mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 05:10:08 +00:00
add improved btGeneric6DofSpring2Constraint, thanks to Puhr Gabor and Tamas Umenhoffer!
improved the new demo testbed (work-in-progress) add basic Lua demo, import URDF test, STL import, obj import
This commit is contained in:
Erwin Coumans
parent
d2509ae7a1
commit
7b28e86c7b
@ -36,6 +36,8 @@ struct CommonParameterInterface
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virtual void registerSliderFloatParameter(SliderParams& params)=0;
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virtual void syncParameters()=0;
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virtual void removeAllParameters()=0;
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virtual void setSliderValue(int sliderIndex, double sliderValue)=0;
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};
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#endif //PARAM_INTERFACE_H
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21
Demos/SerializeDemo/SerializeSetup.cpp
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21
Demos/SerializeDemo/SerializeSetup.cpp
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@ -0,0 +1,21 @@
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#include "SerializeSetup.h"
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#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
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SerializeSetup::SerializeSetup()
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{
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}
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SerializeSetup::~SerializeSetup()
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{
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}
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void SerializeSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
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{
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this->createEmptyDynamicsWorld();
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gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
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btBulletWorldImporter* importer = new btBulletWorldImporter(m_dynamicsWorld);
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const char* filename = "testFile.bullet";
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importer->loadFile(filename);
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}
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14
Demos/SerializeDemo/SerializeSetup.h
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14
Demos/SerializeDemo/SerializeSetup.h
Normal file
@ -0,0 +1,14 @@
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#ifndef SERIALIZE_SETUP_H
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#define SERIALIZE_SETUP_H
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#include "../../Demos/CommonRigidBodySetup.h"
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class SerializeSetup : public CommonRigidBodySetup
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{
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public:
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SerializeSetup();
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virtual ~SerializeSetup();
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virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
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};
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#endif //SERIALIZE_SETUP_H
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@ -11,7 +11,7 @@
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#include "../bullet2/FeatherstoneMultiBodyDemo/MultiDofDemo.h"
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#include "../bullet2/RagdollDemo/RagdollDemo.h"
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#include "../bullet2/LuaDemo/LuaDemo.h"
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#include "../bullet2/LuaDemo/LuaPhysicsSetup.h"
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#include "../bullet2/ChainDemo/ChainDemo.h"
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#include "../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.h"
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#include "../../Demos/ConstraintDemo/ConstraintPhysicsSetup.h"
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@ -19,6 +19,11 @@
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#include "../ImportObjDemo/ImportObjSetup.h"
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#include "../ImportSTLDemo/ImportSTLSetup.h"
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static BulletDemoInterface* LuaDemoCreateFunc(SimpleOpenGL3App* app)
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{
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CommonPhysicsSetup* physicsSetup = new LuaPhysicsSetup(app);
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return new BasicDemo(app, physicsSetup);
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}
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static BulletDemoInterface* MyCcdPhysicsDemoCreateFunc(SimpleOpenGL3App* app)
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{
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@ -73,6 +78,8 @@ static BulletDemoEntry allDemos[]=
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{ 1, "CcdDemo", MyCcdPhysicsDemoCreateFunc },
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{ 1, "Kinematic", MyKinematicObjectCreateFunc },
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{ 1, "Constraints", MyConstraintCreateFunc },
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{ 1, "LuaDemo",LuaDemoCreateFunc},
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{0,"File Formats", 0},
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//@todo(erwincoumans) { 1, "bullet", MyImportSTLCreateFunc},
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{ 1, "Wavefront Obj", MyImportObjCreateFunc},
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@ -95,7 +102,6 @@ static BulletDemoEntry allDemos[]=
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{1,"MultiBody1",FeatherstoneDemo1::MyCreateFunc},
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// {"MultiBody2",FeatherstoneDemo2::MyCreateFunc},
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{1,"MultiDofDemo",MultiDofDemo::MyCreateFunc},
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// {"LuaDemo",LuaDemo::MyCreateFunc}
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};
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192
Demos3/AllBullet2Demos/GraphingTexture.cpp
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192
Demos3/AllBullet2Demos/GraphingTexture.cpp
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@ -0,0 +1,192 @@
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#include "GraphingTexture.h"
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#include "OpenGLWindow/OpenGLInclude.h"
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#include <assert.h>
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GraphingTexture::GraphingTexture()
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:m_textureId(0),
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m_width(0),
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m_height(0)
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{
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}
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GraphingTexture::~GraphingTexture()
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{
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destroy();
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}
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bool GraphingTexture::destroy()
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{
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//TODO(erwincoumans) release memory etc...
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m_width = 0;
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m_height=0;
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glDeleteTextures(1,(GLuint*)&m_textureId);
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m_textureId=0;
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}
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bool GraphingTexture::create(int texWidth, int texHeight)
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{
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m_width = texWidth;
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m_height = texHeight;
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glActiveTexture(GL_TEXTURE0);
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m_imageData.resize(texWidth*texHeight*4);
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for(int y=0;y<texHeight;++y)
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{
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// const int t=y>>5;
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GLubyte* pi=&m_imageData[y*texWidth*4];
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for(int x=0;x<texWidth;++x)
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{
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if (x>=y)//x<2||y<2||x>253||y>253)
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{
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pi[0]=0;
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pi[1]=0;
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pi[2]=255;
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pi[3]=255;
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} else
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{
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pi[0]=255;
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pi[1]=0;
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pi[2]=0;
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pi[3]=255;
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}
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pi+=4;
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}
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}
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glGenTextures(1,(GLuint*)&m_textureId);
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uploadImageData();
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}
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void GraphingTexture::uploadImageData()
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{
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glBindTexture(GL_TEXTURE_2D,m_textureId);
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GLint err = glGetError();
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assert(err==GL_NO_ERROR);
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err = glGetError();
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assert(err==GL_NO_ERROR);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, m_width,m_height,0,GL_RGBA,GL_UNSIGNED_BYTE,&m_imageData[0]);
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glGenerateMipmap(GL_TEXTURE_2D);
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err = glGetError();
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assert(err==GL_NO_ERROR);
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}
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#if 0
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//shift the image one pixel
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for(int y=0;y<texHeight;++y)
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{
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// const int t=y>>5;
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for(int x=1;x<texWidth;++x)
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{
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GLubyte* org=image+(x+y*texWidth)*4;
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GLubyte* dst=image+(x-1+y*texWidth)*4;
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dst[0] = org[0];
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dst[1] = org[1];
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dst[2] = org[2];
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dst[3] = org[3];
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}
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}
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//render a new row at the right
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for(int y=0;y<texHeight;++y)
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{
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GLubyte* pi=image+(texWidth-1+y*texWidth)*4;
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pi[0]=255;
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pi[1]=255;
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pi[2]=255;
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pi[3]=255;
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if (y==texHeight*0.5)
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{
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pi[0]=200;
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pi[1]=200;
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pi[2]=200;
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pi[3]=255;
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}
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}
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{
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static float timer = 0.f;
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static int prevValue=0;
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timer+= 0.01;
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float value = 128+100*sinf(timer);
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MyClamp(value,0.f,float(texHeight-1));
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GLubyte* org=image+(texWidth-1+(int)value*texWidth)*4;
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org[0] = 0;
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org[1] = 0;
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org[2] = 0;
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org[3] = 255;
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if (prevValue<value)
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{
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} else
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{
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}
