Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
This commit is contained in:
erwin coumans
35
ObsoleteDemos/SliderConstraintDemo/CMakeLists.txt
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35
ObsoleteDemos/SliderConstraintDemo/CMakeLists.txt
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@@ -0,0 +1,35 @@
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
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# For every executable you have with a main method you should have an add_executable line below.
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# For every add executable line you should list every .cpp and .h file you have associated with that executable.
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# You shouldn't have to modify anything below this line
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########################################################
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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../OpenGL
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)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppSliderConstraintDemo
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SliderConstraintDemo.cpp
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main.cpp
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)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppSliderConstraintDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppSliderConstraintDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppSliderConstraintDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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512
ObsoleteDemos/SliderConstraintDemo/SliderConstraintDemo.cpp
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512
ObsoleteDemos/SliderConstraintDemo/SliderConstraintDemo.cpp
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@@ -0,0 +1,512 @@
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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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/*
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Added by Roman Ponomarev (rponom@gmail.com)
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April 04, 2008
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Added support for ODE sover
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April 24, 2008
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*/
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugDrawer.h"
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#include <stdio.h> //printf debugging
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#include "SliderConstraintDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#define SLIDER_DEMO_USE_ODE_SOLVER 0
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#define SLIDER_DEMO_USE_6DOF 0
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#define CUBE_HALF_EXTENTS 1.f
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#define SLIDER_ENABLE_ALL_DEMOS 1
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// A couple of sliders
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#if SLIDER_DEMO_USE_6DOF
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static btGeneric6DofConstraint *spSlider1, *spSlider2;
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#else
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static btSliderConstraint *spSlider1, *spSlider2;
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#endif
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static btPoint2PointConstraint* spP2PConst;
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//static btHingeConstraint* spHingeConst;
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static void draw_axes(const btRigidBody& rb, const btTransform& frame)
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{
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glBegin(GL_LINES);
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// draw world transform
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btVector3 from = rb.getWorldTransform().getOrigin();
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btVector3 to = from + rb.getWorldTransform().getBasis() * btVector3(5,0,0);
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// X in red
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glColor3f(255.0F, 0.0F, 0.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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to = from + rb.getWorldTransform().getBasis() * btVector3(0,5,0);
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// Y in green
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glColor3f(0.0F, 255.0F, 0.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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to = from + rb.getWorldTransform().getBasis() * btVector3(0,0,5);
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// Z in blue
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glColor3f(0.0F, 0.0F, 255.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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// draw slider frame
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btTransform calc_frame = rb.getWorldTransform() * frame;
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from = calc_frame.getOrigin();
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to = from + calc_frame.getBasis() * btVector3(10,0,0);
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// X in red
