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Merge pull request #455 from erwincoumans/master

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Improved simple TimeSeriesCanvas
This commit is contained in:
erwincoumans
2015-08-07 16:44:18 -07:00
parent 8e62a5ed10 edaa92c286
commit 72e22f480b
22 changed files with 1822 additions and 1122 deletions
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2
examples/CommonInterfaces/CommonWindowInterface.h
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@@ -118,6 +118,8 @@ class CommonWindowInterface
virtual void setWindowTitle(const char* title)=0;
virtual float getRetinaScale() const =0;
virtual void setAllowRetina(bool allow) =0;
virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;

9
examples/ExampleBrowser/CMakeLists.txt
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@@ -29,6 +29,8 @@ SET(App_ExampleBrowser_SRCS
../ForkLift/ForkLiftDemo.h
../Tutorial/Tutorial.cpp
../Tutorial/Tutorial.h
../Tutorial/Dof6ConstraintTutorial.cpp
../Tutorial/Dof6ConstraintTutorial.h
../GyroscopicDemo/GyroscopicSetup.cpp
../GyroscopicDemo/GyroscopicSetup.h
../Planar2D/Planar2D.cpp
@@ -44,7 +46,12 @@ SET(App_ExampleBrowser_SRCS
../DynamicControlDemo/MotorDemo.cpp
../DynamicControlDemo/MotorDemo.h
../RenderingExamples/CoordinateSystemDemo.cpp
../RenderingExamples/TimeSeriesCanvas.cpp
../RenderingExamples/TimeSeriesCanvas.h
../RenderingExamples/TimeSeriesFontData.cpp
../RenderingExamples/TimeSeriesFontData.h
../RenderingExamples/CoordinateSystemDemo.cpp
../RenderingExamples/CoordinateSystemDemo.h
../RenderingExamples/RaytracerSetup.cpp
../RenderingExamples/RaytracerSetup.h

3
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -39,6 +39,7 @@
#include "../Constraints/TestHingeTorque.h"
#include "../RenderingExamples/TimeSeriesExample.h"
#include "../Tutorial/Tutorial.h"
#include "../Tutorial/Dof6ConstraintTutorial.h"
#ifdef ENABLE_LUA
#include "../LuaDemo/LuaPhysicsSetup.h"
@@ -110,7 +111,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Tutorial"),
ExampleEntry(1,"Free Rigid Body","(Preliminary work in progress) Free moving rigid body, without external or constraint forces", TutorialCreateFunc,0),
ExampleEntry(1,"Spring constraint","A rigid body with a spring constraint attached", Dof6ConstraintTutorialCreateFunc,0),
#ifdef INCLUDE_CLOTH_DEMOS
ExampleEntry(0,"Soft Body"),

112
examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp
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@@ -74,116 +74,4 @@ void GraphingTexture::uploadImageData()
}
#if 0
//shift the image one pixel
for(int y=0;y<texHeight;++y)
{
// const int t=y>>5;
for(int x=1;x<texWidth;++x)
{
GLubyte* org=image+(x+y*texWidth)*4;
GLubyte* dst=image+(x-1+y*texWidth)*4;
dst[0] = org[0];
dst[1] = org[1];
dst[2] = org[2];
dst[3] = org[3];
}
}
//render a new row at the right
for(int y=0;y<texHeight;++y)
{
GLubyte* pi=image+(texWidth-1+y*texWidth)*4;
pi[0]=255;
pi[1]=255;
pi[2]=255;
pi[3]=255;
if (y==texHeight*0.5)
{
pi[0]=200;
pi[1]=200;
pi[2]=200;
pi[3]=255;
}
}
{
static float timer = 0.f;
static int prevValue=0;
timer+= 0.01;
float value = 128+100*sinf(timer);
MyClamp(value,0.f,float(texHeight-1));
GLubyte* org=image+(texWidth-1+(int)value*texWidth)*4;
org[0] = 0;
org[1] = 0;
org[2] = 0;
org[3] = 255;
if (prevValue<value)
{
} else
{
}
}
{
static float timer = 1.4f;
timer+= 0.04;
float value = 128+150*sinf(timer);
MyClamp(value,0.f,float(texHeight-1));
GLubyte* org=image+(texWidth-1+(int)value*texWidth)*4;
org[0] = 0;
org[1] = 255;
org[2] = 0;
org[3] = 255;
}
{
static float timer = 1.4f;
timer+= 0.02;
float value =256+400*sinf(timer);
MyClamp(value,0.f,float(texHeight-1));
static int prevValue = 0;
GLubyte* org=image+(texWidth-1+(int)value*texWidth)*4;
org[0] = 0;
org[1] = 0;
org[2] = 255;
org[3] = 255;
if (prevValue<value)
{
for (int i=prevValue;i<value;i++)
{
GLubyte* org=image+(texHeight-1+(int)i*texWidth)*4;
org[0] = 0;
org[1] = 0;
org[2] = 255;
org[3] = 255;
}
} else
{
for (int i=value;i<prevValue;i++)
{
GLubyte* org=image+(texHeight-1+(int)i*texWidth)*4;
org[0] = 0;
org[1] = 0;
org[2] = 255;
org[3] = 255;
}
}
prevValue = value;
}
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, texWidth,texHeight,0,GL_RGBA,GL_UNSIGNED_BYTE,image);
glGenerateMipmap(GL_TEXTURE_2D);
#endif

