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prepare to create coordinate frame demo, minor cleanup for create funcs in demo entries,

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fix r2d2.urdf inertia
This commit is contained in:
erwin coumans
2014-12-12 18:14:49 -08:00
parent cf2b4e03b5
commit 122fabac87
11 changed files with 433 additions and 82 deletions
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89
Demos3/AllBullet2Demos/BulletDemoEntries.h
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@@ -4,6 +4,9 @@
#include "Bullet3AppSupport/BulletDemoInterface.h"
#include "../bullet2/BasicDemo/BasicDemo.h"
#include "../bullet2/CoordinateFramesDemo/CoordinateFrameDemoPhysicsSetup.h"
#include "../bullet2/BasicDemo/HingeDemo.h"
#include "../bullet2/BasicDemo/HingeDemo.h"
@@ -29,59 +32,33 @@
#include "../../Demos3/FiniteElementMethod/FiniteElementDemo.h"
//#include "../../Demos3/bullet2/SoftDemo/SoftDemo.h"
static BulletDemoInterface* TestJointTorqueCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new TestJointTorqueSetup();
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MultiBodyVehicleCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new MultiBodyVehicleSetup();
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* LuaDemoCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new LuaPhysicsSetup(app);
return new BasicDemo(app, physicsSetup);
#define MYCREATEFUNC(func) \
static BulletDemoInterface* func##CreateFunc(CommonGraphicsApp* app)\
{\
CommonPhysicsSetup* physicsSetup = new func##Setup();\
return new BasicDemo(app, physicsSetup);\
}
static BulletDemoInterface* MyCcdPhysicsDemoCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new CcdPhysicsSetup();
return new BasicDemo(app, physicsSetup);
#define MYCREATEFUNC2(func,setup) \
static BulletDemoInterface* func(CommonGraphicsApp* app)\
{\
CommonPhysicsSetup* physicsSetup = new setup(app);\
return new BasicDemo(app, physicsSetup);\
}
static BulletDemoInterface* MyKinematicObjectCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new KinematicObjectSetup();
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MySerializeCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new SerializeSetup();
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MyConstraintCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new ConstraintPhysicsSetup();
return new BasicDemo(app, physicsSetup);
}
MYCREATEFUNC(TestJointTorque);
MYCREATEFUNC(MultiBodyVehicle);
MYCREATEFUNC2(LuaDemoCreateFunc,LuaPhysicsSetup);
MYCREATEFUNC(Serialize);
MYCREATEFUNC(CcdPhysics);
MYCREATEFUNC(KinematicObject);
MYCREATEFUNC(ConstraintPhysics);
MYCREATEFUNC(ImportUrdf);
MYCREATEFUNC2(ImportObjCreateFunc,ImportObjSetup);
MYCREATEFUNC2(ImportSTLCreateFunc,ImportSTLSetup);
MYCREATEFUNC(CoordinateFrameDemoPhysics);
static BulletDemoInterface* MyImportUrdfCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new ImportUrdfDemo();
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MyImportObjCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new ImportObjDemo(app);
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MyImportSTLCreateFunc(CommonGraphicsApp* app)
{
CommonPhysicsSetup* physicsSetup = new ImportSTLDemo(app);
return new BasicDemo(app, physicsSetup);
}
static BulletDemoInterface* MyImportColladaCreateFunc(CommonGraphicsApp* app)
{
@@ -92,7 +69,6 @@ static BulletDemoInterface* MyImportColladaCreateFunc(CommonGraphicsApp* app)
struct BulletDemoEntry
{
int m_menuLevel;
@@ -107,21 +83,22 @@ static BulletDemoEntry allDemos[]=
{0,"Basic Concepts",0},
{1,"Basis Frame", &CoordinateSystemDemo::CreateFunc},
{1,"SupportFunc", &MySupportFuncDemo::CreateFunc},
{1,"Coordinate Frames", CoordinateFrameDemoPhysicsCreateFunc},
//{"emptydemo",EmptyBulletDemo::MyCreateFunc},
{0,"API Demos", 0},
{1,"BasicDemo",BasicDemo::MyCreateFunc},
{ 1, "CcdDemo", MyCcdPhysicsDemoCreateFunc },
{ 1, "Kinematic", MyKinematicObjectCreateFunc },
{ 1, "Constraints", MyConstraintCreateFunc },
{ 1, "CcdDemo", CcdPhysicsCreateFunc },
{ 1, "Kinematic", KinematicObjectCreateFunc },
{ 1, "Constraints", ConstraintPhysicsCreateFunc },
{ 1, "LuaDemo",LuaDemoCreateFunc},
{0,"File Formats", 0},
{ 1, ".bullet",MySerializeCreateFunc},
{ 1, "Wavefront Obj", MyImportObjCreateFunc},
{ 1, "URDF", MyImportUrdfCreateFunc },
{ 1, "STL", MyImportSTLCreateFunc},
{ 1, ".bullet",SerializeCreateFunc},
{ 1, "Wavefront Obj", ImportObjCreateFunc},
{ 1, "URDF", ImportUrdfCreateFunc },
{ 1, "STL", ImportSTLCreateFunc},
{ 1, "COLLADA", MyImportColladaCreateFunc},
{0,"Experiments", 0},
{1, "Finite Element Demo", FiniteElementDemo::CreateFunc},