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}
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{
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static float timer = 1.4f;
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timer+= 0.04;
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float value = 128+150*sinf(timer);
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MyClamp(value,0.f,float(texHeight-1));
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GLubyte* org=image+(texWidth-1+(int)value*texWidth)*4;
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org[0] = 0;
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org[1] = 255;
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org[2] = 0;
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org[3] = 255;
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}
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{
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static float timer = 1.4f;
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timer+= 0.02;
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float value =256+400*sinf(timer);
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MyClamp(value,0.f,float(texHeight-1));
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static int prevValue = 0;
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GLubyte* org=image+(texWidth-1+(int)value*texWidth)*4;
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org[0] = 0;
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org[1] = 0;
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org[2] = 255;
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org[3] = 255;
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if (prevValue<value)
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{
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for (int i=prevValue;i<value;i++)
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{
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GLubyte* org=image+(texHeight-1+(int)i*texWidth)*4;
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org[0] = 0;
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org[1] = 0;
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org[2] = 255;
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org[3] = 255;
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}
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} else
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{
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for (int i=value;i<prevValue;i++)
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{
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GLubyte* org=image+(texHeight-1+(int)i*texWidth)*4;
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org[0] = 0;
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org[1] = 0;
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org[2] = 255;
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org[3] = 255;
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}
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}
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prevValue = value;
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}
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, texWidth,texHeight,0,GL_RGBA,GL_UNSIGNED_BYTE,image);
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glGenerateMipmap(GL_TEXTURE_2D);
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#endif
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36
Demos3/AllBullet2Demos/GraphingTexture.h
Normal file
36
Demos3/AllBullet2Demos/GraphingTexture.h
Normal file
@ -0,0 +1,36 @@
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#ifndef GRAPHING_TEXTURE_H
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#define GRAPHING_TEXTURE_H
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#include "LinearMath/btAlignedObjectArray.h"
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struct GraphingTexture
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{
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int m_textureId;
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//assume rgba (8 bit per component, total of 32bit per pixel, for m_width*m_height pixels)
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btAlignedObjectArray<unsigned char> m_imageData;
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int m_width;
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int m_height;
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GraphingTexture();
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virtual ~GraphingTexture();
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bool create(int texWidth, int texHeight);
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bool destroy();
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void setPixel(int x, int y, unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
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{
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m_imageData[x*4+y*4*m_width+0] = red;
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m_imageData[x*4+y*4*m_width+1] = green;
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m_imageData[x*4+y*4*m_width+2] = blue;
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m_imageData[x*4+y*4*m_width+3] = alpha;
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}
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void uploadImageData();
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int getTextureId()
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{
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return m_textureId;
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}
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};
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#endif //GRAPHING_TEXTURE_H
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@ -2,6 +2,7 @@
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#include "../GpuDemos/gwenInternalData.h"
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template<typename T>
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struct MySliderEventHandler : public Gwen::Event::Handler
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{
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@ -76,6 +77,24 @@ GwenParameterInterface::~GwenParameterInterface()
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}
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void GwenParameterInterface::setSliderValue(int sliderIndex, double sliderValue)
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{
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int sliderCapped = sliderValue+4;
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sliderCapped /= 8;
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sliderCapped *= 8;
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if (sliderIndex>=0 && sliderIndex<m_paramInternalData->m_sliders.size())
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{
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m_paramInternalData->m_sliders[sliderIndex]->GetRangeMin();
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m_paramInternalData->m_sliders[sliderIndex]->GetRangeMax();
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float mappedValue =m_paramInternalData->m_sliders[sliderIndex]->GetRangeMin()+
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(m_paramInternalData->m_sliders[sliderIndex]->GetRangeMax()-
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m_paramInternalData->m_sliders[sliderIndex]->GetRangeMin())*sliderCapped/128.f;
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printf("mappedValue = %f\n",mappedValue);
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m_paramInternalData->m_sliders[sliderIndex]->SetValue(mappedValue);
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}
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}
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#include <stdio.h>
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void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
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@ -95,7 +114,7 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)
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pSlider->SetPos( 10, m_gwenInternalData->m_curYposition );
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pSlider->SetSize( 100, 20 );
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pSlider->SetRange( params.m_minVal, params.m_maxVal);
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pSlider->SetNotchCount(20);//float(params.m_maxVal-params.m_minVal)/100.f);
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pSlider->SetNotchCount(128);//float(params.m_maxVal-params.m_minVal)/100.f);
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pSlider->SetClampToNotches( params.m_clampToNotches );
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pSlider->SetValue( *params.m_paramValuePointer);//dimensions[i] );
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char labelName[1024];
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@ -12,6 +12,7 @@ struct GwenParameterInterface : public CommonParameterInterface
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GwenParameterInterface(struct GwenInternalData* gwenInternalData);
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virtual ~GwenParameterInterface();
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virtual void registerSliderFloatParameter(SliderParams& params);
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virtual void setSliderValue(int sliderIndex, double sliderValue);
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virtual void syncParameters();
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virtual void removeAllParameters();
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291
Demos3/AllBullet2Demos/GwenProfileWindow.cpp
Normal file
291
Demos3/AllBullet2Demos/GwenProfileWindow.cpp
Normal file
@ -0,0 +1,291 @@
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#include "../GpuDemos/gwenUserInterface.h"
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#include "../GpuDemos/gwenInternalData.h"
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#include "LinearMath/btQuickprof.h"
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class MyProfileWindow : public Gwen::Controls::WindowControl
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{
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// Gwen::Controls::TabControl* m_TabControl;
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//Gwen::Controls::ListBox* m_TextOutput;
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unsigned int m_iFrames;
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float m_fLastSecond;
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Gwen::Controls::TreeNode* m_node;
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Gwen::Controls::TreeControl* m_ctrl;
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protected:
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void onButtonA( Gwen::Controls::Base* pControl )
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{
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// OpenTissue::glut::toggleIdle();
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}
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void SliderMoved(Gwen::Controls::Base* pControl )
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{
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Gwen::Controls::Slider* pSlider = (Gwen::Controls::Slider*)pControl;
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//this->m_app->scaleYoungModulus(pSlider->GetValue());
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// printf("Slider Value: %.2f", pSlider->GetValue() );
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}
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void OnCheckChangedStiffnessWarping (Gwen::Controls::Base* pControl)
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{
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Gwen::Controls::CheckBox* labeled = (Gwen::Controls::CheckBox* )pControl;
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bool checked = labeled->IsChecked();
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//m_app->m_stiffness_warp_on = checked;
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}
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public:
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CProfileIterator* profIter;
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MyProfileWindow ( Gwen::Controls::Base* pParent)
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: Gwen::Controls::WindowControl( pParent ),
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profIter(0)
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{
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SetTitle( L"Time Profiler" );
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SetSize( 450, 450 );
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this->SetPos(10,400);
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// this->Dock( Gwen::Pos::Bottom);
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{
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m_ctrl = new Gwen::Controls::TreeControl( this );
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m_node = m_ctrl->AddNode( L"Total Parent Time" );
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//Gwen::Controls::TreeNode* pNode = ctrl->AddNode( L"Node Two" );
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//pNode->AddNode( L"Node Two Inside" );
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//pNode->AddNode( L"Eyes" );
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//pNode->AddNode( L"Brown" )->AddNode( L"Node Two Inside" )->AddNode( L"Eyes" )->AddNode( L"Brown" );
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//Gwen::Controls::TreeNode* node = ctrl->AddNode( L"Node Three" );
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//m_ctrl->Dock(Gwen::Pos::Bottom);
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m_ctrl->ExpandAll();
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m_ctrl->SetKeyboardInputEnabled(true);
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m_ctrl->SetBounds( this->GetInnerBounds().x,this->GetInnerBounds().y,this->GetInnerBounds().w,this->GetInnerBounds().h);
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}
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}
