27aa959059
remove various vertex format structures and use GLInstanceVertex from #include "OpenGLWindow/GLInstanceGraphicsShape.h" btMultiBody::setupPrismatic takes an additional argument to allow a shift of inertia tensor, relative to the joint frame (link frame at q=0)
85 lines
2.3 KiB
C++
85 lines
2.3 KiB
C++
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#ifndef COMMON_PHYSICS_SETUP_H
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#define COMMON_PHYSICS_SETUP_H
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class btRigidBody;
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class btCollisionObject;
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class btBoxShape;
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class btTransform;
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class btCollisionShape;
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#include "LinearMath/btVector3.h"
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#include "CommonParameterInterface.h"
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class btDiscreteDynamicsWorld;
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///The Bullet 2 GraphicsPhysicsBridge let's the graphics engine create graphics representation and synchronize
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struct GraphicsPhysicsBridge
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{
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virtual ~GraphicsPhysicsBridge() {}
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virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color)
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{
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}
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
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{
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}
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
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{
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}
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld)
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{
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}
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virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)
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{
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}
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices) { return -1; }//, int primitiveType = B3_GL_TRIANGLES, int textureIndex = -1);
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) { return -1;}
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virtual CommonParameterInterface* getParameterInterface()
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{
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return 0;
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}
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virtual void setUpAxis(int axis)
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{
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}
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};
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///Bullet 2 specific physics setup, that allows to share code between old and new demo frameworks
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struct CommonPhysicsSetup
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{
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public:
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virtual ~CommonPhysicsSetup() {}
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virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge) = 0;
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virtual void exitPhysics()=0;
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virtual void stepSimulation(float deltaTime)=0;
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virtual void debugDraw(int debugDrawFlags)=0;
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) = 0;
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)=0;
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virtual void removePickingConstraint() = 0;
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virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge) = 0;
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/*
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virtual btRigidBody* createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color=btVector4(1,0,0,1))=0;
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virtual btBoxShape* createBoxShape(const btVector3& halfExtents)=0;
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*/
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};
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#endif //COMMON_PHYSICS_SETUP_H
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