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

Make ForkLiftDemo easier to use (shift+cursor keys to control fork)

Browse Source 
Updated projectfiles
This commit is contained in:
erwin.coumans
2008-09-06 16:35:49 +00:00
parent 5e92e6b661
commit 33565d399e
10 changed files with 842 additions and 287 deletions
Download Patch File Download Diff File Expand all files Collapse all files

213
Demos/ForkLiftDemo/ForkLiftDemo.cpp
View File

@@ -71,7 +71,9 @@ const int maxOverlap = 65535;
///notice that for higher-quality slow-moving vehicles, another approach might be better
///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
float gEngineForce = 0.f;
float gBreakingForce = 0.f;
float defaultBreakingForce = 10.f;
float gBreakingForce = 10.f;
float maxEngineForce = 1000.f;//this should be engine/velocity dependent
float maxBreakingForce = 100.f;
@@ -544,21 +546,12 @@ void ForkLiftDemo::renderme()
glColor3f(0, 0, 0);
char buf[124];
glRasterPos3f(400, 20, 0);
sprintf(buf,"PgUp - rotate lift up");
sprintf(buf,"SHIFT+Cursor Left/Right - rotate lift");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
glRasterPos3f(400, 40, 0);
sprintf(buf,"PgUp - rotate lift down");
sprintf(buf,"SHIFT+Cursor UP/Down - move fork up/down");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
glRasterPos3f(400, 60, 0);
sprintf(buf,"Home - move fork up");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
glRasterPos3f(400, 80, 0);
sprintf(buf,"End - move fork down");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
glRasterPos3f(400, 100, 0);
sprintf(buf,"Insert - move vehicle back");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
glRasterPos3f(400, 120, 0);
sprintf(buf,"F5 - toggle camera mode");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
@@ -686,6 +679,7 @@ void ForkLiftDemo::clientResetScene()
btTransform liftTrans;
liftTrans.setIdentity();
liftTrans.setOrigin(m_liftStartPos);
m_liftBody->activate();
m_liftBody->setCenterOfMassTransform(liftTrans);
m_liftBody->setLinearVelocity(btVector3(0,0,0));
m_liftBody->setAngularVelocity(btVector3(0,0,0));
@@ -693,6 +687,7 @@ void ForkLiftDemo::clientResetScene()
btTransform forkTrans;
forkTrans.setIdentity();
forkTrans.setOrigin(m_forkStartPos);
m_forkBody->activate();
m_forkBody->setCenterOfMassTransform(forkTrans);
m_forkBody->setLinearVelocity(btVector3(0,0,0));
m_forkBody->setAngularVelocity(btVector3(0,0,0));
@@ -700,13 +695,15 @@ void ForkLiftDemo::clientResetScene()
m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
m_liftHinge->enableAngularMotor(false, 0, 0);
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(0.1f);
m_forkSlider->setPoweredLinMotor(false);
m_forkSlider->setPoweredLinMotor(false);
btTransform loadTrans;
loadTrans.setIdentity();
loadTrans.setOrigin(m_loadStartPos);
m_loadBody->activate();
m_loadBody->setCenterOfMassTransform(loadTrans);
m_loadBody->setLinearVelocity(btVector3(0,0,0));
m_loadBody->setAngularVelocity(btVector3(0,0,0));
@@ -718,109 +715,129 @@ void ForkLiftDemo::clientResetScene()
void ForkLiftDemo::specialKeyboardUp(int key, int x, int y)
{
switch (key)
{
case GLUT_KEY_UP :
{
case GLUT_KEY_UP :
{
lockForkSlider();
gEngineForce = 0.f;
gBreakingForce = defaultBreakingForce;
break;
}
case GLUT_KEY_DOWN :
{
gBreakingForce = 0.f;
{
lockForkSlider();
gEngineForce = 0.f;
gBreakingForce = defaultBreakingForce;
break;
}
case GLUT_KEY_PAGE_UP:
