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enable URDF loading throught the 'File/Open' menu

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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
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16
examples/MultiBody/MultiDofDemo.cpp
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@@ -29,6 +29,15 @@ public:
virtual void stepSimulation(float deltaTime);
virtual void resetCamera()
{
float dist = 1;
float pitch = 50;
float yaw = 35;
float targetPos[3]={-3,2.8,-2.5};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical = false, bool floating = false);
void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
@@ -76,6 +85,7 @@ void MultiDofDemo::stepSimulation(float deltaTime)
void MultiDofDemo::initPhysics()
{
m_guiHelper->setUpAxis(1);
if(g_firstInit)
@@ -100,7 +110,7 @@ void MultiDofDemo::initPhysics()
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher,m_broadphase,sol,m_collisionConfiguration);
m_dynamicsWorld = world;
// m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
///create a few basic rigid bodies
@@ -418,7 +428,7 @@ void MultiDofDemo::addBoxes_testMultiDof()
}
}
class CommonExampleInterface* MultiDofCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
class CommonExampleInterface* MultiDofCreateFunc(struct CommonExampleOptions& options)
{
return new MultiDofDemo(helper);
return new MultiDofDemo(options.m_guiHelper);
}

2
examples/MultiBody/MultiDofDemo.h
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@@ -2,7 +2,7 @@
#ifndef MULTI_DOF_DEMO_H
#define MULTI_DOF_DEMO_H
class CommonExampleInterface* MultiDofCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class CommonExampleInterface* MultiDofCreateFunc(struct CommonExampleOptions& options);
#endif //MULTI_DOF_DEMO_H

14
examples/MultiBody/TestJointTorqueSetup.cpp
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@@ -18,6 +18,16 @@ public:
virtual void stepSimulation(float deltaTime);
virtual void resetCamera()
{
float dist = 5;
float pitch = 270;
float yaw = 21;
float targetPos[3]={-1.34,3.4,-0.44};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
TestJointTorqueSetup::TestJointTorqueSetup(struct GUIHelperInterface* helper)
@@ -270,7 +280,7 @@ void TestJointTorqueSetup::stepSimulation(float deltaTime)
}
class CommonExampleInterface* TestJointTorqueCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option)
class CommonExampleInterface* TestJointTorqueCreateFunc(struct CommonExampleOptions& options)
{
return new TestJointTorqueSetup(helper);
return new TestJointTorqueSetup(options.m_guiHelper);
}

2
examples/MultiBody/TestJointTorqueSetup.h
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@@ -1,7 +1,7 @@
#ifndef TEST_JOINT_TORQUE_SETUP_H
#define TEST_JOINT_TORQUE_SETUP_H
class CommonExampleInterface* TestJointTorqueCreateFunc(struct PhysicsInterface* pint, struct GUIHelperInterface* helper, int option);
class CommonExampleInterface* TestJointTorqueCreateFunc(struct CommonExampleOptions& options);
#endif //TEST_JOINT_TORQUE_SETUP_H