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add improved btGeneric6DofSpring2Constraint, thanks to Puhr Gabor and Tamas Umenhoffer!

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improved the new demo testbed (work-in-progress)
add basic Lua demo, import URDF test, STL import, obj import
This commit is contained in:
Erwin Coumans
2014-08-20 16:28:16 -07:00
parent d2509ae7a1
commit 7b28e86c7b
38 changed files with 4530 additions and 1015 deletions
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207
Demos3/AllBullet2Demos/main.cpp
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@@ -1,3 +1,4 @@
#include "../../btgui/OpenGLWindow/SimpleOpenGL3App.h"
#include "Bullet3Common/b3Vector3.h"
#include "assert.h"
@@ -7,6 +8,10 @@
#include "BulletDemoEntries.h"
#include "../../btgui/Timing/b3Clock.h"
#include "GwenParameterInterface.h"
#include "GwenProfileWindow.h"
#include "GwenTextureWindow.h"
#include "GraphingTexture.h"
#define DEMO_SELECTION_COMBOBOX 13
const char* startFileName = "bulletDemo.txt";
@@ -16,13 +21,89 @@ static int sCurrentDemoIndex = 0;
static int sCurrentHightlighted = 0;
static BulletDemoInterface* sCurrentDemo = 0;
static b3AlignedObjectArray<const char*> allNames;
double motorA=0,motorB=0;
bool drawGUI=true;
extern bool useShadowMap;
static bool wireframe=false;
static bool pauseSimulation=false;
int midiBaseIndex = 176;
#ifdef B3_USE_MIDI
#include "../../btgui/MidiTest/RtMidi.h"
bool chooseMidiPort( RtMidiIn *rtmidi )
{
if (!rtmidi)
return false;
std::string portName;
unsigned int i = 0, nPorts = rtmidi->getPortCount();
if ( nPorts == 0 ) {
std::cout << "No input ports available!" << std::endl;
return false;
}
if ( nPorts == 1 ) {
std::cout << "\nOpening " << rtmidi->getPortName() << std::endl;
}
else {
for ( i=0; i<nPorts; i++ ) {
portName = rtmidi->getPortName(i);
std::cout << " Input port #" << i << ": " << portName << '\n';
}
do {
std::cout << "\nChoose a port number: ";
std::cin >> i;
} while ( i >= nPorts );
}
// std::getline( std::cin, keyHit ); // used to clear out stdin
rtmidi->openPort( i );
return true;
}
void PairMidiCallback( double deltatime, std::vector< unsigned char > *message, void *userData )
{
unsigned int nBytes = message->size();
if (nBytes==3)
{
//if ( message->at(1)==16)
{
printf("midi %d at %f = %d\n", message->at(1), deltatime, message->at(2));
//test->SetValue(message->at(2));
#if KORG_MIDI
if (message->at(0)>=midiBaseIndex && message->at(0)<(midiBaseIndex+8))
{
int sliderIndex = message->at(0)-midiBaseIndex;//-16;
printf("sliderIndex = %d\n", sliderIndex);
float sliderValue = message->at(2);
printf("sliderValue = %f\n", sliderValue);
app->m_parameterInterface->setSliderValue(sliderIndex,sliderValue);
}
#else
//ICONTROLS
if (message->at(0)==176)
{
int sliderIndex = message->at(1)-32;//-16;
printf("sliderIndex = %d\n", sliderIndex);
float sliderValue = message->at(2);
printf("sliderValue = %f\n", sliderValue);
app->m_parameterInterface->setSliderValue(sliderIndex,sliderValue);
}
#endif
}
}
}
#endif //B3_USE_MIDI
void MyKeyboardCallback(int key, int state)
{
@@ -121,7 +202,7 @@ void selectDemo(int demoIndex)
if (sCurrentDemo)
{
sCurrentDemo->initPhysics();
}
}
}
}
@@ -225,7 +306,25 @@ struct MyMenuItemHander :public Gwen::Event::Handler
};
#include "Bullet3Common/b3HashMap.h"
struct GL3TexLoader : public MyTextureLoader
{
b3HashMap<b3HashString,GLint> m_hashMap;
virtual void LoadTexture( Gwen::Texture* pTexture )
{
const char* n = pTexture->name.Get().c_str();
GLint* texIdPtr = m_hashMap[n];
if (texIdPtr)
{
pTexture->m_intData = *texIdPtr;
}
}
virtual void FreeTexture( Gwen::Texture* pTexture )
{
}
};
extern float shadowMapWorldSize;