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float dumpRecursive(CProfileIterator* profileIterator, Gwen::Controls::TreeNode* parentNode)
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{
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profileIterator->First();
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if (profileIterator->Is_Done())
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return 0.f;
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float accumulated_time=0,parent_time = profileIterator->Is_Root() ? CProfileManager::Get_Time_Since_Reset() : profileIterator->Get_Current_Parent_Total_Time();
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int i;
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int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
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//printf("Profiling: %s (total running time: %.3f ms) ---\n", profileIterator->Get_Current_Parent_Name(), parent_time );
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float totalTime = 0.f;
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int numChildren = 0;
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Gwen::UnicodeString txt;
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std::vector<Gwen::Controls::TreeNode*> nodes;
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for (i = 0; !profileIterator->Is_Done(); i++,profileIterator->Next())
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{
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numChildren++;
|
||||
float current_total_time = profileIterator->Get_Current_Total_Time();
|
||||
accumulated_time += current_total_time;
|
||||
double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
|
||||
|
||||
Gwen::String name(profileIterator->Get_Current_Name());
|
||||
#ifdef _WIN32
|
||||
Gwen::UnicodeString uname = Gwen::Utility::StringToUnicode(name);
|
||||
|
||||
txt = Gwen::Utility::Format(L"%s (%.2f %%) :: %.3f ms / frame (%d calls)",uname.c_str(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls());
|
||||
|
||||
#else
|
||||
txt = Gwen::Utility::Format(L"%s (%.2f %%) :: %.3f ms / frame (%d calls)",name.c_str(), fraction,(current_total_time / (double)frames_since_reset),profileIterator->Get_Current_Total_Calls());
|
||||
|
||||
#endif
|
||||
|
||||
Gwen::Controls::TreeNode* childNode = (Gwen::Controls::TreeNode*)profileIterator->Get_Current_UserPointer();
|
||||
if (!childNode)
|
||||
{
|
||||
childNode = parentNode->AddNode(L"");
|
||||
profileIterator->Set_Current_UserPointer(childNode);
|
||||
}
|
||||
childNode->SetText(txt);
|
||||
nodes.push_back(childNode);
|
||||
|
||||
totalTime += current_total_time;
|
||||
//recurse into children
|
||||
}
|
||||
|
||||
for (i=0;i<numChildren;i++)
|
||||
{
|
||||
profileIterator->Enter_Child(i);
|
||||
Gwen::Controls::TreeNode* curNode = nodes[i];
|
||||
|
||||
dumpRecursive(profileIterator, curNode);
|
||||
|
||||
profileIterator->Enter_Parent();
|
||||
}
|
||||
return accumulated_time;
|
||||
|
||||
}
|
||||
|
||||
void UpdateText(CProfileIterator* profileIterator, bool idle)
|
||||
{
|
||||
|
||||
static bool update=true;
|
||||
|
||||
m_ctrl->SetBounds(0,0,this->GetInnerBounds().w,this->GetInnerBounds().h);
|
||||
|
||||
// if (!update)
|
||||
// return;
|
||||
update=false;
|
||||
|
||||
|
||||
static int test = 1;
|
||||
test++;
|
||||
|
||||
static double time_since_reset = 0.f;
|
||||
if (!idle)
|
||||
{
|
||||
time_since_reset = CProfileManager::Get_Time_Since_Reset();
|
||||
}
|
||||
|
||||
//Gwen::UnicodeString txt = Gwen::Utility::Format( L"FEM Settings %i fps", test );
|
||||
{
|
||||
//recompute profiling data, and store profile strings
|
||||
|
||||
char blockTime[128];
|
||||
|
||||
double totalTime = 0;
|
||||
|
||||
int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
|
||||
|
||||
profileIterator->First();
|
||||
|
||||
double parent_time = profileIterator->Is_Root() ? time_since_reset : profileIterator->Get_Current_Parent_Total_Time();
|
||||
|
||||
|
||||
Gwen::Controls::TreeNode* curParent = m_node;
|
||||
|
||||
double accumulated_time = dumpRecursive(profileIterator,m_node);
|
||||
|
||||
const char* name = profileIterator->Get_Current_Parent_Name();
|
||||
#ifdef _WIN32
|
||||
Gwen::UnicodeString uname = Gwen::Utility::StringToUnicode(name);
|
||||
Gwen::UnicodeString txt = Gwen::Utility::Format( L"Profiling: %s total time: %.3f ms, unaccounted %.3f %% :: %.3f ms", uname.c_str(), parent_time ,
|
||||
parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
|
||||
#else
|
||||
Gwen::UnicodeString txt = Gwen::Utility::Format( L"Profiling: %s total time: %.3f ms, unaccounted %.3f %% :: %.3f ms", name, parent_time ,
|
||||
parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
|
||||
#endif
|
||||
//sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---", profileIterator->Get_Current_Parent_Name(), parent_time );
|
||||
//displayProfileString(xOffset,yStart,blockTime);
|
||||
m_node->SetText(txt);
|
||||
|
||||
|
||||
//printf("%s (%.3f %%) :: %.3f ms\n", "Unaccounted:",);
|
||||
|
||||
|
||||
}
|
||||
|
||||
static int counter=10;
|
||||
if (counter)
|
||||
{
|
||||
counter--;
|
||||
m_ctrl->ExpandAll();
|
||||
}
|
||||
|
||||
}
|
||||
void PrintText( const Gwen::UnicodeString& str )
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void Render( Gwen::Skin::Base* skin )
|
||||
{
|
||||
m_iFrames++;
|
||||
|
||||
if ( m_fLastSecond < Gwen::Platform::GetTimeInSeconds() )
|
||||
{
|
||||
SetTitle( Gwen::Utility::Format( L"Profiler %i fps", m_iFrames ) );
|
||||
|
||||
m_fLastSecond = Gwen::Platform::GetTimeInSeconds() + 1.0f;
|
||||
m_iFrames = 0;
|
||||
}
|
||||
|
||||
Gwen::Controls::WindowControl::Render( skin );
|
||||
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
class MyMenuItems : public Gwen::Controls::Base
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
class MyProfileWindow* m_profWindow;
|
||||
MyMenuItems() :Gwen::Controls::Base(0)
|
||||
{
|
||||
}
|
||||
|
||||
void MenuItemSelect(Gwen::Controls::Base* pControl)
|
||||
{
|
||||
if (m_profWindow->Hidden())
|
||||
{
|
||||
m_profWindow->SetHidden(false);
|
||||
} else
|
||||
{
|
||||
m_profWindow->SetHidden(true);
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
MyProfileWindow* setupProfileWindow(GwenInternalData* data)
|
||||
{
|
||||
MyMenuItems* menuItems = new MyMenuItems;
|
||||
MyProfileWindow* profWindow = new MyProfileWindow(data->pCanvas);
|
||||
//profWindow->SetHidden(true);
|
||||
profWindow->profIter = CProfileManager::Get_Iterator();
|
||||
data->m_viewMenu->GetMenu()->AddItem( L"Profiler", menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::MenuItemSelect);
|
||||
menuItems->m_profWindow = profWindow;
|
||||
return profWindow;
|
||||
}
|
||||
|
||||
|
||||
void processProfileData( MyProfileWindow* profWindow, bool idle)
|
||||
{
|
||||
if (profWindow)
|
||||
{
|
||||
|
||||
profWindow->UpdateText(profWindow->profIter, idle);
|
||||
}
|
||||
}
|
||||
|
||||
void profileWindowSetVisible(MyProfileWindow* window, bool visible)
|
||||
{
|
||||
window->SetHidden(!visible);
|
||||
}
|
||||
void destroyProfileWindow(MyProfileWindow* window)
|
||||
{
|
||||
delete window;
|
||||
}
|
||||
12
Demos3/AllBullet2Demos/GwenProfileWindow.h
Normal file
12
Demos3/AllBullet2Demos/GwenProfileWindow.h
Normal file
@ -0,0 +1,12 @@
|
||||
#ifndef GWEN_PROFILE_WINDOW_H
|
||||
#define GWEN_PROFILE_WINDOW_H
|
||||
|
||||
struct MyProfileWindow* setupProfileWindow(struct GwenInternalData* data);
|
||||
|
||||
void processProfileData(MyProfileWindow* window, bool idle);
|
||||
void profileWindowSetVisible(MyProfileWindow* window, bool visible);
|
||||
void destroyProfileWindow(MyProfileWindow* window);
|
||||
|
||||
#endif//GWEN_PROFILE_WINDOW_H
|
||||
|
||||
|
||||
100
Demos3/AllBullet2Demos/GwenTextureWindow.cpp
Normal file
100
Demos3/AllBullet2Demos/GwenTextureWindow.cpp
Normal file
@ -0,0 +1,100 @@
|
||||
#include "GwenTextureWindow.h"
|
||||
#include "../GpuDemos/gwenUserInterface.h"
|
||||
#include "../GpuDemos/gwenInternalData.h"
|
||||
#include "Gwen/Controls/ImagePanel.h"
|
||||
|
||||
|
||||
|
||||
class MyGraphWindow : public Gwen::Controls::WindowControl
|
||||
{
|
||||
Gwen::Controls::ImagePanel* m_imgPanel;
|
||||
|
||||
public:
|
||||
|
||||
class MyMenuItems2* m_menuItems;
|
||||
|
||||
MyGraphWindow ( const MyGraphInput& input)
|
||||
: Gwen::Controls::WindowControl( input.m_data->pCanvas ),
|
||||
m_menuItems(0)
|
||||
{
|
||||
Gwen::UnicodeString str = Gwen::Utility::StringToUnicode(input.m_name);
|
||||
SetTitle( str );
|
||||
|
||||
|
||||
SetPos(input.m_xPos,input.m_yPos);
|
||||
SetSize( 12+input.m_width+2*input.m_borderWidth, 30+input.m_height+2*input.m_borderWidth );
|
||||
|
||||
m_imgPanel = new Gwen::Controls::ImagePanel( this );
|
||||
if (input.m_texName)
|
||||
{
|
||||
Gwen::UnicodeString texName = Gwen::Utility::StringToUnicode(input.m_texName);
|
||||
m_imgPanel->SetImage( texName );
|
||||
}
|
||||
m_imgPanel->SetBounds( input.m_borderWidth, input.m_borderWidth,
|
||||
input.m_width,
|
||||
input.m_height );
|
||||
// this->Dock( Gwen::Pos::Bottom);
|
||||
}
|
||||
virtual ~MyGraphWindow()
|
||||
{
|
||||
delete m_imgPanel;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
class MyMenuItems2 : public Gwen::Controls::Base
|
||||
{
|
||||
MyGraphWindow* m_graphWindow;
|
||||
|
||||
public:
|
||||
|
||||
Gwen::Controls::MenuItem* m_item;
|
||||
|
||||
MyMenuItems2(MyGraphWindow* graphWindow)
|
||||
:Gwen::Controls::Base(0),
|
||||
m_graphWindow(graphWindow),
|
||||
m_item(0)
|
||||
{
|
||||
}
|
||||
|
||||
void MenuItemSelect(Gwen::Controls::Base* pControl)
|
||||
{
|
||||
if (m_graphWindow->Hidden())
|
||||
{
|
||||
m_graphWindow->SetHidden(false);
|
||||
//@TODO(erwincoumans) setCheck/SetCheckable drawing is broken, need to see what's wrong
|
||||
// if (m_item)
|
||||
// m_item->SetCheck(false);
|
||||
|
||||
} else
|
||||
{
|
||||
m_graphWindow->SetHidden(true);
|
||||
// if (m_item)
|
||||
// m_item->SetCheck(true);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
struct MyGraphWindow* setupTextureWindow(const MyGraphInput& input)
|
||||
{
|
||||
MyGraphWindow* graphWindow = new MyGraphWindow(input);
|
||||
MyMenuItems2* menuItems = new MyMenuItems2(graphWindow);
|
||||
graphWindow->m_menuItems = menuItems;
|
||||
|
||||
Gwen::UnicodeString str = Gwen::Utility::StringToUnicode(input.m_name);
|
||||
menuItems->m_item = input.m_data->m_viewMenu->GetMenu()->AddItem( str, menuItems,(Gwen::Event::Handler::Function)&MyMenuItems2::MenuItemSelect);
|
||||
// menuItems->m_item->SetCheckable(true);
|
||||
|
||||
return graphWindow;
|
||||
|
||||
}
|
||||
|
||||
void destroyTextureWindow(MyGraphWindow* window)
|
||||
{
|
||||
delete window->m_menuItems->m_item;
|
||||
delete window->m_menuItems;
|
||||
delete window;
|
||||
}
|
||||
32
Demos3/AllBullet2Demos/GwenTextureWindow.h
Normal file
32
Demos3/AllBullet2Demos/GwenTextureWindow.h
Normal file
@ -0,0 +1,32 @@
|
||||
|
||||
|
||||
#ifndef GWEN_TEXTURE_WINDOW_H
|
||||
#define GWEN_TEXTURE_WINDOW_H
|
||||
|
||||
struct MyGraphInput
|
||||
{
|
||||
struct GwenInternalData* m_data;
|
||||
int m_xPos;
|
||||
int m_yPos;
|
||||
int m_width;
|
||||
int m_height;
|
||||
int m_borderWidth;
|
||||
const char* m_name;
|
||||
const char* m_texName;
|
||||
MyGraphInput(struct GwenInternalData* data)
|
||||
:m_data(data),
|
||||
m_xPos(0),
|
||||
m_yPos(0),
|
||||
m_width(400),
|
||||
m_height(400),
|
||||
m_borderWidth(0),
|
||||
m_name("GraphWindow"),
|
||||
m_texName(0)
|
||||
{
|
||||
}
|
||||
};
|
||||
struct MyGraphWindow* setupTextureWindow(const MyGraphInput& input);
|
||||
void destroyTextureWindow(MyGraphWindow* window);
|
||||
|
||||
|
||||
#endif //GWEN_TEXTURE_WINDOW_H
|
||||
@ -1,3 +1,4 @@
|
||||
|
||||
#include "../../btgui/OpenGLWindow/SimpleOpenGL3App.h"
|
||||
#include "Bullet3Common/b3Vector3.h"
|
||||
#include "assert.h"
|
||||
@ -7,6 +8,10 @@
|
||||
#include "BulletDemoEntries.h"
|
||||
#include "../../btgui/Timing/b3Clock.h"
|
||||
#include "GwenParameterInterface.h"
|
||||
#include "GwenProfileWindow.h"
|
||||
#include "GwenTextureWindow.h"
|
||||
#include "GraphingTexture.h"
|
||||
|
||||
|
||||
#define DEMO_SELECTION_COMBOBOX 13
|
||||
const char* startFileName = "bulletDemo.txt";
|
||||
@ -16,13 +21,89 @@ static int sCurrentDemoIndex = 0;
|
||||
static int sCurrentHightlighted = 0;
|
||||
static BulletDemoInterface* sCurrentDemo = 0;
|
||||
static b3AlignedObjectArray<const char*> allNames;
|
||||
double motorA=0,motorB=0;
|
||||
|
||||
|
||||
bool drawGUI=true;
|
||||
extern bool useShadowMap;
|
||||
static bool wireframe=false;
|
||||
static bool pauseSimulation=false;
|
||||
int midiBaseIndex = 176;
|
||||
|
||||
|
||||
#ifdef B3_USE_MIDI
|
||||
#include "../../btgui/MidiTest/RtMidi.h"
|
||||
bool chooseMidiPort( RtMidiIn *rtmidi )
|
||||
{
|
||||
if (!rtmidi)
|
||||
return false;
|
||||
|
||||
std::string portName;
|
||||
unsigned int i = 0, nPorts = rtmidi->getPortCount();
|
||||
if ( nPorts == 0 ) {
|
||||
std::cout << "No input ports available!" << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
if ( nPorts == 1 ) {
|
||||
std::cout << "\nOpening " << rtmidi->getPortName() << std::endl;
|
||||
}
|
||||
else {
|
||||
for ( i=0; i<nPorts; i++ ) {
|
||||
portName = rtmidi->getPortName(i);
|
||||
std::cout << " Input port #" << i << ": " << portName << '\n';
|
||||
}
|
||||
|
||||
do {
|
||||
std::cout << "\nChoose a port number: ";
|
||||
std::cin >> i;
|
||||
} while ( i >= nPorts );
|
||||
}
|
||||
|
||||
// std::getline( std::cin, keyHit ); // used to clear out stdin
|
||||
rtmidi->openPort( i );
|
||||
|
||||
return true;
|
||||
}
|
||||
void PairMidiCallback( double deltatime, std::vector< unsigned char > *message, void *userData )
|
||||
{
|
||||
unsigned int nBytes = message->size();
|
||||
if (nBytes==3)
|
||||
{
|
||||
//if ( message->at(1)==16)
|
||||
{
|
||||
printf("midi %d at %f = %d\n", message->at(1), deltatime, message->at(2));
|
||||
//test->SetValue(message->at(2));
|
||||
#if KORG_MIDI
|
||||
if (message->at(0)>=midiBaseIndex && message->at(0)<(midiBaseIndex+8))
|
||||
{
|
||||
int sliderIndex = message->at(0)-midiBaseIndex;//-16;
|
||||
printf("sliderIndex = %d\n", sliderIndex);
|
||||
float sliderValue = message->at(2);
|
||||
printf("sliderValue = %f\n", sliderValue);
|
||||
app->m_parameterInterface->setSliderValue(sliderIndex,sliderValue);
|
||||
}
|
||||
#else
|
||||
//ICONTROLS
|
||||
if (message->at(0)==176)
|
||||
{
|
||||
int sliderIndex = message->at(1)-32;//-16;
|
||||
printf("sliderIndex = %d\n", sliderIndex);
|
||||
float sliderValue = message->at(2);
|
||||
printf("sliderValue = %f\n", sliderValue);
|
||||
app->m_parameterInterface->setSliderValue(sliderIndex,sliderValue);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif //B3_USE_MIDI
