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improve usability of ExampleBrowser

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store command-line arguments in bulletDemo.txt
save/load of configuration, save demo name instead of index
add setBackgroundColor as example (background_color_red) and
mouse move/wheel speed config (mouse_wheel_multiplier and mouse_move_multiplier)
(saved after changing the demo)
default btIDebugDraw colors can be changed
b3CommandLineArgs::GetCmdLineArgument returns bool, and b3CommandLineArgs::addArgs added
fix copy/paste
This commit is contained in:
erwincoumans
2015-08-04 18:24:30 -07:00
parent 9d7d5caa8b
commit b316f30040
14 changed files with 400 additions and 115 deletions
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41
examples/CommonInterfaces/CommonGraphicsAppInterface.h
View File

@@ -42,6 +42,7 @@ struct CommonGraphicsApp
float m_mouseXpos;
float m_mouseYpos;
bool m_mouseInitialized;
float m_backgroundColorRGB[3];
CommonGraphicsApp()
:m_window(0),
@@ -57,6 +58,9 @@ struct CommonGraphicsApp
m_mouseYpos(0.f),
m_mouseInitialized(false)
{
m_backgroundColorRGB[0] = 0.9;
m_backgroundColorRGB[1] = 0.9;
m_backgroundColorRGB[2] = 1;
}
virtual ~CommonGraphicsApp()
{
@@ -64,7 +68,42 @@ struct CommonGraphicsApp
virtual void dumpNextFrameToPng(const char* pngFilename){}
virtual void dumpFramesToVideo(const char* mp4Filename){}
virtual void getBackgroundColor(float* red, float* green, float* blue) const
{
if (red)
*red = m_backgroundColorRGB[0];
if (green)
*green = m_backgroundColorRGB[1];
if (blue)
*blue = m_backgroundColorRGB[2];
}
virtual void setBackgroundColor(float red, float green, float blue)
{
m_backgroundColorRGB[0] = red;
m_backgroundColorRGB[1] = green;
m_backgroundColorRGB[2] = blue;
}
virtual void setMouseWheelMultiplier(float mult)
{
m_wheelMultiplier = mult;
}
virtual float getMouseWheelMultiplier() const
{
return m_wheelMultiplier;
}
virtual void setMouseMoveMultiplier(float mult)
{
m_mouseMoveMultiplier = mult;
}
virtual float getMouseMoveMultiplier() const
{
return m_mouseMoveMultiplier;
}
virtual void drawGrid(DrawGridData data=DrawGridData()) = 0;
virtual void setUpAxis(int axis) = 0;
virtual int getUpAxis() const = 0;

