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

12
examples/Importers/ImportBsp/ImportBspExample.cpp
View File

@@ -64,6 +64,14 @@ class BspDemo : public CommonRigidBodyBase
void initPhysics(const char* bspfilename);
virtual void resetCamera()
{
float dist = 43;
float pitch = -175;
float yaw = 12;
float targetPos[3]={4,-25,-6};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
@@ -277,9 +285,9 @@ char* makeExeToBspFilename(const char* lpCmdLine)
}
struct CommonExampleInterface* ImportBspCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
struct CommonExampleInterface* ImportBspCreateFunc(struct CommonExampleOptions& options)
{
BspDemo* demo = new BspDemo(helper);
BspDemo* demo = new BspDemo(options.m_guiHelper);
demo->initPhysics("BspDemo.bsp");
return demo;

2
examples/Importers/ImportBsp/ImportBspExample.h
View File

@@ -15,7 +15,7 @@ subject to the following restrictions:
#ifndef BSP_DEMO_H
#define BSP_DEMO_H
class CommonExampleInterface* ImportBspCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class CommonExampleInterface* ImportBspCreateFunc(struct CommonExampleOptions& options);
#endif //BSP_DEMO_H

14
examples/Importers/ImportBullet/SerializeSetup.cpp
View File

@@ -12,6 +12,16 @@ public:
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
virtual void resetCamera()
{
float dist = 9.5;
float pitch = -2.8;
float yaw = 20;
float targetPos[3]={-0.2,-1.4,3.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
@@ -89,7 +99,7 @@ void SerializeSetup::stepSimulation(float deltaTime)
CommonRigidBodyBase::stepSimulation(deltaTime);
}
class CommonExampleInterface* SerializeBulletCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
class CommonExampleInterface* SerializeBulletCreateFunc(struct CommonExampleOptions& options)
{
return new SerializeSetup(helper);
return new SerializeSetup(options.m_guiHelper);
}

2
examples/Importers/ImportBullet/SerializeSetup.h
View File

@@ -1,7 +1,7 @@
#ifndef SERIALIZE_SETUP_H
#define SERIALIZE_SETUP_H
class CommonExampleInterface* SerializeBulletCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class CommonExampleInterface* SerializeBulletCreateFunc(struct CommonExampleOptions& options);
#endif //SERIALIZE_SETUP_H

13
examples/Importers/ImportColladaDemo/ImportColladaSetup.cpp
View File

@@ -37,6 +37,15 @@ public:
virtual ~ImportColladaSetup();
virtual void initPhysics();
virtual void resetCamera()
{
float dist = 16;
float pitch = -140;
float yaw = 28;
float targetPos[3]={-4,-3,-3};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
ImportColladaSetup::ImportColladaSetup(struct GUIHelperInterface* helper)
@@ -197,7 +206,7 @@ void ImportColladaSetup::initPhysics()
}
class CommonExampleInterface* ImportColladaCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
class CommonExampleInterface* ImportColladaCreateFunc(struct CommonExampleOptions& options)
{
return new ImportColladaSetup(helper);
return new ImportColladaSetup(options.m_guiHelper);
}

2
examples/Importers/ImportColladaDemo/ImportColladaSetup.h
View File

@@ -19,7 +19,7 @@ subject to the following restrictions:
#ifndef IMPORT_COLLADA_SETUP_H
#define IMPORT_COLLADA_SETUP_H
class CommonExampleInterface* ImportColladaCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class CommonExampleInterface* ImportColladaCreateFunc(struct CommonExampleOptions& options);
#endif //IMPORT_COLLADA_SETUP_H

14
examples/Importers/ImportObjDemo/ImportObjExample.cpp
View File

@@ -19,6 +19,16 @@ public:
virtual ~ImportObjSetup();
virtual void initPhysics();
virtual void resetCamera()
{
float dist = 50;
float pitch = 61;
float yaw = 18;
float targetPos[3]={-15,-15,47};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
ImportObjSetup::ImportObjSetup(struct GUIHelperInterface* helper)
@@ -99,7 +109,7 @@ void ImportObjSetup::initPhysics()
}
}
CommonExampleInterface* ImportObjCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
CommonExampleInterface* ImportObjCreateFunc(struct CommonExampleOptions& options)
{
return new ImportObjSetup(helper);
return new ImportObjSetup(options.m_guiHelper);
}