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void MyKeyboardCallback(int key, int state)
|
||||
{
|
||||
|
||||
@ -121,7 +202,7 @@ void selectDemo(int demoIndex)
|
||||
if (sCurrentDemo)
|
||||
{
|
||||
sCurrentDemo->initPhysics();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@ -225,7 +306,25 @@ struct MyMenuItemHander :public Gwen::Event::Handler
|
||||
|
||||
|
||||
};
|
||||
#include "Bullet3Common/b3HashMap.h"
|
||||
|
||||
struct GL3TexLoader : public MyTextureLoader
|
||||
{
|
||||
b3HashMap<b3HashString,GLint> m_hashMap;
|
||||
|
||||
virtual void LoadTexture( Gwen::Texture* pTexture )
|
||||
{
|
||||
const char* n = pTexture->name.Get().c_str();
|
||||
GLint* texIdPtr = m_hashMap[n];
|
||||
if (texIdPtr)
|
||||
{
|
||||
pTexture->m_intData = *texIdPtr;
|
||||
}
|
||||
}
|
||||
virtual void FreeTexture( Gwen::Texture* pTexture )
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
extern float shadowMapWorldSize;
|
||||
@ -239,6 +338,7 @@ int main(int argc, char* argv[])
|
||||
int width = 1024;
|
||||
int height=768;
|
||||
|
||||
|
||||
app = new SimpleOpenGL3App("AllBullet2Demos",width,height);
|
||||
app->m_instancingRenderer->setCameraDistance(13);
|
||||
app->m_instancingRenderer->setCameraPitch(0);
|
||||
@ -246,7 +346,7 @@ int main(int argc, char* argv[])
|
||||
app->m_window->setMouseMoveCallback(MyMouseMoveCallback);
|
||||
app->m_window->setMouseButtonCallback(MyMouseButtonCallback);
|
||||
app->m_window->setKeyboardCallback(MyKeyboardCallback);
|
||||
|
||||
|
||||
|
||||
GLint err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
@ -257,6 +357,55 @@ int main(int argc, char* argv[])
|
||||
// gui->getInternalData()->m_explorerPage
|
||||
Gwen::Controls::TreeControl* tree = gui->getInternalData()->m_explorerTreeCtrl;
|
||||
|
||||
GL3TexLoader* myTexLoader = new GL3TexLoader;
|
||||
gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
|
||||
|
||||
|
||||
MyProfileWindow* profWindow = setupProfileWindow(gui->getInternalData());
|
||||
profileWindowSetVisible(profWindow,false);
|
||||
|
||||
{
|
||||
MyGraphInput input(gui->getInternalData());
|
||||
input.m_width=300;
|
||||
input.m_height=300;
|
||||
input.m_xPos = 0;
|
||||
input.m_yPos = height-input.m_height;
|
||||
input.m_name="Test Graph1";
|
||||
input.m_texName = "graph1";
|
||||
GraphingTexture* gt = new GraphingTexture;
|
||||
gt->create(256,256);
|
||||
int texId = gt->getTextureId();
|
||||
myTexLoader->m_hashMap.insert("graph1", texId);
|
||||
MyGraphWindow* gw = setupTextureWindow(input);
|
||||
}
|
||||
if (1)
|
||||
{
|
||||
MyGraphInput input(gui->getInternalData());
|
||||
input.m_width=300;
|
||||
input.m_height=300;
|
||||
input.m_xPos = width-input.m_width;
|
||||
input.m_yPos = height-input.m_height;
|
||||
input.m_name="Test Graph2";
|
||||
input.m_texName = "graph2";
|
||||
GraphingTexture* gt = new GraphingTexture;
|
||||
int texWidth = 512;
|
||||
int texHeight = 512;
|
||||
gt->create(texWidth,texHeight);
|
||||
for (int i=0;i<texWidth;i++)
|
||||
{
|
||||
for (int j=0;j<texHeight;j++)
|
||||
{
|
||||
gt->setPixel(i,j,0,0,0,255);
|
||||
}
|
||||
}
|
||||
gt->uploadImageData();
|
||||
|
||||
int texId = gt->getTextureId();
|
||||
input.m_xPos = width-input.m_width;
|
||||
myTexLoader->m_hashMap.insert("graph2", texId);
|
||||
MyGraphWindow* gw = setupTextureWindow(input);
|
||||
}
|
||||
//destroyTextureWindow(gw);
|
||||
|
||||
|
||||
app->m_parameterInterface = new GwenParameterInterface(gui->getInternalData());
|
||||
@ -323,7 +472,7 @@ int main(int argc, char* argv[])
|
||||
*/
|
||||
unsigned long int prevTimeInMicroseconds = clock.getTimeMicroseconds();
|
||||
|
||||
|
||||
|
||||
do
|
||||
{
|
||||
|
||||
@ -332,20 +481,24 @@ int main(int argc, char* argv[])
|
||||
app->m_instancingRenderer->init();
|
||||
DrawGridData dg;
|
||||
dg.upAxis = app->getUpAxis();
|
||||
|
||||
app->m_instancingRenderer->updateCamera(dg.upAxis);
|
||||
app->drawGrid(dg);
|
||||
|
||||
{
|
||||
BT_PROFILE("Update Camera");
|
||||
app->m_instancingRenderer->updateCamera(dg.upAxis);
|
||||
}
|
||||
{
|
||||
BT_PROFILE("Draw Grid");
|
||||
app->drawGrid(dg);
|
||||
}
|
||||
static int frameCount = 0;
|
||||
frameCount++;
|
||||
|
||||
if (0)
|
||||
{
|
||||
char bla[1024];
|
||||
|
||||
sprintf(bla,"Simple test frame %d", frameCount);
|
||||
|
||||
app->drawText(bla,10,10);
|
||||
BT_PROFILE("Draw frame counter");
|
||||
char bla[1024];
|
||||
sprintf(bla,"Frame %d", frameCount);
|
||||
app->drawText(bla,10,10);
|
||||
}
|
||||
|
||||
if (sCurrentDemo)
|
||||
@ -361,18 +514,34 @@ int main(int argc, char* argv[])
|
||||
sCurrentDemo->stepSimulation(deltaTimeInSeconds);//1./60.f);
|
||||
prevTimeInMicroseconds = curTimeInMicroseconds;
|
||||
}
|
||||
sCurrentDemo->renderScene();
|
||||
sCurrentDemo->physicsDebugDraw();
|
||||
{
|
||||
BT_PROFILE("Render Scene");
|
||||
sCurrentDemo->renderScene();
|
||||
}
|
||||
{
|
||||
sCurrentDemo->physicsDebugDraw();
|
||||
}
|
||||
}
|
||||
|
||||
static int toggle = 1;
|
||||
if (1)
|
||||
{
|
||||
gui->draw(app->m_instancingRenderer->getScreenWidth(),app->m_instancingRenderer->getScreenHeight());
|
||||
if (!pauseSimulation)
|
||||
processProfileData(profWindow,false);
|
||||
{
|
||||
BT_PROFILE("Draw Gwen GUI");
|
||||
gui->draw(app->m_instancingRenderer->getScreenWidth(),app->m_instancingRenderer->getScreenHeight());
|
||||
}
|
||||
}
|
||||
toggle=1-toggle;
|
||||
app->m_parameterInterface->syncParameters();
|
||||
app->swapBuffer();
|
||||
{
|
||||
BT_PROFILE("Sync Parameters");
|
||||
app->m_parameterInterface->syncParameters();
|
||||
}
|
||||
{
|
||||
BT_PROFILE("Swap Buffers");
|
||||
app->swapBuffer();
|
||||
}
|
||||
} while (!app->m_window->requestedExit());
|
||||
|
||||
// selectDemo(0);
|
||||
|
||||
@ -17,12 +17,35 @@
|
||||
links{"gwen", "OpenGL_Window","OpenGL_TrueTypeFont","BulletSoftBody","BulletDynamics","BulletCollision","LinearMath","lua-5.2.3"}
|
||||
initOpenGL()
|
||||
initGlew()
|
||||
|
||||
if _OPTIONS["midi"] then
|
||||
if os.is("Windows") then
|
||||
files {"../../btgui/MidiTest/RtMidi.cpp"}
|
||||
links {"winmm"}
|
||||
defines {"__WINDOWS_MM__", "WIN32","B3_USE_MIDI"}
|
||||
end
|
||||
|
||||
if os.is("Linux") then
|
||||
defines {"__LINUX_ALSA__"}
|
||||
links {"asound","pthread"}
|
||||
end
|
||||
|
||||
if os.is("MacOSX") then
|
||||
files {"../../btgui/MidiTest/RtMidi.cpp"}
|
||||
links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"}
|
||||
defines {"__MACOSX_CORE__","B3_USE_MIDI"}
|
||||
end
|
||||
end
|
||||
|
||||
files {
|
||||
"**.cpp",
|
||||
"**.h",
|
||||
"../bullet2/BasicDemo/Bullet2RigidBodyDemo.cpp",
|
||||
"../bullet2/BasicDemo/Bullet2RigidBodyDemo.h",
|
||||
"../bullet2/LuaDemo/LuaPhysicsSetup.cpp",
|
||||
"../bullet2/LuaDemo/LuaPhysicsSetup.h",
|
||||
"../DifferentialGearDemo/DifferentialGearSetup.cpp",
|
||||
"../DifferentialGearDemo/DifferentialGearSetup.h",
|
||||
"../../Demos/BasicDemo/BasicDemoPhysicsSetup.cpp",
|
||||
"../../Demos/BasicDemo/BasicDemoPhysicsSetup.h",
|
||||
"../../Demos/CcdPhysicsDemo/CcdPhysicsSetup.cpp",
|
||||
|
||||
@ -39,6 +39,7 @@ struct GwenInternalData
|
||||
Gwen::Controls::TabButton* m_demoPage;
|
||||
Gwen::Controls::TabButton* m_explorerPage;
|
||||
Gwen::Controls::TreeControl* m_explorerTreeCtrl;
|
||||
Gwen::Controls::MenuItem* m_viewMenu;
|
||||
|
||||
int m_curYposition;
|
||||
|
||||
|
||||
@ -1,6 +1,11 @@
|
||||
|
||||
#include "gwenUserInterface.h"
|
||||
#include "gwenInternalData.h"
|
||||
#include "Gwen/Controls/ImagePanel.h"
|
||||
|
||||
class MyGraphWindow* graphWindow = 0;
|
||||
|
||||
|
||||
|
||||
GwenUserInterface::GwenUserInterface()
|
||||
{
|
||||
@ -9,7 +14,7 @@ GwenUserInterface::GwenUserInterface()
|
||||
m_data->m_comboBoxCallback = 0;
|
||||
|
||||
}
|
||||
|
||||
|
||||
GwenUserInterface::~GwenUserInterface()
|
||||
{
|
||||
for (int i=0;i<m_data->m_handlers.size();i++)
|
||||
@ -32,43 +37,39 @@ GwenUserInterface::~GwenUserInterface()
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
class MyMenuItems : public Gwen::Controls::Base
|
||||
{
|
||||
public:
|
||||
|
||||
MyMenuItems() :Gwen::Controls::Base(0)
|
||||
{
|
||||
}
|
||||
void myQuitApp( Gwen::Controls::Base* pControl )
|
||||
{
|
||||
exit(0);
|
||||
}
|
||||
MyMenuItems() :Gwen::Controls::Base(0)
|
||||
{
|
||||
}
|
||||
void myQuitApp( Gwen::Controls::Base* pControl )
|
||||
{
|
||||
exit(0);
|
||||
}
|
||||
};
|
||||
|
||||
struct MyTestMenuBar : public Gwen::Controls::MenuStrip
|
||||
{
|
||||
|
||||
|
||||
Gwen::Controls::MenuItem* m_fileMenu;
|
||||
Gwen::Controls::MenuItem* m_viewMenu;
|
||||
|
||||
MyTestMenuBar(Gwen::Controls::Base* pParent)
|
||||
:Gwen::Controls::MenuStrip(pParent)
|
||||
{
|
||||
// Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
|
||||
{
|
||||
MyMenuItems* menuItems = new MyMenuItems;
|
||||
MyMenuItems* menuItems = new MyMenuItems;
|
||||
|
||||
Gwen::Controls::MenuItem* pRoot = AddItem( L"File" );
|
||||
pRoot->GetMenu()->AddItem(L"Quit",menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
|
||||
pRoot = AddItem( L"View" );
|
||||
// Gwen::Event::Handler* handler = GWEN_MCALL(&MyTestMenuBar::MenuItemSelect );
|
||||
pRoot->GetMenu()->AddItem( L"Profiler");//,,m_profileWindow,(Gwen::Event::Handler::Function)&MyProfileWindow::MenuItemSelect);
|
||||
|
||||
/* pRoot->GetMenu()->AddItem( L"New", L"test16.png", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
pRoot->GetMenu()->AddItem( L"Load", L"test16.png", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
pRoot->GetMenu()->AddItem( L"Save", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
pRoot->GetMenu()->AddItem( L"Save As..", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
pRoot->GetMenu()->AddItem( L"Quit", GWEN_MCALL( ThisClass::MenuItemSelect ) );
|
||||
*/
|
||||
m_fileMenu = AddItem( L"File" );
|
||||
m_fileMenu->GetMenu()->AddItem(L"Quit",menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
|
||||
m_viewMenu = AddItem( L"View" );
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -94,11 +95,11 @@ struct MyComboBoxHander :public Gwen::Event::Handler
|
||||
void onSelect( Gwen::Controls::Base* pControl )
|
||||
{
|
||||
Gwen::Controls::ComboBox* but = (Gwen::Controls::ComboBox*) pControl;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Gwen::String str = Gwen::Utility::UnicodeToString( but->GetSelectedItem()->GetText());
|
||||
|
||||
|
||||
if (m_data->m_comboBoxCallback)
|
||||
(*m_data->m_comboBoxCallback)(m_buttonId,str.c_str());
|
||||
}
|
||||
@ -137,7 +138,7 @@ void GwenUserInterface::setStatusBarMessage(const char* message, bool isLeft)
|
||||
} else
|
||||
{
|
||||
m_data->m_rightStatusBar->SetText( msg);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@ -155,6 +156,7 @@ void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
|
||||
m_data->pCanvas->SetBackgroundColor( Gwen::Color( 150, 170, 170, 255 ) );
|
||||
|
||||
MyTestMenuBar* menubar = new MyTestMenuBar(m_data->pCanvas);
|
||||
m_data->m_viewMenu = menubar->m_viewMenu;
|
||||
Gwen::Controls::StatusBar* bar = new Gwen::Controls::StatusBar(m_data->pCanvas);
|
||||
m_data->m_rightStatusBar = new Gwen::Controls::Label( bar );
|
||||
m_data->m_rightStatusBar->SetWidth(width/2);
|
||||
@ -181,7 +183,7 @@ void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
|
||||
|
||||
//windowLeft->SetSkin(
|
||||
Gwen::Controls::TabControl* tab = new Gwen::Controls::TabControl(windowRight);
|
||||
|
||||
|
||||
//tab->SetHeight(300);
|
||||
tab->SetWidth(140);
|
||||
tab->SetHeight(250);
|
||||
@ -192,20 +194,20 @@ void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
|
||||
Gwen::UnicodeString str1(L"Params");
|
||||
m_data->m_demoPage = tab->AddPage(str1);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// Gwen::UnicodeString str2(L"OpenCL");
|
||||
// tab->AddPage(str2);
|
||||
//Gwen::UnicodeString str3(L"page3");
|
||||
// tab->AddPage(str3);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//but->onPress.Add(handler, &MyHander::onButtonA);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//box->Dock(Gwen::Pos::Left);
|
||||
|
||||
/*Gwen::Controls::WindowControl* windowBottom = new Gwen::Controls::WindowControl(m_data->pCanvas);
|
||||
@ -221,8 +223,8 @@ void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
|
||||
split->SetWidth(300);
|
||||
*/
|
||||
/*
|
||||
|
||||
|
||||
|
||||
|
||||
*/
|
||||
|
||||
Gwen::Controls::ScrollControl* windowLeft = new Gwen::Controls::ScrollControl(m_data->pCanvas);
|
||||
@ -257,8 +259,9 @@ void GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
|
||||
ctrl->Focus();
|
||||
ctrl->SetBounds(2, 10, 236, 400);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
b3ToggleButtonCallback GwenUserInterface::getToggleButtonCallback()
|
||||
{
|
||||
return m_data->m_toggleButtonCallback;
|
||||
@ -274,13 +277,13 @@ void GwenUserInterface::registerToggleButton(int buttonId, const char* name)
|
||||
assert(m_data->m_demoPage);
|
||||
|
||||
Gwen::Controls::Button* but = new Gwen::Controls::Button(m_data->m_demoPage->GetPage());
|
||||
|
||||
|
||||
///some heuristic to find the button location
|
||||
int ypos = m_data->m_curYposition;
|
||||
but->SetPos(10, ypos );
|
||||
but->SetWidth( 100 );
|
||||
//but->SetBounds( 200, 30, 300, 200 );
|
||||
|
||||
|
||||
MyButtonHander* handler = new MyButtonHander(m_data, buttonId);
|
||||
m_data->m_handlers.push_back(handler);
|
||||
m_data->m_curYposition+=22;
|
||||
@ -305,7 +308,7 @@ void GwenUserInterface::registerComboBox(int comboboxId, int numItems, const cha
|
||||
Gwen::Controls::ComboBox* combobox = new Gwen::Controls::ComboBox(m_data->m_demoPage->GetPage());
|
||||
MyComboBoxHander* handler = new MyComboBoxHander(m_data, comboboxId);
|
||||
m_data->m_handlers.push_back(handler);
|
||||
|
||||
|
||||
combobox->onSelection.Add(handler,&MyComboBoxHander::onSelect);
|
||||
int ypos = m_data->m_curYposition;
|
||||
combobox->SetPos(10, ypos );
|
||||
@ -319,14 +322,14 @@ void GwenUserInterface::registerComboBox(int comboboxId, int numItems, const cha
|
||||
}
|
||||
|
||||
m_data->m_curYposition+=22;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void GwenUserInterface::draw(int width, int height)
|
||||
{
|
||||
|
||||
|
||||
// printf("width = %d, height=%d\n", width,height);
|
||||
if (m_data->pCanvas)
|
||||
{
|
||||
@ -356,7 +359,7 @@ bool GwenUserInterface::mouseMoveCallback( float x, float y)
|
||||
handled = m_data->pCanvas->InputMouseMoved(x,y,m_lastmousepos[0],m_lastmousepos[1]);
|
||||
}
|
||||
return handled;
|
||||
|
||||
|
||||
}
|
||||
#include "OpenGLWindow/b3gWindowInterface.h"
|
||||
|
||||
@ -392,7 +395,7 @@ bool GwenUserInterface::keyboardCallback(int bulletKey, int state)
|
||||
}
|
||||
};
|
||||
bool bDown = (state == 1);
|
||||
|
||||
|
||||
