karo/karo.cpp

// karo.cpp : This file contains the 'main' function. Program execution begins and ends there.
//

//#define GLEW_STATIC
#include <GL/glew.h>
#include <GLFW/glfw3.h>

#include <iostream>
#include <vector>

#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/type_ptr.hpp>

#include <physx/PxPhysics.h>
//#include <physx/PxFoundation.h>
#include <physx/PxConfig.h>
#include <physx/PxPhysicsAPI.h> 

//#include <physx/PxFiltering.h>

using namespace physx;

struct Vertex {
	glm::vec3 pos;
	glm::vec3 color;
};


static const char* s_vs_src = R"GLSL(
#version 330 core

layout (location = 0) in vec3 a_pos;
layout (location = 1) in vec3 a_color;

out vec3 u_color;

uniform mat4 u_mvp;

void main() {
	gl_Position = u_mvp * vec4(a_pos, 1.0);
	u_color = a_color;
}

)GLSL";

static const char* s_fs_src = R"GLSL(
#version 330 core

in vec3 u_color;

out vec4 o_color;

void main() {
	o_color = vec4(u_color, 1.0);
}
)GLSL";

static void CheckShaderCompileErrors(GLuint shader) {
	GLint success;
	GLchar infoLog[512];
	glGetShaderiv(shader, GL_COMPILE_STATUS, &success);
	if (!success) {
		glGetShaderInfoLog(shader, 512, NULL, infoLog);
		std::cerr << "Shader compilation failed: " << infoLog << std::endl;
		exit(1);
	}
}

static void CheckProgramLinkErrors(GLuint program) {
	GLint success;
	GLchar infoLog[512];
	glGetProgramiv(program, GL_LINK_STATUS, &success);
	if (!success) {
		glGetProgramInfoLog(program, 512, NULL, infoLog);
		std::cerr << "Program link failed: " << infoLog << std::endl;
		exit(1);
	}
}

static std::vector<Vertex> s_draw_lines;
static std::vector<Vertex> s_draw_points;

static PxDefaultErrorCallback gDefaultErrorCallback;
static PxDefaultAllocator gDefaultAllocatorCallback;

static PxFoundation* s_foundation;
static PxPhysics* s_physics;
static PxScene* s_scene;
static PxDefaultCpuDispatcher* s_cpu_dispatcher;

static PxMaterial* s_material;

static PxRigidDynamic* s_box1;

static void InitPhysics() {
	s_foundation = PxCreateFoundation(PX_PHYSICS_VERSION, gDefaultAllocatorCallback, gDefaultErrorCallback);
	
	if (!s_foundation)
		exit(1);

	bool recordMemoryAllocations = false;

	s_physics = PxCreatePhysics(PX_PHYSICS_VERSION, *s_foundation, PxTolerancesScale(), recordMemoryAllocations, nullptr);
	if (!s_physics)
		exit(2);

	PxSceneDesc sceneDesc(s_physics->getTolerancesScale());
	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
	// create CPU dispatcher which mNbThreads worker threads
	s_cpu_dispatcher = PxDefaultCpuDispatcherCreate(1);
	if (!s_cpu_dispatcher)
		exit(3);

	sceneDesc.cpuDispatcher = s_cpu_dispatcher;

	if (!sceneDesc.filterShader)
		sceneDesc.filterShader = &PxDefaultSimulationFilterShader;

	s_scene = s_physics->createScene(sceneDesc);
	if (!s_scene)
		exit(4);

	auto m_scene = s_scene;
	bool enable = true;

	m_scene->setVisualizationParameter(PxVisualizationParameter::eSCALE, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eACTOR_AXES, enable ? 2.0f : 0.0f);
	////m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_EDGES, enable ? 1.0f : 0.0f);
	////m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_COMPOUNDS, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_AABBS, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eMBP_REGIONS, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eACTOR_AXES, enable ? 0.5f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eBODY_ANG_VELOCITY, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eBODY_AXES, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eBODY_LIN_VELOCITY, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eBODY_MASS_AXES, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_AABBS, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_AXES, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_COMPOUNDS, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_DYNAMIC, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_EDGES, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_FNORMALS, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eCOLLISION_STATIC, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eCONTACT_ERROR, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eCONTACT_FORCE, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eCONTACT_NORMAL, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eCONTACT_POINT, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eCULL_BOX, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eFORCE_DWORD, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eJOINT_LIMITS, enable ? 1.0f : 0.0f);
	//m_scene->setVisualizationParameter(PxVisualizationParameter::eJOINT_LOCAL_FRAMES, enable ? 1.0f : 0.0f);
	m_scene->setVisualizationParameter(PxVisualizationParameter::eWORLD_AXES, enable ? 1.0f : 0.0f);


