add a few collision examples to test a C API with various back-ends
This commit is contained in:
Erwin Coumans
270
examples/Collision/CollisionTutorialBullet2.cpp
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270
examples/Collision/CollisionTutorialBullet2.cpp
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#include "CollisionTutorialBullet2.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "LinearMath/btTransform.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../RenderingExamples/TimeSeriesCanvas.h"
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#include "stb_image/stb_image.h"
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3Matrix3x3.h"
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#include "../CommonInterfaces/CommonParameterInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "CollisionSdkC_Api.h"
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class CollisionTutorialBullet2 : public CommonExampleInterface
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{
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CommonGraphicsApp* m_app;
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GUIHelperInterface* m_guiHelper;
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int m_tutorialIndex;
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TimeSeriesCanvas* m_timeSeriesCanvas0;
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plCollisionSdkHandle m_collisionSdkHandle;
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plCollisionWorldHandle m_collisionWorldHandle;
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int m_stage;
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int m_counter;
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public:
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CollisionTutorialBullet2(GUIHelperInterface* guiHelper, int tutorialIndex)
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:m_app(guiHelper->getAppInterface()),
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m_guiHelper(guiHelper),
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m_tutorialIndex(tutorialIndex),
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m_collisionSdkHandle(0),
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m_stage(0),
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m_counter(0),
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m_timeSeriesCanvas0(0)
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{
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int numBodies = 1;
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m_app->setUpAxis(1);
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m_app->m_renderer->enableBlend(true);
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switch (m_tutorialIndex)
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{
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case TUT_SPHERE_SPHERE:
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{
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numBodies=10;
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m_collisionSdkHandle = plCreateBullet2CollisionSdk();
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if (m_collisionSdkHandle)
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{
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m_collisionWorldHandle = plCreateCollisionWorld(m_collisionSdkHandle);
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//create objects, do query etc
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float radius = 1.f;
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plCollisionShapeHandle colShape = plCreateSphereShape(m_collisionSdkHandle, radius);
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void* userData = 0;
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plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,userData,colShape);
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plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
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plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj);
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plDeleteCollisionObject(m_collisionSdkHandle,colObj);
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plDeleteShape(m_collisionSdkHandle,colShape);
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}
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/*
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m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
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m_timeSeriesCanvas0 ->setupTimeSeries(2,60, 0);
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m_timeSeriesCanvas0->addDataSource("X position (m)", 255,0,0);
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m_timeSeriesCanvas0->addDataSource("X velocity (m/s)", 0,0,255);
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m_timeSeriesCanvas0->addDataSource("dX/dt (m/s)", 0,0,0);
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*/
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break;
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}
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case TUT_SPHERE_PLANE:
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{
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break;
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}
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default:
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{
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m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Unknown");
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m_timeSeriesCanvas0 ->setupTimeSeries(1,60, 0);
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}
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};
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if (m_tutorialIndex==TUT_SPHERE_SPHERE)
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{
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int boxId = m_app->registerCubeShape(100,1,100);
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b3Vector3 pos = b3MakeVector3(0,-3.5,0);
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b3Quaternion orn(0,0,0,1);
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b3Vector4 color = b3MakeVector4(1,1,1,1);
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b3Vector3 scaling = b3MakeVector3(1,1,1);
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m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
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}
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{
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int textureIndex = -1;
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if (1)
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{
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int width,height,n;
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const char* filename = "data/cube.png";
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const unsigned char* image=0;
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const char* prefix[]={"./","../","../../","../../../","../../../../"};
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int numprefix = sizeof(prefix)/sizeof(const char*);
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for (int i=0;!image && i<numprefix;i++)
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{
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char relativeFileName[1024];
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sprintf(relativeFileName,"%s%s",prefix[i],filename);
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image = stbi_load(relativeFileName, &width, &height, &n, 0);
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}
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b3Assert(image);
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if (image)
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{
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textureIndex = m_app->m_renderer->registerTexture(image,width,height);
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}
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}
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// int boxId = m_app->registerCubeShape(1,1,1,textureIndex);
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int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH);//, textureIndex);
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b3Vector4 color = b3MakeVector4(0,1,0,0.8);
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b3Vector3 scaling = b3MakeVector3(1,1,1);
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float pos[3] = {1,0,0};
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float orn[4] = {0,0,0,1};
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int gfxIndex = m_app->m_renderer->registerGraphicsInstance(boxId,pos, orn,color,scaling);
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// m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(boxId,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling);
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//m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
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}
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m_app->m_renderer->writeTransforms();
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}
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virtual ~CollisionTutorialBullet2()
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{
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delete m_timeSeriesCanvas0;
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plDeleteCollisionWorld(m_collisionSdkHandle,m_collisionWorldHandle);
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plDeleteCollisionSdk(m_collisionSdkHandle);
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m_timeSeriesCanvas0 = 0;
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m_app->m_renderer->enableBlend(false);
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}
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virtual void initPhysics()
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{
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}
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virtual void exitPhysics()
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{
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}
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virtual void stepSimulation(float deltaTime)
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{
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switch (m_tutorialIndex)
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{
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case TUT_SPHERE_SPHERE:
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{
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if (m_timeSeriesCanvas0)
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{
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float xPos = 0.f;
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float xVel = 1.f;
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m_timeSeriesCanvas0->insertDataAtCurrentTime(xPos,0,true);
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m_timeSeriesCanvas0->insertDataAtCurrentTime(xVel,1,true);
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}
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break;
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}
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default:
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{
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}
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};
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if (m_timeSeriesCanvas0)
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m_timeSeriesCanvas0->nextTick();
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// m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
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m_app->m_renderer->writeTransforms();
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}
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virtual void renderScene()
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{
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m_app->m_renderer->renderScene();
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m_app->drawText3D("X",1,0,0,1);
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m_app->drawText3D("Y",0,1,0,1);
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m_app->drawText3D("Z",0,0,1,1);
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/*for (int i=0;i<m_contactPoints.size();i++)
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{
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const LWContactPoint& contact = m_contactPoints[i];
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b3Vector3 color=b3MakeVector3(1,1,0);
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float lineWidth=3;
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if (contact.m_distance<0)
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{
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color.setValue(1,0,0);
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}
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m_app->m_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
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}
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*/
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}
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virtual void physicsDebugDraw(int debugDrawFlags)
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{
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}
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virtual bool mouseMoveCallback(float x,float y)
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{
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return false;
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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return false;
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}
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virtual bool keyboardCallback(int key, int state)
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{
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return false;
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}
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virtual void resetCamera()
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{
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float dist = 10.5;
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float pitch = 136;
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float yaw = 32;
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float targetPos[3]={0,0,0};
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if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
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{
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m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
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m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
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m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
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m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
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}
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}
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};
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class CommonExampleInterface* CollisionTutorialBullet2CreateFunc(struct CommonExampleOptions& options)
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{
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return new CollisionTutorialBullet2(options.m_guiHelper, options.m_option);
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}
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