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

processed a lot of feedback: added 'realtime' simulation with fixed substeps (and clamping maximum number of substeps), this means that when stepSimulation is called with smaller timesteps then 'fixed substep' the motionstate is interpolated.

Browse Source 
renamed m_ccdSweptSphereRadius,
enabled wireframe debugDrawObject (using debugDrawer)
This commit is contained in:
ejcoumans
2006-10-18 03:28:42 +00:00
parent 1fe414d98a
commit 3a6942fb91
32 changed files with 406 additions and 185 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
Demos/OpenGL/DemoApplication.cpp
View File

@@ -21,8 +21,12 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btDefaultMotionState.h"
#include "BMF_Api.h"
extern bool gDisableDeactivation;
@@ -646,7 +650,9 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btRigidBody* body = new btRigidBody(mass,startTransform,shape,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
body->m_userObjectPointer = myMotionState;
m_dynamicsWorld->addRigidBody(body);
@@ -656,7 +662,6 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
void DemoApplication::renderme()
{
updateCamera();
@@ -670,7 +675,15 @@ void DemoApplication::renderme()
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
colObj->m_worldTransform.getOpenGLMatrix(m);
if (colObj->m_userObjectPointer)
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
colObj->m_worldTransform.getOpenGLMatrix(m);
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
@@ -798,3 +811,27 @@ void DemoApplication::renderme()
}
}
void DemoApplication::clientResetScene()
{
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
if (colObj->m_userObjectPointer)
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)colObj->m_userObjectPointer;
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
colObj->m_worldTransform = myMotionState->m_graphicsWorldTrans;
colObj->m_interpolationWorldTransform = myMotionState->m_startWorldTrans;
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && !body->isStaticObject())
{
btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0));
btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
}
}
}
}