	auto floor_material = s_physics->createMaterial(1.0f, 1.0f, 0.0f);
	s_material = s_physics->createMaterial(1.0f, 1.0f, 0.6f);

	auto floor = PxCreatePlane(*s_physics, PxPlane(PxVec3(0.f, 1.f, 0.f), 0.f), *floor_material);
	s_scene->addActor(*floor);

	s_box1 = PxCreateDynamic(*s_physics, PxTransform(PxVec3(0.f, 5.0f, 0.f)), PxBoxGeometry(0.5f, 0.5f, 0.5f), *s_material, 1.f);
	s_scene->addActor(*s_box1);
}

static void PhysicsFrame() {
	s_scene->simulate(1.0f / 60.0f);
	s_scene->fetchResults(true);
}

static glm::vec4 U32ColorToVec4(uint32_t rgba_value) {
	float red = static_cast<float>((rgba_value >> 24) & 0xFF) / 255.0f;
	float green = static_cast<float>((rgba_value >> 16) & 0xFF) / 255.0f;
	float blue = static_cast<float>((rgba_value >> 8) & 0xFF) / 255.0f;
	float alpha = static_cast<float>(rgba_value & 0xFF) / 255.0f;

	return glm::vec4(red, green, blue, alpha);
}

static void DrawPhysxDebug() {
	const PxRenderBuffer& rb = s_scene->getRenderBuffer();
	for(PxU32 i=0; i < rb.getNbPoints(); i++)
	{
		const PxDebugPoint& point = rb.getPoints()[i];
		// render the point
		s_draw_points.push_back({ glm::vec3(point.pos.x, point.pos.y, point.pos.z), U32ColorToVec4(point.color) });

	}

	for(PxU32 i=0; i < rb.getNbLines(); i++)
	{
		const PxDebugLine& line = rb.getLines()[i];
		// render the line
		s_draw_lines.push_back({ glm::vec3(line.pos0.x, line.pos0.y, line.pos0.z), U32ColorToVec4(line.color0) });
		s_draw_lines.push_back({ glm::vec3(line.pos1.x, line.pos1.y, line.pos1.z), U32ColorToVec4(line.color1) });
	}

}

static void ShutdownPhysics() {
	s_physics->release();
	s_foundation->release();
}

static int s_count = 0;


int main() {
	if (!glfwInit()) {
		std::cout << "Failed to initialize GLFW\n";
		return 1;
	}

	glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
	glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
	glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
	glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
	glfwWindowHint(GLFW_RESIZABLE, GL_TRUE);
	glfwWindowHint(GLFW_MAXIMIZED, GL_TRUE);
	glfwWindowHint(GLFW_DEPTH_BITS, 0);
	//glfwWindowHint(GLFW_DEPTH_BITS, 0);
	glfwWindowHint(GLFW_STENCIL_BITS, 0);
	glfwWindowHint(GLFW_VISIBLE, GLFW_FALSE);

	GLFWwindow* window = glfwCreateWindow(800, 600, "Karo", NULL, NULL);
	if (!window) {
		std::cerr << "Failed to create window\n";
		glfwTerminate();
		return 1;
	}

	glfwMakeContextCurrent(window);

	if (glewInit() != GLEW_OK) {
		std::cerr << "Failed to initialize GLEW\n";
		glfwTerminate();
		return 1;
	}

	std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl;

	GLuint shader;
	shader = glCreateProgram();

	GLuint vs = glCreateShader(GL_VERTEX_SHADER);
	glShaderSource(vs, 1, &s_vs_src, NULL);
	glCompileShader(vs);
	CheckShaderCompileErrors(vs);

	GLuint fs = glCreateShader(GL_FRAGMENT_SHADER);
	glShaderSource(fs, 1, &s_fs_src, NULL);
	glCompileShader(fs);
	CheckShaderCompileErrors(fs);

	glAttachShader(shader, vs);
	glAttachShader(shader, fs);
	glLinkProgram(shader);
	CheckProgramLinkErrors(shader);

	glDeleteShader(vs);
	glDeleteShader(fs);

	glUseProgram(shader);

