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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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6
Demos/OpenGL/BMF_Api.cpp
View File

@@ -2,7 +2,7 @@
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
@@ -12,9 +12,9 @@
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*

6
Demos/OpenGL/BMF_Api.h
View File

@@ -2,7 +2,7 @@
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
@@ -12,9 +12,9 @@
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*

6
Demos/OpenGL/BMF_BitmapFont.cpp
View File

@@ -2,7 +2,7 @@
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
@@ -12,9 +12,9 @@
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*

6
Demos/OpenGL/BMF_BitmapFont.h
View File

@@ -2,7 +2,7 @@
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
@@ -12,9 +12,9 @@
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*

6
Demos/OpenGL/BMF_FontData.h
View File

@@ -2,7 +2,7 @@
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
@@ -12,9 +12,9 @@
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*

6
Demos/OpenGL/BMF_Fonts.h
View File

@@ -2,7 +2,7 @@
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
@@ -12,9 +12,9 @@
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*

6
Demos/OpenGL/BMF_Settings.h
View File

@@ -2,7 +2,7 @@
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
@@ -12,9 +12,9 @@
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*

6
Demos/OpenGL/BMF_font_helv10.cpp
View File

@@ -2,7 +2,7 @@
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
@@ -12,9 +12,9 @@
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU General Public License
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*

26
Demos/OpenGL/DebugCastResult.h
View File

@@ -17,7 +17,7 @@ subject to the following restrictions:
#define DEBUG_CAST_RESULT_H
#include "BulletCollision/NarrowPhaseCollision/btConvexCast.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/btTransform.h"
#include "GL_ShapeDrawer.h"
#ifdef WIN32
#include <windows.h>
@@ -29,16 +29,16 @@ subject to the following restrictions:
#else
#include <GL/gl.h>
#endif
struct DebugCastResult : public ConvexCast::CastResult
struct btDebugCastResult : public btConvexCast::CastResult
{
SimdTransform m_fromTrans;
const PolyhedralConvexShape* m_shape;
SimdVector3 m_linVel;
SimdVector3 m_angVel;
btTransform m_fromTrans;
const btPolyhedralConvexShape* m_shape;
btVector3 m_linVel;
btVector3 m_angVel;
DebugCastResult(const SimdTransform& fromTrans,const PolyhedralConvexShape* shape,
const SimdVector3& linVel,const SimdVector3& angVel)
btDebugCastResult(const btTransform& fromTrans,const btPolyhedralConvexShape* shape,
const btVector3& linVel,const btVector3& angVel)
:m_fromTrans(fromTrans),
m_shape(shape),
m_linVel(linVel),
@@ -46,7 +46,7 @@ struct DebugCastResult : public ConvexCast::CastResult
{
}
virtual void DrawCoordSystem(const SimdTransform& tr)
virtual void DrawCoordSystem(const btTransform& tr)
{
float m[16];
tr.getOpenGLMatrix(m);
@@ -66,14 +66,14 @@ struct DebugCastResult : public ConvexCast::CastResult
glPopMatrix();
}
virtual void DebugDraw(SimdScalar fraction)
virtual void DebugDraw(btScalar fraction)
{
float m[16];
SimdTransform hitTrans;
SimdTransformUtil::IntegrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
btTransform hitTrans;
btTransformUtil::IntegrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
GL_ShapeDrawer::DrawOpenGL(m,m_shape,SimdVector3(1,0,0),IDebugDraw::DBG_NoDebug);
GL_ShapeDrawer::DrawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug);
}
};

