first step in refactoring/cleaning up demos
This commit is contained in:
ejcoumans
894
Demos/OpenGL/DemoApplication.cpp
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894
Demos/OpenGL/DemoApplication.cpp
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@@ -0,0 +1,894 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "DemoApplication.h"
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#include "IDebugDraw.h"
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#include "CcdPhysicsEnvironment.h"
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#include "CcdPhysicsController.h"
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#include "ConstraintSolver/Point2PointConstraint.h"//picking
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#include "PHY_Pro.h"
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#include "CollisionShapes/CollisionShape.h"
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#include "CollisionShapes/BoxShape.h"
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#include "GL_ShapeDrawer.h"
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#include "BMF_Api.h"
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int numObjects = 0;
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const int maxNumObjects = 450;
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DefaultMotionState ms[maxNumObjects];
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CcdPhysicsController* physObjects[maxNumObjects];
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SimdTransform startTransforms[maxNumObjects];
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CollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
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DemoApplication::DemoApplication()
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//see IDebugDraw.h for modes
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:
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m_physicsEnvironmentPtr(0),
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m_debugMode(0),
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m_cameraDistance(15.0),
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m_ele(0.f),
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m_azi(0.f),
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m_cameraPosition(0.f,0.f,0.f),
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m_cameraTargetPosition(0.f,0.f,0.f),
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m_scaleBottom(0.5f),
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m_scaleFactor(2.f),
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m_cameraUp(0,1,0),
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m_forwardAxis(2),
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m_glutScreenWidth(0),
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m_glutScreenHeight(0),
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m_ShootBoxInitialSpeed(40.f),
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m_stepping(true),
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m_singleStep(false),
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m_idle(false)
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{
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}
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DemoApplication::~DemoApplication()
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{
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}
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void DemoApplication::myinit(void)
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{
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GLfloat light_ambient[] = { 0.0, 0.0, 0.0, 1.0 };
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GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
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GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
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/* light_position is NOT default value */
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GLfloat light_position0[] = { 1.0, 1.0, 1.0, 0.0 };
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GLfloat light_position1[] = { -1.0, -1.0, -1.0, 0.0 };
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glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
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glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
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glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
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glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
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glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
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glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
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glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
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glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
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glEnable(GL_LIGHTING);
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glEnable(GL_LIGHT0);
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glEnable(GL_LIGHT1);
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glShadeModel(GL_SMOOTH);
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glEnable(GL_DEPTH_TEST);
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glDepthFunc(GL_LESS);
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glClearColor(0.8,0.8,0.8,0);
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// glEnable(GL_CULL_FACE);
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// glCullFace(GL_BACK);
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}
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void DemoApplication::setCameraDistance(float dist)
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{
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m_cameraDistance = dist;
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}
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float DemoApplication::getCameraDistance()
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{
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return m_cameraDistance;
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}
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void DemoApplication::toggleIdle() {
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if (m_idle) {
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m_idle = false;
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}
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else {
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m_idle = true;
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}
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}
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void DemoApplication::updateCamera() {