11
examples/ExampleBrowser/GwenGUISupport/GraphingTexture.h
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@@ -18,10 +18,13 @@ struct GraphingTexture
void setPixel(int x, int y, unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
{
m_imageData[x*4+y*4*m_width+0] = red;
m_imageData[x*4+y*4*m_width+1] = green;
m_imageData[x*4+y*4*m_width+2] = blue;
m_imageData[x*4+y*4*m_width+3] = alpha;
if (y>=0 && y<m_height && x>=0 && x<m_width)
{
m_imageData[x*4+y*4*m_width+0] = red;
m_imageData[x*4+y*4*m_width+1] = green;
m_imageData[x*4+y*4*m_width+2] = blue;
m_imageData[x*4+y*4*m_width+3] = alpha;
}
}
void getPixel(int x, int y, unsigned char& red, unsigned char& green, unsigned char& blue, unsigned char& alpha)

36
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -52,12 +52,14 @@ static MyProfileWindow* s_profWindow =0;
#define DEMO_SELECTION_COMBOBOX 13
const char* startFileName = "0_Bullet3Demo.txt";
char staticPngFileName[1024];
static GwenUserInterface* gui = 0;
static int sCurrentDemoIndex = -1;
static int sCurrentHightlighted = 0;
static CommonExampleInterface* sCurrentDemo = 0;
static b3AlignedObjectArray<const char*> allNames;
static float gFixedTimeStep = 0;
bool gAllowRetina = true;
static class ExampleEntries* gAllExamples=0;
bool sUseOpenGL2 = false;
@@ -358,6 +360,11 @@ static void saveCurrentSettings(int currentEntry,const char* startFileName)
fprintf(f,"--background_color_red= %f\n", red);
fprintf(f,"--background_color_green= %f\n", green);
fprintf(f,"--background_color_blue= %f\n", blue);
fprintf(f,"--fixed_timestep= %f\n", gFixedTimeStep);
if (!gAllowRetina)
{
fprintf(f,"--disable_retina");
}
if (enable_experimental_opencl)
{
@@ -663,6 +670,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
loadCurrentSettings(startFileName, args);
args.GetCmdLineArgument("fixed_timestep",gFixedTimeStep);
///The OpenCL rigid body pipeline is experimental and
///most OpenCL drivers and OpenCL compilers have issues with our kernels.
@@ -674,7 +682,11 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
enable_experimental_opencl = true;
gAllExamples->initOpenCLExampleEntries();
}
if (args.CheckCmdLineFlag("disable_retina"))
{
gAllowRetina = false;
}
int width = 1024;
int height=768;
@@ -703,7 +715,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
{
char title[1024];
sprintf(title,"%s using OpenGL3+. %s", appTitle,optMode);
simpleApp = new SimpleOpenGL3App(title,width,height);
simpleApp = new SimpleOpenGL3App(title,width,height, gAllowRetina);
s_app = simpleApp;
}
#endif
@@ -974,17 +986,23 @@ void OpenGLExampleBrowser::update(float deltaTime)
{
skip=0;
//printf("gPngFileName=%s\n",gPngFileName);
static int s_frameCount = 0;
char fileName[1024];
sprintf(fileName,"%s%d.png",gPngFileName,s_frameCount++);
b3Printf("Made screenshot %s",fileName);
s_app->dumpNextFrameToPng(fileName);
static int s_frameCount = 100;
sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
//b3Printf("Made screenshot %s",staticPngFileName);
s_app->dumpNextFrameToPng(staticPngFileName);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
}
sCurrentDemo->stepSimulation(deltaTime);//1./60.f);
if (gFixedTimeStep>0)
{
sCurrentDemo->stepSimulation(gFixedTimeStep);
} else
{
sCurrentDemo->stepSimulation(deltaTime);//1./60.f);
}
}
if (renderVisualGeometry && ((gDebugDrawFlags&btIDebugDraw::DBG_DrawWireframe)==0))

6
examples/OpenGLWindow/MacOpenGLWindow.h
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@@ -19,6 +19,8 @@ class MacOpenGLWindow : public CommonWindowInterface
b3RenderCallback m_renderCallback;
float m_retinaScaleFactor;
bool m_allowRetina;
public:
MacOpenGLWindow();
@@ -89,6 +91,10 @@ public:
{
return m_retinaScaleFactor;
}
virtual void setAllowRetina(bool allow)
{
m_allowRetina = allow;
}
virtual void createWindow(const b3gWindowConstructionInfo& ci);

9
examples/OpenGLWindow/MacOpenGLWindow.mm
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@@ -40,7 +40,6 @@ void dumpInfo(void)
// -------------------- View ------------------------
@interface TestView : NSView
@@ -233,7 +232,8 @@ m_mouseMoveCallback(0),
m_mouseButtonCallback(0),
m_wheelCallback(0),
m_keyboardCallback(0),
m_retinaScaleFactor(1)
m_retinaScaleFactor(1),
m_allowRetina(true)
{
}
@@ -398,7 +398,10 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
//support HighResolutionOSX for Retina Macbook
if (ci.m_openglVersion>=3)
{
[m_internalData->m_myview setWantsBestResolutionOpenGLSurface:YES];
if (m_allowRetina)
{
[m_internalData->m_myview setWantsBestResolutionOpenGLSurface:YES];
}
}
NSSize sz;
sz.width = 1;

