rename files, fix Linux build

Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp

@@ -0,0 +1,202 @@
+#include "Bullet2RigidBodyDemo.h"
+#include "btBulletDynamicsCommon.h"
+#include "OpenGLWindow/SimpleOpenGL3App.h"
+
+Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(SimpleOpenGL3App* app)
+	:m_glApp(app),
+	m_pickedBody(0),
+	m_pickedConstraint(0)
+{
+	m_config = 0;
+	m_dispatcher = 0;
+	m_bp = 0;
+	m_solver = 0;
+	m_dynamicsWorld = 0;
+}
+void Bullet2RigidBodyDemo::initPhysics()
+{
+	m_config = new btDefaultCollisionConfiguration;
+	m_dispatcher = new btCollisionDispatcher(m_config);
+	m_bp = new btDbvtBroadphase();
+	m_solver = new btSequentialImpulseConstraintSolver();
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
+}
+
+void Bullet2RigidBodyDemo::exitPhysics()
+{
+	delete m_dynamicsWorld;
+	m_dynamicsWorld=0;
+	delete m_solver;
+	m_solver=0;
+	delete m_bp;
+	m_bp=0;
+	delete m_dispatcher;
+	m_dispatcher=0;
+	delete m_config;
+	m_config=0;
+}
+
+Bullet2RigidBodyDemo::~Bullet2RigidBodyDemo()
+{
+	btAssert(m_config == 0);
+	btAssert(m_dispatcher == 0);
+	btAssert(m_bp == 0);
+	btAssert(m_solver == 0);
+	btAssert(m_dynamicsWorld == 0);
+}
+
+btVector3	Bullet2RigidBodyDemo::getRayTo(int x,int y)
+{
+	if (!m_glApp->m_instancingRenderer)
+	{
+		btAssert(0);
+		return btVector3(0,0,0);
+	}
+
+	float top = 1.f;
+	float bottom = -1.f;
+	float nearPlane = 1.f;
+	float tanFov = (top-bottom)*0.5f / nearPlane;
+	float fov = b3Scalar(2.0) * b3Atan(tanFov);
+
+	btVector3 camPos,camTarget;
+	m_glApp->m_instancingRenderer->getCameraPosition(camPos);
+	m_glApp->m_instancingRenderer->getCameraTargetPosition(camTarget);
+
+	btVector3	rayFrom = camPos;
+	btVector3 rayForward = (camTarget-camPos);
+	rayForward.normalize();
+	float farPlane = 10000.f;
+	rayForward*= farPlane;
+
+	btVector3 rightOffset;
+	btVector3 m_cameraUp=btVector3(0,1,0);
+	btVector3 vertical = m_cameraUp;
+
+	btVector3 hor;
+	hor = rayForward.cross(vertical);
+	hor.normalize();
+	vertical = hor.cross(rayForward);
+	vertical.normalize();
+
+	float tanfov = tanf(0.5f*fov);
+
+
+	hor *= 2.f * farPlane * tanfov;
+	vertical *= 2.f * farPlane * tanfov;
+
+	b3Scalar aspect;
+	float width = m_glApp->m_instancingRenderer->getScreenWidth();
+	float height = m_glApp->m_instancingRenderer->getScreenHeight();
+
+	aspect =  width / height;
+	
+	hor*=aspect;
+
+
+	btVector3 rayToCenter = rayFrom + rayForward;
+	btVector3 dHor = hor * 1.f/width;
+	btVector3 dVert = vertical * 1.f/height;
+
+
+	btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
+	rayTo += btScalar(x) * dHor;
+	rayTo -= btScalar(y) * dVert;
+	return rayTo;
+}
+
+	
+bool	Bullet2RigidBodyDemo::mouseMoveCallback(float x,float y)
+{
+//		if (m_data->m_altPressed!=0 || m_data->m_controlPressed!=0)
+//		return false;
+		
+	if (m_pickedBody  && m_pickedConstraint)
+	{
+		btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
+		if (pickCon)
+		{
+			//keep it at the same picking distance
+			btVector3 newRayTo = getRayTo(x,y);
+			btVector3 rayFrom;
+			btVector3 oldPivotInB = pickCon->getPivotInB();
+			btVector3 newPivotB;
+			m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
+			btVector3 dir = newRayTo-rayFrom;
+			dir.normalize();
+			dir *= m_oldPickingDist;
+
+			newPivotB = rayFrom + dir;
+			pickCon->setPivotB(newPivotB);
+		}
+	}
+		
+	return false;
+}
+bool	Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, float y)
+{
+
+	if (state==1)
+	{
+		if(button==0)// && (m_data->m_altPressed==0 && m_data->m_controlPressed==0))
+		{
+			btVector3 camPos;
+			m_glApp->m_instancingRenderer->getCameraPosition(camPos);
+
+			btVector3 rayFrom = camPos;
+			btVector3 rayTo = getRayTo(x,y);
+
+			btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
+			m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
+			if (rayCallback.hasHit())
+			{
+
+				btVector3 pickPos = rayCallback.m_hitPointWorld;
+				btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
+				if (body)
+				{
+					//other exclusions?
+					if (!(body->isStaticObject() || body->isKinematicObject()))
+					{
+						m_pickedBody = body;
+						m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
+						//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
+						btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
+						btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
+						m_dynamicsWorld->addConstraint(p2p,true);
+						m_pickedConstraint = p2p;
+						btScalar mousePickClamping = 30.f;
+						p2p->m_setting.m_impulseClamp = mousePickClamping;
+						//very weak constraint for picking
+						p2p->m_setting.m_tau = 0.001f;
+					}
+				}
+
+
+//					pickObject(pickPos, rayCallback.m_collisionObject);
+				m_oldPickingPos = rayTo;
+				m_hitPos = pickPos;
+				m_oldPickingDist  = (pickPos-rayFrom).length();
+//					printf("hit !\n");
+			//add p2p
+			}
+				
+		}
+	} else
+	{
+		if (button==0)
+		{
+			if (m_pickedConstraint)
+			{
+				m_dynamicsWorld->removeConstraint(m_pickedConstraint);
+				delete m_pickedConstraint;
+				m_pickedConstraint=0;
+				m_pickedBody = 0;
+			}
+			//remove p2p
+		}
+	}
+
+	//printf("button=%d, state=%d\n",button,state);
+	return false;
+}

Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.h

@@ -0,0 +1,43 @@
+#ifndef BULLET2_RIGIDBODY_DEMO_H
+#define BULLET2_RIGIDBODY_DEMO_H
+
+#include "LinearMath/btVector3.h"
+
+#include "../../AllBullet2Demos/BulletDemoInterface.h"
+
+class Bullet2RigidBodyDemo : public BulletDemoInterface
+{
+protected:
+	class btDiscreteDynamicsWorld* m_dynamicsWorld;
+	class btCollisionDispatcher*	m_dispatcher;
+	class btBroadphaseInterface*	m_bp;
+	class btCollisionConfiguration* m_config;
+	class btConstraintSolver* m_solver;
+
+	class btRigidBody*	m_pickedBody;
+	class btTypedConstraint* m_pickedConstraint;
+	btVector3 m_oldPickingPos;
+	btVector3 m_hitPos;
+	btScalar m_oldPickingDist;
+
+
+public:
+
+	class SimpleOpenGL3App* m_glApp;
+
+	Bullet2RigidBodyDemo(SimpleOpenGL3App* app);
+	virtual void initPhysics();
+	virtual void exitPhysics();
+
+	virtual ~Bullet2RigidBodyDemo();
+	btVector3	getRayTo(int x,int y);
+	virtual bool	mouseMoveCallback(float x,float y);
+	virtual bool	mouseButtonCallback(int button, int state, float x, float y);
+	virtual bool	keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
+};
+
+#endif //BULLET2_RIGIDBODY_DEMO_H