lockLiftHinge();
break;
case GLUT_KEY_PAGE_DOWN:
lockLiftHinge();
break;
case GLUT_KEY_HOME:
lockForkSlider();
break;
case GLUT_KEY_END:
lockForkSlider();
break;
case GLUT_KEY_LEFT:
case GLUT_KEY_RIGHT:
{
lockLiftHinge();
break;
}
default:
DemoApplication::specialKeyboardUp(key,x,y);
break;
}
break;
}
}
void ForkLiftDemo::specialKeyboard(int key, int x, int y)
{
// printf("key = %i x=%i y=%i\n",key,x,y);
if (key==GLUT_KEY_END)
return;
switch (key)
{
case GLUT_KEY_LEFT :
{
gVehicleSteering += steeringIncrement;
if ( gVehicleSteering > steeringClamp)
gVehicleSteering = steeringClamp;
// printf("key = %i x=%i y=%i\n",key,x,y);
break;
}
case GLUT_KEY_RIGHT :
{
gVehicleSteering -= steeringIncrement;
if ( gVehicleSteering < -steeringClamp)
gVehicleSteering = -steeringClamp;
int state;
state=glutGetModifiers();
if (state & GLUT_ACTIVE_SHIFT)
{
switch (key)
{
case GLUT_KEY_LEFT :
{
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, -0.1, 10.0);
break;
}
case GLUT_KEY_RIGHT :
{
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, 0.1, 10.0);
break;
}
case GLUT_KEY_UP :
{
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(10.0);
m_forkSlider->setTargetLinMotorVelocity(1.0);
break;
}
case GLUT_KEY_DOWN :
{
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(10.0);
m_forkSlider->setTargetLinMotorVelocity(-1.0);
break;
}
break;
}
case GLUT_KEY_UP :
{
gEngineForce = maxEngineForce;
gBreakingForce = 0.f;
break;
}
case GLUT_KEY_DOWN :
{
gBreakingForce = maxBreakingForce;
gEngineForce = 0.f;
break;
}
case GLUT_KEY_INSERT :
{
gEngineForce = -maxEngineForce;
gBreakingForce = 0.f;
break;
}
case GLUT_KEY_PAGE_UP:
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, 0.1, 10.0);
break;
case GLUT_KEY_PAGE_DOWN:
m_liftHinge->setLimit(-M_PI/16.0f, M_PI/8.0f);
m_liftHinge->enableAngularMotor(true, -0.1, 10.0);
break;
case GLUT_KEY_HOME:
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(10.0);
m_forkSlider->setTargetLinMotorVelocity(1.0);
break;
case GLUT_KEY_END:
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(3.9f);
m_forkSlider->setPoweredLinMotor(true);
m_forkSlider->setMaxLinMotorForce(10.0);
m_forkSlider->setTargetLinMotorVelocity(-1.0);
break;
case GLUT_KEY_F5:
m_useDefaultCamera = !m_useDefaultCamera;
break;
default:
DemoApplication::specialKeyboard(key,x,y);
break;
}
default:
DemoApplication::specialKeyboard(key,x,y);
break;
}
// glutPostRedisplay();
} else
{
switch (key)
{
case GLUT_KEY_LEFT :
{
gVehicleSteering += steeringIncrement;
if ( gVehicleSteering > steeringClamp)
gVehicleSteering = steeringClamp;
break;
}
case GLUT_KEY_RIGHT :
{
gVehicleSteering -= steeringIncrement;
if ( gVehicleSteering < -steeringClamp)
gVehicleSteering = -steeringClamp;
break;
}
case GLUT_KEY_UP :
{
gEngineForce = maxEngineForce;
gBreakingForce = 0.f;
break;
}
case GLUT_KEY_DOWN :
{
gEngineForce = -maxEngineForce;
gBreakingForce = 0.f;
break;
}
case GLUT_KEY_F5:
m_useDefaultCamera = !m_useDefaultCamera;
break;
default:
DemoApplication::specialKeyboard(key,x,y);
break;
}
}
// glutPostRedisplay();
}
@@ -906,7 +923,7 @@ void ForkLiftDemo::lockForkSlider(void)
btScalar linDepth = m_forkSlider->getLinearPos();
btScalar lowLim = m_forkSlider->getLowerLinLimit();
btScalar hiLim = m_forkSlider->getUpperLinLimit();
m_forkSlider->setPoweredLinMotor(false);
m_forkSlider->setPoweredLinMotor(false);
if(linDepth <= lowLim)
{
m_forkSlider->setLowerLinLimit(lowLim);