92
examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp
View File

@@ -2,6 +2,8 @@
#include "gwenUserInterface.h"
#include "gwenInternalData.h"
#include "Gwen/Controls/ImagePanel.h"
#include "Gwen/Controls/ColorPicker.h"
//#include "Gwen/Controls/HSVColorPicker.h"
class MyGraphWindow* graphWindow = 0;
@@ -365,18 +367,21 @@ void GwenUserInterface::init(int width, int height,Gwen::Renderer::Base* rendere
Gwen::UnicodeString explorerStr1(L"Explorer");
m_data->m_explorerPage = explorerTab->AddPage(explorerStr1);
Gwen::UnicodeString shapesStr1(L"Shapes");
explorerTab->AddPage(shapesStr1);
Gwen::UnicodeString testStr1(L"Test");
explorerTab->AddPage(testStr1);
Gwen::UnicodeString shapesStr1(L"Test");
Gwen::Controls::TabButton* shapes = explorerTab->AddPage(shapesStr1);
///todo(erwincoumans) figure out why the HSV color picker is extremely slow
//Gwen::Controls::HSVColorPicker* color = new Gwen::Controls::HSVColorPicker(shapes->GetPage());
Gwen::Controls::ColorPicker* color = new Gwen::Controls::ColorPicker(shapes->GetPage());
color->SetKeyboardInputEnabled(true);
Gwen::Controls::TreeControl* ctrl = new Gwen::Controls::TreeControl(m_data->m_explorerPage->GetPage());
m_data->m_explorerTreeCtrl = ctrl;
ctrl->SetKeyboardInputEnabled(true);
ctrl->Focus();
ctrl->SetBounds(2, 10, 236, 300);
m_data->m_exampleInfoGroupBox = new Gwen::Controls::Label( m_data->m_explorerPage->GetPage() );
m_data->m_exampleInfoGroupBox = new Gwen::Controls::Label( m_data->m_explorerPage->GetPage() );
m_data->m_exampleInfoGroupBox->SetPos(2, 314);
m_data->m_exampleInfoGroupBox->SetHeight( 15 );
m_data->m_exampleInfoGroupBox->SetWidth(234);
@@ -517,38 +522,83 @@ bool GwenUserInterface::mouseMoveCallback( float x, float y)
bool GwenUserInterface::keyboardCallback(int bulletKey, int state)
{
int key = -1;
int gwenKey = -1;
if (m_data->pCanvas)
{
//convert 'Bullet' keys into 'Gwen' keys
switch (bulletKey)
{
case B3G_RETURN:
case B3G_LEFT_ARROW:
{
key = Gwen::Key::Return;
break;
gwenKey = Gwen::Key::Left;
break;
}
case B3G_LEFT_ARROW:
key = Gwen::Key::Left;
case B3G_RIGHT_ARROW:
{
gwenKey = Gwen::Key::Right;
break;
case B3G_RIGHT_ARROW:
key = Gwen::Key::Right;
}
case B3G_UP_ARROW:
{
gwenKey = Gwen::Key::Up;
break;
}
case B3G_DOWN_ARROW:
{
gwenKey = Gwen::Key::Down;
break;
}
case B3G_BACKSPACE:
{
gwenKey = Gwen::Key::Backspace;
break;
}
case B3G_DELETE:
{
gwenKey = Gwen::Key::Delete;
break;
}
case B3G_HOME:
{
gwenKey = Gwen::Key::Home;
break;
}
case B3G_END:
{
gwenKey = Gwen::Key::End;
break;
}
case B3G_SHIFT:
{
gwenKey = Gwen::Key::Shift;
break;
}
case B3G_CONTROL:
{
gwenKey = Gwen::Key::Control;
break;
}
case B3G_UP_ARROW:
key = Gwen::Key::Up;
break;
case B3G_DOWN_ARROW:
key = Gwen::Key::Down;
break;
default:
{
}
};
bool bDown = (state == 1);
return m_data->pCanvas->InputKey(key, bDown);
if (gwenKey>=0)
{
return m_data->pCanvas->InputKey(gwenKey,state==1);
} else
{
if (bulletKey<256 && state)
{
Gwen::UnicodeChar c = ( Gwen::UnicodeChar ) bulletKey;
return m_data->pCanvas->InputCharacter(c);
}
}
}
return false;
}