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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float rele = m_ele * 0.01745329251994329547;// rads per deg
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float razi = m_azi * 0.01745329251994329547;// rads per deg
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SimdQuaternion rot(m_cameraUp,razi);
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SimdVector3 eyePos(0,0,0);
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eyePos[m_forwardAxis] = -m_cameraDistance;
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SimdVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
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if (forward.length2() < SIMD_EPSILON)
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{
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forward.setValue(1.f,0.f,0.f);
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}
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SimdVector3 right = m_cameraUp.cross(forward);
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SimdQuaternion roll(right,-rele);
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eyePos = SimdMatrix3x3(rot) * SimdMatrix3x3(roll) * eyePos;
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m_cameraPosition[0] = eyePos.getX();
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m_cameraPosition[1] = eyePos.getY();
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m_cameraPosition[2] = eyePos.getZ();
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glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
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gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
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m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
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m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
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glMatrixMode(GL_MODELVIEW);
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}
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const float STEPSIZE = 5;
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void DemoApplication::stepLeft()
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{
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m_azi -= STEPSIZE; if (m_azi < 0) m_azi += 360; updateCamera();
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}
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void DemoApplication::stepRight()
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{
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m_azi += STEPSIZE; if (m_azi >= 360) m_azi -= 360; updateCamera();
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}
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void DemoApplication::stepFront()
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{
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m_ele += STEPSIZE; if (m_azi >= 360) m_azi -= 360; updateCamera();
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}
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void DemoApplication::stepBack()
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{
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m_ele -= STEPSIZE; if (m_azi < 0) m_azi += 360; updateCamera();
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}
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void DemoApplication::zoomIn()
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{
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m_cameraDistance -= 1; updateCamera();
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}
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void DemoApplication::zoomOut()
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{
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m_cameraDistance += 1; updateCamera();
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}
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void DemoApplication::reshape(int w, int h)
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{
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m_glutScreenWidth = w;
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m_glutScreenHeight = h;
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glViewport(0, 0, w, h);
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updateCamera();
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}
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void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
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{
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m_lastKey = 0;
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switch (key)
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{
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case 'q' : exit(0); break;
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case 'l' : stepLeft(); break;
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case 'r' : stepRight(); break;
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case 'f' : stepFront(); break;
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case 'b' : stepBack(); break;
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case 'z' : zoomIn(); break;
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case 'x' : zoomOut(); break;
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case 'i' : toggleIdle(); break;
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case 'h':
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if (m_debugMode & IDebugDraw::DBG_NoHelpText)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_NoHelpText);
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else
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m_debugMode |= IDebugDraw::DBG_NoHelpText;
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break;
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case 'w':
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if (m_debugMode & IDebugDraw::DBG_DrawWireframe)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawWireframe);
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else
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m_debugMode |= IDebugDraw::DBG_DrawWireframe;
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break;
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case 'p':
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if (m_debugMode & IDebugDraw::DBG_ProfileTimings)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_ProfileTimings);
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else
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m_debugMode |= IDebugDraw::DBG_ProfileTimings;
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break;
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case 'm':
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if (m_debugMode & IDebugDraw::DBG_EnableSatComparison)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_EnableSatComparison);
