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render the wheels of the ForkLiftDemo

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This commit is contained in:
erwincoumans
2015-03-28 12:36:57 -07:00
parent cba140431e
commit d605cc1cd7
4 changed files with 49 additions and 5 deletions
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40
Demos/ForkLiftDemo/ForkLiftPhysicsSetup.cpp
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@@ -2,7 +2,7 @@
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#include "OpenGLWindow/CommonRenderInterface.h"
btScalar maxMotorImpulse = 1400.f;
btScalar loadMass = 350.f;//
@@ -66,7 +66,9 @@ struct ForkLiftInternalData
class btConstraintSolver* m_constraintSolver;
class btDefaultCollisionConfiguration* m_collisionConfiguration;
class btDiscreteDynamicsWorld* m_dynamicsWorld;
int m_wheelInstances[4];
bool useMCLPSolver;
ForkLiftInternalData()
@@ -191,6 +193,19 @@ tr.setOrigin(btVector3(0,-3,0));
//m_carChassis->setDamping(0.2,0.2);
m_data->m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
gfxBridge.createCollisionShapeGraphicsObject(m_data->m_wheelShape);
int wheelGraphicsIndex = m_data->m_wheelShape->getUserIndex();
const float position[4]={0,10,10,0};
const float quaternion[4]={0,0,0,1};
const float color[4]={0,1,0,1};
const float scaling[4] = {1,1,1,1};
for (int i=0;i<4;i++)
{
m_data->m_wheelInstances[i] = gfxBridge.registerGraphicsInstance(wheelGraphicsIndex, position, quaternion, color, scaling);
}
{
btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f));
@@ -436,6 +451,7 @@ void ForkLiftPhysicsSetup::exitPhysics()
}
void ForkLiftPhysicsSetup::stepSimulation(float deltaTime)
{
m_data->m_dynamicsWorld->stepSimulation(deltaTime);
}
void ForkLiftPhysicsSetup::debugDraw(int debugDrawFlags)
{
@@ -453,11 +469,29 @@ void ForkLiftPhysicsSetup::removePickingConstraint()
}
void ForkLiftPhysicsSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.syncPhysicsToGraphics(m_data->m_dynamicsWorld);
//sync wheels
for (int i=0;i<m_data->m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_data->m_vehicle->updateWheelTransform(i,true);
CommonRenderInterface* renderer = gfxBridge.getRenderInterface();
if (renderer)
{
btTransform tr = m_data->m_vehicle->getWheelInfo(i).m_worldTransform;
btVector3 pos=tr.getOrigin();
btQuaternion orn = tr.getRotation();
renderer->writeSingleInstanceTransformToCPU(pos,orn,m_data->m_wheelInstances[i]);
}
}
}
void ForkLiftPhysicsSetup::renderScene(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.drawText3D("hi!",0,10,10,2);
}
void ForkLiftPhysicsSetup::lockLiftHinge()