142
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -69,6 +69,8 @@ extern bool useShadowMap;
static bool visualWireframe=false;
static bool renderVisualGeometry=true;
static bool renderGrid = true;
static bool enable_experimental_opencl = false;
int gDebugDrawFlags = 0;
static bool pauseSimulation=false;
int midiBaseIndex = 176;
@@ -101,6 +103,10 @@ void deleteDemo()
}
}
const char* gPngFileName = 0;
b3KeyboardCallback prevKeyboardCallback = 0;
@@ -172,6 +178,29 @@ void MyKeyboardCallback(int key, int state)
useShadowMap=!useShadowMap;
}
#endif
if (key==B3G_F1)
{
static int count=0;
if (state)
{
b3Printf("F1 pressed %d", count++);
if (gPngFileName)
{
b3Printf("disable image dump");
gPngFileName=0;
} else
{
gPngFileName = gAllExamples->getExampleName(sCurrentDemoIndex);
b3Printf("enable image dump %s",gPngFileName);
}
} else
{
b3Printf("F1 released %d",count++);
}
}
if (key==B3G_ESCAPE && s_window)
{
@@ -182,6 +211,7 @@ void MyKeyboardCallback(int key, int state)
prevKeyboardCallback(key,state);
}
b3MouseMoveCallback prevMouseMoveCallback = 0;
static void MyMouseMoveCallback( float x, float y)
{
@@ -313,31 +343,59 @@ void selectDemo(int demoIndex)
#include <stdio.h>
static void saveCurrentDemoEntry(int currentEntry,const char* startFileName)
static void saveCurrentSettings(int currentEntry,const char* startFileName)
{
FILE* f = fopen(startFileName,"w");
if (f)
{
fprintf(f,"%d\n",currentEntry);
fprintf(f,"--start_demo_name=%s\n", gAllExamples->getExampleName(sCurrentDemoIndex));
fprintf(f,"--mouse_move_multiplier=%f\n", s_app->getMouseMoveMultiplier());
fprintf(f,"--mouse_wheel_multiplier=%f\n", s_app->getMouseWheelMultiplier());
float red,green,blue;
s_app->getBackgroundColor(&red,&green,&blue);
fprintf(f,"--background_color_red= %f\n", red);
fprintf(f,"--background_color_green= %f\n", green);
fprintf(f,"--background_color_blue= %f\n", blue);
if (enable_experimental_opencl)
{
fprintf(f,"--enable_experimental_opencl\n");
} else
{
fprintf(f,"//enable_experimental_opencl\n");
}
if (sUseOpenGL2 )
{
fprintf(f,"--opengl2\n");
} else
{
fprintf(f,"//opengl2\n");
}
fclose(f);
}
};
static int loadCurrentDemoEntry(const char* startFileName)
static void loadCurrentSettings(const char* startFileName, b3CommandLineArgs& args)
{
int currentEntry= 0;
FILE* f = fopen(startFileName,"r");
if (f)
{
int result;
result = fscanf(f,"%d",&currentEntry);
if (result)
char oneline[1024];
char* argv[] = {0,&oneline[0]};
while( fgets (oneline, 1024, f)!=NULL )
{
return currentEntry;
char *pos;
if ((pos=strchr(oneline, '\n')) != NULL)
*pos = '\0';
args.addArgs(2,argv);
}
fclose(f);
}
return 0;
};
void MyComboBoxCallback(int comboId, const char* item)
@@ -351,7 +409,7 @@ void MyComboBoxCallback(int comboId, const char* item)
if (strcmp(item,allNames[i])==0)
{
selectDemo(i);
saveCurrentDemoEntry(sCurrentDemoIndex,startFileName);
saveCurrentSettings(sCurrentDemoIndex,startFileName);
break;
}
}
@@ -429,7 +487,7 @@ struct MyMenuItemHander :public Gwen::Event::Handler
selectDemo(sCurrentHightlighted);
saveCurrentDemoEntry(sCurrentDemoIndex, startFileName);
saveCurrentSettings(sCurrentDemoIndex, startFileName);
}
void onButtonC(Gwen::Controls::Base* pControl)
{
@@ -452,7 +510,7 @@ struct MyMenuItemHander :public Gwen::Event::Handler
// printf("onKeyReturn ! \n");
selectDemo(sCurrentHightlighted);
saveCurrentDemoEntry(sCurrentDemoIndex, startFileName);
saveCurrentSettings(sCurrentDemoIndex, startFileName);
}
@@ -607,6 +665,8 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
{
b3CommandLineArgs args(argc,argv);
loadCurrentSettings(startFileName, args);
///The OpenCL rigid body pipeline is experimental and
///most OpenCL drivers and OpenCL compilers have issues with our kernels.
@@ -615,6 +675,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
///Note that several old OpenCL physics examples still have to be ported over to this new Example Browser
if (args.CheckCmdLineFlag("enable_experimental_opencl"))
{
enable_experimental_opencl = true;
gAllExamples->initOpenCLExampleEntries();
}
@@ -671,6 +732,27 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
s_app->m_renderer->getActiveCamera()->setCameraPitch(0);
s_app->m_renderer->getActiveCamera()->setCameraTargetPosition(0,0,0);
float mouseMoveMult= s_app->getMouseMoveMultiplier();
if (args.GetCmdLineArgument("mouse_move_multiplier", mouseMoveMult))
{
s_app->setMouseMoveMultiplier(mouseMoveMult);
}
float mouseWheelMult= s_app->getMouseWheelMultiplier();
if (args.GetCmdLineArgument("mouse_wheel_multiplier",mouseWheelMult))
{
s_app->setMouseWheelMultiplier(mouseWheelMult);
}
float red,green,blue;
s_app->getBackgroundColor(&red,&green,&blue);
args.GetCmdLineArgument("background_color_red",red);
args.GetCmdLineArgument("background_color_green",green);
args.GetCmdLineArgument("background_color_blue",blue);
s_app->setBackgroundColor(red,green,blue);
b3SetCustomWarningMessageFunc(MyGuiPrintf);
b3SetCustomPrintfFunc(MyGuiPrintf);
b3SetCustomErrorMessageFunc(MyStatusBarError);
@@ -725,12 +807,12 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
//char nodeText[1024];
//int curDemo = 0;
int selectedDemo = loadCurrentDemoEntry(startFileName);
int selectedDemo = 0;
Gwen::Controls::TreeNode* curNode = tree;
MyMenuItemHander* handler2 = new MyMenuItemHander(-1);
char* demoNameFromCommandOption = 0;
args.GetCmdLineArgument("demo-name", demoNameFromCommandOption);
args.GetCmdLineArgument("start_demo_name", demoNameFromCommandOption);
if (demoNameFromCommandOption) {
selectedDemo = -1;
}
@@ -770,9 +852,16 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
}
if (demoNameFromCommandOption && strcmp(gAllExamples->getExampleName(d), demoNameFromCommandOption) == 0) {
firstAvailableDemoIndex = d;
firstNode = pNode;
if (demoNameFromCommandOption )
{
const char* demoName = gAllExamples->getExampleName(d);
int res = strcmp(demoName, demoNameFromCommandOption);
if (res==0)
{
firstAvailableDemoIndex = d;
firstNode = pNode;
}
}
MyMenuItemHander* handler = new MyMenuItemHander(d);
@@ -883,6 +972,25 @@ void OpenGLExampleBrowser::update(float deltaTime)
//printf("---------------------------------------------------\n");
//printf("Framecount = %d\n",frameCount);
if (gPngFileName)
{
static int skip = 0;
skip++;
if (skip>10)
{
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);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
}
sCurrentDemo->stepSimulation(deltaTime);//1./60.f);
}
@@ -937,6 +1045,10 @@ void OpenGLExampleBrowser::update(float deltaTime)
}
}
toggle=1-toggle;
{
BT_PROFILE("Sync Parameters");