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glColor3f(255.0F, 0.0F, 0.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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to = from + calc_frame.getBasis() * btVector3(0,10,0);
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// Y in green
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glColor3f(0.0F, 255.0F, 0.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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to = from + calc_frame.getBasis() * btVector3(0,0,10);
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// Z in blue
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glColor3f(0.0F, 0.0F, 255.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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glEnd();
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} // draw_axes()
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#if SLIDER_DEMO_USE_6DOF
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static void drawSlider(btGeneric6DofConstraint* pSlider)
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{
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draw_axes(pSlider->getRigidBodyA(), pSlider->getFrameOffsetA());
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draw_axes(pSlider->getRigidBodyB(), pSlider->getFrameOffsetB());
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} // drawSlider()
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#else
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static void drawSlider(btSliderConstraint* pSlider)
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{
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draw_axes(pSlider->getRigidBodyA(), pSlider->getFrameOffsetA());
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draw_axes(pSlider->getRigidBodyB(), pSlider->getFrameOffsetB());
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// draw limits in white
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btVector3 from(pSlider->getLowerLinLimit(), 0, 0);
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btVector3 to(pSlider->getUpperLinLimit(), 0, 0);
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btTransform trans;
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if(pSlider->getUseLinearReferenceFrameA())
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{
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trans = pSlider->getRigidBodyA().getWorldTransform() * pSlider->getFrameOffsetA();
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}
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else
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{
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trans = pSlider->getRigidBodyB().getWorldTransform() * pSlider->getFrameOffsetB();
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}
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from = trans * from;
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to = trans * to;
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glBegin(GL_LINES);
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glColor3f(255.0F, 255.0F, 255.0F);
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glVertex3d(from.getX(), from.getY(), from.getZ());
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glVertex3d(to.getX(), to.getY(), to.getZ());
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glEnd();
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} // drawSlider()
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#endif
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void SliderConstraintDemo::initPhysics()
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{
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setTexturing(true);
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setShadows(true);
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setCameraDistance(26.f);
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// init world
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVector3 worldMin(-1000,-1000,-1000);
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btVector3 worldMax(1000,1000,1000);
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m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
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#if SLIDER_DEMO_USE_ODE_SOLVER
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m_constraintSolver = new btOdeQuickstepConstraintSolver();
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#else
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m_constraintSolver = new btSequentialImpulseConstraintSolver();
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#endif
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btDiscreteDynamicsWorld* wp = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
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// wp->getSolverInfo().m_numIterations = 20; // default is 10
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m_dynamicsWorld = wp;
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// wp->getSolverInfo().m_erp = 0.8;
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// add floor
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//btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-76,0));
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btRigidBody* groundBody;
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groundBody = localCreateRigidBody(0, groundTransform, groundShape);
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// add box shape (will be reused for all bodies)