4
examples/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -112,7 +112,7 @@ static GLuint BindFont(const CTexFont *_Font)
extern unsigned char OpenSansData[];
SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, bool allowRetina)
{
gApp = this;
m_data = new SimpleInternalData;
@@ -123,6 +123,8 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
m_data->m_upAxis = 1;
m_window = new b3gDefaultOpenGLWindow();
m_window->setAllowRetina(allowRetina);
b3gWindowConstructionInfo ci;
ci.m_title = title;
ci.m_width = width;

2
examples/OpenGLWindow/SimpleOpenGL3App.h
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@@ -16,7 +16,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
class GLInstancingRenderer* m_instancingRenderer;
virtual void setBackgroundColor(float red, float green, float blue);
SimpleOpenGL3App(const char* title, int width,int height);
SimpleOpenGL3App(const char* title, int width,int height, bool allowRetina);
virtual ~SimpleOpenGL3App();
virtual int registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f, int textureIndex = -1);

1
examples/OpenGLWindow/Win32OpenGLWindow.h
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@@ -51,6 +51,7 @@ public:
virtual void endRendering();
virtual float getRetinaScale() const {return 1.f;}
virtual void setAllowRetina(bool /*allowRetina*/) {};
virtual int fileOpenDialog(char* fileName, int maxFileNameLength);
};

2
examples/OpenGLWindow/X11OpenGLWindow.h
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@@ -39,7 +39,7 @@ public:
virtual void endRendering();
virtual float getRetinaScale() const {return 1.f;}
virtual void setAllowRetina(bool /*allowRetina*/) {};
virtual void runMainLoop();
virtual float getTimeInSeconds();

