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
116 lines
2.9 KiB
C++
116 lines
2.9 KiB
C++
#ifndef SUPPORT_FUNC_DEMO_H
|
|
#define SUPPORT_FUNC_DEMO_H
|
|
|
|
#include "Bullet3AppSupport/BulletDemoInterface.h"
|
|
#include "OpenGLWindow/CommonGraphicsApp.h"
|
|
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
|
|
|
|
|
///quick demo showing the support map function (localGetSupportingVertex)
|
|
class MySupportFuncDemo : public BulletDemoInterface
|
|
{
|
|
CommonGraphicsApp* m_app;
|
|
btSphereShape* m_sphere;
|
|
float m_x;
|
|
float m_y;
|
|
|
|
|
|
public:
|
|
|
|
MySupportFuncDemo(CommonGraphicsApp* app)
|
|
:m_app(app),
|
|
m_x(0),
|
|
m_y(0)
|
|
{
|
|
m_app->setUpAxis(1);
|
|
m_sphere = new btSphereShape(1);
|
|
{
|
|
int boxId = m_app->registerCubeShape(10,0.1,10);
|
|
btVector3 pos(0,-2,0);
|
|
btQuaternion orn(0,0,0,1);
|
|
btVector4 color(0.3,0.3,0.3,1);
|
|
|
|
btVector3 scaling(1,1,1);
|
|
m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
|
|
}
|
|
|
|
{
|
|
int sphereId = m_app->registerGraphicsSphereShape(1,false,0,0);
|
|
btVector3 pos(0,0,0);
|
|
btQuaternion orn(0,0,0,1);
|
|
btVector4 color(0,1,0,0.6);
|
|
|
|
btVector3 scaling(1,1,1);
|
|
m_app->m_renderer->registerGraphicsInstance(sphereId,pos,orn,color,scaling);
|
|
}
|
|
m_app->m_renderer->writeTransforms();
|
|
m_app->m_renderer->enableBlend(true);
|
|
}
|
|
virtual ~MySupportFuncDemo()
|
|
{
|
|
m_app->m_renderer->enableBlend(false);
|
|
delete m_sphere;
|
|
}
|
|
static BulletDemoInterface* CreateFunc(CommonGraphicsApp* app)
|
|
{
|
|
return new MySupportFuncDemo(app);
|
|
}
|
|
|
|
virtual void initPhysics()
|
|
{
|
|
}
|
|
virtual void exitPhysics()
|
|
{
|
|
|
|
}
|
|
virtual void stepSimulation(float deltaTime)
|
|
{
|
|
m_x+=0.01f;
|
|
m_y+=0.02f;
|
|
|
|
}
|
|
virtual void renderScene()
|
|
{
|
|
m_app->m_renderer->renderScene();
|
|
|
|
}
|
|
virtual void physicsDebugDraw(int debugDrawFlags)
|
|
{
|
|
int width=3;
|
|
btVector3 from(0,0,0);
|
|
btVector3 to(10.*btSin(m_x),10.*btCos(m_x),10.*btSin(m_y));
|
|
|
|
|
|
{
|
|
btVector3 color(1,0,0);
|
|
m_app->m_renderer->drawLine(from,to,color,width);
|
|
}
|
|
btVector3 dir(to-from);
|
|
btVector3 sup = m_sphere->btConvexInternalShape::localGetSupportingVertex(dir);
|
|
btVector3 orth0,orth1;
|
|
btPlaneSpace1(dir,orth0,orth1);
|
|
btVector3 color(0,0,1);
|
|
orth0.normalize();
|
|
orth1.normalize();
|
|
|
|
m_app->m_renderer->drawLine(sup,sup+orth0*0.4,color,3);
|
|
m_app->m_renderer->drawLine(sup,sup+orth1*0.4,color,3);
|
|
|
|
}
|
|
virtual bool mouseMoveCallback(float x,float y)
|
|
{
|
|
return false;
|
|
}
|
|
virtual bool mouseButtonCallback(int button, int state, float x, float y)
|
|
{
|
|
return false;
|
|
}
|
|
virtual bool keyboardCallback(int key, int state)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
};
|
|
#endif //SUPPORT_FUNC_DEMO
|
|
|