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