345
examples/RenderingExamples/TimeSeriesCanvas.cpp Normal file
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@@ -0,0 +1,345 @@
#include "TimeSeriesCanvas.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "TimeSeriesFontData.h"
#include "LinearMath/btVector3.h"
#include <stdio.h>
struct DataSource
{
unsigned char m_red;
unsigned char m_green;
unsigned char m_blue;
float m_lastValue;
bool m_hasLastValue;
DataSource()
:m_hasLastValue(false)
{
}
};
struct TimeSeriesInternalData
{
btAlignedObjectArray<DataSource> m_dataSources;
struct Common2dCanvasInterface* m_canvasInterface;
int m_canvasIndex;
int m_width;
int m_height;
float m_pixelsPerUnit;
float m_zero;
int m_timeTicks;
int m_ticksPerSecond;
float m_yScale;
int m_bar;
unsigned char m_backgroundRed;
unsigned char m_backgroundGreen;
unsigned char m_backgroundBlue;
unsigned char m_backgroundAlpha;
unsigned char m_textColorRed;
unsigned char m_textColorGreen;
unsigned char m_textColorBlue;
unsigned char m_textColorAlpha;
float getTime()
{
return m_timeTicks/(float)m_ticksPerSecond;
}
TimeSeriesInternalData(int width, int height)
:m_width(width),
m_height(height),
m_pixelsPerUnit(-100),
m_zero(height/2.0),
m_timeTicks(0),
m_ticksPerSecond(100),
m_yScale(1),
m_bar(0),
m_backgroundRed(255),
m_backgroundGreen(255),
m_backgroundBlue(255),
m_backgroundAlpha(255),
m_textColorRed(0),
m_textColorGreen(0),
m_textColorBlue(255),
m_textColorAlpha(255)
{
}
};
TimeSeriesCanvas::TimeSeriesCanvas(struct Common2dCanvasInterface* canvasInterface, int width, int height, const char* windowTitle)
{
btAssert(canvasInterface);
m_internalData = new TimeSeriesInternalData(width,height);
m_internalData->m_canvasInterface = canvasInterface;
m_internalData->m_canvasIndex = m_internalData->m_canvasInterface->createCanvas(windowTitle,m_internalData->m_width,m_internalData->m_height);
}
void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue)
{
DataSource dataSource;
dataSource.m_red = red;
dataSource.m_green = green;
dataSource.m_blue = blue;
dataSource.m_lastValue = 0;
dataSource.m_hasLastValue = false;
if (dataSourceLabel)
{
int numSources = m_internalData->m_dataSources.size();
int row = numSources%3;
int column = numSources/3;
grapicalPrintf(dataSourceLabel, sTimeSeriesFontData, 50+200*column,m_internalData->m_height-48+row*16,
red, green,blue,255);
}
m_internalData->m_dataSources.push_back(dataSource);
}
void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime)
{
m_internalData->m_pixelsPerUnit = -(m_internalData->m_height/3.f)/yScale;
m_internalData->m_ticksPerSecond = ticksPerSecond;
m_internalData->m_yScale = yScale;
m_internalData->m_dataSources.clear();
for (int i=0;i<m_internalData->m_width;i++)
{
for (int j=0;j<m_internalData->m_height;j++)
{
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i,j,
m_internalData->m_backgroundRed,
m_internalData->m_backgroundGreen,
m_internalData->m_backgroundBlue,
m_internalData->m_backgroundAlpha);
}
}
float zeroPixelCoord = m_internalData->m_zero;
float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
float yPos = zeroPixelCoord+pixelsPerUnit*yScale;
float yNeg = zeroPixelCoord+pixelsPerUnit*-yScale;
grapicalPrintf("0", sTimeSeriesFontData, 2,zeroPixelCoord,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
char label[1024];
sprintf(label,"%2.1f", yScale);
grapicalPrintf(label, sTimeSeriesFontData, 2,yPos,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
sprintf(label,"%2.1f", -yScale);
grapicalPrintf(label, sTimeSeriesFontData, 2,yNeg,m_internalData->m_textColorRed,m_internalData->m_textColorGreen,m_internalData->m_textColorBlue,m_internalData->m_textColorAlpha);
m_internalData->m_canvasInterface->refreshImageData(m_internalData->m_canvasIndex);
}
TimeSeriesCanvas::~TimeSeriesCanvas()
{
if (m_internalData->m_canvasInterface && m_internalData->m_canvasIndex>=0)
{
m_internalData->m_canvasInterface->destroyCanvas(m_internalData->m_canvasIndex);
}
delete m_internalData;
}
float TimeSeriesCanvas::getCurrentTime() const
{
return m_internalData->getTime();
}
void TimeSeriesCanvas::grapicalPrintf(const char* str, void* fontData, int rasterposx,int rasterposy, unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
{
unsigned char c;
int x=0;
int xx=0;
while ((c = (unsigned char) *str++)) {
x=xx;
unsigned char* fontPtr = (unsigned char*) fontData;
char ch = c-32;
int sx=ch%16;
int sy=ch/16;
for (int i=sx*16;i<(sx*16+16);i++)
{
int y=0;
for (int j=sy*16;j<(sy*16+16);j++)
{
unsigned char packedColor = (fontPtr[i*3+255*256*3-(256*j)*3]);
//float colorf = packedColor ? 0.f : 1.f;
float colorf = packedColor/255.f;// ? 0.f : 1.f;
btVector4 rgba(colorf,colorf,colorf,1.f);
if (colorf)
{
if ((rasterposx+x>=0) && (rasterposx+x < m_internalData->m_width) &&
(rasterposy+y>=0) && (rasterposy+y<m_internalData->m_height))
{
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,rasterposx+x,rasterposy+y,
red,green,blue,alpha);
}
}
y++;
}
x++;
}
xx+=10;
}
}
void TimeSeriesCanvas::shift1PixelToLeft()
{
int resetVal = 10;
int countdown = resetVal;
//shift pixture one pixel to the left
for (int j=0;j<m_internalData->m_height-48;j++)
{
for (int i=40;i<this->m_internalData->m_width;i++)
{
unsigned char red, green, blue, alpha;
m_internalData->m_canvasInterface->getPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i-1,j,red,green,blue,alpha);
}
if (!m_internalData->m_bar)
{
if (!countdown--)
{
countdown=resetVal;
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,j,0,0,0,255);
} else
{
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,j,255,255,255,255);
}
} else
{
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,j,255,255,255,255);
}
}
{
int resetVal = 2;
static int countdown = resetVal;
if (!countdown--)
{
countdown=resetVal;
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,m_internalData->m_zero,0,0,0,255);
}
}
{
int resetVal = 10;
static int countdown = resetVal;
if (!countdown--)
{
countdown=resetVal;
float zeroPixelCoord = m_internalData->m_zero;
float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
float yPos = zeroPixelCoord+pixelsPerUnit*m_internalData->m_yScale;
float yNeg = zeroPixelCoord+pixelsPerUnit*-m_internalData->m_yScale;
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
yPos,0,0,0,255);
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,
yNeg,0,0,0,255);
}
}
if (!m_internalData->m_bar)
{
char buf[1024];
float time = m_internalData->getTime();
sprintf(buf,"%3.2f",time);
grapicalPrintf(buf, sTimeSeriesFontData, m_internalData->m_width-53,m_internalData->m_zero+3,0,0,0,255);
m_internalData->m_bar=m_internalData->m_ticksPerSecond;
}
m_internalData->m_timeTicks++;
m_internalData->m_bar--;
}
void TimeSeriesCanvas::insertDataAtCurrentTime(float orgV, int dataSourceIndex, bool connectToPrevious)
{
btAssert(dataSourceIndex < m_internalData->m_dataSources.size());
float zero = m_internalData->m_zero;
float amp = m_internalData->m_pixelsPerUnit;
//insert some new value(s) in the right-most column
{
float time = m_internalData->getTime();
float v = zero+amp*orgV;
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,v,
m_internalData->m_dataSources[dataSourceIndex].m_red,
m_internalData->m_dataSources[dataSourceIndex].m_green,
m_internalData->m_dataSources[dataSourceIndex].m_blue,
255
);
if (connectToPrevious && m_internalData->m_dataSources[dataSourceIndex].m_hasLastValue)
{
for (int value=m_internalData->m_dataSources[dataSourceIndex].m_lastValue;value<=v;value++)
{
if (value>=0 && value < float(m_internalData->m_height-1))
{
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,value,
m_internalData->m_dataSources[dataSourceIndex].m_red,
m_internalData->m_dataSources[dataSourceIndex].m_green,
m_internalData->m_dataSources[dataSourceIndex].m_blue,
255
);
}
}
for (int value=v;value<=m_internalData->m_dataSources[dataSourceIndex].m_lastValue;value++)
{
if (value>=0 && value < float(m_internalData->m_height-1))
{
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,m_internalData->m_width-1,value,
m_internalData->m_dataSources[dataSourceIndex].m_red,
m_internalData->m_dataSources[dataSourceIndex].m_green,
m_internalData->m_dataSources[dataSourceIndex].m_blue,
255);
}
}
}
m_internalData->m_dataSources[dataSourceIndex].m_lastValue = v;
m_internalData->m_dataSources[dataSourceIndex].m_hasLastValue = true;
}
}
void TimeSeriesCanvas::nextTick()
{
shift1PixelToLeft();
m_internalData->m_canvasInterface->refreshImageData(m_internalData->m_canvasIndex);
}