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btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
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m_collisionShapes.push_back(shape);
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// mass of dymamic bodies
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btScalar mass = btScalar(1.);
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// add dynamic rigid body A1
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btTransform trans;
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trans.setIdentity();
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btVector3 worldPos(-20,0,0);
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trans.setOrigin(worldPos);
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInB = btTransform::getIdentity();
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#if SLIDER_ENABLE_ALL_DEMOS
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btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape);
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// btRigidBody* pRbA1 = localCreateRigidBody(0.f, trans, shape);
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pRbA1->setActivationState(DISABLE_DEACTIVATION);
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// add dynamic rigid body B1
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worldPos.setValue(-30,0,0);
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trans.setOrigin(worldPos);
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btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape);
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// btRigidBody* pRbB1 = localCreateRigidBody(0.f, trans, shape);
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pRbB1->setActivationState(DISABLE_DEACTIVATION);
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// create slider constraint between A1 and B1 and add it to world
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#if SLIDER_DEMO_USE_6DOF
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spSlider1 = new btGeneric6DofConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
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btVector3 lowerSliderLimit = btVector3(-20,0,0);
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btVector3 hiSliderLimit = btVector3(-10,0,0);
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// btVector3 lowerSliderLimit = btVector3(-20,-5,-5);
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// btVector3 hiSliderLimit = btVector3(-10,5,5);
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spSlider1->setLinearLowerLimit(lowerSliderLimit);
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spSlider1->setLinearUpperLimit(hiSliderLimit);
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spSlider1->setAngularLowerLimit(btVector3(0,0,0));
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spSlider1->setAngularUpperLimit(btVector3(0,0,0));
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#else
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spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
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// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
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spSlider1->setLowerLinLimit(-15.0F);
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spSlider1->setUpperLinLimit(-5.0F);
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// spSlider1->setLowerLinLimit(5.0F);
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// spSlider1->setUpperLinLimit(15.0F);
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// spSlider1->setLowerLinLimit(-10.0F);
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// spSlider1->setUpperLinLimit(-10.0F);
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spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
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spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
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#endif
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m_dynamicsWorld->addConstraint(spSlider1, true);
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spSlider1->setDbgDrawSize(btScalar(5.f));
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#endif
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#if SLIDER_ENABLE_ALL_DEMOS
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// add kinematic rigid body A2
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// worldPos.setValue(20,4,0);
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worldPos.setValue(5,-20,0);
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trans.setOrigin(worldPos);
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btRigidBody* pRbA2 = localCreateRigidBody(0., trans, shape);
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// btRigidBody* pRbA2 = localCreateRigidBody(mass, trans, shape);
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// btRigidBody* pRbA2 = localCreateRigidBody(mass * 10000, trans, shape);
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pRbA2->setActivationState(DISABLE_DEACTIVATION);
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// add dynamic rigid body B2
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// worldPos.setValue(-20,4,0);
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worldPos.setValue(-5,-20,0);
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trans.setOrigin(worldPos);
