Start re-organizing demos so the physics setup can be shared easier (explicit create graphics objects, init/exit physics etc)
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
@@ -2,54 +2,102 @@
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#include "btBulletDynamicsCommon.h"
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#include "OpenGLWindow/SimpleOpenGL3App.h"
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Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(SimpleOpenGL3App* app)
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:m_glApp(app),
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m_pickedBody(0),
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m_pickedConstraint(0),
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m_controlPressed(false),
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m_altPressed(false)
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struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
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{
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m_config = 0;
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m_dispatcher = 0;
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m_bp = 0;
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m_solver = 0;
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m_dynamicsWorld = 0;
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SimpleOpenGL3App* m_glApp;
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MyGraphicsPhysicsBridge(SimpleOpenGL3App* glApp)
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:m_glApp(glApp)
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{
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}
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virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
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{
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btCollisionShape* shape = body->getCollisionShape();
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btTransform startTransform = body->getWorldTransform();
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int graphicsShapeId = shape->getUserIndex();
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btAssert(graphicsShapeId >= 0);
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btVector3 localScaling = shape->getLocalScaling();
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int graphicsInstanceId = m_glApp->m_instancingRenderer->registerGraphicsInstance(graphicsShapeId, startTransform.getOrigin(), startTransform.getRotation(), color, localScaling);
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body->setUserIndex(graphicsInstanceId);
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}
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
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{
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//todo: support all collision shape types
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switch (collisionShape->getShapeType())
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{
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case BOX_SHAPE_PROXYTYPE:
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{
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btBoxShape* box = (btBoxShape*)collisionShape;
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btVector3 halfExtents = box->getHalfExtentsWithMargin();
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int cubeShapeId = m_glApp->registerCubeShape(halfExtents.x(), halfExtents.y(), halfExtents.z());
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box->setUserIndex(cubeShapeId);
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break;
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}
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default:
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{
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btAssert(0);
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}
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};
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}
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
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{
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int numCollisionObjects = rbWorld->getNumCollisionObjects();
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for (int i = 0; i<numCollisionObjects; i++)
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{
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btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
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btVector3 pos = colObj->getWorldTransform().getOrigin();
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btQuaternion orn = colObj->getWorldTransform().getRotation();
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int index = colObj->getUserIndex();
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if (index >= 0)
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{
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m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos, orn, index);
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}
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}
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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};
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Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup)
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:m_glApp(app),
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m_physicsSetup(physicsSetup),
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m_controlPressed(false),
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m_altPressed(false)
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{
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}
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void Bullet2RigidBodyDemo::initPhysics()
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{
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m_config = new btDefaultCollisionConfiguration;
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m_dispatcher = new btCollisionDispatcher(m_config);
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m_bp = new btDbvtBroadphase();
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
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MyGraphicsPhysicsBridge glBridge(m_glApp);
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m_physicsSetup->initPhysics(glBridge);
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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void Bullet2RigidBodyDemo::exitPhysics()
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{
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delete m_dynamicsWorld;
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m_dynamicsWorld=0;
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delete m_solver;
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m_solver=0;
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delete m_bp;
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m_bp=0;
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delete m_dispatcher;
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m_dispatcher=0;
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delete m_config;
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m_config=0;
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m_physicsSetup->exitPhysics();
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}
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void Bullet2RigidBodyDemo::stepSimulation(float deltaTime)
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{
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m_dynamicsWorld->stepSimulation(deltaTime);
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m_physicsSetup->stepSimulation(deltaTime);
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}
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void Bullet2RigidBodyDemo::renderScene()
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{
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//sync graphics -> physics world transforms
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MyGraphicsPhysicsBridge glBridge(m_glApp);
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m_physicsSetup->syncPhysicsToGraphics(glBridge);
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m_glApp->m_instancingRenderer->renderScene();
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}
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Bullet2RigidBodyDemo::~Bullet2RigidBodyDemo()
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{
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btAssert(m_config == 0);
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btAssert(m_dispatcher == 0);
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btAssert(m_bp == 0);
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btAssert(m_solver == 0);
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btAssert(m_dynamicsWorld == 0);
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}
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btVector3 Bullet2RigidBodyDemo::getRayTo(int x,int y)
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@@ -115,28 +163,10 @@ btVector3 Bullet2RigidBodyDemo::getRayTo(int x,int y)
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bool Bullet2RigidBodyDemo::mouseMoveCallback(float x,float y)
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{
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//if (m_data->m_altPressed!=0 || m_data->m_controlPressed!=0)
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//return false;
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if (m_pickedBody && m_pickedConstraint)
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{
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btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
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if (pickCon)
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{
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//keep it at the same picking distance
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btVector3 newRayTo = getRayTo(x,y);
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btVector3 rayFrom;
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btVector3 oldPivotInB = pickCon->getPivotInB();
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btVector3 newPivotB;
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m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
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btVector3 dir = newRayTo-rayFrom;
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dir.normalize();
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dir *= m_oldPickingDist;
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newPivotB = rayFrom + dir;
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pickCon->setPivotB(newPivotB);
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}
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}
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btVector3 rayTo = getRayTo(x, y);
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btVector3 rayFrom;
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m_glApp->m_instancingRenderer->getCameraPosition(rayFrom);
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m_physicsSetup->movePickedBody(rayFrom,rayTo);
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return false;
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}
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@@ -153,53 +183,15 @@ bool Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, f
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btVector3 rayFrom = camPos;
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btVector3 rayTo = getRayTo(x,y);
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btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
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m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
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if (rayCallback.hasHit())
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{
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bool hasPicked = m_physicsSetup->pickBody(rayFrom, rayTo);
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btVector3 pickPos = rayCallback.m_hitPointWorld;
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btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
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if (body)
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{
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//other exclusions?
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if (!(body->isStaticObject() || body->isKinematicObject()))
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{
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m_pickedBody = body;
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m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
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//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
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btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
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btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
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m_dynamicsWorld->addConstraint(p2p,true);
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m_pickedConstraint = p2p;
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btScalar mousePickClamping = 30.f;
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p2p->m_setting.m_impulseClamp = mousePickClamping;
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//very weak constraint for picking
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p2p->m_setting.m_tau = 0.001f;
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}
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}
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// pickObject(pickPos, rayCallback.m_collisionObject);
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m_oldPickingPos = rayTo;
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m_hitPos = pickPos;
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m_oldPickingDist = (pickPos-rayFrom).length();
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// printf("hit !\n");
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//add p2p
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}
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}
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} else
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{
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if (button==0)
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{
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if (m_pickedConstraint)
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{
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m_dynamicsWorld->removeConstraint(m_pickedConstraint);
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delete m_pickedConstraint;
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m_pickedConstraint=0;
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m_pickedBody = 0;
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}
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m_physicsSetup->removePickingConstraint();
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//remove p2p
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}
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}
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