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else
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m_debugMode |= IDebugDraw::DBG_EnableSatComparison;
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break;
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case 'n':
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if (m_debugMode & IDebugDraw::DBG_DisableBulletLCP)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_DisableBulletLCP);
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else
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m_debugMode |= IDebugDraw::DBG_DisableBulletLCP;
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break;
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case 't' :
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if (m_debugMode & IDebugDraw::DBG_DrawText)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawText);
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else
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m_debugMode |= IDebugDraw::DBG_DrawText;
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break;
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case 'y':
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if (m_debugMode & IDebugDraw::DBG_DrawFeaturesText)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawFeaturesText);
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else
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m_debugMode |= IDebugDraw::DBG_DrawFeaturesText;
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break;
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case 'a':
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if (m_debugMode & IDebugDraw::DBG_DrawAabb)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawAabb);
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else
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m_debugMode |= IDebugDraw::DBG_DrawAabb;
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break;
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case 'c' :
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if (m_debugMode & IDebugDraw::DBG_DrawContactPoints)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawContactPoints);
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else
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m_debugMode |= IDebugDraw::DBG_DrawContactPoints;
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break;
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case 'd' :
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if (m_debugMode & IDebugDraw::DBG_NoDeactivation)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_NoDeactivation);
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else
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m_debugMode |= IDebugDraw::DBG_NoDeactivation;
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break;
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case 'o' :
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{
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m_stepping = !m_stepping;
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break;
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}
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case 's' : clientMoveAndDisplay(); break;
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// case ' ' : newRandom(); break;
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case ' ':
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clientResetScene();
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break;
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case '1':
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{
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if (m_debugMode & IDebugDraw::DBG_EnableCCD)
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m_debugMode = m_debugMode & (~IDebugDraw::DBG_EnableCCD);
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else
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m_debugMode |= IDebugDraw::DBG_EnableCCD;
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break;
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}
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case '.':
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{
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shootBox(getCameraTargetPosition());
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break;
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}
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case '+':
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{
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m_ShootBoxInitialSpeed += 10.f;
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break;
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}
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case '-':
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{
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m_ShootBoxInitialSpeed -= 10.f;
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break;
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}
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default:
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// std::cout << "unused key : " << key << std::endl;
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break;
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}
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glutPostRedisplay();
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}
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void DemoApplication::specialKeyboard(int key, int x, int y)
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{
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switch (key)
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{
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case GLUT_KEY_LEFT : stepLeft(); break;
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case GLUT_KEY_RIGHT : stepRight(); break;
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case GLUT_KEY_UP : stepFront(); break;
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case GLUT_KEY_DOWN : stepBack(); break;
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case GLUT_KEY_PAGE_UP : zoomIn(); break;
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case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
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case GLUT_KEY_HOME : toggleIdle(); break;
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default:
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// std::cout << "unused (special) key : " << key << std::endl;
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break;
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}
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glutPostRedisplay();
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}
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void DemoApplication::moveAndDisplay()
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{