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// btRigidBody* pRbB2 = localCreateRigidBody(0., trans, shape);
|
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btRigidBody* pRbB2 = localCreateRigidBody(mass, trans, shape);
|
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// btRigidBody* pRbB2 = localCreateRigidBody(mass * 10000, trans, shape);
|
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pRbB2->setActivationState(DISABLE_DEACTIVATION);
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// frameInA.getBasis().setEulerZYX(1.f, 1.f, 1.f);
|
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// frameInB.getBasis().setEulerZYX(1.f, 1.f, 1.f);
|
||||
// frameInA.getBasis().setEulerZYX(1.f, 1.f, 1.f);
|
||||
// frameInB.getBasis().setEulerZYX(1.f, 1.f, 1.f);
|
||||
|
||||
|
||||
// frameInA.setOrigin(btVector3(-20., 5., 0));
|
||||
// frameInB.setOrigin(btVector3( 20., 5., 0));
|
||||
frameInA.setOrigin(btVector3(-5., 20., 0));
|
||||
frameInB.setOrigin(btVector3( 5., 20., 0));
|
||||
|
||||
|
||||
// create slider constraint between A2 and B2 and add it to world
|
||||
#if SLIDER_DEMO_USE_6DOF
|
||||
spSlider2 = new btGeneric6DofConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
|
||||
spSlider2->setLinearLowerLimit(lowerSliderLimit);
|
||||
spSlider2->setLinearUpperLimit(hiSliderLimit);
|
||||
spSlider2->setAngularLowerLimit(btVector3(0,0,0));
|
||||
spSlider2->setAngularUpperLimit(btVector3(0,0,0));
|
||||
#else
|
||||
spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, true);
|
||||
// spSlider2 = new btSliderConstraint(*pRbA2, *pRbB2, frameInA, frameInB, false);
|
||||
// spSlider2->setLowerLinLimit(0.0F);
|
||||
// spSlider2->setUpperLinLimit(0.0F);
|
||||
spSlider2->setLowerLinLimit(-2.0F);
|
||||
spSlider2->setUpperLinLimit(2.0F);
|
||||
// spSlider2->setLowerLinLimit(5.0F);
|
||||
// spSlider2->setUpperLinLimit(25.0F);
|
||||
// spSlider2->setUpperLinLimit(-5.0F);
|
||||
// spSlider2->setUpperLinLimit(-9.99F);
|
||||
|
||||
|
||||
// spSlider2->setLowerAngLimit(SIMD_PI / 2.0F);
|
||||
// spSlider2->setUpperAngLimit(-SIMD_PI / 2.0F);
|
||||
|
||||
// spSlider2->setLowerAngLimit(-SIMD_PI / 2.0F);
|
||||
// spSlider2->setUpperAngLimit(SIMD_PI / 2.0F);
|
||||
|
||||
// spSlider2->setLowerAngLimit(-SIMD_PI);
|
||||
// spSlider2->setUpperAngLimit(SIMD_PI *0.8F);
|
||||
|
||||
|
||||
// spSlider2->setLowerAngLimit(-0.01F);
|
||||
// spSlider2->setUpperAngLimit(0.01F);
|
||||
spSlider2->setLowerAngLimit(-1.570796326F * 0.5f);
|
||||
spSlider2->setUpperAngLimit(1.570796326F * 0.5f);
|
||||
// spSlider2->setLowerAngLimit(1.F);
|
||||
// spSlider2->setUpperAngLimit(-1.F);
|
||||
|
||||
|
||||
// spSlider2->setDampingLimLin(0.5f);
|
||||
|
||||
#if 0
|
||||
// add motors
|
||||
spSlider2->setPoweredLinMotor(true);
|
||||
spSlider2->setMaxLinMotorForce(0.1);
|
||||
spSlider2->setTargetLinMotorVelocity(-5.0);
|
||||
|
||||
spSlider2->setPoweredAngMotor(true);
|
||||
// spSlider2->setMaxAngMotorForce(0.01);
|
||||
spSlider2->setMaxAngMotorForce(10.0);
|
||||
spSlider2->setTargetAngMotorVelocity(1.0);
|
||||
|
||||
// change default damping and restitution
|
||||
|
||||
spSlider2->setDampingDirLin(0.005F);
|
||||
spSlider2->setRestitutionLimLin(1.1F);
|
||||
#endif
|
||||
|
||||
// various ODE tests
|
||||
// spSlider2->setDampingLimLin(0.1F); // linear bounce factor for ODE == 1.0 - DampingLimLin;
|
||||
// spSlider2->setDampingLimAng(0.1F); // angular bounce factor for ODE == 1.0 - DampingLimAng;
|
||||
// spSlider2->setSoftnessOrthoAng(0.1);
|
||||
// spSlider2->setSoftnessOrthoLin(0.1);
|
||||
// spSlider2->setSoftnessLimLin(0.1);
|
||||
// spSlider2->setSoftnessLimAng(0.1);
|
||||
#endif
|
||||
m_dynamicsWorld->addConstraint(spSlider2, true);
|
||||
spSlider2->setDbgDrawSize(btScalar(5.f));
|
||||
#endif
|
||||
|
||||
#if SLIDER_ENABLE_ALL_DEMOS
|
||||
{
|
||||
// add dynamic rigid body A1
|
||||
trans.setIdentity();
|
||||
worldPos.setValue(20,0,0);
|
||||
trans.setOrigin(worldPos);
|
||||
btRigidBody* pRbA3 = localCreateRigidBody(0.0F, trans, shape);
|
||||
pRbA3->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
// add dynamic rigid body B1
|
||||
worldPos.setValue(25,0,0);
|
||||
trans.setOrigin(worldPos);
|
||||
btRigidBody* pRbB3 = localCreateRigidBody(mass, trans, shape);
|
||||
pRbB3->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
btVector3 pivA( 2.5, 0., 0.);
|
||||
btVector3 pivB(-2.5, 0., 0.);
|
||||
spP2PConst = new btPoint2PointConstraint(*pRbA3, *pRbB3, pivA, pivB);
|
||||
m_dynamicsWorld->addConstraint(spP2PConst, true);
|
||||
spP2PConst->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
#if 0 // SLIDER_ENABLE_ALL_DEMOS
|
||||
// add dynamic rigid body A4
|
||||
trans.setIdentity();
|
||||
worldPos.setValue(20,10,0);
|
||||
trans.setOrigin(worldPos);
|
||||
btRigidBody* pRbA4 = localCreateRigidBody(0.0F, trans, shape);
|
||||
pRbA4->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
// add dynamic rigid body B1
|
||||
worldPos.setValue(27,10,0);
|
||||
trans.setOrigin(worldPos);
|
||||
btRigidBody* pRbB4 = localCreateRigidBody(mass, trans, shape);
|
||||
pRbB1->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
|
||||
btVector3 pivA( 2., 0., 0.);
|
||||
btVector3 pivB(-5., 0., 0.);
|
||||
btVector3 axisA(0., 0., 1.);
|
||||
btVector3 axisB(0., 0., 1.);
|
||||
|
||||
spHingeConst = new btHingeConstraint(*pRbA4, *pRbB4, pivA, pivB, axisA, axisB);
|
||||
// spHingeConst->setLimit(-1.57, 1.57);
|
||||
spHingeConst->setLimit(1.57, -1.57);
|
||||
spHingeConst->enableAngularMotor(true, 10.0, 0.19);
|
||||