2
examples/Importers/ImportObjDemo/ImportObjExample.h
View File

@@ -1,7 +1,7 @@
#ifndef IMPORT_OBJ_EXAMPLE_H
#define IMPORT_OBJ_EXAMPLE_H
class CommonExampleInterface* ImportObjCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class CommonExampleInterface* ImportObjCreateFunc(struct CommonExampleOptions& options);
#endif //IMPORT_OBJ_EXAMPLE_H

13
examples/Importers/ImportSTLDemo/ImportSTLSetup.cpp
View File

@@ -18,6 +18,15 @@ public:
virtual ~ImportSTLSetup();
virtual void initPhysics();
virtual void resetCamera()
{
float dist = 3.5;
float pitch = -136;
float yaw = 28;
float targetPos[3]={0.47,0,-0.64};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
@@ -92,7 +101,7 @@ void ImportSTLSetup::initPhysics()
}
}
class CommonExampleInterface* ImportSTLCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
class CommonExampleInterface* ImportSTLCreateFunc(struct CommonExampleOptions& options)
{
return new ImportSTLSetup(helper);
return new ImportSTLSetup(options.m_guiHelper);
}

2
examples/Importers/ImportSTLDemo/ImportSTLSetup.h
View File

@@ -1,6 +1,6 @@
#ifndef IMPORT_STL_SETUP_H
#define IMPORT_STL_SETUP_H
class CommonExampleInterface* ImportSTLCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class CommonExampleInterface* ImportSTLCreateFunc(struct CommonExampleOptions& options);
#endif //IMPORT_OBJ_SETUP_H

85
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -34,13 +34,22 @@ class ImportUrdfSetup : public CommonMultiBodyBase
bool m_useMultiBody;
public:
ImportUrdfSetup(struct GUIHelperInterface* helper, int option);
ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName);
virtual ~ImportUrdfSetup();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
void setFileName(const char* urdfFileName);
virtual void resetCamera()
{
float dist = 3.5;
float pitch = -136;
float yaw = 28;
float targetPos[3]={0.47,0,-0.64};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
@@ -62,9 +71,11 @@ struct ImportUrdfInternalData
};
ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option)
ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
:CommonMultiBodyBase(helper)
{
m_data = new ImportUrdfInternalData;
if (option==1)
{
m_useMultiBody = true;
@@ -74,38 +85,44 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option)
}
static int count = 0;
gFileNameArray.clear();
gFileNameArray.push_back("r2d2.urdf");
m_data = new ImportUrdfInternalData;
//load additional urdf file names from file
FILE* f = fopen("urdf_files.txt","r");
if (f)
{
int result;
//warning: we don't avoid string buffer overflow in this basic example in fscanf
char fileName[1024];
do
{
result = fscanf(f,"%s",fileName);
if (result==1)
{
gFileNameArray.push_back(fileName);
}
} while (result==1);
fclose(f);
}
int numFileNames = gFileNameArray.size();
if (count>=numFileNames)
if (fileName)
{
count=0;
setFileName(fileName);
} else
{
gFileNameArray.clear();
gFileNameArray.push_back("r2d2.urdf");
//load additional urdf file names from file
FILE* f = fopen("urdf_files.txt","r");
if (f)
{
int result;
//warning: we don't avoid string buffer overflow in this basic example in fscanf
char fileName[1024];
do
{
result = fscanf(f,"%s",fileName);
if (result==1)
{
gFileNameArray.push_back(fileName);
}
} while (result==1);
fclose(f);
}
int numFileNames = gFileNameArray.size();
if (count>=numFileNames)
{
count=0;
}
sprintf(m_fileName,gFileNameArray[count++].c_str());
}
sprintf(m_fileName,gFileNameArray[count++].c_str());
}
ImportUrdfSetup::~ImportUrdfSetup()
@@ -270,8 +287,8 @@ void ImportUrdfSetup::stepSimulation(float deltaTime)
}
}
class CommonExampleInterface* ImportURDFCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
class CommonExampleInterface* ImportURDFCreateFunc(struct CommonExampleOptions& options)
{
return new ImportUrdfSetup(helper, option);
return new ImportUrdfSetup(options.m_guiHelper, options.m_option,options.m_fileName);
}

3
examples/Importers/ImportURDFDemo/ImportURDFSetup.h
View File

@@ -2,6 +2,7 @@
#define IMPORT_URDF_SETUP_H
class CommonExampleInterface* ImportURDFCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class CommonExampleInterface* ImportURDFCreateFunc(struct CommonExampleOptions& options);
#endif //IMPORT_URDF_SETUP_H