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if (!m_idle)
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clientMoveAndDisplay();
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}
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void DemoApplication::displayCallback()
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{
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}
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void DemoApplication::shootBox(const SimdVector3& destination)
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{
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if (m_physicsEnvironmentPtr)
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{
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bool isDynamic = true;
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float mass = 1.f;
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SimdTransform startTransform;
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startTransform.setIdentity();
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SimdVector3 camPos = getCameraPosition();
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startTransform.setOrigin(camPos);
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CollisionShape* boxShape = new BoxShape(SimdVector3(1.f,1.f,1.f));
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CcdPhysicsController* newBox = LocalCreatePhysicsObject(isDynamic, mass, startTransform,boxShape);
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SimdVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
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linVel.normalize();
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linVel*=m_ShootBoxInitialSpeed;
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newBox->setPosition(camPos[0],camPos[1],camPos[2]);
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newBox->setOrientation(0,0,0,1);
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newBox->SetLinearVelocity(linVel[0],linVel[1],linVel[2],false);
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newBox->SetAngularVelocity(0,0,0,false);
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}
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}
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int gPickingConstraintId = 0;
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SimdVector3 gOldPickingPos;
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float gOldPickingDist = 0.f;
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RigidBody* pickedBody = 0;//for deactivation state
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SimdVector3 DemoApplication::GetRayTo(int x,int y)
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{
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float fov = 2.0 * atanf (tanFov);
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SimdVector3 rayFrom = getCameraPosition();
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SimdVector3 rayForward = (getCameraTargetPosition()-getCameraPosition());
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rayForward.normalize();
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float farPlane = 600.f;
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rayForward*= farPlane;
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SimdVector3 rightOffset;
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SimdVector3 vertical = m_cameraUp;
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SimdVector3 hor;
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hor = rayForward.cross(vertical);
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hor.normalize();
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vertical = hor.cross(rayForward);
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vertical.normalize();
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float tanfov = tanf(0.5f*fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
|
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SimdVector3 rayToCenter = rayFrom + rayForward;
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SimdVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
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SimdVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
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SimdVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += x * dHor;
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rayTo -= y * dVert;
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return rayTo;
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}
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void DemoApplication::mouseFunc(int button, int state, int x, int y)
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{
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//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
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//button 0, state 0 means left mouse down
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SimdVector3 rayTo = GetRayTo(x,y);
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switch (button)
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{
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case 2:
|
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{
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||||
if (state==0)
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{
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shootBox(rayTo);
|
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}
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break;
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};
|
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case 1:
|
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{
|
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if (state==0)
|
||||
{
|
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//apply an impulse
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if (m_physicsEnvironmentPtr)
|
||||
{
|
||||
float hit[3];
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||||
float normal[3];
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||||
PHY_IPhysicsController* hitObj = m_physicsEnvironmentPtr->rayTest(0,m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
|
||||
if (hitObj)
|
||||
{
|
||||
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
|
||||
RigidBody* body = physCtrl->GetRigidBody();
|
||||
if (body)
|
||||
{
|
||||
body->SetActivationState(ACTIVE_TAG);
|
||||
SimdVector3 impulse = rayTo;
|
||||
impulse.normalize();
|
||||
float impulseStrength = 10.f;
|
||||
impulse *= impulseStrength;
|
||||
SimdVector3 relPos(
|
||||
hit[0] - body->getCenterOfMassPosition().getX(),
|
||||
hit[1] - body->getCenterOfMassPosition().getY(),
|
||||
hit[2] - body->getCenterOfMassPosition().getZ());
|
||||
|
||||
body->applyImpulse(impulse,relPos);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
case 0:
|
||||
{
|
||||
if (state==0)
|
||||
{
|
||||