return m_data->pCanvas->InputKey(key, bDown);
|
||||
}
|
||||
return false;
|
||||
|
||||
@ -47,5 +47,7 @@ class GwenUserInterface
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //_GWEN_USER_INTERFACE_H
|
||||
|
||||
|
||||
@ -44,9 +44,7 @@ static GLInstanceGraphicsShape* gCreateGraphicsShapeFromWavefrontObj(std::vector
|
||||
int vtxBaseIndex = vertices->size();
|
||||
|
||||
|
||||
indicesPtr->push_back(vtxBaseIndex);
|
||||
indicesPtr->push_back(vtxBaseIndex+1);
|
||||
indicesPtr->push_back(vtxBaseIndex+2);
|
||||
|
||||
|
||||
GLInstanceVertex vtx0;
|
||||
vtx0.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f]*3+0];
|
||||
@ -79,19 +77,28 @@ static GLInstanceGraphicsShape* gCreateGraphicsShapeFromWavefrontObj(std::vector
|
||||
btVector3 v2(vtx2.xyzw[0],vtx2.xyzw[1],vtx2.xyzw[2]);
|
||||
|
||||
normal = (v1-v0).cross(v2-v0);
|
||||
normal.normalize();
|
||||
vtx0.normal[0] = normal[0];
|
||||
vtx0.normal[1] = normal[1];
|
||||
vtx0.normal[2] = normal[2];
|
||||
vtx1.normal[0] = normal[0];
|
||||
vtx1.normal[1] = normal[1];
|
||||
vtx1.normal[2] = normal[2];
|
||||
vtx2.normal[0] = normal[0];
|
||||
vtx2.normal[1] = normal[1];
|
||||
vtx2.normal[2] = normal[2];
|
||||
vertices->push_back(vtx0);
|
||||
vertices->push_back(vtx1);
|
||||
vertices->push_back(vtx2);
|
||||
btScalar len2 = normal.length2();
|
||||
//skip degenerate triangles
|
||||
if (len2 > SIMD_EPSILON)
|
||||
{
|
||||
normal.normalize();
|
||||
vtx0.normal[0] = normal[0];
|
||||
vtx0.normal[1] = normal[1];
|
||||
vtx0.normal[2] = normal[2];
|
||||
vtx1.normal[0] = normal[0];
|
||||
vtx1.normal[1] = normal[1];
|
||||
vtx1.normal[2] = normal[2];
|
||||
vtx2.normal[0] = normal[0];
|
||||
vtx2.normal[1] = normal[1];
|
||||
vtx2.normal[2] = normal[2];
|
||||
vertices->push_back(vtx0);
|
||||
vertices->push_back(vtx1);
|
||||
vertices->push_back(vtx2);
|
||||
indicesPtr->push_back(vtxBaseIndex);
|
||||
indicesPtr->push_back(vtxBaseIndex+1);
|
||||
indicesPtr->push_back(vtxBaseIndex+2);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -113,6 +120,7 @@ static GLInstanceGraphicsShape* gCreateGraphicsShapeFromWavefrontObj(std::vector
|
||||
|
||||
void ImportObjDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
|
||||
{
|
||||
gfxBridge.setUpAxis(2);
|
||||
this->createEmptyDynamicsWorld();
|
||||
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
|
||||
|
||||
@ -111,6 +111,7 @@ GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
|
||||
|
||||
void ImportSTLDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
|
||||
{
|
||||
gfxBridge.setUpAxis(2);
|
||||
this->createEmptyDynamicsWorld();
|
||||
gfxBridge.createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
671
Demos3/ImportURDFDemo/urdf_samples.h
Normal file
671
Demos3/ImportURDFDemo/urdf_samples.h
Normal file
@ -0,0 +1,671 @@
|
||||
#ifndef URDF_SAMPLES_H
|
||||
#define URDF_SAMPLES_H
|
||||
|
||||
#define MSTRINGIFY(A) #A
|
||||
|
||||
|
||||
const char* urdf_char2 = MSTRINGIFY(
|
||||
<robot name="test_robot">
|
||||
<link name="link1" />
|
||||
<link name="link2" />
|
||||
<link name="link3" />
|
||||
<link name="link4" />
|
||||
|
||||
<joint name="joint1" type="continuous">
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint2" type="continuous">
|
||||
<parent link="link1"/>
|
||||
<child link="link3"/>
|
||||
</joint>
|
||||
|
||||
<joint name="joint3" type="continuous">
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
</joint>
|
||||
</robot>);
|
||||
|
||||
const char* urdf_char1 = MSTRINGIFY(
|
||||
<?xml version="1.0"?>
|
||||
<robot name="myfirst">
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.6" radius="0.2"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</robot>
|
||||
);
|
||||
|
||||
const char* urdf_char3 = MSTRINGIFY(<?xml version="1.0"?>
|
||||
<robot name="multipleshapes">
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.6" radius="0.2"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_right_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="right_leg"/>
|
||||
</joint>
|
||||
|
||||
</robot>);
|
||||
|
||||
const char* urdf_char4 = MSTRINGIFY(
|
||||
|
||||
<?xml version="1.0"?>
|
||||
<robot name="materials">
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.6" radius="0.2"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_right_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="right_leg"/>
|
||||
<origin xyz="0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_left_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="left_leg"/>
|
||||
<origin xyz="-0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="0.2"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="head_swivel" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="head"/>
|
||||
<origin xyz="0 0 0.3"/>
|
||||
</joint>
|
||||
|
||||
<link name="box">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="tobox" type="fixed">
|
||||
<parent link="head"/>
|
||||
<child link="box"/>
|
||||
<origin xyz="0 0.1414 0.1414"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
|
||||
);
|
||||
|
||||
const char* urdf_char_r2d2 = MSTRINGIFY(
|
||||
|
||||
<?xml version="1.0"?>
|
||||
<robot name="visual">
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.6" radius="0.2"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_right_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="right_leg"/>
|
||||
<origin xyz="0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_base_joint" type="fixed">
|
||||
<parent link="right_leg"/>
|
||||
<child link="right_base"/>
|
||||
<origin xyz="0 0 -0.6"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_front_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_front_wheel_joint" type="fixed">
|
||||
<parent link="right_base"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_back_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_back_wheel_joint" type="fixed">
|
||||
<parent link="right_base"/>
|
||||
<child link="right_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_left_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="left_leg"/>
|
||||
<origin xyz="-0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_base_joint" type="fixed">
|
||||
<parent link="left_leg"/>
|
||||
<child link="left_base"/>
|
||||
<origin xyz="0 0 -0.6"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_front_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_front_wheel_joint" type="fixed">
|
||||
<parent link="left_base"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_back_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_back_wheel_joint" type="fixed">
|
||||
<parent link="left_base"/>
|
||||
<child link="left_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
</joint>
|
||||
|
||||
<joint name="gripper_extension" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="gripper_pole"/>
|
||||
<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_pole">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.2" radius=".01"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
||||
<material name="Gray">
|
||||
<color rgba=".7 .7 .7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_gripper_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
|
||||
<parent link="gripper_pole"/>
|
||||
<child link="left_gripper"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_gripper">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_tip_joint" type="fixed">
|
||||
<parent link="left_gripper"/>
|
||||
<child link="left_tip"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_tip">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_gripper_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
|
||||
<parent link="gripper_pole"/>
|
||||
<child link="right_gripper"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_gripper">
|
||||
<visual>
|
||||
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_tip_joint" type="fixed">
|
||||
<parent link="right_gripper"/>
|
||||
<child link="right_tip"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_tip">
|
||||
<visual>
|
||||
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="0.2"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="head_swivel" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="head"/>
|
||||
<origin xyz="0 0 0.3"/>
|
||||
</joint>
|
||||
|
||||
<link name="box">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="tobox" type="fixed">
|
||||
<parent link="head"/>
|
||||
<child link="box"/>
|
||||
<origin xyz="0 0.1414 0.1414"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
);
|
||||
|
||||
const char* urdf_char = MSTRINGIFY(
|
||||
|
||||
<?xml version="1.0"?>
|
||||
<robot name="flexible">
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.6" radius="0.2"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="right_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_right_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="right_leg"/>
|
||||
<origin xyz="0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_base_joint" type="fixed">
|
||||
<parent link="right_leg"/>
|
||||
<child link="right_base"/>
|
||||
<origin xyz="0 0 -0.6"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_front_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_front_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_base"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_back_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_back_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_base"/>
|
||||
<child link="right_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_left_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="left_leg"/>
|
||||
<origin xyz="-0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_base_joint" type="fixed">
|
||||
<parent link="left_leg"/>
|
||||
<child link="left_base"/>
|
||||
<origin xyz="0 0 -0.6"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_front_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_front_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_base"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_back_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_back_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_base"/>
|
||||
<child link="left_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="gripper_extension" type="prismatic">
|
||||
<parent link="base_link"/>
|
||||
<child link="gripper_pole"/>
|
||||
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
|
||||
<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_pole">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.2" radius=".01"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
||||
<material name="Gray">
|
||||
<color rgba=".7 .7 .7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_gripper_joint" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
||||
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
|
||||
<parent link="gripper_pole"/>
|
||||
<child link="left_gripper"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_gripper">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="left_tip_joint" type="fixed">
|
||||
<parent link="left_gripper"/>
|
||||
<child link="left_tip"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_tip">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_gripper_joint" type="revolute">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
||||
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
|
||||
<parent link="gripper_pole"/>
|
||||
<child link="right_gripper"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_gripper">
|
||||
<visual>
|
||||
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="right_tip_joint" type="fixed">
|
||||
<parent link="right_gripper"/>
|
||||
<child link="right_tip"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_tip">
|
||||
<visual>
|
||||
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<link name="head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="0.2"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="head_swivel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="head"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin xyz="0 0 0.3"/>
|
||||
</joint>
|
||||
|
||||
<link name="box">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="tobox" type="fixed">
|
||||
<parent link="head"/>
|
||||
<child link="box"/>
|
||||
<origin xyz="0 0.1414 0.1414"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
|
||||
);
|
||||
|
||||
#endif //URDF_SAMPLES_H
|
||||
|
||||
@ -167,6 +167,7 @@ Bullet2RigidBodyDemo::Bullet2RigidBodyDemo(SimpleOpenGL3App* app, CommonPhysicsS
|
||||
void Bullet2RigidBodyDemo::initPhysics()
|
||||
{
|
||||
MyGraphicsPhysicsBridge glBridge(m_glApp);
|
||||
glBridge.setUpAxis(1);
|
||||
m_physicsSetup->initPhysics(glBridge);
|
||||
m_glApp->m_instancingRenderer->writeTransforms();
|
||||
|
||||
|
||||
@ -60,7 +60,9 @@ public:
|
||||
|
||||
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
|
||||
{
|
||||
drawLine(PointOnB,PointOnB+normalOnB,color);
|
||||
}
|
||||
|
||||
|
||||
virtual void reportErrorWarning(const char* warningString)
|
||||
{
|
||||
|
||||
@ -599,7 +599,10 @@ void FeatherstoneDemo1::renderScene()
|
||||
btVector3 pos = col->getWorldTransform().getOrigin();
|
||||
btQuaternion orn = col->getWorldTransform().getRotation();
|
||||
int index = col->getUserIndex();
|
||||
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,index);
|
||||
if (index>=0)
|
||||
{
|
||||
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,index);
|
||||
}
|
||||
}
|
||||
m_glApp->m_instancingRenderer->writeTransforms();
|
||||
}
|
||||
|
||||
467
Demos3/bullet2/LuaDemo/LuaPhysicsSetup.cpp
Normal file
467
Demos3/bullet2/LuaDemo/LuaPhysicsSetup.cpp
Normal file
@ -0,0 +1,467 @@
|
||||
#include "LuaPhysicsSetup.h"
|
||||
|
||||
#include "OpenGLWindow/SimpleOpenGL3App.h"//??
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include <iostream>
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
|
||||
|
||||
extern "C" {
|
||||
#include "lua.h"
|
||||
#include "lualib.h"
|
||||
#include "lauxlib.h"
|
||||
}
|
||||
|
||||
|
||||
char* sLuaFileName = "init_physics.lua";
|
||||
|
||||
static const float scaling=0.35f;
|
||||
static LuaPhysicsSetup* sLuaDemo = 0;
|
||||
|
||||
static btVector4 colors[4] =
|
||||
{
|
||||
btVector4(1,0,0,1),
|
||||
btVector4(0,1,0,1),
|
||||
btVector4(0,1,1,1),
|
||||
btVector4(1,1,0,1),
|
||||
};
|
||||
|
||||
LuaPhysicsSetup::LuaPhysicsSetup(class SimpleOpenGL3App* app)
|
||||
:m_glApp(app),
|
||||
m_config(0),
|
||||
m_dispatcher(0),
|
||||
m_bp(0),
|
||||
m_solver(0),
|
||||
m_dynamicsWorld(0)
|
||||
{
|
||||
sLuaDemo = this;
|
||||
}
|
||||
|
||||
LuaPhysicsSetup::~LuaPhysicsSetup()
|
||||
{
|
||||
sLuaDemo = 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//todo: allow to create solver, broadphase, multiple worlds etc.
