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add Obj and STL import demo, work on URDF import

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This commit is contained in:
Erwin Coumans
2014-08-03 13:45:05 -07:00
parent 35fa146f13
commit ae98ffe218
18 changed files with 1196 additions and 71 deletions
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21
Demos3/bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp
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@@ -43,7 +43,11 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
box->setUserIndex(cubeShapeId);
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
break;
}
default:
{
if (collisionShape->isConvex())
@@ -145,6 +149,11 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
{
return m_glApp->m_parameterInterface;
}
virtual void setUpAxis(int axis)
{
m_glApp->setUpAxis(axis);
}
};
Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(SimpleOpenGL3App* app, CommonPhysicsSetup* physicsSetup)
@@ -221,8 +230,10 @@ btVector3 Bullet2RigidBodyDemo::getRayTo(int x,int y)
rayForward*= farPlane;
btVector3 rightOffset;
btVector3 m_cameraUp=btVector3(0,1,0);
btVector3 vertical = m_cameraUp;
btVector3 cameraUp=btVector3(0,0,0);
cameraUp[m_glApp->getUpAxis()]=1;
btVector3 vertical = cameraUp;
btVector3 hor;
hor = rayForward.cross(vertical);
@@ -266,6 +277,7 @@ bool Bullet2RigidBodyDemo::mouseMoveCallback(float x,float y)
return false;
}
bool Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, float y)
{
@@ -278,8 +290,7 @@ bool Bullet2RigidBodyDemo::mouseButtonCallback(int button, int state, float x, f
btVector3 rayFrom = camPos;
btVector3 rayTo = getRayTo(x,y);
m_physicsSetup->pickBody(rayFrom, rayTo);