25
examples/RenderingExamples/TimeSeriesCanvas.h Normal file
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@@ -0,0 +1,25 @@
#ifndef TIME_SERIES_CANVAS_H
#define TIME_SERIES_CANVAS_H
class TimeSeriesCanvas
{
protected:
struct TimeSeriesInternalData* m_internalData;
void shift1PixelToLeft();
void grapicalPrintf(const char* str, void* fontData, int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
public:
TimeSeriesCanvas(struct Common2dCanvasInterface* canvasInterface, int width, int height, const char* windowTitle);
virtual ~TimeSeriesCanvas();
void setupTimeSeries(float yScale, int ticksPerSecond, int startTime);
void addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue);
void insertDataAtCurrentTime(float value, int dataSourceIndex, bool connectToPrevious);
float getCurrentTime() const;
virtual void nextTick();
};
#endif//TIME_SERIES_CANVAS_H

1008
examples/RenderingExamples/TimeSeriesExample.cpp
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773
examples/RenderingExamples/TimeSeriesFontData.cpp Normal file
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@@ -0,0 +1,773 @@
#include "TimeSeriesFontData.h"
unsigned char sTimeSeriesFontData[] =
{
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};

6
examples/RenderingExamples/TimeSeriesFontData.h Normal file
View File

@@ -0,0 +1,6 @@
#ifndef TIME_SERIES_FONT_DATA_H
#define TIME_SERIES_FONT_DATA_H
extern unsigned char sTimeSeriesFontData[];
#endif//TIME_SERIES_FONT_DATA_H

7
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -124,7 +124,7 @@ void PhysicsServerSharedMemory::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
m_data->m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
}
void PhysicsServerSharedMemory::deleteDynamicsWorld()
@@ -187,14 +187,19 @@ void PhysicsServerSharedMemory::deleteDynamicsWorld()
m_data->m_collisionShapes.clear();
delete m_data->m_dynamicsWorld;
m_data->m_dynamicsWorld=0;
delete m_data->m_solver;
m_data->m_solver=0;
delete m_data->m_broadphase;
m_data->m_broadphase=0;
delete m_data->m_dispatcher;
m_data->m_dispatcher=0;
delete m_data->m_collisionConfiguration;
m_data->m_collisionConfiguration=0;
}

11
examples/SharedMemory/RobotControlExample.cpp
View File

@@ -72,10 +72,16 @@ public:
virtual bool wantsTermination();
virtual bool isConnected();
virtual void renderScene(){}
virtual void renderScene()
{
m_physicsServer.renderScene();
}
virtual void exitPhysics(){}
virtual void physicsDebugDraw(int debugFlags){}
virtual void physicsDebugDraw(int debugFlags)
{
m_physicsServer.physicsDebugDraw(debugFlags);
}
virtual bool mouseMoveCallback(float x,float y){return false;};
virtual bool mouseButtonCallback(int button, int state, float x, float y){return false;}
virtual bool keyboardCallback(int key, int state){return false;}
@@ -104,6 +110,7 @@ void MyCallback2(int buttonId, bool buttonState, void* userPtr)
case CMD_LOAD_URDF:
{
command.m_type =CMD_LOAD_URDF;
command.m_updateFlags = URDF_ARGS_FILE_NAME|URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION;
sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");
command.m_urdfArguments.m_initialPosition[0] = 0.0;
command.m_urdfArguments.m_initialPosition[1] = 0.0;

