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refactor to allow various gfx backends (work-in-progress)

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This commit is contained in:
Erwin Coumans
2014-09-23 18:27:16 -07:00
parent 76f4bd9a9d
commit e314f56f9d
49 changed files with 1171 additions and 296 deletions
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20
Demos3/bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.cpp
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@@ -32,7 +32,7 @@ static float friction = 1.;
MultiDofDemo::MultiDofDemo(SimpleOpenGL3App* app)
MultiDofDemo::MultiDofDemo(CommonGraphicsApp* app)
:FeatherstoneDemo1(app)
{
}
@@ -75,8 +75,8 @@ void MultiDofDemo::initPhysics()
if(g_firstInit)
{
this->m_glApp->m_instancingRenderer->setCameraDistance(btScalar(10.*scaling));
this->m_glApp->m_instancingRenderer->setCameraPitch(50);
this->m_glApp->m_renderer->setCameraDistance(btScalar(10.*scaling));
this->m_glApp->m_renderer->setCameraPitch(50);
g_firstInit = false;
}
///collision configuration contains default setup for memory, collision setup
@@ -159,7 +159,7 @@ void MultiDofDemo::initPhysics()
///
addColliders_testMultiDof(mbC, world, baseHalfExtents, linkHalfExtents);
int cubeShapeId = m_glApp->registerCubeShape();
int cubeShapeId = m_glApp->registerCubeShape(1,1,1);
/////////////////////////////////////////////////////////////////
btScalar groundHeight = -51.55;
if (!multibodyOnly)
@@ -183,7 +183,7 @@ void MultiDofDemo::initPhysics()
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body,1,1+2);//,1,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),btVector4(0,1,0,1),groundHalfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),btVector4(0,1,0,1),groundHalfExtents);
body->setUserIndex(index);
@@ -223,12 +223,12 @@ void MultiDofDemo::initPhysics()
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),btVector4(1,1,0,1),halfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),btVector4(1,1,0,1),halfExtents);
body->setUserIndex(index);
}
m_glApp->m_instancingRenderer->writeTransforms();
m_glApp->m_renderer->writeTransforms();
/////////////////////////////////////////////////////////////////
}
@@ -295,7 +295,7 @@ btMultiBody* MultiDofDemo::createFeatherstoneMultiBody_testMultiDof(btMultiBodyD
void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents)
{
int cubeShapeId = m_glApp->registerCubeShape();
int cubeShapeId = m_glApp->registerCubeShape(1,1,1);
btAlignedObjectArray<btQuaternion> world_to_local;
world_to_local.resize(pMultiBody->getNumLinks() + 1);
@@ -325,7 +325,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
pWorld->addCollisionObject(col, 2,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),baseHalfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),baseHalfExtents);
col->setUserIndex(index);
@@ -363,7 +363,7 @@ void MultiDofDemo::addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBod
col->setWorldTransform(tr);
col->setFriction(friction);
pWorld->addCollisionObject(col,2,1+2);
int index = m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),linkHalfExtents);
int index = m_glApp->m_renderer->registerGraphicsInstance(cubeShapeId,tr.getOrigin(),tr.getRotation(),btVector4(0,0,1,1),linkHalfExtents);
col->setUserIndex(index);