Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

enable URDF loading throught the 'File/Open' menu

Browse Source 
set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location.
no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)
This commit is contained in:
erwincoumans
2015-05-01 11:42:14 -07:00
parent 3dd41b84a8
commit 218e9f9bf9
66 changed files with 562 additions and 217 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -117,7 +117,7 @@ public:
static btVector4 sColors[4] =
{
btVector4(0.3,0.3,1,1),
btVector4(1,0,0,1),
btVector4(0.6,0.6,1,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
//btVector4(1,1,0,1),
@@ -128,7 +128,6 @@ struct OpenGLGuiHelperInternalData
{
struct CommonGraphicsApp* m_glApp;
class MyDebugDrawer* m_debugDraw;
int m_curColor;
GL_ShapeDrawer* m_gl2ShapeDrawer;
};
@@ -139,7 +138,7 @@ OpenGLGuiHelper::OpenGLGuiHelper(CommonGraphicsApp* glApp, bool useOpenGL2)
m_data = new OpenGLGuiHelperInternalData;
m_data->m_glApp = glApp;
m_data->m_debugDraw = 0;
m_data->m_curColor = 0;
m_data->m_gl2ShapeDrawer = 0;
if (useOpenGL2)
@@ -487,15 +486,20 @@ void OpenGLGuiHelper::setUpAxis(int axis)
m_data->m_glApp->setUpAxis(axis);
}
btVector3 OpenGLGuiHelper::selectColor()
void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
{
btVector4 color = sColors[m_data->m_curColor];
m_data->m_curColor++;
m_data->m_curColor&=3;
return color;
if (getRenderInterface() && getRenderInterface()->getActiveCamera())
{
getRenderInterface()->getActiveCamera()->setCameraDistance(camDist);
getRenderInterface()->getActiveCamera()->setCameraPitch(pitch);
getRenderInterface()->getActiveCamera()->setCameraYaw(yaw);
getRenderInterface()->getActiveCamera()->setCameraTargetPosition(camPosX,camPosY,camPosZ);
}
}
struct MyConvertPointerSizeT
{
union
@@ -530,7 +534,9 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
//btRigidBody* body = btRigidBody::upcast(colObj);
//does this also work for btMultiBody/btMultiBodyLinkCollider?
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
btVector3 color= selectColor();
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
btVector3 color= sColors[colorIndex];
createCollisionObjectGraphicsObject(colObj,color);
}
@@ -546,3 +552,4 @@ struct CommonGraphicsApp* OpenGLGuiHelper::getAppInterface()
{
return m_data->m_glApp;
}