404
Demos/OpenGL/DemoApplication.cpp
View File

@@ -14,7 +14,8 @@ subject to the following restrictions:
*/
#include "DemoApplication.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
#include "CcdPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
@@ -23,21 +24,24 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/GenQuickprof.h"
#include "LinearMath/btQuickprof.h"
#include "BMF_Api.h"
#include "BulletDynamics/Dynamics/btMassProps.h"
int numObjects = 0;
const int maxNumObjects = 16384;
DefaultMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects];
SimdTransform startTransforms[maxNumObjects];
CollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
btTransform startTransforms[maxNumObjects];
btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
DemoApplication::DemoApplication()
//see IDebugDraw.h for modes
//see btIDebugDraw.h for modes
:
m_physicsEnvironmentPtr(0),
m_dynamicsWorld(0),
m_pickConstraint(0),
m_cameraDistance(15.0),
m_debugMode(0),
m_ele(0.f),
@@ -133,21 +137,21 @@ void DemoApplication::updateCamera() {
float razi = m_azi * 0.01745329251994329547;// rads per deg
SimdQuaternion rot(m_cameraUp,razi);
btQuaternion rot(m_cameraUp,razi);
SimdVector3 eyePos(0,0,0);
btVector3 eyePos(0,0,0);
eyePos[m_forwardAxis] = -m_cameraDistance;
SimdVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
if (forward.length2() < SIMD_EPSILON)
{
forward.setValue(1.f,0.f,0.f);
}
SimdVector3 right = m_cameraUp.cross(forward);
SimdQuaternion roll(right,-rele);
btVector3 right = m_cameraUp.cross(forward);
btQuaternion roll(right,-rele);
eyePos = SimdMatrix3x3(rot) * SimdMatrix3x3(roll) * eyePos;
eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
m_cameraPosition[0] = eyePos.getX();
m_cameraPosition[1] = eyePos.getY();
@@ -226,70 +230,70 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
case 'x' : zoomOut(); break;
case 'i' : toggleIdle(); break;
case 'h':
if (m_debugMode & IDebugDraw::DBG_NoHelpText)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_NoHelpText);
if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
else
m_debugMode |= IDebugDraw::DBG_NoHelpText;
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
break;
case 'w':
if (m_debugMode & IDebugDraw::DBG_DrawWireframe)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawWireframe);
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
else
m_debugMode |= IDebugDraw::DBG_DrawWireframe;
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
break;
case 'p':
if (m_debugMode & IDebugDraw::DBG_ProfileTimings)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_ProfileTimings);
if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
else
m_debugMode |= IDebugDraw::DBG_ProfileTimings;
m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
break;
case 'm':
if (m_debugMode & IDebugDraw::DBG_EnableSatComparison)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_EnableSatComparison);
if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
else
m_debugMode |= IDebugDraw::DBG_EnableSatComparison;
m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
break;
case 'n':
if (m_debugMode & IDebugDraw::DBG_DisableBulletLCP)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_DisableBulletLCP);
if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
else
m_debugMode |= IDebugDraw::DBG_DisableBulletLCP;
m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
break;
case 't' :
if (m_debugMode & IDebugDraw::DBG_DrawText)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawText);
if (m_debugMode & btIDebugDraw::DBG_DrawText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
else
m_debugMode |= IDebugDraw::DBG_DrawText;
m_debugMode |= btIDebugDraw::DBG_DrawText;
break;
case 'y':
if (m_debugMode & IDebugDraw::DBG_DrawFeaturesText)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawFeaturesText);
if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
else
m_debugMode |= IDebugDraw::DBG_DrawFeaturesText;
m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
break;
case 'a':
if (m_debugMode & IDebugDraw::DBG_DrawAabb)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawAabb);
if (m_debugMode & btIDebugDraw::DBG_DrawAabb)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
else
m_debugMode |= IDebugDraw::DBG_DrawAabb;
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
break;
case 'c' :
if (m_debugMode & IDebugDraw::DBG_DrawContactPoints)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_DrawContactPoints);
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
else
m_debugMode |= IDebugDraw::DBG_DrawContactPoints;
m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
break;
case 'd' :
if (m_debugMode & IDebugDraw::DBG_NoDeactivation)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_NoDeactivation);
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
else
m_debugMode |= IDebugDraw::DBG_NoDeactivation;
m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
break;
