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add "latency motion state interpolation", using previous frame/current, instead of current->next

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See Demos/ForkLiftDemo for example (F7 to toggle, use single-frame stepping, press 'i' and 's' to see the effect)
This commit is contained in:
erwin.coumans@gmail.com
2013-10-24 00:13:43 +00:00
parent a1c962192c
commit f5320e4106
3 changed files with 56 additions and 25 deletions
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56
Demos/ForkLiftDemo/ForkLiftDemo.cpp
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@@ -465,7 +465,7 @@ void ForkLiftDemo::renderme()
}
int lineWidth=250;
int lineWidth=400;
int xStart = m_glutScreenWidth - lineWidth;
int yStart = 20;
@@ -476,39 +476,44 @@ void ForkLiftDemo::renderme()
glColor3f(0, 0, 0);
char buf[124];
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"SHIFT+Cursor Left/Right - rotate lift");
GLDebugDrawString(xStart,20,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"SHIFT+Cursor UP/Down - move fork up/down");
sprintf(buf,"SHIFT+Cursor UP/Down - fork up/down");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"F6 - toggle solver");
GLDebugDrawString(xStart,yStart,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
if (m_dynamicsWorld->getConstraintSolver()->getSolverType()==BT_MLCP_SOLVER)
if (m_useDefaultCamera)
{
sprintf(buf,"Using direct MLCP solver");
sprintf(buf,"F5 - camera mode (free)");
} else
{
sprintf(buf,"Using sequential impulse solver");
sprintf(buf,"F5 - camera mode (follow)");
}
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"F5 - toggle camera mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Click inside this window for keyboard focus");
yStart+=20;
if (m_dynamicsWorld->getConstraintSolver()->getSolverType()==BT_MLCP_SOLVER)
{
sprintf(buf,"F6 - solver (direct MLCP)");
} else
{
sprintf(buf,"F6 - solver (sequential impulse)");
}
GLDebugDrawString(xStart,yStart,buf);
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) m_dynamicsWorld;
if (world->getLatencyMotionStateInterpolation())
{
sprintf(buf,"F7 - motionstate interpolation (on)");
} else
{
sprintf(buf,"F7 - motionstate interpolation (off)");
}
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
sprintf(buf,"Click window for keyboard focus");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
@@ -809,6 +814,13 @@ void ForkLiftDemo::specialKeyboard(int key, int x, int y)
break;
}
case GLUT_KEY_F7:
{
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*)m_dynamicsWorld;
world->setLatencyMotionStateInterpolation(!world->getLatencyMotionStateInterpolation());
printf("world latencyMotionStateInterpolation = %d\n", world->getLatencyMotionStateInterpolation());
break;
}
case GLUT_KEY_F6:
{
//switch solver (needs demo restart)