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add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call,

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then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.
This commit is contained in:
erwin coumans
2015-03-03 13:24:06 -08:00
parent a391e619ed
commit 5d40d90bd0
13 changed files with 548 additions and 27 deletions
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69
Demos3/AllBullet2Demos/main.cpp
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@@ -31,6 +31,7 @@
#include "Bullet3AppSupport/GwenProfileWindow.h"
#include "Bullet3AppSupport/GwenTextureWindow.h"
#include "Bullet3AppSupport/GraphingTexture.h"
#include "Bullet3AppSupport/Common2dCanvasInterface.h"
#include "OpenGLWindow/SimpleCamera.h"
#include "OpenGLWindow/SimpleOpenGL2Renderer.h"
@@ -393,6 +394,71 @@ void fileOpenCallback()
}
}
#define MAX_GRAPH_WINDOWS 5
struct QuickCanvas : public Common2dCanvasInterface
{
GL3TexLoader* m_myTexLoader;
MyGraphWindow* m_gw[MAX_GRAPH_WINDOWS];
GraphingTexture* m_gt[MAX_GRAPH_WINDOWS];
int m_curNumGraphWindows;
QuickCanvas(GL3TexLoader* myTexLoader)
:m_myTexLoader(myTexLoader),
m_curNumGraphWindows(0)
{
for (int i=0;i<MAX_GRAPH_WINDOWS;i++)
{
m_gw[i] = 0;
m_gt[i] = 0;
}
}
virtual ~QuickCanvas() {}
virtual int createCanvas(const char* canvasName, int width, int height)
{
if (m_curNumGraphWindows<MAX_GRAPH_WINDOWS)
{
//find a slot
int slot = 0;//hardcoded for now
m_curNumGraphWindows++;
MyGraphInput input(gui->getInternalData());
input.m_width=width;
input.m_height=height;
input.m_xPos = 300;
input.m_yPos = height-input.m_height;
input.m_name=canvasName;
input.m_texName = canvasName;
m_gt[slot] = new GraphingTexture;
m_gt[slot]->create(width,height);
int texId = m_gt[slot]->getTextureId();
m_myTexLoader->m_hashMap.insert(canvasName, texId);
m_gw[slot] = setupTextureWindow(input);
return slot;
}
return -1;
}
virtual void destroyCanvas(int canvasId)
{
btAssert(canvasId==0);//hardcoded to zero for now, only a single canvas
btAssert(m_curNumGraphWindows==1);
destroyTextureWindow(m_gw[canvasId]);
m_curNumGraphWindows--;
}
virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
{
btAssert(canvasId==0);//hardcoded
btAssert(m_curNumGraphWindows==1);
m_gt[canvasId]->setPixel(x,y,red,green,blue,alpha);
}
virtual void refreshImageData(int canvasId)
{
m_gt[canvasId]->uploadImageData();
}
};
extern float shadowMapWorldSize;
int main(int argc, char* argv[])
{
@@ -522,7 +588,8 @@ int main(int argc, char* argv[])
//destroyTextureWindow(gw);
#endif
s_parameterInterface = app->m_parameterInterface = new GwenParameterInterface(gui->getInternalData());
app->m_2dCanvasInterface = new QuickCanvas(myTexLoader);
//gui->getInternalData()->m_demoPage;
int numDemos = sizeof(allDemos)/sizeof(BulletDemoEntry);