18
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -36,6 +36,7 @@ class MyDebugDrawer : public btIDebugDraw
btAlignedObjectArray<MyDebugVec3> m_linePoints;
btAlignedObjectArray<unsigned int> m_lineIndices;
btVector3 m_currentLineColor;
DefaultColors m_ourColors;
public:
@@ -44,8 +45,20 @@ public:
,m_debugMode(btIDebugDraw::DBG_DrawWireframe|btIDebugDraw::DBG_DrawAabb),
m_currentLineColor(-1,-1,-1)
{
}
virtual DefaultColors getDefaultColors() const
{
return m_ourColors;
}
///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
virtual void setDefaultColors(const DefaultColors& colors)
{
m_ourColors = colors;
}
virtual void drawLine(const btVector3& from1,const btVector3& to1,const btVector3& color1)
{
//float from[4] = {from1[0],from1[1],from1[2],from1[3]};
@@ -174,7 +187,8 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
if (graphicsShapeId>=0)
{
// btAssert(graphicsShapeId >= 0);
btVector3 localScaling = shape->getLocalScaling();
//the graphics shape is already scaled
btVector3 localScaling(1,1,1);
int graphicsInstanceId = m_data->m_glApp->m_renderer->registerGraphicsInstance(graphicsShapeId, startTransform.getOrigin(), startTransform.getRotation(), color, localScaling);
body->setUserIndex(graphicsInstanceId);
}