534
examples/Tutorial/Dof6ConstraintTutorial.cpp Normal file
View File

@@ -0,0 +1,534 @@
#include "Dof6ConstraintTutorial.h"
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "../RenderingExamples/TimeSeriesCanvas.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923
#endif
#ifndef M_PI_4
#define M_PI_4 0.785398163397448309616
#endif
extern float g_additionalBodyMass;
//comment this out to compare with original spring constraint
#define USE_6DOF2
#ifdef USE_6DOF2
#define CONSTRAINT_TYPE btGeneric6DofSpring2Constraint
#define EXTRAPARAMS
#else
#define CONSTRAINT_TYPE btGeneric6DofSpringConstraint
#define EXTRAPARAMS ,true
#endif
#include "../CommonInterfaces/CommonRigidBodyBase.h"
struct Dof6ConstraintTutorial : public CommonRigidBodyBase
{
struct Dof6ConstraintTutorialInternalData* m_data;
Dof6ConstraintTutorial(struct GUIHelperInterface* helper);
virtual ~Dof6ConstraintTutorial();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
void animate();
virtual void resetCamera()
{
float dist = 5;
float pitch = 722;
float yaw = 35;
float targetPos[3]={4,2,-11};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
struct Dof6ConstraintTutorialInternalData
{
btRigidBody* m_TranslateSpringBody;
btRigidBody* m_TranslateSpringBody2;
btRigidBody* m_RotateSpringBody;
btRigidBody* m_RotateSpringBody2;
btRigidBody* m_BouncingTranslateBody;
btRigidBody* m_MotorBody;
btRigidBody* m_ServoMotorBody;
btRigidBody* m_ChainLeftBody;
btRigidBody* m_ChainRightBody;
CONSTRAINT_TYPE* m_ServoMotorConstraint;
CONSTRAINT_TYPE* m_ChainLeftConstraint;
CONSTRAINT_TYPE* m_ChainRightConstraint;
TimeSeriesCanvas* m_timeSeriesCanvas;
float mDt;
unsigned int frameID;
Dof6ConstraintTutorialInternalData()
: mDt(1./60.),frameID(0)
{
}
};
Dof6ConstraintTutorial::Dof6ConstraintTutorial(struct GUIHelperInterface* helper)
:CommonRigidBodyBase(helper)
{
m_data = new Dof6ConstraintTutorialInternalData;
m_data->m_timeSeriesCanvas = new TimeSeriesCanvas(helper->get2dCanvasInterface(),256,256,"Position and Velocity");
m_data->m_timeSeriesCanvas ->setupTimeSeries(20,100, 0);
m_data->m_timeSeriesCanvas->addDataSource("X position (m)", 255,0,0);
m_data->m_timeSeriesCanvas->addDataSource("X velocity (m/s)", 0,0,255);
m_data->m_timeSeriesCanvas->addDataSource("dX/dt (m/s)", 0,0,0);
}
Dof6ConstraintTutorial::~Dof6ConstraintTutorial()
{
delete m_data->m_timeSeriesCanvas;
m_data->m_timeSeriesCanvas = 0;
exitPhysics();
delete m_data;
}
void Dof6ConstraintTutorial::initPhysics()
{
// Setup the basic world
m_guiHelper->setUpAxis(1);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldAabbMin(-10000,-10000,-10000);
btVector3 worldAabbMax(10000,10000,10000);
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
/////// uncomment the corresponding line to test a solver.
//m_solver = new btSequentialImpulseConstraintSolver;
m_solver = new btNNCGConstraintSolver;
//m_solver = new btMLCPSolver(new btSolveProjectedGaussSeidel());
//m_solver = new btMLCPSolver(new btDantzigSolver());
//m_solver = new btMLCPSolver(new btLemkeSolver());
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getDispatchInfo().m_useContinuous = true;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->setGravity(btVector3(0,0,0));
// Setup a big ground box
if (0)
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(5.),btScalar(200.)));
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-10,0));
#define CREATE_GROUND_COLLISION_OBJECT 1
#ifdef CREATE_GROUND_COLLISION_OBJECT
btCollisionObject* fixedGround = new btCollisionObject();
fixedGround->setCollisionShape(groundShape);
fixedGround->setWorldTransform(groundTransform);
m_dynamicsWorld->addCollisionObject(fixedGround);
#else
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
#endif //CREATE_GROUND_COLLISION_OBJECT
}
m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
btCollisionShape* shape;
btVector3 localInertia(0,0,0);
btDefaultMotionState* motionState;
btTransform bodyTransform;
btScalar mass;
btTransform localA;
btTransform localB;
CONSTRAINT_TYPE* constraint;
//static body centered in the origo
mass = 0.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
localInertia = btVector3(0,0,0);
bodyTransform.setIdentity();
motionState = new btDefaultMotionState(bodyTransform);
btRigidBody* staticBody = new btRigidBody(mass,motionState,shape,localInertia);
m_dynamicsWorld->addRigidBody(staticBody);
/////////// box with undamped translate spring attached to static body
/////////// the box should oscillate left-to-right forever
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(-2,0,-5));
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_TranslateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_TranslateSpringBody->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(m_data->m_TranslateSpringBody);
localA.setIdentity();localA.getOrigin() = btVector3(0,0,-5);
localB.setIdentity();
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_TranslateSpringBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, 1,-1);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 0, 0);
constraint->enableSpring(0, true);
constraint->setStiffness(0, 100);
#ifdef USE_6DOF2
constraint->setDamping(0, 0);
#else
constraint->setDamping(0, 1);
#endif
constraint->setEquilibriumPoint(0, 0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
}
#if 0
/////////// box with rotate spring, attached to static body
/////////// box should swing (rotate) left-to-right forever
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.getBasis().setEulerZYX(0,0,M_PI_2);
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_RotateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_RotateSpringBody->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(m_data->m_RotateSpringBody);
localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
localB.setIdentity();localB.setOrigin(btVector3(0,0.5,0));
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_RotateSpringBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, 0, 0);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 1, -1);
constraint->enableSpring(5, true);
constraint->setStiffness(5, 100);
#ifdef USE_6DOF2
constraint->setDamping(5, 0);
#else
constraint->setDamping(5, 1);
#endif
constraint->setEquilibriumPoint(0, 0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
}
/////////// box with bouncing constraint, translation is bounced at the positive x limit, but not at the negative limit
/////////// bouncing can not be set independently at low and high limits, so two constraints will be created: one that defines the low (non bouncing) limit, and one that defines the high (bouncing) limit
/////////// the box should move to the left (as an impulse will be applied to it periodically) until it reaches its limit, then bounce back
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(0,0,-3));
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_BouncingTranslateBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_BouncingTranslateBody->setActivationState(DISABLE_DEACTIVATION);
m_data->m_BouncingTranslateBody->setDeactivationTime(btScalar(20000000));
m_dynamicsWorld->addRigidBody(m_data->m_BouncingTranslateBody);
localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
localB.setIdentity();
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, -2, SIMD_INFINITY);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, -3, -3);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 0, 0);
#ifdef USE_6DOF2
constraint->setBounce(0,0);
#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
constraint->getTranslationalLimitMotor()->m_restitution = 0.0;
#endif