//add a point to point constraint for picking
|
||||
if (m_physicsEnvironmentPtr)
|
||||
{
|
||||
float hit[3];
|
||||
float normal[3];
|
||||
PHY_IPhysicsController* hitObj = m_physicsEnvironmentPtr->rayTest(0,m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
|
||||
if (hitObj)
|
||||
{
|
||||
|
||||
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
|
||||
RigidBody* body = physCtrl->GetRigidBody();
|
||||
|
||||
if (body && !body->IsStatic())
|
||||
{
|
||||
pickedBody = body;
|
||||
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
SimdVector3 pickPos(hit[0],hit[1],hit[2]);
|
||||
|
||||
SimdVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
|
||||
|
||||
gPickingConstraintId = m_physicsEnvironmentPtr->createConstraint(physCtrl,0,PHY_POINT2POINT_CONSTRAINT,
|
||||
localPivot.getX(),
|
||||
localPivot.getY(),
|
||||
localPivot.getZ(),
|
||||
0,0,0);
|
||||
//printf("created constraint %i",gPickingConstraintId);
|
||||
|
||||
//save mouse position for dragging
|
||||
gOldPickingPos = rayTo;
|
||||
|
||||
|
||||
SimdVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
|
||||
|
||||
gOldPickingDist = (pickPos-eyePos).length();
|
||||
|
||||
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
|
||||
if (p2p)
|
||||
{
|
||||
//very weak constraint for picking
|
||||
p2p->m_setting.m_tau = 0.1f;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (gPickingConstraintId && m_physicsEnvironmentPtr)
|
||||
{
|
||||
m_physicsEnvironmentPtr->removeConstraint(gPickingConstraintId);
|
||||
//printf("removed constraint %i",gPickingConstraintId);
|
||||
gPickingConstraintId = 0;
|
||||
pickedBody->ForceActivationState(ACTIVE_TAG);
|
||||
pickedBody->m_deactivationTime = 0.f;
|
||||
pickedBody = 0;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
}
|
||||
default:
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void DemoApplication::mouseMotionFunc(int x,int y)
|
||||
{
|
||||
|
||||
if (gPickingConstraintId && m_physicsEnvironmentPtr)
|
||||
{
|
||||
|
||||
//move the constraint pivot
|
||||
|
||||
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
|
||||
if (p2p)
|
||||
{
|
||||
//keep it at the same picking distance
|
||||
|
||||
SimdVector3 newRayTo = GetRayTo(x,y);
|
||||
SimdVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
|
||||
SimdVector3 dir = newRayTo-eyePos;
|
||||
dir.normalize();
|
||||
dir *= gOldPickingDist;
|
||||
|
||||
SimdVector3 newPos = eyePos + dir;
|
||||
p2p->SetPivotB(newPos);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
///Very basic import
|
||||
CcdPhysicsController* DemoApplication::LocalCreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
|
||||
{
|
||||
|
||||
startTransforms[numObjects] = startTransform;
|
||||
|
||||
PHY_ShapeProps shapeProps;
|
||||
|
||||
shapeProps.m_do_anisotropic = false;
|
||||
shapeProps.m_do_fh = false;
|
||||
shapeProps.m_do_rot_fh = false;
|
||||
shapeProps.m_friction_scaling[0] = 1.;
|
||||
shapeProps.m_friction_scaling[1] = 1.;
|
||||
shapeProps.m_friction_scaling[2] = 1.;
|
||||
|
||||
shapeProps.m_inertia = 1.f;
|
||||
shapeProps.m_lin_drag = 0.2f;
|
||||
shapeProps.m_ang_drag = 0.1f;
|
||||
shapeProps.m_mass = 10.0f;
|
||||
|
||||
PHY_MaterialProps materialProps;
|
||||
materialProps.m_friction = 10.5f;
|
||||
materialProps.m_restitution = 0.0f;
|
||||
|
||||
CcdConstructionInfo ccdObjectCi;
|
||||
ccdObjectCi.m_friction = 0.5f;
|
||||
|
||||
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
|
||||
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
|
||||
|
||||
SimdTransform tr;
|
||||
tr.setIdentity();
|
||||
|
||||
int i = numObjects;
|
||||
{
|
||||
gShapePtr[i] = shape;
|
||||
|
||||
shapeProps.m_shape = gShapePtr[i];
|
||||
shapeProps.m_shape->SetMargin(0.05f);
|
||||
|
||||
SimdQuaternion orn = startTransform.getRotation();
|
||||
|
||||
|
||||
ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
|
||||
ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());
|
||||
|
||||
ccdObjectCi.m_MotionState = &ms[i];
|
||||
ccdObjectCi.m_gravity = SimdVector3(0,-9.8,0);
|
||||
ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
|
||||
if (!isDynamic)
|
||||
{
|
||||
shapeProps.m_mass = 0.f;
|
||||
ccdObjectCi.m_mass = shapeProps.m_mass;
|
||||
ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
|
||||
ccdObjectCi.m_collisionFilterGroup = CcdConstructionInfo::StaticFilter;
|
||||
ccdObjectCi.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter;
|
||||
}
|
||||
else
|
||||
{
|
||||
shapeProps.m_mass = mass;
|
||||
ccdObjectCi.m_mass = shapeProps.m_mass;
|
||||
ccdObjectCi.m_collisionFlags = 0;
|
||||
}
|
||||
|
||||
|
||||
SimdVector3 localInertia(0.f,0.f,0.f);
|
||||
|
||||
if (isDynamic)
|
||||
{
|
||||
gShapePtr[i]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
|
||||
}
|
||||
|
||||
ccdObjectCi.m_localInertiaTensor = localInertia;
|
||||
ccdObjectCi.m_collisionShape = gShapePtr[i];
|
||||
|
||||
|
||||
physObjects[i]= new CcdPhysicsController( ccdObjectCi);
|
||||
|
||||
// Only do CCD if motion in one timestep (1.f/60.f) exceeds CUBE_HALF_EXTENTS
|
||||
physObjects[i]->GetRigidBody()->m_ccdSquareMotionTreshold = 0.f;
|
||||
|
||||
//Experimental: better estimation of CCD Time of Impact:
|
||||
//physObjects[i]->GetRigidBody()->m_ccdSweptShereRadius = 0.5*CUBE_HALF_EXTENTS;
|
||||
|
||||
m_physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);
|
||||
|
||||
}
|
||||
|
||||
//return newly created PhysicsController
|
||||
return physObjects[numObjects++];
|
||||
}
|
||||
|
||||
void DemoApplication::renderme()
|
||||
{
|
||||
updateCamera();
|
||||
|
||||
float m[16];
|
||||
|
||||
if (m_physicsEnvironmentPtr)
|
||||
{
|
||||
|
||||
if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)
|
||||
{
|
||||
//don't use Bullet, use quickstep
|
||||
m_physicsEnvironmentPtr->setSolverType(0);
|
||||
} else
|
||||
{
|
||||
//Bullet LCP solver
|
||||
m_physicsEnvironmentPtr->setSolverType(1);
|
||||
}
|
||||
|
||||
if (getDebugMode() & IDebugDraw::DBG_EnableCCD)
|
||||
{
|
||||
m_physicsEnvironmentPtr->setCcdMode(3);
|
||||
} else
|
||||
{
|
||||
m_physicsEnvironmentPtr->setCcdMode(0);
|
||||
}
|
||||
|
||||
|
||||
bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);
|
||||
|
||||
m_physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
|
||||
|
||||
|
||||
|
||||
int numPhysicsObjects = m_physicsEnvironmentPtr->GetNumControllers();
|
||||
|
||||
int i;
|
||||
|
||||
for (i=0;i<numPhysicsObjects;i++)
|
||||
{
|
||||
|
||||
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
|
||||
RigidBody* body = ctrl->GetRigidBody();
|
||||
|
||||
body->m_worldTransform.getOpenGLMatrix( m );
|
||||
|
||||
SimdVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
|
||||
if (i & 1)
|
||||
{
|
||||
wireColor = SimdVector3(0.f,0.0f,1.f);
|
||||
}
|
||||
///color differently for active, sleeping, wantsdeactivation states
|
||||
if (ctrl->GetRigidBody()->GetActivationState() == 1) //active
|
||||
{
|
||||
if (i & 1)
|
||||
{
|
||||
wireColor += SimdVector3 (1.f,0.f,0.f);
|
||||
} else
|
||||
{
|
||||
wireColor += SimdVector3 (.5f,0.f,0.f);
|
||||
}
|
||||
}
|