@@ -306,10 +310,10 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
break;
case '1':
{
if (m_debugMode & IDebugDraw::DBG_EnableCCD)
m_debugMode = m_debugMode & (~IDebugDraw::DBG_EnableCCD);
if (m_debugMode & btIDebugDraw::DBG_EnableCCD)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD);
else
m_debugMode |= IDebugDraw::DBG_EnableCCD;
m_debugMode |= btIDebugDraw::DBG_EnableCCD;
break;
}
@@ -380,21 +384,45 @@ void DemoApplication::displayCallback()
void DemoApplication::shootBox(const SimdVector3& destination)
void DemoApplication::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
bool isDynamic = true;
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
btCollisionShape* boxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
btRigidBody* body = this->LocalCreateRigidBody(isDynamic, mass, startTransform,boxShape);
m_dynamicsWorld->AddCollisionObject(body);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->m_worldTransform.setOrigin(camPos);
body->m_worldTransform.setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
}
if (m_physicsEnvironmentPtr)
{
bool isDynamic = true;
float mass = 1.f;
SimdTransform startTransform;
btTransform startTransform;
startTransform.setIdentity();
SimdVector3 camPos = getCameraPosition();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
CollisionShape* boxShape = new BoxShape(SimdVector3(1.f,1.f,1.f));
btCollisionShape* boxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
CcdPhysicsController* newBox = LocalCreatePhysicsObject(isDynamic, mass, startTransform,boxShape);
SimdVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
@@ -407,12 +435,12 @@ void DemoApplication::shootBox(const SimdVector3& destination)
int gPickingConstraintId = 0;
SimdVector3 gOldPickingPos;
btVector3 gOldPickingPos;
float gOldPickingDist = 0.f;
RigidBody* pickedBody = 0;//for deactivation state
btRigidBody* pickedBody = 0;//for deactivation state
SimdVector3 DemoApplication::GetRayTo(int x,int y)
btVector3 DemoApplication::GetRayTo(int x,int y)
{
float top = 1.f;
@@ -421,16 +449,16 @@ SimdVector3 DemoApplication::GetRayTo(int x,int y)
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = 2.0 * atanf (tanFov);
SimdVector3 rayFrom = getCameraPosition();
SimdVector3 rayForward = (getCameraTargetPosition()-getCameraPosition());
btVector3 rayFrom = getCameraPosition();
btVector3 rayForward = (getCameraTargetPosition()-getCameraPosition());
rayForward.normalize();
float farPlane = 600.f;
rayForward*= farPlane;
SimdVector3 rightOffset;
SimdVector3 vertical = m_cameraUp;
btVector3 rightOffset;
btVector3 vertical = m_cameraUp;
SimdVector3 hor;
btVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
@@ -439,10 +467,10 @@ SimdVector3 DemoApplication::GetRayTo(int x,int y)
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
SimdVector3 rayToCenter = rayFrom + rayForward;
SimdVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
SimdVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
SimdVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
btVector3 rayToCenter = rayFrom + rayForward;
btVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += x * dHor;
rayTo -= y * dVert;
return rayTo;
@@ -454,7 +482,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
//button 0, state 0 means left mouse down
SimdVector3 rayTo = GetRayTo(x,y);
btVector3 rayTo = GetRayTo(x,y);
switch (button)
{
@@ -468,8 +496,40 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
};
case 1:
{
if (state==0)
{
//apply an impulse
if (m_dynamicsWorld)
{
float hit[3];
float normal[3];
btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo);
m_dynamicsWorld->RayTest(m_cameraPosition,rayTo,rayCallback);
if (rayCallback.HasHit())
{
if (rayCallback.m_collisionObject->m_internalOwner)
{
btRigidBody* body = (btRigidBody*)rayCallback.m_collisionObject->m_internalOwner;
if (body)
{
body->SetActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
body->applyImpulse(impulse,relPos);
}
}
}
}
//apply an impulse
if (m_physicsEnvironmentPtr)
{
@@ -479,15 +539,15 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
if (hitObj)
{
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
RigidBody* body = physCtrl->GetRigidBody();
btRigidBody* body = physCtrl->GetRigidBody();
if (body)
{
body->SetActivationState(ACTIVE_TAG);
SimdVector3 impulse = rayTo;
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
SimdVector3 relPos(
btVector3 relPos(
hit[0] - body->getCenterOfMassPosition().getX(),
hit[1] - body->getCenterOfMassPosition().getY(),
hit[2] - body->getCenterOfMassPosition().getZ());
@@ -509,6 +569,48 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
{
if (state==0)
{
//add a point to point constraint for picking
if (m_dynamicsWorld)
{
float hit[3];
float normal[3];
btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo);
m_dynamicsWorld->RayTest(m_cameraPosition,rayTo,rayCallback);
if (rayCallback.HasHit())
{
if (rayCallback.m_collisionObject->m_internalOwner)