|
||||
static int gCreateDefaultDynamicsWorld(lua_State *L)
|
||||
{
|
||||
sLuaDemo->m_config = new btDefaultCollisionConfiguration;
|
||||
sLuaDemo->m_dispatcher = new btCollisionDispatcher(sLuaDemo->m_config);
|
||||
sLuaDemo->m_bp = new btDbvtBroadphase();
|
||||
sLuaDemo->m_solver = new btNNCGConstraintSolver();
|
||||
sLuaDemo->m_dynamicsWorld = new btDiscreteDynamicsWorld(sLuaDemo->m_dispatcher,sLuaDemo->m_bp,sLuaDemo->m_solver,sLuaDemo->m_config);
|
||||
lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld);
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
static int gDeleteDynamicsWorld(lua_State *L)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) CustomShapeData
|
||||
{
|
||||
btVector3 m_localScaling;
|
||||
int m_shapeIndex;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) CustomRigidBodyData
|
||||
{
|
||||
int m_graphicsInstanceIndex;
|
||||
};
|
||||
|
||||
static int gCreateCubeShape(lua_State *L)
|
||||
{
|
||||
int argc = lua_gettop(L);
|
||||
if (argc==4)
|
||||
{
|
||||
btVector3 halfExtents(1,1,1);
|
||||
if (!lua_isuserdata(L,1))
|
||||
{
|
||||
std::cerr << "error: first argument to createCubeShape should be world";
|
||||
return 0;
|
||||
}
|
||||
//expect userdata = sLuaDemo->m_dynamicsWorld
|
||||
halfExtents = btVector3(lua_tonumber(L,2),lua_tonumber(L,3),lua_tonumber(L,4));
|
||||
btCollisionShape* colShape = new btBoxShape(halfExtents);
|
||||
|
||||
CustomShapeData* shapeData = new CustomShapeData();
|
||||
shapeData->m_shapeIndex = sLuaDemo->m_glApp->registerCubeShape();
|
||||
shapeData->m_localScaling = halfExtents;
|
||||
|
||||
colShape->setUserPointer(shapeData);
|
||||
lua_pushlightuserdata (L, colShape);
|
||||
return 1;
|
||||
} else
|
||||
{
|
||||
std::cerr << "Error: invalid number of arguments to createCubeShape, expected 4 (world,halfExtentsX,halfExtentsY,halfExtentsX) but got " << argc;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int gCreateSphereShape(lua_State *L)
|
||||
{
|
||||
int argc = lua_gettop(L);
|
||||
if (argc==2)
|
||||
{
|
||||
btVector3 halfExtents(1,1,1);
|
||||
if (!lua_isuserdata(L,1))
|
||||
{
|
||||
std::cerr << "error: first argument to createSphereShape should be world";
|
||||
return 0;
|
||||
}
|
||||
//expect userdata = sLuaDemo->m_dynamicsWorld
|
||||
btScalar radius = lua_tonumber(L,2);
|
||||
btCollisionShape* colShape = new btSphereShape(radius);
|
||||
|
||||
CustomShapeData* shapeData = new CustomShapeData();
|
||||
shapeData->m_shapeIndex = sLuaDemo->m_glApp->registerGraphicsSphereShape(radius,false,100,0.5);
|
||||
shapeData->m_localScaling = halfExtents;
|
||||
|
||||
colShape->setUserPointer(shapeData);
|
||||
lua_pushlightuserdata (L, colShape);
|
||||
return 1;
|
||||
} else
|
||||
{
|
||||
std::cerr << "Error: invalid number of arguments to createSphereShape, expected 2 (world,radius) but got " << argc;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
int luaL_returnlen(lua_State* L, int index)
|
||||
{
|
||||
lua_len(L, index);
|
||||
int len = lua_tointeger(L,-1);
|
||||
lua_pop(L, 1);
|
||||
return len;
|
||||
}
|
||||
|
||||
btVector3 getLuaVectorArg(lua_State* L, int index)
|
||||
{
|
||||
btVector3 pos(0,0,0);
|
||||
|
||||
int sz = luaL_returnlen(L, index); // get size of table
|
||||
{
|
||||
lua_rawgeti(L, index, 1); // push t[i]
|
||||
pos[0] = lua_tonumber(L,-1);
|
||||
lua_pop(L, 1);
|
||||
lua_rawgeti(L, index, 2); // push t[i]
|
||||
pos[1] = lua_tonumber(L,-1);
|
||||
lua_pop(L, 1);
|
||||
lua_rawgeti(L, index, 3); // push t[i]
|
||||
pos[2] = lua_tonumber(L,-1);
|
||||
lua_pop(L, 1);
|
||||
}
|
||||
return pos;
|
||||
}
|
||||
|
||||
btQuaternion getLuaQuaternionArg(lua_State* L, int index)
|
||||
{
|
||||
btQuaternion orn(0,0,0,1);
|
||||
|
||||
int sz = luaL_returnlen(L, index); // get size of table
|
||||
{
|
||||
lua_rawgeti(L, index, 1); // push t[i]
|
||||
orn[0] = lua_tonumber(L,-1);
|
||||
lua_pop(L, 1);
|
||||
lua_rawgeti(L, index, 2); // push t[i]
|
||||
orn[1] = lua_tonumber(L,-1);
|
||||
lua_pop(L, 1);
|
||||
lua_rawgeti(L, index, 3); // push t[i]
|
||||
orn[2] = lua_tonumber(L,-1);
|
||||
lua_pop(L, 1);
|
||||
lua_rawgeti(L, index, 4); // push t[i]
|
||||
orn[3] = lua_tonumber(L,-1);
|
||||
lua_pop(L, 1);
|
||||
}
|
||||
return orn;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
static int gCreateRigidBody (lua_State *L)
|
||||
{
|
||||
int argc = lua_gettop(L);
|
||||
if (argc==5)
|
||||
{
|
||||
|
||||
btTransform startTransform;
|
||||
startTransform.setIdentity();
|
||||
|
||||
|
||||
if (!lua_isuserdata(L,1))
|
||||
{
|
||||
std::cerr << "error: first argument to b3CreateRigidbody should be world";
|
||||
return 0;
|
||||
}
|
||||
btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) lua_touserdata(L,1);
|
||||
if (world != sLuaDemo->m_dynamicsWorld)
|
||||
{
|
||||
std::cerr << "error: first argument expected to be a world";
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!lua_isuserdata(L,2))
|
||||
{
|
||||
std::cerr << "error: second argument to b3CreateRigidbody should be world";
|
||||
return 0;
|
||||
}
|
||||
|
||||
btScalar mass = lua_tonumber(L,3);
|
||||
|
||||
luaL_checktype(L,4, LUA_TTABLE);
|
||||
|
||||
btVector3 pos = getLuaVectorArg(L,4);
|
||||
|
||||
btQuaternion orn = getLuaQuaternionArg(L,5);
|
||||
|
||||
btCollisionShape* colShape = (btCollisionShape* )lua_touserdata(L,2);
|
||||
//expect userdata = sLuaDemo->m_dynamicsWorld
|
||||
|
||||
btVector3 inertia(0,0,0);
|
||||
if (mass)
|
||||
{
|
||||
colShape->calculateLocalInertia(mass,inertia);
|
||||
}
|
||||
|
||||
|
||||
|
||||
btRigidBody* body = new btRigidBody(mass,0,colShape,inertia);
|
||||
body->getWorldTransform().setOrigin(pos);
|
||||
body->getWorldTransform().setRotation(orn);
|
||||
|
||||
|
||||
CustomShapeData* shapeData = (CustomShapeData*)colShape->getUserPointer();
|
||||
if (shapeData)
|
||||
{
|
||||
CustomRigidBodyData* rbd = new CustomRigidBodyData;
|
||||
static int curColor = 0;
|
||||
btVector4 color = colors[curColor];
|
||||
curColor++;
|
||||
curColor&=3;
|
||||
|
||||
CustomShapeData* shapeData = (CustomShapeData*)body->getCollisionShape()->getUserPointer();
|
||||
if (shapeData)
|
||||
{
|
||||
|
||||
rbd ->m_graphicsInstanceIndex = sLuaDemo->m_glApp->m_instancingRenderer->registerGraphicsInstance(shapeData->m_shapeIndex,startTransform.getOrigin(),startTransform.getRotation(),color,shapeData->m_localScaling);
|
||||
body->setUserIndex(rbd->m_graphicsInstanceIndex);
|
||||
}
|
||||
}
|
||||
|
||||
world->addRigidBody(body);
|
||||
lua_pushlightuserdata (L, body);
|
||||
return 1;
|
||||
} else
|
||||
{
|
||||
std::cerr << "Error: invalid number of arguments to createRigidBody, expected 5 (world,shape,mass,pos,orn) but got " << argc;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int gSetBodyPosition(lua_State *L)
|
||||
{
|
||||
int argc = lua_gettop(L);
|
||||
if (argc==3)
|
||||
{
|
||||
if (!lua_isuserdata(L,1))
|
||||
{
|
||||
std::cerr << "error: first argument needs to be a world";
|
||||
return 0;
|
||||
}
|
||||
if (!lua_isuserdata(L,2))
|
||||
{
|
||||
std::cerr << "error: second argument needs to be a body";
|
||||
return 0;
|
||||
}
|
||||
btRigidBody* body = (btRigidBody*)lua_touserdata(L,2);
|
||||
btVector3 pos = getLuaVectorArg(L,3);
|
||||
|
||||
btTransform& tr = body ->getWorldTransform();
|
||||
tr.setOrigin(pos);
|
||||
body->setWorldTransform(tr);
|
||||
} else
|
||||
{
|
||||
std::cerr << "error: setBodyPosition expects 6 arguments like setBodyPosition(world,body,0,1,0)";
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int gSetBodyOrientation(lua_State *L)
|
||||
{
|
||||
int argc = lua_gettop(L);
|
||||
if (argc==3)
|
||||
{
|
||||
if (!lua_isuserdata(L,1))
|
||||
{
|
||||
std::cerr << "error: first argument needs to be a world";
|
||||
return 0;
|
||||
}
|
||||
if (!lua_isuserdata(L,2))
|
||||
{
|
||||
std::cerr << "error: second argument needs to be a body";
|
||||
return 0;
|
||||
}
|
||||
btRigidBody* body = (btRigidBody*)lua_touserdata(L,2);
|
||||
btQuaternion orn = getLuaQuaternionArg(L,3);
|
||||
btTransform& tr = body ->getWorldTransform();
|
||||
tr.setRotation(orn);
|
||||
body->setWorldTransform(tr);
|
||||
} else
|
||||
{
|
||||
std::cerr << "error: setBodyOrientation expects 3 arguments like setBodyOrientation(world,body,orn)";
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
//b3CreateConvexShape(world, points)
|
||||
|
||||
//b3CreateHingeConstraint(world,bodyA,bodyB,...)
|
||||
|
||||
static void report_errors(lua_State *L, int status)
|
||||
{
|
||||
if ( status!=0 ) {
|
||||
std::cerr << "-- " << lua_tostring(L, -1) << std::endl;
|
||||
lua_pop(L, 1); // remove error message
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void LuaPhysicsSetup::initPhysics(GraphicsPhysicsBridge& gfxBridge)
|
||||
{
|
||||
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
|
||||
int numPrefixes = sizeof(prefix)/sizeof(const char*);
|
||||
char relativeFileName[1024];
|
||||
FILE* f=0;
|
||||
int result = 0;
|
||||
|
||||
for (int i=0;!f && i<numPrefixes;i++)
|
||||
{
|
||||
sprintf(relativeFileName,"%s%s",prefix[i],sLuaFileName);
|
||||
f = fopen(relativeFileName,"rb");
|
||||
}
|
||||
if (f)
|
||||
{
|
||||
fclose(f);
|
||||
|
||||
lua_State *L = luaL_newstate();
|
||||
|
||||
luaopen_io(L); // provides io.*
|
||||
luaopen_base(L);
|
||||
luaopen_table(L);
|
||||
luaopen_string(L);
|
||||
luaopen_math(L);
|
||||
//luaopen_package(L);
|
||||
luaL_openlibs(L);
|
||||
|
||||
// make my_function() available to Lua programs
|
||||
lua_register(L, "createDefaultDynamicsWorld", gCreateDefaultDynamicsWorld);
|
||||
lua_register(L, "deleteDynamicsWorld", gDeleteDynamicsWorld);
|
||||
lua_register(L, "createCubeShape", gCreateCubeShape);
|
||||
lua_register(L, "createSphereShape", gCreateSphereShape);
|
||||
|
||||
lua_register(L, "createRigidBody", gCreateRigidBody);
|
||||
lua_register(L, "setBodyPosition", gSetBodyPosition);
|
||||
lua_register(L, "setBodyOrientation", gSetBodyOrientation);
|
||||
|
||||
|
||||
|
||||
int s = luaL_loadfile(L, relativeFileName);
|
||||
|
||||
if ( s==0 ) {
|
||||
// execute Lua program
|
||||
s = lua_pcall(L, 0, LUA_MULTRET, 0);
|
||||
}
|
||||
|
||||
report_errors(L, s);
|
||||
lua_close(L);
|
||||
} else
|
||||
{
|
||||
b3Error("Cannot find Lua file%s\n",sLuaFileName);
|
||||
}
|
||||
|
||||
m_glApp->m_instancingRenderer->writeTransforms();
|
||||
}
|
||||
|
||||
|
||||
void LuaPhysicsSetup::exitPhysics()
|
||||
{
|
||||
delete m_dynamicsWorld;
|
||||
m_dynamicsWorld=0;
|
||||
delete m_dispatcher;
|
||||
m_dispatcher=0;
|
||||
delete m_bp;
|
||||
m_bp=0;
|
||||
delete m_config;
|
||||
m_config=0;
|
||||
}
|
||||
|
||||
void LuaPhysicsSetup::stepSimulation(float deltaTime)
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
|
||||
}
|
||||
|
||||