12
examples/OpenGLWindow/SimpleOpenGL2App.cpp
View File

@@ -137,7 +137,11 @@ SimpleOpenGL2App::SimpleOpenGL2App(const char* title, int width, int height)
glGetError();//don't remove this call, it is needed for Ubuntu
glClearColor(0.9,0.9,1,1);
glClearColor( m_backgroundColorRGB[0],
m_backgroundColorRGB[1],
m_backgroundColorRGB[2],
1.f);
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -168,6 +172,12 @@ SimpleOpenGL2App::~SimpleOpenGL2App()
delete m_data;
}
void SimpleOpenGL2App::setBackgroundColor(float red, float green, float blue)
{
CommonGraphicsApp::setBackgroundColor(red,green,blue);
glClearColor(m_backgroundColorRGB[0],m_backgroundColorRGB[1],m_backgroundColorRGB[2],1.f);
}
void SimpleOpenGL2App::drawGrid(DrawGridData data)
{
int gridSize = data.gridSize;

2
examples/OpenGLWindow/SimpleOpenGL2App.h
View File

@@ -18,7 +18,7 @@ public:
virtual void swapBuffer();
virtual void drawText( const char* txt, int posX, int posY);
virtual void setBackgroundColor(float red, float green, float blue);
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ)
{
return 0;

18
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -133,7 +133,11 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height)
b3Assert(glGetError() ==GL_NO_ERROR);
glClearColor(0.9,0.9,1,1);
glClearColor( m_backgroundColorRGB[0],
m_backgroundColorRGB[1],
m_backgroundColorRGB[2],
1.f);
m_window->startRendering();
b3Assert(glGetError() ==GL_NO_ERROR);
@@ -609,6 +613,12 @@ void SimpleOpenGL3App::drawGrid(DrawGridData data)
m_instancingRenderer->drawPoint(b3MakeVector3(0,0,1),b3MakeVector3(0,0,1),6);
}
void SimpleOpenGL3App::setBackgroundColor(float red, float green, float blue)
{
CommonGraphicsApp::setBackgroundColor(red,green,blue);
glClearColor(m_backgroundColorRGB[0],m_backgroundColorRGB[1],m_backgroundColorRGB[2],1.f);
}
SimpleOpenGL3App::~SimpleOpenGL3App()
{
delete m_primRenderer ;
@@ -692,7 +702,7 @@ void SimpleOpenGL3App::swapBuffer()
writeTextureToFile((int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth(),
(int) m_window->getRetinaScale()*this->m_instancingRenderer->getScreenHeight(),m_data->m_frameDumpPngFileName,
m_data->m_ffmpegFile);
//m_data->m_renderTexture->disable();
m_data->m_renderTexture->disable();
//if (m_data->m_ffmpegFile==0)
//{
m_data->m_frameDumpPngFileName = 0;
@@ -755,7 +765,7 @@ void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
//glTexImage2D(GL_TEXTURE_2D, 0,GL_RGB, g_OpenGLWidth,g_OpenGLHeight, 0,GL_RGBA, GL_UNSIGNED_BYTE, 0);
//glTexImage2D(GL_TEXTURE_2D, 0,GL_RGBA32F, g_OpenGLWidth,g_OpenGLHeight, 0,GL_RGBA, GL_FLOAT, 0);
glTexImage2D(GL_TEXTURE_2D, 0,GL_RGBA32F,
m_instancingRenderer->getScreenWidth(),m_instancingRenderer->getScreenHeight()
m_instancingRenderer->getScreenWidth()*m_window->getRetinaScale(),m_instancingRenderer->getScreenHeight()*m_window->getRetinaScale()
, 0,GL_RGBA, GL_FLOAT, 0);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
@@ -763,7 +773,7 @@ void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
m_data->m_renderTexture->init(m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),renderTextureId, RENDERTEXTURE_COLOR);
m_data->m_renderTexture->init(m_instancingRenderer->getScreenWidth()*m_window->getRetinaScale(),this->m_instancingRenderer->getScreenHeight()*m_window->getRetinaScale(),renderTextureId, RENDERTEXTURE_COLOR);
}
m_data->m_renderTexture->enable();

