Add a slider to displace pendula via GUI.
------------------------------------------------ The slider applies the selected displacement force according to the chosen scalar and falls back to zero when moved below an absolute value of 0.2.
This commit is contained in:
Benjamin Ellenberger
@@ -44,7 +44,9 @@ static btScalar gInitialPendulumHeight = 8; // default pendula height
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static btScalar gRopeResolution = 1; // default rope resolution (number of links as in a chain)
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static btScalar gForcingForce = 30; // default force to displace the pendula
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static btScalar gDisplacementForce = 30; // default force to displace the pendula
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static btScalar gForceScalar = 0; // default force scalar to apply a displacement
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struct NewtonsRopeCradleExample : public CommonRigidBodyBase {
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NewtonsRopeCradleExample(struct GUIHelperInterface* helper) :
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@@ -52,7 +54,9 @@ struct NewtonsRopeCradleExample : public CommonRigidBodyBase {
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}
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virtual ~NewtonsRopeCradleExample(){}
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void renderScene();
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virtual void applyPendulumForce(btScalar pendulumForce);
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void createEmptyDynamicsWorld()
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{
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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@@ -105,6 +109,8 @@ void onRopePendulaRestitutionChanged(float pendulaRestitution);
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void floorRSliderValue(float notUsed);
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void applyRForceWithForceScalar(float forceScalar);
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void NewtonsRopeCradleExample::initPhysics()
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{
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@@ -167,47 +173,56 @@ void NewtonsRopeCradleExample::initPhysics()
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}
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{ // create a slider to change the force to displace the lowest pendulum
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SliderParams slider("Displacement force", &gForcingForce);
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SliderParams slider("Displacement force", &gDisplacementForce);
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slider.m_minVal = 0.1;
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slider.m_maxVal = 200;
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slider.m_clampToNotches = false;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
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slider);
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}
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{ // create a slider to apply the force by slider
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SliderParams slider("Apply displacement force", &gForceScalar);
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slider.m_minVal = -1;
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slider.m_maxVal = 1;
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slider.m_clampToNotches = false;
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m_guiHelper->getParameterInterface()->registerSliderFloatParameter(
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slider);
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}
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m_guiHelper->setUpAxis(1);
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createEmptyDynamicsWorld();
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// create a debug drawer
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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if (m_dynamicsWorld->getDebugDrawer())
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(
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btIDebugDraw::DBG_DrawWireframe
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+ btIDebugDraw::DBG_DrawContactPoints
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+ btIDebugDraw::DBG_DrawConstraints
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+ btIDebugDraw::DBG_DrawConstraintLimits);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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if (m_dynamicsWorld->getDebugDrawer())
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(
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btIDebugDraw::DBG_DrawWireframe
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+ btIDebugDraw::DBG_DrawContactPoints
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+ btIDebugDraw::DBG_DrawConstraints
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+ btIDebugDraw::DBG_DrawConstraintLimits);
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{ // create the pendula starting at the indicated position below and where each pendulum has the following mass
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btScalar pendulumMass(1.0f);
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{ // create the pendula starting at the indicated position below and where each pendulum has the following mass
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btScalar pendulumMass(1.0f);
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btVector3 position(0.0f,15.0f,0.0f); // initial left-most pendulum position
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btQuaternion orientation(0,0,0,1); // orientation of the pendula
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btVector3 position(0.0f,15.0f,0.0f); // initial left-most pendulum position
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btQuaternion orientation(0,0,0,1); // orientation of the pendula
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// Re-using the same collision is better for memory usage and performance
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btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
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m_collisionShapes.push_back(pendulumShape);
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// Re-using the same collision is better for memory usage and performance
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btSphereShape* pendulumShape = new btSphereShape(gSphereRadius);
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m_collisionShapes.push_back(pendulumShape);
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for (int i = 0; i < floor(gPendulaQty); i++) {
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for (int i = 0; i < floor(gPendulaQty); i++) {
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// create pendulum
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createRopePendulum(pendulumShape, position, orientation,gInitialPendulumWidth,
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gInitialPendulumHeight, pendulumMass);
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// create pendulum
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createRopePendulum(pendulumShape, position, orientation,gInitialPendulumWidth,
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gInitialPendulumHeight, pendulumMass);
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// displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between)
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position.setX(position.x()-2.1f * gSphereRadius);
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}
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// displace the pendula 1.05 sphere size, so that they all nearly touch (small spacings in between)
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position.setX(position.x()-2.1f * gSphereRadius);
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}
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}
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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@@ -229,6 +244,15 @@ void NewtonsRopeCradleExample::connectWithRope(btRigidBody* body1, btRigidBody*
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getSoftDynamicsWorld()->addSoftBody(softBodyRope0);
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}
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void NewtonsRopeCradleExample::stepSimulation(float deltaTime) {
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applyRForceWithForceScalar(gForceScalar); // apply force defined by apply force slider
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if (m_dynamicsWorld) {
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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}
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void NewtonsRopeCradleExample::createRopePendulum(btSphereShape* colShape,
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btVector3 position, btQuaternion pendulumOrientation, btScalar width, btScalar height, btScalar mass) {
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@@ -312,11 +336,8 @@ bool NewtonsRopeCradleExample::keyboardCallback(int key, int state) {
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// key 3
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switch (key) {
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case 51 /*ASCII for 3*/: {
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for (int i = 0; i < gDisplacedPendula; i++) {
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if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
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pendula[i]->applyCentralForce(btVector3(gForcingForce, 0, 0));
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}
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case '3' /*ASCII for 3*/: {
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applyPendulumForce(gDisplacementForce);
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return true;
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}
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}
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@@ -324,6 +345,16 @@ bool NewtonsRopeCradleExample::keyboardCallback(int key, int state) {
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return false;
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}
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void NewtonsRopeCradleExample::applyPendulumForce(btScalar pendulumForce){
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if(pendulumForce != 0){
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b3Printf("Apply %f to pendulum",pendulumForce);
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for (int i = 0; i < gDisplacedPendula; i++) {
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if (gDisplacedPendula >= 0 && gDisplacedPendula <= gPendulaQty)
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pendula[i]->applyCentralForce(btVector3(pendulumForce, 0, 0));
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}
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}
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}
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// GUI parameter modifiers
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void onRopePendulaRestitutionChanged(float pendulaRestitution) {
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@@ -338,6 +369,17 @@ void floorRSliderValue(float notUsed) {
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gRopeResolution = floor(gRopeResolution);
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}
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void applyRForceWithForceScalar(float forceScalar) {
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if(nex){
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btScalar appliedForce = forceScalar * gDisplacementForce;
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if(fabs(gForceScalar) < 0.2f)
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gForceScalar = 0;
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nex->applyPendulumForce(appliedForce);
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}
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}
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CommonExampleInterface* ET_NewtonsRopeCradleCreateFunc(
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CommonExampleOptions& options) {
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nex = new NewtonsRopeCradleExample(options.m_guiHelper);
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