void LuaPhysicsSetup::debugDraw()
|
||||
{
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
}
|
||||
|
||||
bool LuaPhysicsSetup::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
//btAssert(0);
|
||||
return false;
|
||||
}
|
||||
bool LuaPhysicsSetup::movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
|
||||
{
|
||||
//btAssert(0);
|
||||
return false;
|
||||
|
||||
}
|
||||
void LuaPhysicsSetup::removePickingConstraint()
|
||||
{
|
||||
//btAssert(0);
|
||||
|
||||
}
|
||||
|
||||
void LuaPhysicsSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
|
||||
{
|
||||
int numCollisionObjects = m_dynamicsWorld->getNumCollisionObjects();
|
||||
for (int i = 0; i<numCollisionObjects; i++)
|
||||
{
|
||||
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btVector3 pos = colObj->getWorldTransform().getOrigin();
|
||||
btQuaternion orn = colObj->getWorldTransform().getRotation();
|
||||
int index = colObj->getUserIndex();
|
||||
if (index >= 0)
|
||||
{
|
||||
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos, orn, index);
|
||||
}
|
||||
}
|
||||
m_glApp->m_instancingRenderer->writeTransforms();
|
||||
}
|
||||
|
||||
btRigidBody* LuaPhysicsSetup::createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color)
|
||||
{
|
||||
btAssert(0);
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
btBoxShape* LuaPhysicsSetup::createBoxShape(const btVector3& halfExtents)
|
||||
{
|
||||
btAssert(0);
|
||||
return 0;
|
||||
}
|
||||
43
Demos3/bullet2/LuaDemo/LuaPhysicsSetup.h
Normal file
43
Demos3/bullet2/LuaDemo/LuaPhysicsSetup.h
Normal file
@ -0,0 +1,43 @@
|
||||
#ifndef _LUA_PHYSICS_SETUP_H
|
||||
#define _LUA_PHYSICS_SETUP_H
|
||||
|
||||
#include "../Demos/CommonPhysicsSetup.h"
|
||||
|
||||
//we don't derive from CommonRigidBodySetup because we
|
||||
//create and own our own dynamics world (one or more)
|
||||
//at run-time
|
||||
struct LuaPhysicsSetup : public CommonPhysicsSetup
|
||||
{
|
||||
|
||||
LuaPhysicsSetup(class SimpleOpenGL3App* app);
|
||||
virtual ~LuaPhysicsSetup();
|
||||
|
||||
class btDefaultCollisionConfiguration* m_config;
|
||||
class btCollisionDispatcher* m_dispatcher;
|
||||
class btDbvtBroadphase* m_bp;
|
||||
class btNNCGConstraintSolver* m_solver;
|
||||
class btDiscreteDynamicsWorld* m_dynamicsWorld;
|
||||
class SimpleOpenGL3App* m_glApp;
|
||||
|
||||
virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
|
||||
|
||||
virtual void exitPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
virtual void debugDraw();
|
||||
|
||||
virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
|
||||
virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld);
|
||||
virtual void removePickingConstraint();
|
||||
|
||||
virtual void syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge);
|
||||
|
||||
virtual btRigidBody* createRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape, const btVector4& color=btVector4(1,0,0,1));
|
||||
|
||||
virtual btBoxShape* createBoxShape(const btVector3& halfExtents);
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //_LUA_PHYSICS_SETUP_H
|
||||
@ -22,6 +22,8 @@ namespace Gwen
|
||||
{
|
||||
TextObject name;
|
||||
void* data;
|
||||
int m_intData;
|
||||
|
||||
bool failed;
|
||||
int width;
|
||||
int height;
|
||||
@ -29,6 +31,7 @@ namespace Gwen
|
||||
Texture()
|
||||
{
|
||||
data = NULL;
|
||||
m_intData = 0;
|
||||
width = 4;
|
||||
height = 4;
|
||||
failed = false;
|
||||
|
||||
@ -20,6 +20,7 @@ GWEN_CONTROL_CONSTRUCTOR( UnitTest )
|
||||
|
||||
SetSize( 600, 450 );
|
||||
|
||||
|
||||
m_TabControl = new Controls::TabControl( this );
|
||||
m_TabControl->Dock( Pos::Fill );
|
||||
m_TabControl->SetMargin( Margin( 2, 2, 2, 2 ) );
|
||||
@ -29,6 +30,8 @@ GWEN_CONTROL_CONSTRUCTOR( UnitTest )
|
||||
m_TextOutput->SetHeight( 100 );
|
||||
|
||||
|
||||
ADD_UNIT_TEST( ImagePanel );
|
||||
|
||||
//ADD_UNIT_TEST( MenuStrip );
|
||||
|
||||
Gwen::UnicodeString str1(L"testje");
|
||||
@ -121,7 +124,6 @@ GWEN_CONTROL_CONSTRUCTOR( UnitTest )
|
||||
ADD_UNIT_TEST( Slider );
|
||||
ADD_UNIT_TEST( ProgressBar );
|
||||
ADD_UNIT_TEST( RadioButton2 );
|
||||
ADD_UNIT_TEST( ImagePanel );
|
||||
|
||||
ADD_UNIT_TEST( Label );
|
||||
ADD_UNIT_TEST( Checkbox );
|
||||
|
||||
@ -7,9 +7,26 @@
|
||||
#include "GLPrimitiveRenderer.h"
|
||||
struct sth_stash;
|
||||
#include "../OpenGLTrueTypeFont/fontstash.h"
|
||||
#include "Gwen/Texture.h"
|
||||
|
||||
#include "TwFonts.h"
|
||||
static float extraSpacing = 0.;//6f;
|
||||
#include <assert.h>
|
||||
#include <math.h>
|
||||
|
||||
template <class T>
|
||||
inline void MyClamp(T& a, const T& lb, const T& ub)
|
||||
{
|
||||
if (a < lb)
|
||||
{
|
||||
a = lb;
|
||||
}
|
||||
else if (ub < a)
|
||||
{
|
||||
a = ub;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static GLuint BindFont(const CTexFont *_Font)
|
||||
{
|
||||
@ -32,7 +49,14 @@ static GLuint BindFont(const CTexFont *_Font)
|
||||
return TexID;
|
||||
}
|
||||
|
||||
|
||||
struct MyTextureLoader
|
||||
{
|
||||
virtual ~MyTextureLoader()
|
||||
{
|
||||
}
|
||||
virtual void LoadTexture( Gwen::Texture* pTexture ) = 0;
|
||||
virtual void FreeTexture( Gwen::Texture* pTexture )=0;
|
||||
};
|
||||
|
||||
class GwenOpenGL3CoreRenderer : public Gwen::Renderer::Base
|
||||
{
|
||||
@ -48,6 +72,7 @@ class GwenOpenGL3CoreRenderer : public Gwen::Renderer::Base
|
||||
const CTexFont* m_currentFont;
|
||||
|
||||
GLuint m_fontTextureId;
|
||||
MyTextureLoader* m_textureLoader;
|
||||
public:
|
||||
GwenOpenGL3CoreRenderer (GLPrimitiveRenderer* primRender, sth_stash* font,float screenWidth, float screenHeight, float retinaScale)
|
||||
:m_primitiveRenderer(primRender),
|
||||
@ -55,7 +80,8 @@ public:
|
||||
m_screenWidth(screenWidth),
|
||||
m_screenHeight(screenHeight),
|
||||
m_retinaScale(retinaScale),
|
||||
m_useTrueTypeFont(false)
|
||||
m_useTrueTypeFont(false),
|
||||
m_textureLoader(0)
|
||||
{
|
||||
///only enable true type fonts on Macbook Retina, it looks gorgeous
|
||||
if (retinaScale==2.0f)
|
||||
@ -315,7 +341,76 @@ public:
|
||||
return Gwen::Renderer::Base::MeasureText(pFont,text);
|
||||
}
|
||||
|
||||
void setTextureLoader(MyTextureLoader* loader)
|
||||
{
|
||||
m_textureLoader = loader;
|
||||
}
|
||||
|
||||
virtual void LoadTexture( Gwen::Texture* pTexture )
|
||||
{
|
||||
if (m_textureLoader)
|
||||
m_textureLoader->LoadTexture(pTexture);
|
||||
}
|
||||
virtual void FreeTexture( Gwen::Texture* pTexture )
|
||||
{
|
||||
if (m_textureLoader)
|
||||
m_textureLoader->FreeTexture(pTexture);
|
||||
|
||||
}
|
||||
|
||||
|
||||
virtual void DrawTexturedRect( Gwen::Texture* pTexture, Gwen::Rect rect, float u1=0.0f, float v1=0.0f, float u2=1.0f, float v2=1.0f )
|
||||
{
|
||||
|
||||
Translate( rect );
|
||||
|
||||
//float eraseColor[4] = {0,0,0,0};
|
||||
//m_primitiveRenderer->drawRect(rect.x, rect.y+m_yOffset, rect.x+rect.w, rect.y+rect.h+m_yOffset, eraseColor);
|
||||
|
||||
GLint texHandle = (GLint) pTexture->m_intData;
|
||||
//if (!texHandle)
|
||||
// return;
|
||||
|
||||
glActiveTexture(GL_TEXTURE0);
|
||||
glBindTexture(GL_TEXTURE_2D,texHandle);
|
||||
// glDisable(GL_DEPTH_TEST);
|
||||
|
||||
GLint err;
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
|
||||
/* bool useFiltering = true;
|
||||
if (useFiltering)
|
||||
{
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
|
||||
} else
|
||||
{
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
|
||||
}
|
||||
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
|
||||
*/
|
||||
|
||||
//glEnable(GL_TEXTURE_2D);
|
||||
|
||||
|
||||
|
||||
// glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE, GL_NONE );
|
||||
static float add=0.0;
|
||||
//add+=1./512.;//0.01;
|
||||
float color[4]={1,1,1,1};
|
||||
|
||||
m_primitiveRenderer->drawTexturedRect(rect.x, rect.y+m_yOffset, rect.x+rect.w, rect.y+rect.h+m_yOffset, color,0+add,0,1+add,1,true);
|
||||
|
||||
|
||||
err = glGetError();
|
||||
assert(err==GL_NO_ERROR);
|
||||
|
||||
|
||||
}
|
||||
|
||||
};
|
||||
#endif //__GWEN_OPENGL3_CORE_RENDERER_H
|
||||
|
||||
@ -14,6 +14,7 @@
|
||||
configuration {"MacOSX"}
|
||||
links { "OpenGL.framework"}
|
||||
configuration {"not Windows", "not MacOSX"}
|
||||
if os.is("Linux") then
|
||||
if not _OPTIONS["force_dlopen_opengl"] and (os.isdir("/usr/include") and os.isfile("/usr/include/GL/gl.h")) then
|
||||
links {"GL"}
|
||||
else
|
||||
@ -21,6 +22,7 @@
|
||||
defines {"GLEW_INIT_OPENGL11_FUNCTIONS=1"}
|
||||
links {"dl"}
|
||||
end
|
||||
end
|
||||
configuration{}
|
||||
end
|
||||
|
||||
|
||||
@ -35,6 +35,7 @@ btCollisionObject::btCollisionObject()
|
||||
m_restitution(btScalar(0.)),
|
||||
m_internalType(CO_COLLISION_OBJECT),
|
||||
m_userObjectPointer(0),
|
||||
m_userIndex(-1),
|
||||
m_hitFraction(btScalar(1.)),
|
||||
m_ccdSweptSphereRadius(btScalar(0.)),
|
||||
m_ccdMotionThreshold(btScalar(0.)),
|
||||
|
||||
@ -92,11 +92,10 @@ protected:
|
||||
int m_internalType;
|
||||
|
||||
///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
|
||||
union
|
||||
{
|
||||
void* m_userObjectPointer;
|
||||
int m_userIndex;
|
||||
};
|
||||
|
||||
void* m_userObjectPointer;
|
||||
|
||||
int m_userIndex;
|
||||
|
||||
///time of impact calculation
|
||||
btScalar m_hitFraction;
|
||||
|
||||
@ -232,7 +232,9 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
|
||||
m_compoundShapeRevision = compoundShape->getUpdateRevision();
|
||||
}
|
||||
|
||||
|
||||
if (m_childCollisionAlgorithms.size()==0)
|
||||
return;
|
||||
|
||||
const btDbvt* tree = compoundShape->getDynamicAabbTree();
|
||||
//use a dynamic aabb tree to cull potential child-overlaps
|
||||
btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,654 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
/*
|
||||
2014 May: btGeneric6DofSpring2Constraint is created from the original (2.82.2712) btGeneric6DofConstraint by Gabor Puhr and Tamas Umenhoffer
|
||||
Pros:
|
||||
- Much more accurate and stable in a lot of situation. (Especially when a sleeping chain of RBs connected with 6dof2 is pulled)
|
||||
- Stable and accurate spring with minimal energy loss that works with all of the solvers. (latter is not true for the original 6dof spring)
|
||||
- Servo motor functionality
|
||||
- Much more accurate bouncing. 0 really means zero bouncing (not true for the original 6odf) and there is only a minimal energy loss when the value is 1 (because of the solvers' precision)
|
||||
- Rotation order for the Euler system can be set. (One axis' freedom is still limited to pi/2)
|
||||
|
||||
Cons:
|
||||
- It is slower than the original 6dof. There is no exact ratio, but half speed is a good estimation.
|
||||
- At bouncing the correct velocity is calculated, but not the correct position. (it is because of the solver can correct position or velocity, but not both.)