|
||||
m_dynamicsWorld->addConstraint(spHingeConst, true);
|
||||
spHingeConst->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
#endif
|
||||
|
||||
} // SliderConstraintDemo::initPhysics()
|
||||
|
||||
|
||||
|
||||
SliderConstraintDemo::~SliderConstraintDemo()
|
||||
{
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
int i;
|
||||
//removed/delete constraints
|
||||
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
|
||||
{
|
||||
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
|
||||
m_dynamicsWorld->removeConstraint(constraint);
|
||||
delete constraint;
|
||||
}
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
//delete solver
|
||||
delete m_constraintSolver;
|
||||
//delete broadphase
|
||||
delete m_overlappingPairCache;
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
delete m_collisionConfiguration;
|
||||
} // SliderConstraintDemo::~SliderConstraintDemo()
|
||||
|
||||
|
||||
|
||||
void SliderConstraintDemo::clientMoveAndDisplay()
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
|
||||
//during idle mode, just run 1 simulation step maximum
|
||||
int maxSimSubSteps = m_idle ? 1 : 1;
|
||||
if(m_idle)
|
||||
{
|
||||
dt = 1.0/420.f;
|
||||
}
|
||||
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
bool verbose = false;
|
||||
if (verbose)
|
||||
{
|
||||
if (!numSimSteps)
|
||||
printf("Interpolated transforms\n");
|
||||
else
|
||||
{
|
||||
if (numSimSteps > maxSimSubSteps)
|
||||
{
|
||||
//detect dropping frames
|
||||
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
|
||||
} else
|
||||
{
|
||||
printf("Simulated (%i) steps\n",numSimSteps);
|
||||
}
|
||||
}
|
||||
}
|
||||
renderme();
|
||||
// drawSlider(spSlider1);
|
||||
// drawSlider(spSlider2);
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
} // SliderConstraintDemo::clientMoveAndDisplay()
|
||||
|
||||
|
||||
|
||||
void SliderConstraintDemo::displayCallback(void)
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
if(m_dynamicsWorld)
|
||||
{
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
}
|
||||
// drawSlider(spSlider1);
|
||||
// drawSlider(spSlider2);
|
||||
renderme();
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
} // SliderConstraintDemo::displayCallback()
|
||||
|
||||
|
||||
void SliderConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
(void)x;
|
||||
(void)y;
|
||||
switch (key)
|
||||
{
|
||||
case 'O' :
|
||||
{
|
||||
bool offectOnOff;
|
||||
offectOnOff = spSlider1->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spSlider1->setUseFrameOffset(offectOnOff);
|
||||
printf("Slider1 %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
offectOnOff = spSlider2->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spSlider2->setUseFrameOffset(offectOnOff);
|
||||
printf("Slider2 %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
break;
|
||||
default :
|
||||
{
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
73
ObsoleteDemos/SliderConstraintDemo/SliderConstraintDemo.h
Normal file
73
ObsoleteDemos/SliderConstraintDemo/SliderConstraintDemo.h
Normal file
@@ -0,0 +1,73 @@
|
||||
/*
|
||||
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 SLIDER_CONSTRAINT_DEMO_H
|
||||
#define SLIDER_CONSTRAINT_DEMO_H
|
||||
|
||||
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
|
||||
#include "GlutDemoApplication.h"
|
||||
|
||||
|
||||
|
||||
|
||||
/// SliderConstraintDemo shows how to create a slider constraint
|
||||
class SliderConstraintDemo : public GlutDemoApplication
|
||||
{
|
||||
//keep track of variables to delete memory at the end
|
||||
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
|
||||
|
||||
class btBroadphaseInterface* m_overlappingPairCache;
|
||||
|
||||
class btCollisionDispatcher* m_dispatcher;
|
||||
|
||||
class btConstraintSolver* m_constraintSolver;
|
||||
|
||||
class btDefaultCollisionConfiguration* m_collisionConfiguration;
|
||||
|
||||
public:
|
||||
|
||||
virtual ~SliderConstraintDemo();
|
||||
|
||||
void initPhysics();
|
||||
|
||||
void initModel();
|
||||
|
||||
void drawSliders();
|
||||
void drawSliderConstraint(btSliderConstraint* constraint);
|
||||
|
||||
|
||||
virtual void clientMoveAndDisplay();
|
||||
|
||||
virtual void displayCallback();
|
||||
|
||||
static DemoApplication* Create()
|
||||
{
|
||||
SliderConstraintDemo* demo = new SliderConstraintDemo();
|
||||
demo->myinit();
|
||||
demo->initPhysics();
|
||||
return demo;
|
||||
}
|
||||
|
||||
virtual void keyboardCallback(unsigned char key, int x, int y);
|
||||
|
||||
};
|
||||
|
||||
#endif //SLIDER_CONSTRAINT_DEMO_H
|
||||
|
||||
25
ObsoleteDemos/SliderConstraintDemo/main.cpp
Normal file
25
ObsoleteDemos/SliderConstraintDemo/main.cpp
Normal file
@@ -0,0 +1,25 @@
|
||||
/*
|
||||
Added by Roman Ponomarev (rponom@gmail.com)
|
||||
April 04, 2008
|
||||
*/
|
||||
#include "SliderConstraintDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
|
||||
#include "GLDebugDrawer.h"
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
|
||||
GLDebugDrawer gDebugDrawer;
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
|
||||
SliderConstraintDemo* sliderConstraintDemo = new SliderConstraintDemo();
|
||||
|
||||
sliderConstraintDemo->initPhysics();
|
||||
sliderConstraintDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
||||
sliderConstraintDemo->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
|
||||
|
||||
return glutmain(argc, argv,640,480,"Slider Constraint Demo. http://www.continuousphysics.com/Bullet/phpBB2/", sliderConstraintDemo);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user