a159fbac69
Fix WinXP GetTickCount64 with a typedef Expose debug drawing mode/flags in UI (hot keys A,D,L,W for now, buttons later) GLInstancingRenderer: tweak near/far planes to allow closer approach of camera btDiscreteDynamicsWorld: enable debug drawing for btGeneric6DofSpring2Constraint btMultiBodyDynamicsWorld: enable basic debug drawing for btMultiBody btMultibody: allow center-of-mass shift for prismatic and fixed constraint
118 lines
2.8 KiB
C++
118 lines
2.8 KiB
C++
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#ifndef BULLET_MULTI_BODY_DEMOS_H
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#define BULLET_MULTI_BODY_DEMOS_H
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#include "LinearMath/btVector3.h"
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#include "Bullet3AppSupport/BulletDemoInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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struct btMultiBodySettings
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{
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btMultiBodySettings()
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{
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m_numLinks = 0;
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m_basePosition.setZero();
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m_isFixedBase = true;
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m_usePrismatic = false;
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m_canSleep = true;
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m_createConstraints = false;
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m_disableParentCollision = false;
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}
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int m_numLinks;
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btVector3 m_basePosition;
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bool m_isFixedBase;
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bool m_usePrismatic;
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bool m_canSleep;
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bool m_createConstraints;
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bool m_disableParentCollision;
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};
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class Bullet2MultiBodyDemo : public BulletDemoInterface
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{
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protected:
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CommonGraphicsApp* m_glApp;
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class btRigidBody* m_pickedBody;
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class btTypedConstraint* m_pickedConstraint;
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btVector3 m_oldPickingPos;
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btVector3 m_hitPos;
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btScalar m_oldPickingDist;
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class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
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class btMultiBodyDynamicsWorld* m_dynamicsWorld;
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class btCollisionDispatcher* m_dispatcher;
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class btBroadphaseInterface* m_broadphase;
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class btCollisionConfiguration* m_collisionConfiguration;
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class btMultiBodyConstraintSolver* m_solver;
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btAlignedObjectArray<class btCollisionShape*> m_collisionShapes;
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//btAlignedObjectArray<btMultiBodyLinkCollider*> m_linkColliders;
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public:
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Bullet2MultiBodyDemo(CommonGraphicsApp* app);
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virtual void initPhysics();
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virtual void exitPhysics();
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virtual ~Bullet2MultiBodyDemo();
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btVector3 getRayTo(int x,int y);
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virtual bool mouseMoveCallback(float x,float y);
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virtual bool mouseButtonCallback(int button, int state, float x, float y);
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virtual bool keyboardCallback(int key, int state)
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{
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return false;
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}
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};
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class FeatherstoneDemo1 : public Bullet2MultiBodyDemo
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{
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public:
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FeatherstoneDemo1(CommonGraphicsApp* app);
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virtual ~FeatherstoneDemo1();
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static BulletDemoInterface* MyCreateFunc(CommonGraphicsApp* app)
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{
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return new FeatherstoneDemo1(app);
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}
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class btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, const btMultiBodySettings& settings);
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void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
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void addBoxes_testMultiDof();
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void createGround();
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virtual void initPhysics();
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virtual void exitPhysics();
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virtual void renderScene();
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virtual void physicsDebugDraw(int debugDrawFlags);
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virtual void stepSimulation(float deltaTime);
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};
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class FeatherstoneDemo2 : public FeatherstoneDemo1
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{
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public:
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FeatherstoneDemo2(CommonGraphicsApp* app);
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virtual ~FeatherstoneDemo2();
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static BulletDemoInterface* MyCreateFunc(CommonGraphicsApp* app)
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{
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return new FeatherstoneDemo2(app);
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}
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virtual void initPhysics();
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};
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#endif //BULLET_MULTI_BODY_DEMOS_H
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