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Start re-organizing demos so the physics setup can be shared easier (explicit create graphics objects, init/exit physics etc)

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Add B3G_RETURN key code, only implemented in Windows so far (todo: Mac, Linux)
Fix Windows key management (use WM_CHAR event instead of WM_KEYUP
Add Return (OnKeyReturn) key support TreeNode, so we can select an item using the return key.
This commit is contained in:
Erwin Coumans
2014-06-24 10:14:06 -07:00
parent 28f19f1bab
commit 68f798a2da
29 changed files with 746 additions and 655 deletions
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122
Demos3/bullet2/BasicDemo/BasicDemo.cpp
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@@ -14,8 +14,8 @@
static const float scaling=0.35f;
BasicDemo::BasicDemo(SimpleOpenGL3App* app)
:Bullet2RigidBodyDemo(app)
BasicDemo::BasicDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup)
:Bullet2RigidBodyDemo(app,physicsSetup)
{
}
@@ -25,124 +25,6 @@ BasicDemo::~BasicDemo()
void BasicDemo::createGround(int cubeShapeId)
{
{
btVector4 color(0.3,0.3,1,1);
btVector4 halfExtents(50,50,50,1);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
}
}
void BasicDemo::initPhysics()
{
m_physicsSetup.m_glApp = m_glApp;
m_physicsSetup.initPhysics();
m_dynamicsWorld = m_physicsSetup.m_dynamicsWorld;
m_glApp->m_instancingRenderer->writeTransforms();
}
void BasicDemo::exitPhysics()
{
m_physicsSetup.exitPhysics();
m_dynamicsWorld = 0;
//Bullet2RigidBodyDemo::exitPhysics();
}
//SimpleOpenGL3App* m_glApp;
btRigidBody* MyBasicDemoPhysicsSetup::createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color)
{
btRigidBody* body = BasicDemoPhysicsSetup::createRigidBody(mass,startTransform,shape);
int graphicsShapeId = shape->getUserIndex();
btAssert(graphicsShapeId>=0);
btVector3 localScaling = shape->getLocalScaling();
int graphicsInstanceId = m_glApp->m_instancingRenderer->registerGraphicsInstance(graphicsShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,localScaling);
body->setUserIndex(graphicsInstanceId);
//todo: create graphics representation
return body;
}
btBoxShape* MyBasicDemoPhysicsSetup::createBoxShape(const btVector3& halfExtents)
{
btBoxShape* box = BasicDemoPhysicsSetup::createBoxShape(halfExtents);
int cubeShapeId = m_glApp->registerCubeShape(halfExtents.x(),halfExtents.y(),halfExtents.z());
box->setUserIndex(cubeShapeId);
//todo: create graphics representation
return box;
}
void BasicDemo::renderScene()
{
//sync graphics -> physics world transforms
{
for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj ->getUserIndex();
if (index>=0)
{
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,index);
}
}
m_glApp->m_instancingRenderer->writeTransforms();
}
m_glApp->m_instancingRenderer->renderScene();
}
void BasicDemo::stepSimulation(float dt)
{
m_physicsSetup.stepSimulation(dt);
m_physicsSetup.m_dynamicsWorld->debugDrawWorld();
/*
//print applied force
//contact points
for (int i=0;i<m_dynamicsWorld->getDispatcher()->getNumManifolds();i++)
{
btPersistentManifold* contact = m_dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
for (int c=0;c<contact->getNumContacts();c++)
{
btManifoldPoint& pt = contact->getContactPoint(c);
btScalar dist = pt.getDistance();
if (dist< contact->getContactProcessingThreshold())
{
printf("normalImpulse[%d.%d] = %f\n",i,c,pt.m_appliedImpulse);
} else
{
printf("?\n");
}
}
}
*/
}