||||
if (ctrl->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
|
||||
{
|
||||
if (i & 1)
|
||||
{
|
||||
wireColor += SimdVector3 (0.f,1.f, 0.f);
|
||||
} else
|
||||
{
|
||||
wireColor += SimdVector3 (0.f,0.5f,0.f);
|
||||
}
|
||||
}
|
||||
|
||||
char extraDebug[125];
|
||||
sprintf(extraDebug,"islId, Body=%i , %i",ctrl->GetRigidBody()->m_islandTag1,ctrl->GetRigidBody()->m_debugBodyId);
|
||||
ctrl->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
|
||||
|
||||
float vec[16];
|
||||
SimdTransform ident;
|
||||
ident.setIdentity();
|
||||
ident.getOpenGLMatrix(vec);
|
||||
|
||||
|
||||
GL_ShapeDrawer::DrawOpenGL(m,ctrl->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (!(getDebugMode() & IDebugDraw::DBG_NoHelpText))
|
||||
{
|
||||
|
||||
float xOffset = 10.f;
|
||||
float yStart = 20.f;
|
||||
|
||||
float yIncr = -2.f;
|
||||
|
||||
char buf[124];
|
||||
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
#ifdef USE_QUICKPROF
|
||||
|
||||
|
||||
if ( getDebugMode() & IDebugDraw::DBG_ProfileTimings)
|
||||
{
|
||||
static int counter = 0;
|
||||
counter++;
|
||||
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
|
||||
for (iter = Profiler::mProfileBlocks.begin(); iter != Profiler::mProfileBlocks.end(); ++iter)
|
||||
{
|
||||
char blockTime[128];
|
||||
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),Profiler::getBlockTime((*iter).first, Profiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
|
||||
yStart += yIncr;
|
||||
|
||||
}
|
||||
}
|
||||
#endif //USE_QUICKPROF
|
||||
//profiling << Profiler::createStatsString(Profiler::BLOCK_TOTAL_PERCENT);
|
||||
//<< std::endl;
|
||||
|
||||
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"mouse to interact");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"space to reset");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"cursor keys and z,x to navigate");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"i to toggle simulation, s single step");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"q to quit");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"d to toggle deactivation");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"a to draw temporal AABBs");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"h to toggle help text");
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
bool useBulletLCP = !(getDebugMode() & IDebugDraw::DBG_DisableBulletLCP);
|
||||
|
||||
bool useCCD = (getDebugMode() & IDebugDraw::DBG_EnableCCD);
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"n Bullet LCP = %i",useBulletLCP);
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(xOffset,yStart,0);
|
||||
sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
|
||||
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
|
||||
yStart += yIncr;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
170
Demos/OpenGL/DemoApplication.h
Normal file
170
Demos/OpenGL/DemoApplication.h
Normal file
@@ -0,0 +1,170 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef DEMO_APPLICATION_H
|
||||
#define DEMO_APPLICATION_H
|
||||
|
||||
|
||||
#ifdef WIN32//for glut.h
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
//think different
|
||||
#if defined(__APPLE__) && !defined (VMDMESA)
|
||||
#include <OpenGL/gl.h>
|
||||
#include <OpenGL/glu.h>
|
||||
#include <GLUT/glut.h>
|
||||
#else
|
||||
#include <GL/glut.h>
|
||||
#endif
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
|
||||
|
||||
#include "SimdVector3.h"
|
||||
#include "SimdMatrix3x3.h"
|
||||
#include "SimdTransform.h"
|
||||
|
||||
class CcdPhysicsEnvironment;
|
||||
class CcdPhysicsController;
|
||||
class CollisionShape;
|
||||
|
||||
|
||||
class DemoApplication
|
||||
{
|
||||
|
||||
protected:
|
||||
|
||||
|
||||
///this is the most important class
|
||||
CcdPhysicsEnvironment* m_physicsEnvironmentPtr;
|
||||
|
||||
|
||||
float m_cameraDistance;
|
||||
int m_debugMode;
|
||||
|
||||
float m_ele;
|
||||
float m_azi;
|
||||
SimdVector3 m_cameraPosition;
|
||||
SimdVector3 m_cameraTargetPosition;//look at
|
||||
|
||||
float m_scaleBottom;
|
||||
float m_scaleFactor;
|
||||
SimdVector3 m_cameraUp;
|
||||
int m_forwardAxis;
|
||||
|
||||
int m_glutScreenWidth;
|
||||
int m_glutScreenHeight;
|
||||
|
||||
float m_ShootBoxInitialSpeed;
|
||||
|
||||
bool m_stepping;
|
||||
bool m_singleStep;
|
||||
bool m_idle;
|
||||
int m_lastKey;
|
||||
|
||||
public:
|
||||
|
||||
DemoApplication();
|
||||
|
||||
virtual ~DemoApplication();
|
||||
|
||||
|
||||
int getDebugMode()
|
||||
{
|
||||
return m_debugMode ;
|
||||
}
|
||||
|
||||
void setDebugMode(int mode)
|
||||
{
|
||||
m_debugMode = mode;
|
||||
}
|
||||
|
||||
CcdPhysicsEnvironment* GetPhysicsEnvironment()
|
||||
{
|
||||
return m_physicsEnvironmentPtr;
|
||||
}
|
||||
|
||||
void setCameraUp(const SimdVector3& camUp)
|
||||
{
|
||||
m_cameraUp = camUp;
|
||||
}
|
||||
void setCameraForwardAxis(int axis)
|
||||
{
|
||||
m_forwardAxis = axis;
|
||||
}
|
||||
|
||||
void myinit();
|
||||
|
||||
void toggleIdle();
|
||||
|
||||
virtual void updateCamera();
|
||||
|
||||
SimdVector3 getCameraPosition()
|
||||
{
|
||||
return m_cameraPosition;
|
||||
}
|
||||
SimdVector3 getCameraTargetPosition()
|
||||
{
|
||||
return m_cameraTargetPosition;
|
||||
}
|
||||
|
||||
|
||||
///glut callbacks
|
||||
|
||||
float getCameraDistance();
|
||||
void setCameraDistance(float dist);
|
||||
void moveAndDisplay();
|
||||
|
||||
virtual void clientMoveAndDisplay() = 0;
|
||||
|
||||
virtual void clientResetScene() =0 ;
|
||||
|
||||
///Demo functions
|
||||
void shootBox(const SimdVector3& destination);
|
||||
|
||||
SimdVector3 GetRayTo(int x,int y);
|
||||
|
||||
CcdPhysicsController* LocalCreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape);
|
||||
|
||||
///callback methods by glut
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
virtual void specialKeyboard(int key, int x, int y);
|
||||
|
||||
virtual void reshape(int w, int h);
|
||||
|
||||
virtual void mouseFunc(int button, int state, int x, int y);
|
||||
|
||||
virtual void mouseMotionFunc(int x,int y);
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
virtual void renderme();
|
||||
|
||||
|
||||
void stepLeft();
|
||||
void stepRight();
|
||||
void stepFront();
|
||||
void stepBack();
|
||||
void zoomIn();
|
||||
void zoomOut();
|
||||
|
||||
};
|
||||
|
||||
#endif //DEMO_APPLICATION_H
|
||||
@@ -153,7 +153,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
|
||||
{
|
||||
const BU_Simplex1to4* tetra = static_cast<const BU_Simplex1to4*>(shape);
|
||||
//todo:
|
||||
useWireframeFallback = false;
|
||||
// useWireframeFallback = false;
|
||||
break;
|
||||
}
|
||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||
@@ -307,10 +307,10 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
|
||||
TriangleMeshShape* concaveMesh = (TriangleMeshShape*) shape;
|
||||
//SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
||||
//SimdVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
|
||||
|
||||
extern float eye[3];
|
||||
SimdVector3 aabbMax(eye[0]+100,eye[1]+100,eye[2]+100);//1e30f,1e30f,1e30f);
