fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
@@ -1,49 +1,49 @@
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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 ${BULLET_PHYSICS_SOURCE_DIR}/Demos/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(AppDoublePrecisionDemo
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DoublePrecisionDemo.cpp
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)
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IF (WIN32)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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IF (CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppDoublePrecisionDemo
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
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)
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ELSE(CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppDoublePrecisionDemo
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
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)
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ENDIF(CMAKE_CL_64)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ENDIF(WIN32)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
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||||
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# For every executable you have with a main method you should have an add_executable line below.
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||||
# For every add executable line you should list every .cpp and .h file you have associated with that executable.
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# You shouldn't have to modify anything below this line
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########################################################
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/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(AppDoublePrecisionDemo
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DoublePrecisionDemo.cpp
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)
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IF (WIN32)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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IF (CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppDoublePrecisionDemo
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
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)
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ELSE(CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppDoublePrecisionDemo
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
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)
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ENDIF(CMAKE_CL_64)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ENDIF(WIN32)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppDoublePrecisionDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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@@ -1,280 +1,280 @@
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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,
|
||||
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.
|
||||
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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/// DoublePrecisionDemo shows high level usage of the Collision Detection.
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///
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#include "GL_Simplex1to4.h"
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//include common Bullet Collision Detection headerfiles
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#include "btBulletCollisionCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "GLDebugFont.h"
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#include "GL_ShapeDrawer.h"
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#include "DoublePrecisionDemo.h"
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#include "GlutStuff.h"
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#include "GLDebugDrawer.h"
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btScalar yaw=btScalar(0.);
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btScalar pitch=btScalar(0.);
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btScalar roll=btScalar(0.);
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const int maxNumObjects = 4;
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const int numObjects = 2;
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GL_Simplex1to4 simplex;
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btCollisionObject objects[maxNumObjects];
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btCollisionWorld* collisionWorld = 0;
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// so pixel ratio is 1:1
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int screenWidth = 640;
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int screenHeight = 640;
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GLDebugDrawer debugDrawer;
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const btScalar LARGE_DISTANCE_FROM_ORIGIN = btScalar(999999.0);
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const btScalar VERY_SMALL_INCREMENT = btScalar(0.000009);
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int main(int argc,char** argv)
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{
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DoublePrecisionDemo* doublePrecisionDemo = new DoublePrecisionDemo();
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doublePrecisionDemo->initPhysics();
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doublePrecisionDemo->setCameraDistance(btScalar(2.0));
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doublePrecisionDemo->clientResetScene();
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return glutmain(argc, argv,screenWidth,screenHeight,"Double Precision Demo",doublePrecisionDemo);
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}
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void DoublePrecisionDemo::initPhysics()
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{
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m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
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btMatrix3x3 basisA;
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basisA.setIdentity();
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btMatrix3x3 basisB;
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basisB.setIdentity();
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objects[0].getWorldTransform().setBasis(basisA);
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objects[1].getWorldTransform().setBasis(basisB);
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btBoxShape* boxA = new btBoxShape(btVector3(0.5,0.5,0.5));
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btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
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objects[0].setCollisionShape(boxA);//&hullA;
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objects[1].setCollisionShape(boxB);//&hullB;
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btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
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btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
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btVector3 worldAabbMin(80000,80000,80000);
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btVector3 worldAabbMax(120000,120000,120000);
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btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
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collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
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collisionWorld->addCollisionObject(&objects[0]);
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collisionWorld->addCollisionObject(&objects[1]);
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}
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//to be implemented by the demo
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void DoublePrecisionDemo::clientMoveAndDisplay()
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{
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displayCallback();
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}
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static btVoronoiSimplexSolver sGjkSimplexSolver;
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btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
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void DoublePrecisionDemo::displayCallback(void)
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glDisable(GL_LIGHTING);
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collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
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if (collisionWorld)
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collisionWorld->performDiscreteCollisionDetection();
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int i;
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btVector3 worldBoundsMin,worldBoundsMax;
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collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
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///one way to draw all the contact points is iterating over contact manifolds / points:
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int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
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for (i=0;i<numManifolds;i++)
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{