{
btRigidBody* body = (btRigidBody*)rayCallback.m_collisionObject->m_internalOwner;
if (body && !body->IsStatic())
{
pickedBody = body;
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
btVector3 pickPos = rayCallback.m_hitPointWorld;
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p);
m_pickConstraint = p2p;
//save mouse position for dragging
gOldPickingPos = rayTo;
btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
gOldPickingDist = (pickPos-eyePos).length();
//very weak constraint for picking
p2p->m_setting.m_tau = 0.1f;
}
}
}
}
//add a point to point constraint for picking
if (m_physicsEnvironmentPtr)
{
@@ -519,16 +621,16 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
{
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
RigidBody* body = physCtrl->GetRigidBody();
btRigidBody* body = physCtrl->GetRigidBody();
if (body && !body->IsStatic())
{
pickedBody = body;
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
SimdVector3 pickPos(hit[0],hit[1],hit[2]);
btVector3 pickPos(hit[0],hit[1],hit[2]);
SimdVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
gPickingConstraintId = m_physicsEnvironmentPtr->createConstraint(physCtrl,0,PHY_POINT2POINT_CONSTRAINT,
localPivot.getX(),
@@ -541,11 +643,11 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
gOldPickingPos = rayTo;
SimdVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
gOldPickingDist = (pickPos-eyePos).length();
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
if (p2p)
{
//very weak constraint for picking
@@ -556,6 +658,18 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
}
} else
{
if (m_pickConstraint && m_dynamicsWorld)
{
m_dynamicsWorld->removeConstraint(m_pickConstraint);
delete m_pickConstraint;
//printf("removed constraint %i",gPickingConstraintId);
m_pickConstraint = 0;
pickedBody->ForceActivationState(ACTIVE_TAG);
pickedBody->m_deactivationTime = 0.f;
pickedBody = 0;
}
if (gPickingConstraintId && m_physicsEnvironmentPtr)
{
m_physicsEnvironmentPtr->removeConstraint(gPickingConstraintId);
@@ -582,23 +696,43 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
void DemoApplication::mouseMotionFunc(int x,int y)
{
if (m_pickConstraint)
{
//move the constraint pivot
btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_pickConstraint);
if (p2p)
{
//keep it at the same picking distance
btVector3 newRayTo = GetRayTo(x,y);
btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
btVector3 dir = newRayTo-eyePos;
dir.normalize();
dir *= gOldPickingDist;
btVector3 newPos = eyePos + dir;
p2p->SetPivotB(newPos);
}
}
if (gPickingConstraintId && m_physicsEnvironmentPtr)
{
//move the constraint pivot
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
if (p2p)
{
//keep it at the same picking distance
SimdVector3 newRayTo = GetRayTo(x,y);
SimdVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
SimdVector3 dir = newRayTo-eyePos;
btVector3 newRayTo = GetRayTo(x,y);
btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
btVector3 dir = newRayTo-eyePos;
dir.normalize();
dir *= gOldPickingDist;
SimdVector3 newPos = eyePos + dir;
btVector3 newPos = eyePos + dir;
p2p->SetPivotB(newPos);
}
@@ -606,16 +740,40 @@ void DemoApplication::mouseMotionFunc(int x,int y)
}
btRigidBody* DemoApplication::LocalCreateRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape)
{
btVector3 localInertia(0,0,0);
if (isDynamic)
shape->CalculateLocalInertia(mass,localInertia);
btMassProps massProps(0.f,localInertia);
btRigidBody* body = new btRigidBody(massProps);
body->m_collisionShape = shape;
body->m_worldTransform = startTransform;
body->m_internalOwner = body;
body->setMassProps( mass, localInertia);
body->setGravity(btVector3(0,-9.8f,0));
if (!isDynamic)
{
body->m_collisionFlags = btCollisionObject::isStatic;//??
}
return body;
}
///Very basic import
CcdPhysicsController* DemoApplication::LocalCreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
CcdPhysicsController* DemoApplication::LocalCreatePhysicsObject(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape)
{
startTransforms[numObjects] = startTransform;
CcdConstructionInfo ccdObjectCi;
btCcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.5f;
SimdTransform tr;
btTransform tr;
tr.setIdentity();
int i = numObjects;
@@ -623,20 +781,20 @@ CcdPhysicsController* DemoApplication::LocalCreatePhysicsObject(bool isDynamic,
gShapePtr[i] = shape;
gShapePtr[i]->SetMargin(0.05f);
SimdQuaternion orn = startTransform.getRotation();
btQuaternion orn = startTransform.getRotation();
ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());
ccdObjectCi.m_MotionState = &ms[i];
ccdObjectCi.m_gravity = SimdVector3(0,-9.8,0);
ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
ccdObjectCi.m_gravity = btVector3(0,-9.8,0);
ccdObjectCi.m_localInertiaTensor =btVector3(0,0,0);
if (!isDynamic)
{
ccdObjectCi.m_mass = 0.f;
ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
ccdObjectCi.m_collisionFilterGroup = CcdConstructionInfo::StaticFilter;