|
||||
SimdVector3 aabbMin(eye[0]-100,eye[1]-100,eye[2]-100);//1e30f,1e30f,1e30f);
|
||||
|
||||
//todo pass camera, for some culling
|
||||
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
||||
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
|
||||
|
||||
GlDrawcallback drawCallback;
|
||||
|
||||
@@ -323,9 +323,9 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
|
||||
{
|
||||
ConvexTriangleMeshShape* convexMesh = (ConvexTriangleMeshShape*) shape;
|
||||
|
||||
extern float eye[3];
|
||||
SimdVector3 aabbMax(eye[0]+100,eye[1]+100,eye[2]+100);
|
||||
SimdVector3 aabbMin(eye[0]-100,eye[1]-100,eye[2]-100);
|
||||
//todo: pass camera for some culling
|
||||
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
||||
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
|
||||
TriangleGlDrawcallback drawCallback;
|
||||
convexMesh->GetStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
|
||||
|
||||
|
||||
@@ -13,361 +13,57 @@ subject to the following restrictions:
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifdef WIN32//for glut.h
|
||||
#include <windows.h>
|
||||
#endif
|
||||
|
||||
|
||||
//think different
|
||||
#if defined(__APPLE__) && !defined (VMDMESA)
|
||||
#include <OpenGL/gl.h>
|
||||
#include <OpenGL/glu.h>
|
||||
#include <GLUT/glut.h>
|
||||
#else
|
||||
#include <GL/glut.h>
|
||||
#endif
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include "IDebugDraw.h"
|
||||
//see IDebugDraw.h for modes
|
||||
static int sDebugMode = 0;
|
||||
|
||||
int getDebugMode()
|
||||
{
|
||||
return sDebugMode ;
|
||||
}
|
||||
|
||||
void setDebugMode(int mode)
|
||||
{
|
||||
sDebugMode = mode;
|
||||
}
|
||||
|
||||
#include "DemoApplication.h"
|
||||
|
||||
//glut is C code, this global gDemoApplication links glut to the C++ demo
|
||||
static DemoApplication* gDemoApplication = 0;
|
||||
|
||||
|
||||
#include "GlutStuff.h"
|
||||
|
||||
void myinit(void) {
|
||||
|
||||
GLfloat light_ambient[] = { 0.0, 0.0, 0.0, 1.0 };
|
||||
GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
|
||||
GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
|
||||
/* light_position is NOT default value */
|
||||
GLfloat light_position0[] = { 1.0, 1.0, 1.0, 0.0 };
|
||||
GLfloat light_position1[] = { -1.0, -1.0, -1.0, 0.0 };
|
||||
|
||||
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
|
||||
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
|
||||
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
|
||||
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
|
||||
|
||||
glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
|
||||
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
|
||||
glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
|
||||
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
|
||||
|
||||
glEnable(GL_LIGHTING);
|
||||
glEnable(GL_LIGHT0);
|
||||
glEnable(GL_LIGHT1);
|
||||
|
||||
|
||||
glShadeModel(GL_SMOOTH);
|
||||
glEnable(GL_DEPTH_TEST);
|
||||
glDepthFunc(GL_LESS);
|
||||
|
||||
glClearColor(0.8,0.8,0.8,0);
|
||||
|
||||
// glEnable(GL_CULL_FACE);
|
||||
// glCullFace(GL_BACK);
|
||||
}
|
||||
|
||||
|
||||
static float DISTANCE = 15;
|
||||
void setCameraDistance(float dist)
|
||||
static void glutKeyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
DISTANCE = dist;
|
||||
gDemoApplication->keyboardCallback(key,x,y);
|
||||
}
|
||||
|
||||
static float ele = 0, azi = 0;
|
||||
float eye[3] = {0, 0, DISTANCE};
|
||||
static float center[3] = {0, 0, 0};
|
||||
static const double SCALE_BOTTOM = 0.5;
|
||||
static const double SCALE_FACTOR = 2;
|
||||
|
||||
bool stepping= true;
|
||||
bool singleStep = false;
|
||||
|
||||
|
||||
static bool idle = false;
|
||||
|
||||
void toggleIdle() {
|
||||
|
||||
|
||||
if (idle) {
|
||||
glutIdleFunc(clientMoveAndDisplay);
|
||||
idle = false;
|
||||
}
|
||||
else {
|
||||
glutIdleFunc(0);
|
||||
idle = true;
|
||||
}
|
||||
static void glutSpecialKeyboardCallback(int key, int x, int y)
|
||||
{
|
||||
gDemoApplication->specialKeyboard(key,x,y);
|
||||
}
|
||||
|
||||
#include "SimdMatrix3x3.h"
|
||||
static void glutReshapeCallback(int w, int h)
|
||||
{
|
||||
gDemoApplication->reshape(w,h);
|
||||
}
|
||||
|
||||
SimdVector3 gCameraUp(0,1,0);
|
||||
int gForwardAxis = 2;
|
||||
static void glutMoveAndDisplayCallback()
|
||||
{
|
||||
gDemoApplication->moveAndDisplay();
|
||||
}
|
||||
|
||||
void setCamera() {
|
||||
static void glutMouseFuncCallback(int button, int state, int x, int y)
|
||||
{
|
||||
gDemoApplication->mouseFunc(button,state,x,y);
|
||||
}
|
||||
|
||||
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
float rele = ele * 0.01745329251994329547;// rads per deg
|
||||
float razi = azi * 0.01745329251994329547;// rads per deg
|
||||
|
||||
|
||||
SimdQuaternion rot(gCameraUp,razi);
|
||||
|
||||
|
||||
SimdVector3 eyePos(0,0,0);
|
||||
eyePos[gForwardAxis] = -DISTANCE;
|
||||
|
||||
SimdVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
|
||||
if (forward.length2() < SIMD_EPSILON)
|
||||
{
|
||||
forward.setValue(1.f,0.f,0.f);
|
||||
}
|
||||
SimdVector3 right = gCameraUp.cross(forward);
|
||||
SimdQuaternion roll(right,-rele);
|
||||
|
||||
eyePos = SimdMatrix3x3(rot) * SimdMatrix3x3(roll) * eyePos;
|
||||
|
||||
eye[0] = eyePos.getX();
|
||||
eye[1] = eyePos.getY();
|
||||
eye[2] = eyePos.getZ();
|
||||
|
||||
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
|
||||
gluLookAt(eye[0], eye[1], eye[2],
|
||||
center[0], center[1], center[2],
|
||||
gCameraUp.getX(),gCameraUp.getY(),gCameraUp.getZ());
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
}
|
||||
|
||||
|
||||
|
||||
const float STEPSIZE = 5;
|
||||
|
||||
void stepLeft() { azi -= STEPSIZE; if (azi < 0) azi += 360; setCamera(); }
|
||||
void stepRight() { azi += STEPSIZE; if (azi >= 360) azi -= 360; setCamera(); }
|
||||
void stepFront() { ele += STEPSIZE; if (azi >= 360) azi -= 360; setCamera(); }
|
||||
void stepBack() { ele -= STEPSIZE; if (azi < 0) azi += 360; setCamera(); }
|
||||
void zoomIn() { DISTANCE -= 1; setCamera(); }
|
||||
void zoomOut() { DISTANCE += 1; setCamera(); }
|
||||
|
||||
|
||||
int glutScreenWidth = 0;
|
||||
int glutScreenHeight = 0;
|
||||
|
||||
void myReshape(int w, int h) {
|
||||
glutScreenWidth = w;
|
||||
glutScreenHeight = h;
|
||||
|
||||
glViewport(0, 0, w, h);
|
||||
setCamera();
|
||||
}
|
||||
|
||||
int lastKey = 0;
|
||||
|
||||
void defaultKeyboard(unsigned char key, int x, int y)
|
||||
{
|
||||
lastKey = 0;
|
||||
|
||||
switch (key)
|
||||
{
|
||||
case 'q' : exit(0); break;
|
||||
|
||||
case 'l' : stepLeft(); break;
|
||||
case 'r' : stepRight(); break;
|
||||
case 'f' : stepFront(); break;
|
||||
case 'b' : stepBack(); break;
|
||||
case 'z' : zoomIn(); break;
|
||||
case 'x' : zoomOut(); break;
|
||||
case 'i' : toggleIdle(); break;
|
||||
case 'h':
|
||||
if (sDebugMode & IDebugDraw::DBG_NoHelpText)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_NoHelpText);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_NoHelpText;
|
||||
break;
|
||||
|
||||
case 'w':
|
||||