2
examples/OpenGLWindow/SimpleOpenGL3App.h
View File

@@ -14,7 +14,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
class GLPrimitiveRenderer* m_primRenderer;
class GLInstancingRenderer* m_instancingRenderer;
virtual void setBackgroundColor(float red, float green, float blue);
SimpleOpenGL3App(const char* title, int width,int height);
virtual ~SimpleOpenGL3App();

2
examples/RollingFrictionDemo/RollingFrictionDemo.cpp
View File

@@ -199,7 +199,7 @@ void RollingFrictionDemo::initPhysics()
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(SCALING*btVector3(
btScalar(2.0*i + start_x)+25,
btScalar(2.0*i + start_x),
btScalar(2.0*j + start_z),
btScalar(20+2.0*k + start_y)));

2
examples/ThirdPartyLibs/Gwen/Controls/ColorPicker.cpp
View File

@@ -18,7 +18,7 @@ using namespace Gwen::ControlsInternal;
GWEN_CONTROL_CONSTRUCTOR( ColorPicker )
{
SetMouseInputEnabled( true );
SetKeyboardInputEnabled(true);
SetSize( 256, 150 );
CreateControls();
SetColor( Gwen::Color( 50, 60, 70, 255 ) );

3
examples/ThirdPartyLibs/Gwen/Platforms/Windows.cpp
View File

@@ -73,7 +73,8 @@ bool Gwen::Platform::SetClipboardText( const Gwen::UnicodeString& str )
// Copy the string into the buffer
wchar_t* buffer = (wchar_t*) GlobalLock( clipbuffer );
wcscpy_s( buffer, iDataSize, str.c_str() );
//wcscpy_s( buffer, iDataSize, str.c_str() );
memcpy( buffer, str.c_str() ,iDataSize);
GlobalUnlock(clipbuffer);
// Place it on the clipboard

23
src/Bullet3Common/b3CommandLineArgs.h
View File

@@ -19,6 +19,11 @@ public:
// Constructor
b3CommandLineArgs(int argc, char **argv)
{
addArgs(argc,argv);
}
void addArgs(int argc, char**argv)
{
using namespace std;
@@ -39,7 +44,12 @@ public:
key = string(arg, 2, pos - 2);
val = string(arg, pos + 1, arg.length() - 1);
}
pairs[key] = val;
//only add new keys, don't replace existing
if(pairs.find(key) == pairs.end())
{
pairs[key] = val;
}
}
}
@@ -54,7 +64,7 @@ public:
}
template <typename T>
void GetCmdLineArgument(const char *arg_name, T &val);
bool GetCmdLineArgument(const char *arg_name, T &val);
int ParsedArgc()
{
@@ -63,18 +73,20 @@ public:
};
template <typename T>
inline void b3CommandLineArgs::GetCmdLineArgument(const char *arg_name, T &val)
inline bool b3CommandLineArgs::GetCmdLineArgument(const char *arg_name, T &val)
{
using namespace std;
map<string, string>::iterator itr;
if ((itr = pairs.find(arg_name)) != pairs.end()) {
istringstream strstream(itr->second);
strstream >> val;
return true;
}
return false;
}
template <>
inline void b3CommandLineArgs::GetCmdLineArgument<char*>(const char* arg_name, char* &val)
inline bool b3CommandLineArgs::GetCmdLineArgument<char*>(const char* arg_name, char* &val)
{
using namespace std;
map<string, string>::iterator itr;
@@ -83,10 +95,11 @@ inline void b3CommandLineArgs::GetCmdLineArgument<char*>(const char* arg_name, c
string s = itr->second;
val = (char*) malloc(sizeof(char) * (s.length() + 1));
std::strcpy(val, s.c_str());
return true;
} else {
val = NULL;
}
return false;
}