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, -SIMD_INFINITY, 2);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, -3, -3);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 0, 0);
#ifdef USE_6DOF2
constraint->setBounce(0,1);
#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
constraint->getTranslationalLimitMotor()->m_restitution = 1.0;
#endif
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
}
/////////// box with rotational motor, attached to static body
/////////// the box should rotate around the y axis
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(4,0,0));
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_MotorBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_MotorBody->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(m_data->m_MotorBody);
localA.setIdentity();localA.getOrigin() = btVector3(4,0,0);
localB.setIdentity();
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_MotorBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, 0, 0);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 1,-1);
#ifdef USE_6DOF2
constraint->enableMotor(5,true);
constraint->setTargetVelocity(5,3.f);
constraint->setMaxMotorForce(5,10.f);
#else
constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
#endif
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
}
/////////// box with rotational servo motor, attached to static body
/////////// the box should rotate around the y axis until it reaches its target
/////////// the target will be negated periodically
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(7,0,0));
motionState = new btDefaultMotionState(bodyTransform);
m_data->m_ServoMotorBody = new btRigidBody(mass,motionState,shape,localInertia);
m_data->m_ServoMotorBody->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(m_data->m_ServoMotorBody);
localA.setIdentity();localA.getOrigin() = btVector3(7,0,0);
localB.setIdentity();
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ServoMotorBody, localA, localB EXTRAPARAMS);
constraint->setLimit(0, 0, 0);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 1,-1);
#ifdef USE_6DOF2
constraint->enableMotor(5,true);
constraint->setTargetVelocity(5,3.f);
constraint->setMaxMotorForce(5,10.f);
constraint->setServo(5,true);
constraint->setServoTarget(5, M_PI_2);
#else
constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
//servo motor is not implemented in 6dofspring constraint
#endif
constraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(constraint, true);
m_data->m_ServoMotorConstraint = constraint;
}
////////// chain of boxes linked together with fully limited rotational and translational constraints
////////// the chain will be pulled to the left and to the right periodically. They should strictly stick together.
{
btScalar limitConstraintStrength = 0.6;
int bodycount = 10;
btRigidBody* prevBody = 0;
for(int i = 0; i < bodycount; ++i)
{
mass = 1.0;
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
shape->calculateLocalInertia(mass,localInertia);
bodyTransform.setIdentity();
bodyTransform.setOrigin(btVector3(- i,0,3));
motionState = new btDefaultMotionState(bodyTransform);
btRigidBody* body = new btRigidBody(mass,motionState,shape,localInertia);
body->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(body);
if(prevBody != 0)
{
localB.setIdentity();
localB.setOrigin(btVector3(0.5,0,0));
btTransform localA;
localA.setIdentity();
localA.setOrigin(btVector3(-0.5,0,0));
CONSTRAINT_TYPE* constraint = new CONSTRAINT_TYPE(*prevBody, *body, localA, localB EXTRAPARAMS);
constraint->setLimit(0, -0.01, 0.01);
constraint->setLimit(1, 0, 0);
constraint->setLimit(2, 0, 0);
constraint->setLimit(3, 0, 0);
constraint->setLimit(4, 0, 0);
constraint->setLimit(5, 0, 0);
for(int a = 0; a < 6; ++a)
{
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.9,a);
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
}
constraint->setDbgDrawSize(btScalar(1.f));
m_dynamicsWorld->addConstraint(constraint, true);
if(i < bodycount - 1)
{
localA.setIdentity();localA.getOrigin() = btVector3(0,0,3);
localB.setIdentity();
CONSTRAINT_TYPE* constraintZY = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
constraintZY->setLimit(0, 1, -1);
constraintZY->setDbgDrawSize(btScalar(1.f));
m_dynamicsWorld->addConstraint(constraintZY, true);
}
}
else
{
localA.setIdentity();localA.getOrigin() = btVector3(bodycount,0,3);
localB.setIdentity();
localB.setOrigin(btVector3(0,0,0));
m_data->m_ChainLeftBody = body;
m_data->m_ChainLeftConstraint = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
m_data->m_ChainLeftConstraint->setLimit(3,0,0);
m_data->m_ChainLeftConstraint->setLimit(4,0,0);
m_data->m_ChainLeftConstraint->setLimit(5,0,0);
for(int a = 0; a < 6; ++a)
{
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
}
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(1.f));
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
}
prevBody = body;
}
m_data->m_ChainRightBody = prevBody;
localA.setIdentity();localA.getOrigin() = btVector3(-bodycount,0,3);
localB.setIdentity();
localB.setOrigin(btVector3(0,0,0));
m_data->m_ChainRightConstraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ChainRightBody, localA, localB EXTRAPARAMS);
m_data->m_ChainRightConstraint->setLimit(3,0,0);
m_data->m_ChainRightConstraint->setLimit(4,0,0);
m_data->m_ChainRightConstraint->setLimit(5,0,0);
for(int a = 0; a < 6; ++a)
{
m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
}
}
#endif
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void Dof6ConstraintTutorial::animate()
{
/////// servo motor: flip its target periodically
#ifdef USE_6DOF2
static float servoNextFrame = -1;
btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
if(servoNextFrame < 0)
{
m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
servoNextFrame = 3.0;
}
servoNextFrame -= m_data->mDt;
#endif
/////// constraint chain: pull the chain left and right periodically
static float chainNextFrame = -1;
static bool left = true;
if(chainNextFrame < 0)
{
if(!left)
{
m_data->m_ChainRightBody->setActivationState(ACTIVE_TAG);
m_dynamicsWorld->removeConstraint(m_data->m_ChainRightConstraint);
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
}
else
{
m_data->m_ChainLeftBody->setActivationState(ACTIVE_TAG);
m_dynamicsWorld->removeConstraint(m_data->m_ChainLeftConstraint);
m_data->m_ChainRightConstraint->setDbgDrawSize(btScalar(2.f));
m_dynamicsWorld->addConstraint(m_data->m_ChainRightConstraint, true);
}
chainNextFrame = 3.0;
left = !left;
}
chainNextFrame -= m_data->mDt;
/////// bouncing constraint: push the box periodically
m_data->m_BouncingTranslateBody->setActivationState(ACTIVE_TAG);
static float bounceNextFrame = -1;
if(bounceNextFrame < 0)
{
m_data->m_BouncingTranslateBody->applyCentralImpulse(btVector3(10,0,0));
bounceNextFrame = 3.0;
}
bounceNextFrame -= m_data->mDt;
m_data->frameID++;
}
void Dof6ConstraintTutorial::stepSimulation(float deltaTime)
{
//animate();
float time = m_data->m_timeSeriesCanvas->getCurrentTime();
float prevPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
m_dynamicsWorld->stepSimulation(deltaTime);
float xPos = m_data->m_TranslateSpringBody->getWorldTransform().getOrigin().x();
m_data->m_timeSeriesCanvas->insertDataAtCurrentTime(xPos,0,true);
m_data->m_timeSeriesCanvas->insertDataAtCurrentTime(m_data->m_TranslateSpringBody->getLinearVelocity().x(),1,true);
if (deltaTime>0)
{
m_data->m_timeSeriesCanvas->insertDataAtCurrentTime((xPos-prevPos)/deltaTime,2,true);
}
prevPos = xPos;
m_data->m_timeSeriesCanvas->nextTick();
}
class CommonExampleInterface* Dof6ConstraintTutorialCreateFunc( CommonExampleOptions& options)
{
return new Dof6ConstraintTutorial(options.m_guiHelper);
}