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btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
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btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
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btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
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contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
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int numContacts = contactManifold->getNumContacts();
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for (int j=0;j<numContacts;j++)
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{
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btManifoldPoint& pt = contactManifold->getContactPoint(j);
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glBegin(GL_LINES);
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glColor3f(1, 1, 1);
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btVector3 ptA = pt.getPositionWorldOnA() - m_cameraPosition;
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btVector3 ptB = pt.getPositionWorldOnB() - m_cameraPosition;
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glVertex3d(ptA.x(),ptA.y(),ptA.z());
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glVertex3d(ptB.x(),ptB.y(),ptB.z());
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glEnd();
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}
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//you can un-comment out this line, and then all points are removed
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//contactManifold->clearManifold();
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}
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btScalar m[16];
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btTransform temp;
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btVector3 color;
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//int i;
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for (i=0;i<numObjects;i++)
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{
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if (i % 2)
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{
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color = btVector3(1,0,0);
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}
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else
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{
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color = btVector3(0,0,1);
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}
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temp = objects[i].getWorldTransform();
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temp.setOrigin(temp.getOrigin() - m_cameraPosition);
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temp.getOpenGLMatrix( m );
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m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
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}
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objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
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objects[0].getWorldTransform().setOrigin(objects[0].getWorldTransform().getOrigin()+btVector3(VERY_SMALL_INCREMENT,VERY_SMALL_INCREMENT,0));
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float yStart = 20.f;
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float yIncr = 20.f;
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char buf[124];
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glColor3f(0, 0, 0);
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setOrthographicProjection();
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glRasterPos3f(10.0f,yStart,0);
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#ifdef BT_USE_DOUBLE_PRECISION
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GLDebugDrawString(10.f,yStart,"Double Precision Mode");
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#else
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GLDebugDrawString(10.f,yStart,"Single Precision Mode");
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#endif
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yStart += yIncr;
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glRasterPos3f(10.0f,yStart,0);
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sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
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GLDebugDrawString(10.f,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(10.0f,yStart,0);
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btScalar xValue = objects[0].getWorldTransform().getOrigin().x();
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btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
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btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
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sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
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GLDebugDrawString(10.f,yStart,buf);
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yStart += yIncr;
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xValue = objects[1].getWorldTransform().getOrigin().x();
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yValue = objects[1].getWorldTransform().getOrigin().y();
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zValue = objects[1].getWorldTransform().getOrigin().z();
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glRasterPos3f(10.0f,yStart,0);
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sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
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GLDebugDrawString(10.f,yStart,buf);
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yStart += yIncr;
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glRasterPos3f(10.0f,yStart,0);
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GLDebugDrawString(10.f,yStart,"w=toggle wireframe/solid");
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resetPerspectiveProjection();
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glFlush();
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glutSwapBuffers();
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}
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void DoublePrecisionDemo::clientResetScene()
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{
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objects[0].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN));
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objects[1].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN));
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}
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void DoublePrecisionDemo::updateCamera()
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{
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glMatrixMode(GL_PROJECTION);
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glLoadIdentity();
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// look at the stationary cube
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m_cameraTargetPosition = objects[0].getWorldTransform().getOrigin();
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m_cameraPosition = m_cameraTargetPosition;
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m_cameraPosition[2] = m_cameraTargetPosition[2] - m_cameraDistance;
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//update OpenGL camera settings
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glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
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// To not loose precision in the rendering process, we shift the object to the origin
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gluLookAt(0.0, 0.0, 0.0,
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m_cameraTargetPosition[0]-m_cameraPosition[0],m_cameraTargetPosition[1]-m_cameraPosition[1], m_cameraTargetPosition[2]-m_cameraPosition[2],
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m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
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glMatrixMode(GL_MODELVIEW);
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}
|
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void DoublePrecisionDemo::keyboardCallback(unsigned char key, int x, int y)
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{
|
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if (key == 'w')
|
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{
|
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if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
|
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{
|
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m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
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m_debugMode |= btIDebugDraw::DBG_DrawAabb;
|
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}
|
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else
|
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{
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m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
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m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
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}
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return;
|
||||
}
|
||||
|
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DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
///
|
||||
/// DoublePrecisionDemo shows high level usage of the Collision Detection.