ccdObjectCi.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter;
ccdObjectCi.m_collisionFlags = btCollisionObject::isStatic;
ccdObjectCi.m_collisionFilterGroup = btCcdConstructionInfo::StaticFilter;
ccdObjectCi.m_collisionFilterMask = btCcdConstructionInfo::AllFilter ^ btCcdConstructionInfo::StaticFilter;
}
else
{
@@ -644,7 +802,7 @@ CcdPhysicsController* DemoApplication::LocalCreatePhysicsObject(bool isDynamic,
ccdObjectCi.m_collisionFlags = 0;
}
SimdVector3 localInertia(0.f,0.f,0.f);
btVector3 localInertia(0.f,0.f,0.f);
if (isDynamic)
{
@@ -677,10 +835,50 @@ void DemoApplication::renderme()
float m[16];
if (m_dynamicsWorld)
{
int numObjects = m_dynamicsWorld->GetNumCollisionObjects();
btVector3 wireColor(1,0,0);
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->GetCollisionObjectArray()[i];
colObj->m_worldTransform.getOpenGLMatrix(m);
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
{
wireColor = btVector3(0.f,0.0f,1.f);
}
///color differently for active, sleeping, wantsdeactivation states
if (colObj->GetActivationState() == 1) //active
{
if (i & 1)
{
wireColor += btVector3 (1.f,0.f,0.f);
} else
{
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if (colObj->GetActivationState() == 2) //ISLAND_SLEEPING
{
if (i & 1)
{
wireColor += btVector3 (0.f,1.f, 0.f);
} else
{
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
GL_ShapeDrawer::DrawOpenGL(m,colObj->m_collisionShape,wireColor,getDebugMode());
}
}
if (m_physicsEnvironmentPtr)
{
if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)
if (getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP)
{
//don't use Bullet, use quickstep
m_physicsEnvironmentPtr->setSolverType(0);
@@ -690,7 +888,7 @@ void DemoApplication::renderme()
m_physicsEnvironmentPtr->setSolverType(1);
}
if (getDebugMode() & IDebugDraw::DBG_EnableCCD)
if (getDebugMode() & btIDebugDraw::DBG_EnableCCD)
{
m_physicsEnvironmentPtr->setCcdMode(3);
} else
@@ -699,7 +897,7 @@ void DemoApplication::renderme()
}
bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);
bool isSatEnabled = (getDebugMode() & btIDebugDraw::DBG_EnableSatComparison);
m_physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
@@ -711,34 +909,34 @@ void DemoApplication::renderme()
{
CcdPhysicsController* ctrl = m_physicsEnvironmentPtr->GetPhysicsController(i);
RigidBody* body = ctrl->GetRigidBody();
btRigidBody* body = ctrl->GetRigidBody();
body->m_worldTransform.getOpenGLMatrix( m );
SimdVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
{
wireColor = SimdVector3(0.f,0.0f,1.f);
wireColor = btVector3(0.f,0.0f,1.f);
}
///color differently for active, sleeping, wantsdeactivation states
if (ctrl->GetRigidBody()->GetActivationState() == 1) //active
{
if (i & 1)
{
wireColor += SimdVector3 (1.f,0.f,0.f);
wireColor += btVector3 (1.f,0.f,0.f);
} else
{
wireColor += SimdVector3 (.5f,0.f,0.f);
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if (ctrl->GetRigidBody()->GetActivationState() == 2) //ISLAND_SLEEPING
{
if (i & 1)
{
wireColor += SimdVector3 (0.f,1.f, 0.f);
wireColor += btVector3 (0.f,1.f, 0.f);
} else
{
wireColor += SimdVector3 (0.f,0.5f,0.f);
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
@@ -747,7 +945,7 @@ void DemoApplication::renderme()
ctrl->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
float vec[16];
SimdTransform ident;
btTransform ident;
ident.setIdentity();
ident.getOpenGLMatrix(vec);
@@ -759,7 +957,7 @@ void DemoApplication::renderme()
}
if (!(getDebugMode() & IDebugDraw::DBG_NoHelpText))
if (!(getDebugMode() & btIDebugDraw::DBG_NoHelpText))
{
float xOffset = 10.f;
@@ -774,15 +972,15 @@ void DemoApplication::renderme()
#ifdef USE_QUICKPROF
if ( getDebugMode() & IDebugDraw::DBG_ProfileTimings)
if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
{
static int counter = 0;
counter++;
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = Profiler::mProfileBlocks.begin(); iter != Profiler::mProfileBlocks.end(); ++iter)
for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
{
char blockTime[128];
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),Profiler::getBlockTime((*iter).first, Profiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
glRasterPos3f(xOffset,yStart,0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
yStart += yIncr;
@@ -790,7 +988,7 @@ void DemoApplication::renderme()
}
}
#endif //USE_QUICKPROF
//profiling << Profiler::createStatsString(Profiler::BLOCK_TOTAL_PERCENT);
//profiling << btProfiler::createStatsString(btProfiler::BLOCK_TOTAL_PERCENT);
//<< std::endl;
@@ -836,9 +1034,9 @@ void DemoApplication::renderme()
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
bool useBulletLCP = !(getDebugMode() & IDebugDraw::DBG_DisableBulletLCP);
bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
bool useCCD = (getDebugMode() & IDebugDraw::DBG_EnableCCD);
bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"m Bullet GJK = %i",!isSatEnabled);

