable(GL_DEPTH_TEST);
			SimdVector3 hitPoint;
			hitPoint.setInterpolate3(rayFromWorld.getOrigin(),rayToWorld.getOrigin(),rayResult.m_fraction);
			
			//draw the raycast result
			glBegin(GL_LINES);
			glColor3f(1, 1, 1);
			glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
			glVertex3d(hitPoint.x(),hitPoint.y(),hitPoint.z());
			glEnd();
			glEnable(GL_DEPTH_TEST);

			SimdTransform	toTransWorld;
			toTransWorld = tr[0];
			toTransWorld.setOrigin(hitPoint);

			toTransWorld.getOpenGLMatrix( m );
			GL_ShapeDrawer::DrawOpenGL(m,shapePtr[0],SimdVector3(0,1,1),getDebugMode());


		}
	}

//.........这里部分代码省略.........

void clientDisplay(void) {

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    glDisable(GL_LIGHTING);

    //GL_ShapeDrawer::DrawCoordSystem();

    float m[16];
    int i;

    GjkPairDetector	convexConvex(shapePtr[0],shapePtr[1],&sGjkSimplexSolver,0);

    SimdVector3 seperatingAxis(0.00000000f,0.059727669f,0.29259586f);
    convexConvex.SetCachedSeperatingAxis(seperatingAxis);

    PointCollector gjkOutput;
    GjkPairDetector::ClosestPointInput input;
    input.m_transformA = tr[0];
    input.m_transformB = tr[1];

    convexConvex.GetClosestPoints(input ,gjkOutput,0);

    if (gjkOutput.m_hasResult)
    {
        SimdVector3 endPt = gjkOutput.m_pointInWorld +
                            gjkOutput.m_normalOnBInWorld*gjkOutput.m_distance;

        glBegin(GL_LINES);
        glColor3f(1, 0, 0);
        glVertex3d(gjkOutput.m_pointInWorld.x(), gjkOutput.m_pointInWorld.y(),gjkOutput.m_pointInWorld.z());
        glVertex3d(endPt.x(),endPt.y(),endPt.z());
        //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
        //glVertex3d(gjkOutputm_pointInWorld.x(), gjkOutputm_pointInWorld.y(),gjkOutputm_pointInWorld.z());
        glEnd();

    }

    for (i=0; i<numObjects; i++)
    {

        tr[i].getOpenGLMatrix( m );

        GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());


    }

    simplex.SetSimplexSolver(&sGjkSimplexSolver);
    SimdPoint3 ybuf[4],pbuf[4],qbuf[4];
    int numpoints = sGjkSimplexSolver.getSimplex(pbuf,qbuf,ybuf);
    simplex.Reset();

    for (i=0; i<numpoints; i++)
        simplex.AddVertex(ybuf[i]);

    SimdTransform ident;
    ident.setIdentity();
    ident.getOpenGLMatrix(m);
    GL_ShapeDrawer::DrawOpenGL(m,&simplex,SimdVector3(1,1,1),getDebugMode());


    SimdQuaternion orn;
    orn.setEuler(yaw,pitch,roll);
    tr[0].setRotation(orn);

//	pitch += 0.005f;
//	yaw += 0.01f;

    glFlush();
    glutSwapBuffers();
}