	GLuint u_mvp = glGetUniformLocation(shader, "u_mvp");

	GLuint vao;
	glGenVertexArrays(1, &vao);
	glBindVertexArray(vao);

	GLuint vbo;
	glGenBuffers(1, &vbo);
	glBindBuffer(GL_ARRAY_BUFFER, vbo);
	
	//setup for stream draw
	glBufferData(GL_ARRAY_BUFFER, 0, NULL, GL_STREAM_DRAW);

	glEnableVertexAttribArray(0);
	glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(Vertex), (void*)offsetof(Vertex, pos));
	glEnableVertexAttribArray(1);
	glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, sizeof(Vertex), (void*)offsetof(Vertex, color));

	glBindVertexArray(0);

	//glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);

	glfwShowWindow(window);

	InitPhysics();


	glfwSetKeyCallback(window, [](GLFWwindow* window, int key, int scancode, int action, int mods) {
		if (action != GLFW_PRESS)
			return;

		switch (key) {
			case GLFW_KEY_ESCAPE:
				glfwSetWindowShouldClose(window, true);
				break;

			case GLFW_KEY_SPACE:
				s_box1->addForce(PxVec3(0.0f, 100.0f, 0.0f));
				break;

			case GLFW_KEY_E:
				for (int i = 0; i < 100; i++) {

					auto newbox = PxCreateDynamic(*s_physics, PxTransform(PxVec3(0.f, 5.0f * i, 0.f)), PxBoxGeometry(0.5f, 0.5f, 0.5f), *s_material, 1.f);
					s_scene->addActor(*newbox);
					s_count++;
				}
				break;

			case GLFW_KEY_W:
				printf("pocet: %d\n", s_count);
				break;


		}
	});

	glfwSwapInterval(1);

	while (!glfwWindowShouldClose(window)) {
		glfwPollEvents();
	
		int width, height;
		glfwGetFramebufferSize(window, &width, &height);

		glViewport(0, 0, width, height);

		glm::mat4 proj = glm::perspective(glm::radians(45.0f), (float)width / (float)height, 0.1f, 1000.0f);
		glm::mat4 view = glm::lookAt(glm::vec3(1.0f, 10.0f, 20.0f) * 10.0f, glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(0.0, 1.0, 0.0));

		glm::mat4 mvp = proj * view;

		glUniformMatrix4fv(u_mvp, 1, GL_FALSE, glm::value_ptr(mvp));

		//glClearColor(0.2f, 0.3f, 0.3f, 1.0f);
		glClear(GL_COLOR_BUFFER_BIT);

		//// test data
		//s_draw_verts.push_back({ glm::vec3(-1, 0, 0), glm::vec3(1.0f, 0.0f, 0.0f) });
		//s_draw_verts.push_back({ glm::vec3(1, 0, 0), glm::vec3(0.0f, 1.0f, 0.0f) });

		PhysicsFrame();

		DrawPhysxDebug();

		glBindVertexArray(vao);
		glBindBuffer(GL_ARRAY_BUFFER, vbo);

		glBufferData(GL_ARRAY_BUFFER, s_draw_lines.size() * sizeof(Vertex), s_draw_lines.data(), GL_STREAM_DRAW);
		glDrawArrays(GL_LINES, 0, s_draw_lines.size());

		//glBufferData(GL_ARRAY_BUFFER, s_draw_points.size() * sizeof(Vertex), s_draw_points.data(), GL_STREAM_DRAW);
		//glDrawArrays(GL_POINTS, 0, s_draw_points.size());

		s_draw_lines.clear();
		s_draw_points.clear();

		glfwSwapBuffers(window);
	}

	ShutdownPhysics();
}

// Run program: Ctrl + F5 or Debug > Start Without Debugging menu
// Debug program: F5 or Debug > Start Debugging menu

// Tips for Getting Started: 
//   1. Use the Solution Explorer window to add/manage files
//   2. Use the Team Explorer window to connect to source control
//   3. Use the Output window to see build output and other messages
//   4. Use the Error List window to view errors
//   5. Go to Project > Add New Item to create new code files, or Project > Add Existing Item to add existing code files to the project
//   6. In the future, to open this project again, go to File > Open > Project and select the .sln file