6
examples/Tutorial/Dof6ConstraintTutorial.h Normal file
View File

@@ -0,0 +1,6 @@
#ifndef GENERIC_6DOF_SPRING2_CONSTRAINT_TUTORIAL_H
#define GENERIC_6DOF_SPRING2_CONSTRAINT_TUTORIAL_H
class CommonExampleInterface* Dof6ConstraintTutorialCreateFunc(struct CommonExampleOptions& options);
#endif //GENERIC_6DOF_SPRING2_CONSTRAINT_TUTORIAL_H

32
examples/Tutorial/Tutorial.cpp
View File

@@ -7,7 +7,7 @@
#include "LinearMath/btTransform.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../RenderingExamples/TimeSeriesCanvas.h"
#include "stb_image/stb_image.h"
struct LWPose
@@ -109,6 +109,9 @@ class Tutorial : public CommonExampleInterface
int m_tutorialIndex;
LWRightBody* m_body;
TimeSeriesCanvas* m_timeSeriesCanvas;
public:
@@ -118,6 +121,13 @@ public:
{
m_app->setUpAxis(2);
m_timeSeriesCanvas = new TimeSeriesCanvas(app->m_2dCanvasInterface,512,256,"Position and Velocity");
m_timeSeriesCanvas ->setupTimeSeries(5,100, 0);
m_timeSeriesCanvas->addDataSource("X position (m)", 255,0,0);
m_timeSeriesCanvas->addDataSource("X velocity (m/s)", 0,0,255);
m_timeSeriesCanvas->addDataSource("dX/dt (m/s)", 0,0,0);
switch (m_tutorialIndex)
{
@@ -173,6 +183,8 @@ public:
}
virtual ~Tutorial()
{
delete m_timeSeriesCanvas;
m_timeSeriesCanvas = 0;
m_app->m_renderer->enableBlend(false);
}
@@ -186,8 +198,22 @@ public:
}
virtual void stepSimulation(float deltaTime)
{
//m_body->m_linearVelocity=btVector3(0,0.1,0);
m_body->m_angularVelocity =btVector3(0,0.1,0);
m_body->m_linearVelocity=btVector3(1,0,0);
float time = m_timeSeriesCanvas->getCurrentTime();
float xPos = m_body->m_worldPose.m_worldPosition.x();
float xVel = m_body->m_linearVelocity.x();
m_timeSeriesCanvas->insertDataAtCurrentTime(xPos,0,true);
m_timeSeriesCanvas->insertDataAtCurrentTime(xVel,1,true);
m_timeSeriesCanvas->nextTick();
m_body->integrateTransform(deltaTime);
m_app->m_renderer->writeSingleInstanceTransformToCPU(m_body->m_worldPose.m_worldPosition, m_body->m_worldPose.m_worldOrientation, m_body->m_graphicsIndex);