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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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40
Demos3/ImportObjDemo/ImportObjSetup.cpp
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@@ -44,9 +44,7 @@ static GLInstanceGraphicsShape* gCreateGraphicsShapeFromWavefrontObj(std::vector
int vtxBaseIndex = vertices->size();
indicesPtr->push_back(vtxBaseIndex);
indicesPtr->push_back(vtxBaseIndex+1);
indicesPtr->push_back(vtxBaseIndex+2);
GLInstanceVertex vtx0;
vtx0.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f]*3+0];
@@ -79,19 +77,28 @@ static GLInstanceGraphicsShape* gCreateGraphicsShapeFromWavefrontObj(std::vector
btVector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
normal = (v1-v0).cross(v2-v0);
normal.normalize();
vtx0.normal[0] = normal[0];
vtx0.normal[1] = normal[1];
vtx0.normal[2] = normal[2];
vtx1.normal[0] = normal[0];
vtx1.normal[1] = normal[1];
vtx1.normal[2] = normal[2];
vtx2.normal[0] = normal[0];
vtx2.normal[1] = normal[1];
vtx2.normal[2] = normal[2];
vertices->push_back(vtx0);
vertices->push_back(vtx1);
vertices->push_back(vtx2);
btScalar len2 = normal.length2();
//skip degenerate triangles
if (len2 > SIMD_EPSILON)
{
normal.normalize();
vtx0.normal[0] = normal[0];
vtx0.normal[1] = normal[1];
vtx0.normal[2] = normal[2];
vtx1.normal[0] = normal[0];
vtx1.normal[1] = normal[1];
vtx1.normal[2] = normal[2];
vtx2.normal[0] = normal[0];
vtx2.normal[1] = normal[1];
vtx2.normal[2] = normal[2];
vertices->push_back(vtx0);
vertices->push_back(vtx1);
vertices->push_back(vtx2);
indicesPtr->push_back(vtxBaseIndex);
indicesPtr->push_back(vtxBaseIndex+1);
indicesPtr->push_back(vtxBaseIndex+2);
}
}
}
}
@@ -113,6 +120,7 @@ static GLInstanceGraphicsShape* gCreateGraphicsShapeFromWavefrontObj(std::vector
void ImportObjDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.setUpAxis(2);
this->createEmptyDynamicsWorld();
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);