@@ -239,6 +338,7 @@ int main(int argc, char* argv[])
int width = 1024;
int height=768;
app = new SimpleOpenGL3App("AllBullet2Demos",width,height);
app->m_instancingRenderer->setCameraDistance(13);
app->m_instancingRenderer->setCameraPitch(0);
@@ -246,7 +346,7 @@ int main(int argc, char* argv[])
app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
app->m_window->setKeyboardCallback(MyKeyboardCallback);
GLint err = glGetError();
assert(err==GL_NO_ERROR);
@@ -257,6 +357,55 @@ int main(int argc, char* argv[])
// gui->getInternalData()->m_explorerPage
Gwen::Controls::TreeControl* tree = gui->getInternalData()->m_explorerTreeCtrl;
GL3TexLoader* myTexLoader = new GL3TexLoader;
gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
MyProfileWindow* profWindow = setupProfileWindow(gui->getInternalData());
profileWindowSetVisible(profWindow,false);
{
MyGraphInput input(gui->getInternalData());
input.m_width=300;
input.m_height=300;
input.m_xPos = 0;
input.m_yPos = height-input.m_height;
input.m_name="Test Graph1";
input.m_texName = "graph1";
GraphingTexture* gt = new GraphingTexture;
gt->create(256,256);
int texId = gt->getTextureId();
myTexLoader->m_hashMap.insert("graph1", texId);
MyGraphWindow* gw = setupTextureWindow(input);
}
if (1)
{
MyGraphInput input(gui->getInternalData());
input.m_width=300;
input.m_height=300;
input.m_xPos = width-input.m_width;
input.m_yPos = height-input.m_height;
input.m_name="Test Graph2";
input.m_texName = "graph2";
GraphingTexture* gt = new GraphingTexture;
int texWidth = 512;
int texHeight = 512;
gt->create(texWidth,texHeight);
for (int i=0;i<texWidth;i++)
{
for (int j=0;j<texHeight;j++)
{
gt->setPixel(i,j,0,0,0,255);
}
}
gt->uploadImageData();
int texId = gt->getTextureId();
input.m_xPos = width-input.m_width;
myTexLoader->m_hashMap.insert("graph2", texId);
MyGraphWindow* gw = setupTextureWindow(input);
}
//destroyTextureWindow(gw);
app->m_parameterInterface = new GwenParameterInterface(gui->getInternalData());
@@ -323,7 +472,7 @@ int main(int argc, char* argv[])
*/
unsigned long int prevTimeInMicroseconds = clock.getTimeMicroseconds();
do
{
@@ -332,20 +481,24 @@ int main(int argc, char* argv[])
app->m_instancingRenderer->init();
DrawGridData dg;
dg.upAxis = app->getUpAxis();
app->m_instancingRenderer->updateCamera(dg.upAxis);
app->drawGrid(dg);
{
BT_PROFILE("Update Camera");
app->m_instancingRenderer->updateCamera(dg.upAxis);
}
{
BT_PROFILE("Draw Grid");
app->drawGrid(dg);
}
static int frameCount = 0;
frameCount++;
if (0)
{
char bla[1024];
sprintf(bla,"Simple test frame %d", frameCount);
app->drawText(bla,10,10);
BT_PROFILE("Draw frame counter");
char bla[1024];
sprintf(bla,"Frame %d", frameCount);
app->drawText(bla,10,10);
}
if (sCurrentDemo)
@@ -361,18 +514,34 @@ int main(int argc, char* argv[])
sCurrentDemo->stepSimulation(deltaTimeInSeconds);//1./60.f);
prevTimeInMicroseconds = curTimeInMicroseconds;
}
sCurrentDemo->renderScene();
sCurrentDemo->physicsDebugDraw();
{
BT_PROFILE("Render Scene");
sCurrentDemo->renderScene();
}
{
sCurrentDemo->physicsDebugDraw();
}
}
static int toggle = 1;
if (1)
{
gui->draw(app->m_instancingRenderer->getScreenWidth(),app->m_instancingRenderer->getScreenHeight());
if (!pauseSimulation)
processProfileData(profWindow,false);
{
BT_PROFILE("Draw Gwen GUI");
gui->draw(app->m_instancingRenderer->getScreenWidth(),app->m_instancingRenderer->getScreenHeight());
}
}
toggle=1-toggle;
app->m_parameterInterface->syncParameters();
app->swapBuffer();
{
BT_PROFILE("Sync Parameters");
app->m_parameterInterface->syncParameters();
}
{
BT_PROFILE("Swap Buffers");
app->swapBuffer();
}
} while (!app->m_window->requestedExit());
// selectDemo(0);