if (sDebugMode & IDebugDraw::DBG_DrawWireframe)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_DrawWireframe);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_DrawWireframe;
|
||||
break;
|
||||
|
||||
case 'p':
|
||||
if (sDebugMode & IDebugDraw::DBG_ProfileTimings)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_ProfileTimings);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_ProfileTimings;
|
||||
break;
|
||||
|
||||
case 'm':
|
||||
if (sDebugMode & IDebugDraw::DBG_EnableSatComparison)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_EnableSatComparison);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_EnableSatComparison;
|
||||
break;
|
||||
|
||||
case 'n':
|
||||
if (sDebugMode & IDebugDraw::DBG_DisableBulletLCP)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_DisableBulletLCP);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_DisableBulletLCP;
|
||||
break;
|
||||
|
||||
case 't' :
|
||||
if (sDebugMode & IDebugDraw::DBG_DrawText)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_DrawText);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_DrawText;
|
||||
break;
|
||||
case 'y':
|
||||
if (sDebugMode & IDebugDraw::DBG_DrawFeaturesText)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_DrawFeaturesText);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_DrawFeaturesText;
|
||||
break;
|
||||
case 'a':
|
||||
if (sDebugMode & IDebugDraw::DBG_DrawAabb)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_DrawAabb);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_DrawAabb;
|
||||
break;
|
||||
case 'c' :
|
||||
if (sDebugMode & IDebugDraw::DBG_DrawContactPoints)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_DrawContactPoints);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_DrawContactPoints;
|
||||
break;
|
||||
|
||||
case 'd' :
|
||||
if (sDebugMode & IDebugDraw::DBG_NoDeactivation)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_NoDeactivation);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_NoDeactivation;
|
||||
break;
|
||||
|
||||
|
||||
|
||||
case 'o' :
|
||||
{
|
||||
stepping = !stepping;
|
||||
break;
|
||||
}
|
||||
case 's' : clientMoveAndDisplay(); break;
|
||||
// case ' ' : newRandom(); break;
|
||||
case ' ':
|
||||
clientResetScene();
|
||||
break;
|
||||
case '1':
|
||||
{
|
||||
if (sDebugMode & IDebugDraw::DBG_EnableCCD)
|
||||
sDebugMode = sDebugMode & (~IDebugDraw::DBG_EnableCCD);
|
||||
else
|
||||
sDebugMode |= IDebugDraw::DBG_EnableCCD;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
// std::cout << "unused key : " << key << std::endl;
|
||||
break;
|
||||
}
|
||||
|
||||
glutPostRedisplay();
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void defaultSpecialKeyboard(int key, int x, int y)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case GLUT_KEY_LEFT : stepLeft(); break;
|
||||
case GLUT_KEY_RIGHT : stepRight(); break;
|
||||
case GLUT_KEY_UP : stepFront(); break;
|
||||
case GLUT_KEY_DOWN : stepBack(); break;
|
||||
case GLUT_KEY_PAGE_UP : zoomIn(); break;
|
||||
case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
|
||||
case GLUT_KEY_HOME : toggleIdle(); break;
|
||||
default:
|
||||
// std::cout << "unused (special) key : " << key << std::endl;
|
||||
break;
|
||||
}
|
||||
|
||||
glutPostRedisplay();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void goodbye( void)
|
||||
{
|
||||
printf("goodbye \n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
void menu(int choice)
|
||||
{
|
||||
static int fullScreen = 0;
|
||||
static int px, py, sx, sy;
|
||||
|
||||
switch(choice) {
|
||||
case 1:
|
||||
if (fullScreen == 1) {
|
||||
glutPositionWindow(px,py);
|
||||
glutReshapeWindow(sx,sy);
|
||||
glutChangeToMenuEntry(1,"Full Screen",1);
|
||||
fullScreen = 0;
|
||||
} else {
|
||||
px=glutGet((GLenum)GLUT_WINDOW_X);
|
||||
py=glutGet((GLenum)GLUT_WINDOW_Y);
|
||||
sx=glutGet((GLenum)GLUT_WINDOW_WIDTH);
|
||||
sy=glutGet((GLenum)GLUT_WINDOW_HEIGHT);
|
||||
glutFullScreen();
|
||||
glutChangeToMenuEntry(1,"Close Full Screen",1);
|
||||
fullScreen = 1;
|
||||
}
|
||||
break;
|
||||
case 2:
|
||||
toggleIdle();
|
||||
break;
|
||||
case 3:
|
||||
goodbye();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void createMenu()
|
||||
{
|
||||
glutCreateMenu(menu);
|
||||
glutAddMenuEntry("Full Screen", 1);
|
||||
glutAddMenuEntry("Toggle Idle (Start/Stop)", 2);
|
||||
glutAddMenuEntry("Quit", 3);
|
||||
glutAttachMenu(GLUT_RIGHT_BUTTON);
|
||||
}
|
||||
|
||||
|
||||
|
||||
int glutmain(int argc, char **argv,int width,int height,const char* title) {
|
||||
static void glutMotionFuncCallback(int x,int y)
|
||||
{
|
||||
gDemoApplication->mouseMotionFunc(x,y);
|
||||
}
|
||||
|
||||
|
||||
static void glutDisplayCallback(void)
|
||||
{
|
||||
gDemoApplication->displayCallback();
|
||||
}
|
||||
|
||||
|
||||
|
||||
int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp) {
|
||||
|
||||
gDemoApplication = demoApp;
|
||||
|
||||
glutInit(&argc, argv);
|
||||
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
|
||||
@@ -375,17 +71,18 @@ int glutmain(int argc, char **argv,int width,int height,const char* title) {
|
||||
glutInitWindowSize(width, height);
|
||||
glutCreateWindow(title);
|
||||
|
||||
myinit();
|
||||
glutKeyboardFunc(clientKeyboard);
|
||||
glutSpecialFunc(clientSpecialKeyboard);
|
||||
glutReshapeFunc(myReshape);
|
||||
//createMenu();
|
||||
glutIdleFunc(clientMoveAndDisplay);
|
||||
glutMouseFunc(clientMouseFunc);
|
||||
glutMotionFunc(clientMotionFunc);
|
||||
glutDisplayFunc( clientDisplay );
|
||||
gDemoApplication->myinit();
|
||||
|
||||
clientMoveAndDisplay();
|
||||
glutKeyboardFunc(glutKeyboardCallback);
|
||||
glutSpecialFunc(glutSpecialKeyboardCallback);
|
||||
glutReshapeFunc(glutReshapeCallback);
|
||||
//createMenu();
|
||||
glutIdleFunc(glutMoveAndDisplayCallback);
|
||||
glutMouseFunc(glutMouseFuncCallback);
|
||||
glutMotionFunc(glutMotionFuncCallback);
|
||||
glutDisplayFunc( glutDisplayCallback );
|
||||
|
||||
glutMoveAndDisplayCallback();
|
||||
|
||||
glutMainLoop();
|
||||
return 0;
|
||||
|
||||
@@ -15,24 +15,8 @@ subject to the following restrictions:
|
||||
#ifndef GLUT_STUFF_H
|
||||
#define GLUT_STUFF_H
|
||||
|
||||
//to be implemented by the demo
|
||||
void clientDisplay();
|
||||
void clientMoveAndDisplay();
|
||||
void clientResetScene();
|
||||
class DemoApplication;
|
||||
|
||||
int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp);
|
||||
|
||||
int glutmain(int argc, char **argv,int width,int height,const char* title);
|
||||
|
||||
void setCameraDistance(float dist);
|
||||
int getDebugMode();
|
||||
void setDebugMode(int mode);
|
||||
|
||||
void defaultKeyboard(unsigned char key, int x, int y);
|
||||
void clientKeyboard(unsigned char key, int x, int y);
|
||||
|
||||
void defaultSpecialKeyboard(int key, int x, int y);
|
||||
void clientSpecialKeyboard(int key, int x, int y);
|
||||
|
||||
void clientMouseFunc(int button, int state, int x, int y);
|
||||
void clientMotionFunc(int x,int y);
|
||||
#endif //GLUT_STUFF_H
|
||||
|
||||
Reference in New Issue
Block a user