39
Demos/OpenGL/DemoApplication.h
View File

@@ -35,14 +35,16 @@ subject to the following restrictions:
#include <math.h>
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdMatrix3x3.h"
#include "LinearMath/SimdTransform.h"
class CcdPhysicsEnvironment;
class CcdPhysicsController;
class CollisionShape;
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btTransform.h"
class CcdPhysicsEnvironment;
class CcdPhysicsController;
class btCollisionShape;
class btDynamicsWorld;
class btRigidBody;
class btTypedConstraint;
class DemoApplication
{
@@ -53,18 +55,21 @@ class DemoApplication
///this is the most important class
CcdPhysicsEnvironment* m_physicsEnvironmentPtr;
btDynamicsWorld* m_dynamicsWorld;
btTypedConstraint* m_pickConstraint;
float m_cameraDistance;
int m_debugMode;
float m_ele;
float m_azi;
SimdVector3 m_cameraPosition;
SimdVector3 m_cameraTargetPosition;//look at
btVector3 m_cameraPosition;
btVector3 m_cameraTargetPosition;//look at
float m_scaleBottom;
float m_scaleFactor;
SimdVector3 m_cameraUp;
btVector3 m_cameraUp;
int m_forwardAxis;
int m_glutScreenWidth;
@@ -99,7 +104,7 @@ class DemoApplication
return m_physicsEnvironmentPtr;
}
void setCameraUp(const SimdVector3& camUp)
void setCameraUp(const btVector3& camUp)
{
m_cameraUp = camUp;
}
@@ -114,11 +119,11 @@ class DemoApplication
virtual void updateCamera();
SimdVector3 getCameraPosition()
btVector3 getCameraPosition()
{
return m_cameraPosition;
}
SimdVector3 getCameraTargetPosition()
btVector3 getCameraTargetPosition()
{
return m_cameraTargetPosition;
}
@@ -135,11 +140,13 @@ class DemoApplication
virtual void clientResetScene() =0 ;
///Demo functions
void shootBox(const SimdVector3& destination);
void shootBox(const btVector3& destination);
SimdVector3 GetRayTo(int x,int y);
btVector3 GetRayTo(int x,int y);
CcdPhysicsController* LocalCreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape);
CcdPhysicsController* LocalCreatePhysicsObject(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape);
btRigidBody* LocalCreateRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape);
///callback methods by glut

12
Demos/OpenGL/GLDebugDrawer.cpp
View File

@@ -1,6 +1,6 @@
#include "GLDebugDrawer.h"
#include "LinearMath/SimdPoint3.h"
#include "LinearMath/btPoint3.h"
#ifdef WIN32 //needed for glut.h
#include <windows.h>
@@ -22,7 +22,7 @@ GLDebugDrawer::GLDebugDrawer()
{
}
void GLDebugDrawer::DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)
void GLDebugDrawer::DrawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{
if (m_debugMode > 0)
{
@@ -40,12 +40,12 @@ void GLDebugDrawer::SetDebugMode(int debugMode)
}
void GLDebugDrawer::DrawContactPoint(const SimdVector3& pointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color)
void GLDebugDrawer::DrawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,float distance,int lifeTime,const btVector3& color)
{
if (m_debugMode & IDebugDraw::DBG_DrawContactPoints)
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
{
SimdVector3 to=pointOnB+normalOnB*distance;
const SimdVector3&from = pointOnB;
btVector3 to=pointOnB+normalOnB*distance;
const btVector3&from = pointOnB;
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());

8
Demos/OpenGL/GLDebugDrawer.h
View File

@@ -1,11 +1,11 @@
#ifndef GL_DEBUG_DRAWER_H
#define GL_DEBUG_DRAWER_H
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
class GLDebugDrawer : public IDebugDraw
class GLDebugDrawer : public btIDebugDraw
{
int m_debugMode;
@@ -13,9 +13,9 @@ public:
GLDebugDrawer();
virtual void DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color);
virtual void DrawLine(const btVector3& from,const btVector3& to,const btVector3& color);
virtual void DrawContactPoint(const SimdVector3& PointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color);
virtual void DrawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,float distance,int lifeTime,const btVector3& color);
virtual void SetDebugMode(int debugMode);