129
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -1427,84 +1427,91 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
void btCollisionWorld::debugDrawWorld()
{
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
if (getDebugDrawer())
{
if (getDispatcher())
{
int numManifolds = getDispatcher()->getNumManifolds();
btVector3 color(1,1,0);
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
btIDebugDraw::DefaultColors defaultColors = getDebugDrawer()->getDefaultColors();
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
if ( getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
{
if (getDispatcher())
{
int numManifolds = getDispatcher()->getNumManifolds();
for (int i=0;i<numManifolds;i++)
{
btManifoldPoint& cp = contactManifold->getContactPoint(j);
getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& cp = contactManifold->getContactPoint(j);
getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),defaultColors.m_contactPoint);
}
}
}
}
}
if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))
{
int i;
for ( i=0;i<m_collisionObjects.size();i++)
if ((getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))
{
btCollisionObject* colObj = m_collisionObjects[i];
if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
int i;
for ( i=0;i<m_collisionObjects.size();i++)
{
if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
btCollisionObject* colObj = m_collisionObjects[i];
if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
{
btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.));
switch(colObj->getActivationState())
if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
{
case ACTIVE_TAG:
color = btVector3(btScalar(1.),btScalar(1.),btScalar(1.)); break;
case ISLAND_SLEEPING:
color = btVector3(btScalar(0.),btScalar(1.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(btScalar(0.),btScalar(1.),btScalar(1.));break;
case DISABLE_DEACTIVATION:
color = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(btScalar(1.),btScalar(1.),btScalar(0.));break;
default:
btVector3 color(btScalar(0.4),btScalar(0.4),btScalar(0.4));
switch(colObj->getActivationState())
{
color = btVector3(btScalar(1),btScalar(0.),btScalar(0.));
}
};
case ACTIVE_TAG:
color = defaultColors.m_activeObject; break;
case ISLAND_SLEEPING:
color = defaultColors.m_deactivatedObject;break;
case WANTS_DEACTIVATION:
color = defaultColors.m_wantsDeactivationObject;break;
case DISABLE_DEACTIVATION:
color = defaultColors.m_disabledDeactivationObject;break;
case DISABLE_SIMULATION:
color = defaultColors.m_disabledSimulationObject;break;
default:
{
color = btVector3(btScalar(.3),btScalar(0.3),btScalar(0.3));
}
};
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 minAabb,maxAabb;
btVector3 colorvec(1,0,0);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
btVector3 minAabb2,maxAabb2;
if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
{
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 minAabb,maxAabb;
btVector3 colorvec = defaultColors.m_aabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
btVector3 minAabb2,maxAabb2;
if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
{
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
}
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
}
}
}
}
}

29
src/LinearMath/btIDebugDraw.h
View File

@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "btTransform.h"
///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
@@ -29,6 +30,29 @@ class btIDebugDraw
{
public:
ATTRIBUTE_ALIGNED16(struct) DefaultColors
{
btVector3 m_activeObject;
btVector3 m_deactivatedObject;
btVector3 m_wantsDeactivationObject;
btVector3 m_disabledDeactivationObject;
btVector3 m_disabledSimulationObject;
btVector3 m_aabb;
btVector3 m_contactPoint;
DefaultColors()
: m_activeObject(1,1,1),
m_deactivatedObject(0,1,0),
m_wantsDeactivationObject(0,1,1),
m_disabledDeactivationObject(1,0,0),
m_disabledSimulationObject(1,1,0),
m_aabb(1,0,0),
m_contactPoint(1,1,0)
{
}
};
enum DebugDrawModes
{
DBG_NoDebug=0,
@@ -53,6 +77,11 @@ class btIDebugDraw
virtual ~btIDebugDraw() {};
virtual DefaultColors getDefaultColors() const { DefaultColors colors; return colors; }
///the default implementation for setDefaultColors has no effect. A derived class can implement it and store the colors.
virtual void setDefaultColors(const DefaultColors& /*colors*/) {}
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
virtual void drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)