|
||||
///
|
||||
|
||||
#include "GL_Simplex1to4.h"
|
||||
|
||||
//include common Bullet Collision Detection headerfiles
|
||||
#include "btBulletCollisionCommon.h"
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "GLDebugFont.h"
|
||||
|
||||
|
||||
#include "GL_ShapeDrawer.h"
|
||||
#include "DoublePrecisionDemo.h"
|
||||
#include "GlutStuff.h"
|
||||
#include "GLDebugDrawer.h"
|
||||
|
||||
btScalar yaw=btScalar(0.);
|
||||
btScalar pitch=btScalar(0.);
|
||||
btScalar roll=btScalar(0.);
|
||||
const int maxNumObjects = 4;
|
||||
const int numObjects = 2;
|
||||
|
||||
GL_Simplex1to4 simplex;
|
||||
|
||||
|
||||
btCollisionObject objects[maxNumObjects];
|
||||
btCollisionWorld* collisionWorld = 0;
|
||||
|
||||
// so pixel ratio is 1:1
|
||||
int screenWidth = 640;
|
||||
int screenHeight = 640;
|
||||
GLDebugDrawer debugDrawer;
|
||||
|
||||
const btScalar LARGE_DISTANCE_FROM_ORIGIN = btScalar(999999.0);
|
||||
const btScalar VERY_SMALL_INCREMENT = btScalar(0.000009);
|
||||
|
||||
int main(int argc,char** argv)
|
||||
{
|
||||
DoublePrecisionDemo* doublePrecisionDemo = new DoublePrecisionDemo();
|
||||
|
||||
doublePrecisionDemo->initPhysics();
|
||||
doublePrecisionDemo->setCameraDistance(btScalar(2.0));
|
||||
|
||||
doublePrecisionDemo->clientResetScene();
|
||||
|
||||
return glutmain(argc, argv,screenWidth,screenHeight,"Double Precision Demo",doublePrecisionDemo);
|
||||
}
|
||||
|
||||
void DoublePrecisionDemo::initPhysics()
|
||||
{
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
|
||||
|
||||
btMatrix3x3 basisA;
|
||||
basisA.setIdentity();
|
||||
|
||||
btMatrix3x3 basisB;
|
||||
basisB.setIdentity();
|
||||
|
||||
objects[0].getWorldTransform().setBasis(basisA);
|
||||
objects[1].getWorldTransform().setBasis(basisB);
|
||||
|
||||
|
||||
btBoxShape* boxA = new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
btBoxShape* boxB = new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
|
||||
objects[0].setCollisionShape(boxA);//&hullA;
|
||||
objects[1].setCollisionShape(boxB);//&hullB;
|
||||
|
||||
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
|
||||
btVector3 worldAabbMin(80000,80000,80000);
|
||||
btVector3 worldAabbMax(120000,120000,120000);
|
||||
|
||||
btAxisSweep3* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax);
|
||||
|
||||
collisionWorld = new btCollisionWorld(dispatcher,broadphase,collisionConfiguration);
|
||||
|
||||
collisionWorld->addCollisionObject(&objects[0]);
|
||||
collisionWorld->addCollisionObject(&objects[1]);
|
||||
|
||||
}
|
||||
|
||||
|
||||
//to be implemented by the demo
|
||||
|
||||
void DoublePrecisionDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
displayCallback();
|
||||
}
|
||||
|
||||
|
||||
static btVoronoiSimplexSolver sGjkSimplexSolver;
|
||||
btSimplexSolverInterface& gGjkSimplexSolver = sGjkSimplexSolver;
|
||||
|
||||
void DoublePrecisionDemo::displayCallback(void)
|
||||
{
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glDisable(GL_LIGHTING);
|
||||
|
||||
collisionWorld->getDispatchInfo().m_debugDraw = &debugDrawer;
|
||||
|
||||
if (collisionWorld)
|
||||
collisionWorld->performDiscreteCollisionDetection();
|
||||
|
||||
int i;
|
||||
|
||||
btVector3 worldBoundsMin,worldBoundsMax;
|
||||
collisionWorld->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
|
||||
|
||||
|
||||
///one way to draw all the contact points is iterating over contact manifolds / points:
|
||||
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
|
||||
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());
|
||||
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
for (int j=0;j<numContacts;j++)
|
||||
{
|
||||
btManifoldPoint& pt = contactManifold->getContactPoint(j);
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glColor3f(1, 1, 1);
|
||||
|
||||
btVector3 ptA = pt.getPositionWorldOnA() - m_cameraPosition;
|
||||
btVector3 ptB = pt.getPositionWorldOnB() - m_cameraPosition;
|
||||
|
||||
glVertex3d(ptA.x(),ptA.y(),ptA.z());
|
||||
glVertex3d(ptB.x(),ptB.y(),ptB.z());
|
||||
glEnd();
|
||||
}
|
||||
|
||||
//you can un-comment out this line, and then all points are removed
|
||||
//contactManifold->clearManifold();