62
Demos/OpenGL/GL_ShapeDrawer.cpp
View File

@@ -39,7 +39,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "LinearMath/GenIDebugDraw.h"
#include "LinearMath/btIDebugDraw.h"
//for debugmodes
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
@@ -63,11 +63,11 @@ void GL_ShapeDrawer::DrawCoordSystem() {
class GlDrawcallback : public TriangleCallback
class GlDrawcallback : public btTriangleCallback
{
public:
virtual void ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
virtual void ProcessTriangle(btVector3* triangle,int partId, int triangleIndex)
{
glBegin(GL_LINES);
glColor3f(1, 0, 0);
@@ -84,10 +84,10 @@ public:
}
};
class TriangleGlDrawcallback : public InternalTriangleIndexCallback
class TriangleGlDrawcallback : public btInternalTriangleIndexCallback
{
public:
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
virtual void InternalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
glBegin(GL_TRIANGLES);//LINES);
glColor3f(1, 0, 0);
@@ -104,7 +104,7 @@ public:
};
void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const SimdVector3& color,int debugMode)
void GL_ShapeDrawer::DrawOpenGL(float* m, const btCollisionShape* shape, const btVector3& color,int debugMode)
{
@@ -113,11 +113,11 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
if (shape->GetShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
const CompoundShape* compoundShape = static_cast<const CompoundShape*>(shape);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i=compoundShape->GetNumChildShapes()-1;i>=0;i--)
{
SimdTransform childTrans = compoundShape->GetChildTransform(i);
const CollisionShape* colShape = compoundShape->GetChildShape(i);
btTransform childTrans = compoundShape->GetChildTransform(i);
const btCollisionShape* colShape = compoundShape->GetChildShape(i);
float childMat[16];
childTrans.getOpenGLMatrix(childMat);
DrawOpenGL(childMat,colShape,color,debugMode);
@@ -135,14 +135,14 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
bool useWireframeFallback = true;
if (!(debugMode & IDebugDraw::DBG_DrawWireframe))
if (!(debugMode & btIDebugDraw::DBG_DrawWireframe))
{
switch (shape->GetShapeType())
{
case BOX_SHAPE_PROXYTYPE:
{
const BoxShape* boxShape = static_cast<const BoxShape*>(shape);
SimdVector3 halfExtent = boxShape->GetHalfExtents();
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
btVector3 halfExtent = boxShape->GetHalfExtents();
glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
glutSolidCube(1.0);
useWireframeFallback = false;
@@ -159,7 +159,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
break;
case SPHERE_SHAPE_PROXYTYPE:
{
const SphereShape* sphereShape = static_cast<const SphereShape*>(shape);
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
float radius = sphereShape->GetMargin();//radius doesn't include the margin, so draw with margin
glutSolidSphere(radius,10,10);
useWireframeFallback = false;
@@ -168,7 +168,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONE_SHAPE_PROXYTYPE:
{
const ConeShape* coneShape = static_cast<const ConeShape*>(shape);
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
float radius = coneShape->GetRadius();//+coneShape->GetMargin();
float height = coneShape->GetHeight();//+coneShape->GetMargin();
//glRotatef(-90.0, 1.0, 0.0, 0.0);
@@ -187,7 +187,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
case CONVEX_SHAPE_PROXYTYPE:
case CYLINDER_SHAPE_PROXYTYPE:
{
const CylinderShape* cylinder = static_cast<const CylinderShape*>(shape);
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
int upAxis = cylinder->GetUpAxis();
GLUquadricObj *quadObj = gluNewQuadric();
@@ -246,7 +246,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
/// for polyhedral shapes
if (shape->IsPolyhedral())
{
PolyhedralConvexShape* polyshape = (PolyhedralConvexShape*) shape;
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
glBegin(GL_LINES);
@@ -255,7 +255,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
int i;
for (i=0;i<polyshape->GetNumEdges();i++)
{
SimdPoint3 a,b;
btPoint3 a,b;
polyshape->GetEdge(i,a,b);
glVertex3f(a.getX(),a.getY(),a.getZ());
@@ -266,7 +266,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
glEnd();
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
if (debugMode==btIDebugDraw::DBG_DrawFeaturesText)
{
glRasterPos3f(0.0, 0.0, 0.0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->GetExtraDebugInfo());
@@ -274,7 +274,7 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
glColor3f(1.f, 1.f, 1.f);
for (i=0;i<polyshape->GetNumVertices();i++)
{
SimdPoint3 vtx;
btPoint3 vtx;
polyshape->GetVertex(i,vtx);
glRasterPos3f(vtx.x(), vtx.y(), vtx.z());
char buf[12];
@@ -284,10 +284,10 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
for (i=0;i<polyshape->GetNumPlanes();i++)
{
SimdVector3 normal;
SimdPoint3 vtx;
btVector3 normal;
btPoint3 vtx;
polyshape->GetPlane(normal,vtx,i);
SimdScalar d = vtx.dot(normal);
btScalar d = vtx.dot(normal);
glRasterPos3f(normal.x()*d, normal.y()*d, normal.z()*d);
char buf[12];
@@ -303,13 +303,13 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
if (shape->GetShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
TriangleMeshShape* concaveMesh = (TriangleMeshShape*) shape;
//SimdVector3 aabbMax(1e30f,1e30f,1e30f);
//SimdVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
btTriangleMeshShape* concaveMesh = (btTriangleMeshShape*) shape;
//btVector3 aabbMax(1e30f,1e30f,1e30f);
//btVector3 aabbMax(100,100,100);//1e30f,1e30f,1e30f);
//todo pass camera, for some culling
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
GlDrawcallback drawCallback;
@@ -320,16 +320,17 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
if (shape->GetShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
{
ConvexTriangleMeshShape* convexMesh = (ConvexTriangleMeshShape*) shape;
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
//todo: pass camera for some culling
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
btVector3 aabbMax(1e30f,1e30f,1e30f);
btVector3 aabbMin(-1e30f,-1e30f,-1e30f);
TriangleGlDrawcallback drawCallback;
convexMesh->GetStridingMesh()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
}
glDisable(GL_DEPTH_BUFFER_BIT);
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
if (debugMode&IDebugDraw::DBG_DrawText)
@@ -342,7 +343,6 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
}
glEnable(GL_DEPTH_BUFFER_BIT);
// glPopMatrix();
}

