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expose debugDraw in gl3

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This commit is contained in:
Erwin Coumans
2014-07-29 14:03:15 -07:00
parent cac50c1a8e
commit fb01827aee
9 changed files with 170 additions and 62 deletions
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15
Demos/CommonPhysicsSetup.h
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@@ -21,6 +21,9 @@ struct GraphicsPhysicsBridge
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
{
}
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)
{
}
};
struct CommonPhysicsSetup
@@ -28,13 +31,15 @@ struct CommonPhysicsSetup
public:
virtual ~CommonPhysicsSetup() {}
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge) = 0;
virtual void exitPhysics()=0;
virtual void stepSimulation(float deltaTime)=0;
virtual void debugDraw()=0;
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) = 0;
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
virtual void removePickingConstraint() = 0;
@@ -42,7 +47,7 @@ public:
virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge) = 0;
virtual btRigidBody* createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color=btVector4(1,0,0,1))=0;
virtual btBoxShape* createBoxShape(const btVector3& halfExtents)=0;
};

58
Demos/CommonRigidBodySetup.h
View File

@@ -15,14 +15,14 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
btConstraintSolver* m_solver;
btDefaultCollisionConfiguration* m_collisionConfiguration;
btDiscreteDynamicsWorld* m_dynamicsWorld;
//data for picking objects
class btRigidBody* m_pickedBody;
class btTypedConstraint* m_pickedConstraint;
btVector3 m_oldPickingPos;
btVector3 m_hitPos;
btScalar m_oldPickingDist;
CommonRigidBodySetup()
:m_broadphase(0),
m_dispatcher(0),
@@ -33,35 +33,35 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
m_pickedConstraint(0)
{
}
virtual void createEmptyDynamicsWorld()
{
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
//m_collisionConfiguration->setConvexConvexMultipointIterations();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
m_solver = sol;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
}
virtual void stepSimulation(float deltaTime)
{
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(deltaTime);
}
}
}
virtual void exitPhysics()
@@ -97,18 +97,18 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
delete shape;
}
m_collisionShapes.clear();
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
}
virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
{
if (m_dynamicsWorld)
@@ -117,6 +117,15 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
}
}
virtual void debugDraw()
{
if (m_dynamicsWorld)
{
m_dynamicsWorld->debugDrawWorld();
}
}
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
{
if (m_dynamicsWorld==0)
@@ -127,7 +136,7 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
if (rayCallback.hasHit())
{
btVector3 pickPos = rayCallback.m_hitPointWorld;
btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
@@ -148,8 +157,8 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
p2p->m_setting.m_tau = 0.001f;
}
}
// pickObject(pickPos, rayCallback.m_collisionObject);
m_oldPickingPos = rayToWorld;
m_hitPos = pickPos;
@@ -167,13 +176,13 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
if (pickCon)
{
//keep it at the same picking distance
btVector3 newPivotB;
btVector3 dir = rayToWorld - rayFromWorld;
dir.normalize();
dir *= m_oldPickingDist;
newPivotB = rayFromWorld + dir;
pickCon->setPivotB(newPivotB);
return true;
@@ -191,12 +200,13 @@ struct CommonRigidBodySetup : public CommonPhysicsSetup
m_pickedBody = 0;
}
}
btBoxShape* createBoxShape(const btVector3& halfExtents)
{
btBoxShape* box = new btBoxShape(halfExtents);
m_collisionShapes.push_back(box);
return box;
}