|
||||
}
|
||||
|
||||
btScalar m[16];
|
||||
btTransform temp;
|
||||
|
||||
|
||||
btVector3 color;
|
||||
//int i;
|
||||
for (i=0;i<numObjects;i++)
|
||||
{
|
||||
if (i % 2)
|
||||
{
|
||||
color = btVector3(1,0,0);
|
||||
}
|
||||
else
|
||||
{
|
||||
color = btVector3(0,0,1);
|
||||
}
|
||||
temp = objects[i].getWorldTransform();
|
||||
temp.setOrigin(temp.getOrigin() - m_cameraPosition);
|
||||
temp.getOpenGLMatrix( m );
|
||||
m_shapeDrawer->drawOpenGL(m,objects[i].getCollisionShape(),color,getDebugMode(),worldBoundsMin,worldBoundsMax);
|
||||
}
|
||||
|
||||
objects[1].getWorldTransform().setOrigin(objects[1].getWorldTransform().getOrigin()+btVector3(-VERY_SMALL_INCREMENT,-VERY_SMALL_INCREMENT,0));
|
||||
objects[0].getWorldTransform().setOrigin(objects[0].getWorldTransform().getOrigin()+btVector3(VERY_SMALL_INCREMENT,VERY_SMALL_INCREMENT,0));
|
||||
|
||||
float yStart = 20.f;
|
||||
float yIncr = 20.f;
|
||||
char buf[124];
|
||||
|
||||
glColor3f(0, 0, 0);
|
||||
|
||||
setOrthographicProjection();
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
GLDebugDrawString(10.f,yStart,"Double Precision Mode");
|
||||
#else
|
||||
GLDebugDrawString(10.f,yStart,"Single Precision Mode");
|
||||
#endif
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
sprintf(buf,"Movement distance in x and y axis = %lf", VERY_SMALL_INCREMENT);
|
||||
|
||||
GLDebugDrawString(10.f,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
btScalar xValue = objects[0].getWorldTransform().getOrigin().x();
|
||||
btScalar yValue = objects[0].getWorldTransform().getOrigin().y();
|
||||
btScalar zValue = objects[0].getWorldTransform().getOrigin().z();
|
||||
sprintf(buf,"Cube 0 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
|
||||
GLDebugDrawString(10.f,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
xValue = objects[1].getWorldTransform().getOrigin().x();
|
||||
yValue = objects[1].getWorldTransform().getOrigin().y();
|
||||
zValue = objects[1].getWorldTransform().getOrigin().z();
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
sprintf(buf,"Cube 1 location = ( %lf, %lf, %lf )", xValue, yValue, zValue);
|
||||
GLDebugDrawString(10.f,yStart,buf);
|
||||
yStart += yIncr;
|
||||
|
||||
glRasterPos3f(10.0f,yStart,0);
|
||||
GLDebugDrawString(10.f,yStart,"w=toggle wireframe/solid");
|
||||
|
||||
resetPerspectiveProjection();
|
||||
|
||||
glFlush();
|
||||
glutSwapBuffers();
|
||||
}
|
||||
|
||||
void DoublePrecisionDemo::clientResetScene()
|
||||
{
|
||||
objects[0].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN,LARGE_DISTANCE_FROM_ORIGIN));
|
||||
objects[1].getWorldTransform().setOrigin(btVector3(LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN-VERY_SMALL_INCREMENT,LARGE_DISTANCE_FROM_ORIGIN));
|
||||
}
|
||||
|
||||
|
||||
|
||||
void DoublePrecisionDemo::updateCamera()
|
||||
{
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
glLoadIdentity();
|
||||
|
||||
// look at the stationary cube
|
||||
m_cameraTargetPosition = objects[0].getWorldTransform().getOrigin();
|
||||
|
||||
m_cameraPosition = m_cameraTargetPosition;
|
||||
m_cameraPosition[2] = m_cameraTargetPosition[2] - m_cameraDistance;
|
||||
|
||||
//update OpenGL camera settings
|
||||
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
|
||||
|
||||
// To not loose precision in the rendering process, we shift the object to the origin
|
||||
gluLookAt(0.0, 0.0, 0.0,
|
||||
m_cameraTargetPosition[0]-m_cameraPosition[0],m_cameraTargetPosition[1]-m_cameraPosition[1], m_cameraTargetPosition[2]-m_cameraPosition[2],
|
||||
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
|
||||
glMatrixMode(GL_MODELVIEW);
|
||||
}
|
||||
|
||||
void DoublePrecisionDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
if (key == 'w')
|
||||
{
|
||||
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
|
||||
{
|
||||
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
|
||||
}
|
||||
else
|
||||
{
|
||||
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
|
||||
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
DemoApplication::keyboardCallback(key, x, y);
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user