6
Demos/OpenGL/GL_ShapeDrawer.h
View File

@@ -15,15 +15,15 @@ subject to the following restrictions:
#ifndef GL_SHAPE_DRAWER_H
#define GL_SHAPE_DRAWER_H
class CollisionShape;
#include "LinearMath/SimdVector3.h"
class btCollisionShape;
#include "LinearMath/btVector3.h"
/// OpenGL shape drawing
class GL_ShapeDrawer
{
public:
static void DrawOpenGL(float* m, const CollisionShape* shape, const SimdVector3& color,int debugMode);
static void DrawOpenGL(float* m, const btCollisionShape* shape, const btVector3& color,int debugMode);
static void DrawCoordSystem();
};

8
Demos/OpenGL/GL_Simplex1to4.cpp
View File

@@ -26,7 +26,7 @@ subject to the following restrictions:
#else
#include <GL/gl.h>
#endif
#include "LinearMath/SimdTransform.h"
#include "LinearMath/btTransform.h"
GL_Simplex1to4::GL_Simplex1to4()
:m_simplexSolver(0)
@@ -38,7 +38,7 @@ GL_Simplex1to4::GL_Simplex1to4()
///
void GL_Simplex1to4::CalcClosest(float* m)
{
SimdTransform tr;
btTransform tr;
tr.setFromOpenGLMatrix(m);
@@ -50,12 +50,12 @@ void GL_Simplex1to4::CalcClosest(float* m)
m_simplexSolver->reset();
bool res;
SimdVector3 v;
btVector3 v;
for (int i=0;i<m_numVertices;i++)
{
v = tr(m_vertices[i]);
m_simplexSolver->addVertex(v,v,SimdPoint3(0.f,0.f,0.f));
m_simplexSolver->addVertex(v,v,btPoint3(0.f,0.f,0.f));
res = m_simplexSolver->closest(v);
}

6
Demos/OpenGL/GL_Simplex1to4.h
View File

@@ -21,9 +21,9 @@ subject to the following restrictions:
///GL_Simplex1to4 is a class to debug a Simplex Solver with 1 to 4 points.
///Can be used by GJK.
class GL_Simplex1to4 : public BU_Simplex1to4
class GL_Simplex1to4 : public btBU_Simplex1to4
{
SimplexSolverInterface* m_simplexSolver;
btSimplexSolverInterface* m_simplexSolver;
public:
@@ -31,7 +31,7 @@ class GL_Simplex1to4 : public BU_Simplex1to4
void CalcClosest(float* m);
void SetSimplexSolver(SimplexSolverInterface* simplexSolver) {
void SetSimplexSolver(btSimplexSolverInterface* simplexSolver) {
m_simplexSolver = simplexSolver;
}

4
Demos/OpenGL/RenderTexture.cpp
View File

@@ -30,7 +30,7 @@ RenderTexture::RenderTexture(int width,int height)
{
for (int y=0;y<m_height;y++)
{
SetPixel(x,y,SimdVector4(float(x),float(y),0.f,1.f));
SetPixel(x,y,btVector4(float(x),float(y),0.f,1.f));
}
}
@@ -54,7 +54,7 @@ void RenderTexture::Printf(char* str, BMF_FontData* fontData, int startx,int sta
{
char packedColor = bitmap[y];
float colorf = packedColor & bit ? 1.f : 0.f;
SimdVector4 rgba(colorf,colorf,colorf,1.f);
btVector4 rgba(colorf,colorf,colorf,1.f);
SetPixel(rasterposx+x,rasterposy+8-y-1,rgba);
bit >>=1;
}

4
Demos/OpenGL/RenderTexture.h
View File

@@ -16,7 +16,7 @@ subject to the following restrictions:
#ifndef RENDER_TEXTURE_H
#define RENDER_TEXTURE_H
#include "LinearMath/SimdVector3.h"
#include "LinearMath/btVector3.h"
#include "BMF_FontData.h"
///
@@ -33,7 +33,7 @@ public:
RenderTexture(int width,int height);
~RenderTexture();
inline void SetPixel(int x,int y,const SimdVector4& rgba)
inline void SetPixel(int x,int y,const btVector4& rgba)
{
unsigned char* pixel = &m_buffer[ (x+y*m_width) * 4];