|
||||
*/
|
||||
|
||||
/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
|
||||
/// Added support for generic constraint solver through getInfo1/getInfo2 methods
|
||||
|
||||
/*
|
||||
2007-09-09
|
||||
btGeneric6DofConstraint Refactored by Francisco Le?n
|
||||
email: projectileman@yahoo.com
|
||||
http://gimpact.sf.net
|
||||
*/
|
||||
|
||||
|
||||
#ifndef BT_GENERIC_6DOF_CONSTRAINT2_H
|
||||
#define BT_GENERIC_6DOF_CONSTRAINT2_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btJacobianEntry.h"
|
||||
#include "btTypedConstraint.h"
|
||||
|
||||
class btRigidBody;
|
||||
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintDoubleData2
|
||||
#define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintDoubleData2"
|
||||
#else
|
||||
#define btGeneric6DofSpring2ConstraintData2 btGeneric6DofSpring2ConstraintData
|
||||
#define btGeneric6DofSpring2ConstraintDataName "btGeneric6DofSpring2ConstraintData"
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
|
||||
enum RotateOrder
|
||||
{
|
||||
RO_XYZ,
|
||||
RO_XZY,
|
||||
RO_YXZ,
|
||||
RO_YZX,
|
||||
RO_ZXY,
|
||||
RO_ZYX
|
||||
};
|
||||
|
||||
class btRotationalLimitMotor2
|
||||
{
|
||||
public:
|
||||
// upper < lower means free
|
||||
// upper == lower means locked
|
||||
// upper > lower means limited
|
||||
btScalar m_loLimit;
|
||||
btScalar m_hiLimit;
|
||||
btScalar m_bounce;
|
||||
btScalar m_stopERP;
|
||||
btScalar m_stopCFM;
|
||||
btScalar m_motorERP;
|
||||
btScalar m_motorCFM;
|
||||
bool m_enableMotor;
|
||||
btScalar m_targetVelocity;
|
||||
btScalar m_maxMotorForce;
|
||||
bool m_servoMotor;
|
||||
btScalar m_servoTarget;
|
||||
bool m_enableSpring;
|
||||
btScalar m_springStiffness;
|
||||
btScalar m_springDamping;
|
||||
btScalar m_equilibriumPoint;
|
||||
|
||||
btScalar m_currentLimitError;
|
||||
btScalar m_currentLimitErrorHi;
|
||||
btScalar m_currentPosition;
|
||||
int m_currentLimit;
|
||||
|
||||
btRotationalLimitMotor2()
|
||||
{
|
||||
m_loLimit = 1.0f;
|
||||
m_hiLimit = -1.0f;
|
||||
m_bounce = 0.0f;
|
||||
m_stopERP = 0.2f;
|
||||
m_stopCFM = 0.f;
|
||||
m_motorERP = 0.9f;
|
||||
m_motorCFM = 0.f;
|
||||
m_enableMotor = false;
|
||||
m_targetVelocity = 0;
|
||||
m_maxMotorForce = 0.1f;
|
||||
m_servoMotor = false;
|
||||
m_servoTarget = 0;
|
||||
m_enableSpring = false;
|
||||
m_springStiffness = 0;
|
||||
m_springDamping = 0;
|
||||
m_equilibriumPoint = 0;
|
||||
|
||||
m_currentLimitError = 0;
|
||||
m_currentLimitErrorHi = 0;
|
||||
m_currentPosition = 0;
|
||||
m_currentLimit = 0;
|
||||
}
|
||||
|
||||
btRotationalLimitMotor2(const btRotationalLimitMotor2 & limot)
|
||||
{
|
||||
m_loLimit = limot.m_loLimit;
|
||||
m_hiLimit = limot.m_hiLimit;
|
||||
m_bounce = limot.m_bounce;
|
||||
m_stopERP = limot.m_stopERP;
|
||||
m_stopCFM = limot.m_stopCFM;
|
||||
m_motorERP = limot.m_motorERP;
|
||||
m_motorCFM = limot.m_motorCFM;
|
||||
m_enableMotor = limot.m_enableMotor;
|
||||
m_targetVelocity = limot.m_targetVelocity;
|
||||
m_maxMotorForce = limot.m_maxMotorForce;
|
||||
m_servoMotor = limot.m_servoMotor;
|
||||
m_servoTarget = limot.m_servoTarget;
|
||||
m_enableSpring = limot.m_enableSpring;
|
||||
m_springStiffness = limot.m_springStiffness;
|
||||
m_springDamping = limot.m_springDamping;
|
||||
m_equilibriumPoint = limot.m_equilibriumPoint;
|
||||
|
||||
m_currentLimitError = limot.m_currentLimitError;
|
||||
m_currentLimitErrorHi = limot.m_currentLimitErrorHi;
|
||||
m_currentPosition = limot.m_currentPosition;
|
||||
m_currentLimit = limot.m_currentLimit;
|
||||
}
|
||||
|
||||
|
||||
bool isLimited()
|
||||
{
|
||||
if(m_loLimit > m_hiLimit) return false;
|
||||
return true;
|
||||
}
|
||||
|
||||
void testLimitValue(btScalar test_value);
|
||||
};
|
||||
|
||||
|
||||
|
||||
class btTranslationalLimitMotor2
|
||||
{
|
||||
public:
|
||||
// upper < lower means free
|
||||
// upper == lower means locked
|
||||
// upper > lower means limited
|
||||
btVector3 m_lowerLimit;
|
||||
btVector3 m_upperLimit;
|
||||
btVector3 m_bounce;
|
||||
btVector3 m_stopERP;
|
||||
btVector3 m_stopCFM;
|
||||
btVector3 m_motorERP;
|
||||
btVector3 m_motorCFM;
|
||||
bool m_enableMotor[3];
|
||||
bool m_servoMotor[3];
|
||||
bool m_enableSpring[3];
|
||||
btVector3 m_servoTarget;
|
||||
btVector3 m_springStiffness;
|
||||
btVector3 m_springDamping;
|
||||
btVector3 m_equilibriumPoint;
|
||||
btVector3 m_targetVelocity;
|
||||
btVector3 m_maxMotorForce;
|
||||
|
||||
btVector3 m_currentLimitError;
|
||||
btVector3 m_currentLimitErrorHi;
|
||||
btVector3 m_currentLinearDiff;
|
||||
int m_currentLimit[3];
|
||||
|
||||
btTranslationalLimitMotor2()
|
||||
{
|
||||
m_lowerLimit .setValue(0.f , 0.f , 0.f );
|
||||
m_upperLimit .setValue(0.f , 0.f , 0.f );
|
||||
m_bounce .setValue(0.f , 0.f , 0.f );
|
||||
m_stopERP .setValue(0.2f, 0.2f, 0.2f);
|
||||
m_stopCFM .setValue(0.f , 0.f , 0.f );
|
||||
m_motorERP .setValue(0.9f, 0.9f, 0.9f);
|
||||
m_motorCFM .setValue(0.f , 0.f , 0.f );
|
||||
|
||||
m_currentLimitError .setValue(0.f , 0.f , 0.f );
|
||||
m_currentLimitErrorHi.setValue(0.f , 0.f , 0.f );
|
||||
m_currentLinearDiff .setValue(0.f , 0.f , 0.f );
|
||||
|
||||
for(int i=0; i < 3; i++)
|
||||
{
|
||||
m_enableMotor[i] = false;
|
||||
m_servoMotor[i] = false;
|
||||
m_enableSpring[i] = false;
|
||||
m_servoTarget[i] = btScalar(0.f);
|
||||
m_springStiffness[i] = btScalar(0.f);
|
||||
m_springDamping[i] = btScalar(0.f);
|
||||
m_equilibriumPoint[i] = btScalar(0.f);
|
||||
m_targetVelocity[i] = btScalar(0.f);
|
||||
m_maxMotorForce[i] = btScalar(0.f);
|
||||
|
||||
m_currentLimit[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
btTranslationalLimitMotor2(const btTranslationalLimitMotor2 & other )
|
||||
{
|
||||
m_lowerLimit = other.m_lowerLimit;
|
||||
m_upperLimit = other.m_upperLimit;
|
||||
m_bounce = other.m_bounce;
|
||||
m_stopERP = other.m_stopERP;
|
||||
m_stopCFM = other.m_stopCFM;
|
||||
m_motorERP = other.m_motorERP;
|
||||
m_motorCFM = other.m_motorCFM;
|
||||
|
||||
m_currentLimitError = other.m_currentLimitError;
|
||||
m_currentLimitErrorHi = other.m_currentLimitErrorHi;
|
||||
m_currentLinearDiff = other.m_currentLinearDiff;
|
||||
|
||||
for(int i=0; i < 3; i++)
|
||||
{
|
||||
m_enableMotor[i] = other.m_enableMotor[i];
|
||||
m_servoMotor[i] = other.m_servoMotor[i];
|
||||
m_enableSpring[i] = other.m_enableSpring[i];
|
||||
m_servoTarget[i] = other.m_servoTarget[i];
|
||||
m_springStiffness[i] = other.m_springStiffness[i];
|
||||
m_springDamping[i] = other.m_springDamping[i];
|
||||
m_equilibriumPoint[i] = other.m_equilibriumPoint[i];
|
||||
m_targetVelocity[i] = other.m_targetVelocity[i];
|
||||
m_maxMotorForce[i] = other.m_maxMotorForce[i];
|
||||
|
||||
m_currentLimit[i] = other.m_currentLimit[i];
|
||||
}
|
||||
}
|
||||
|
||||
inline bool isLimited(int limitIndex)
|
||||
{
|
||||
return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
|
||||
}
|
||||
|
||||
void testLimitValue(int limitIndex, btScalar test_value);
|
||||
};
|
||||
|
||||
enum bt6DofFlags2
|
||||
{
|
||||
BT_6DOF_FLAGS_CFM_STOP2 = 1,
|
||||
BT_6DOF_FLAGS_ERP_STOP2 = 2,
|
||||
BT_6DOF_FLAGS_CFM_MOTO2 = 4,
|
||||
BT_6DOF_FLAGS_ERP_MOTO2 = 8
|
||||
};
|
||||
#define BT_6DOF_FLAGS_AXIS_SHIFT2 4 // bits per axis
|
||||
|
||||
|
||||
ATTRIBUTE_ALIGNED16(class) btGeneric6DofSpring2Constraint : public btTypedConstraint
|
||||
{
|
||||
protected:
|
||||
|
||||
btTransform m_frameInA;
|
||||
btTransform m_frameInB;
|
||||
|
||||
btJacobianEntry m_jacLinear[3];
|
||||
btJacobianEntry m_jacAng[3];
|
||||
|
||||
btTranslationalLimitMotor2 m_linearLimits;
|
||||
btRotationalLimitMotor2 m_angularLimits[3];
|
||||
|
||||
RotateOrder m_rotateOrder;
|
||||
|
||||
protected:
|
||||
|
||||
btTransform m_calculatedTransformA;
|
||||
btTransform m_calculatedTransformB;
|
||||
btVector3 m_calculatedAxisAngleDiff;
|
||||
btVector3 m_calculatedAxis[3];
|
||||
btVector3 m_calculatedLinearDiff;
|
||||
btScalar m_factA;
|
||||
btScalar m_factB;
|
||||
bool m_hasStaticBody;
|
||||
int m_flags;
|
||||
|
||||
btGeneric6DofSpring2Constraint& operator=(btGeneric6DofSpring2Constraint&)
|
||||
{
|
||||
btAssert(0);
|
||||
return *this;
|
||||
}
|
||||
|
||||
int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
|
||||
int setLinearLimits(btConstraintInfo2 *info, int row, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
|
||||
|
||||
void calculateLinearInfo();
|
||||
void calculateAngleInfo();
|
||||
void testAngularLimitMotor(int axis_index);
|
||||
|
||||
void calculateJacobi(btRotationalLimitMotor2* limot, const btTransform& transA,const btTransform& transB, btConstraintInfo2* info, int srow, btVector3& ax1, int rotational, int rotAllowed);
|
||||
int get_limit_motor_info2(btRotationalLimitMotor2* limot,
|
||||
const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
|
||||
btConstraintInfo2* info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
|
||||
|
||||
static btScalar btGetMatrixElem(const btMatrix3x3& mat, int index);
|
||||
static bool matrixToEulerXYZ(const btMatrix3x3& mat,btVector3& xyz);
|
||||
static bool matrixToEulerXZY(const btMatrix3x3& mat,btVector3& xyz);
|
||||
static bool matrixToEulerYXZ(const btMatrix3x3& mat,btVector3& xyz);
|
||||
static bool matrixToEulerYZX(const btMatrix3x3& mat,btVector3& xyz);
|
||||
static bool matrixToEulerZXY(const btMatrix3x3& mat,btVector3& xyz);
|
||||
static bool matrixToEulerZYX(const btMatrix3x3& mat,btVector3& xyz);
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
|
||||
btGeneric6DofSpring2Constraint(btRigidBody& rbB, const btTransform& frameInB, RotateOrder rotOrder = RO_XYZ);
|
||||
|
||||
virtual void buildJacobian() {}
|
||||
virtual void getInfo1 (btConstraintInfo1* info);
|
||||
virtual void getInfo2 (btConstraintInfo2* info);
|
||||
virtual int calculateSerializeBufferSize() const;
|
||||
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
|
||||
|
||||
btRotationalLimitMotor2* getRotationalLimitMotor(int index) { return &m_angularLimits[index]; }
|
||||
btTranslationalLimitMotor2* getTranslationalLimitMotor() { return &m_linearLimits; }
|
||||
|
||||
// Calculates the global transform for the joint offset for body A an B, and also calculates the angle differences between the bodies.
|
||||
void calculateTransforms(const btTransform& transA,const btTransform& transB);
|
||||
void calculateTransforms();
|
||||
|
||||
// Gets the global transform of the offset for body A
|
||||
const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
|
||||
// Gets the global transform of the offset for body B
|
||||
const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
|
||||
|
||||
const btTransform & getFrameOffsetA() const { return m_frameInA; }
|
||||
const btTransform & getFrameOffsetB() const { return m_frameInB; }
|
||||
|
||||
btTransform & getFrameOffsetA() { return m_frameInA; }
|
||||
btTransform & getFrameOffsetB() { return m_frameInB; }
|
||||
|
||||
// Get the rotation axis in global coordinates ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
|
||||
btVector3 getAxis(int axis_index) const { return m_calculatedAxis[axis_index]; }
|
||||
|
||||
// Get the relative Euler angle ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
|
||||
btScalar getAngle(int axis_index) const { return m_calculatedAxisAngleDiff[axis_index]; }
|
||||
|
||||
// Get the relative position of the constraint pivot ( btGeneric6DofSpring2Constraint::calculateTransforms() must be called previously )
|
||||
btScalar getRelativePivotPosition(int axis_index) const { return m_calculatedLinearDiff[axis_index]; }
|
||||
|
||||
void setFrames(const btTransform & frameA, const btTransform & frameB);
|
||||
|
||||
void setLinearLowerLimit(const btVector3& linearLower) { m_linearLimits.m_lowerLimit = linearLower; }
|
||||
void getLinearLowerLimit(btVector3& linearLower) { linearLower = m_linearLimits.m_lowerLimit; }
|
||||
void setLinearUpperLimit(const btVector3& linearUpper) { m_linearLimits.m_upperLimit = linearUpper; }
|
||||
void getLinearUpperLimit(btVector3& linearUpper) { linearUpper = m_linearLimits.m_upperLimit; }
|
||||
|
||||
void setAngularLowerLimit(const btVector3& angularLower)
|
||||
{
|
||||
for(int i = 0; i < 3; i++)
|
||||
m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
|
||||
}
|
||||
|
||||
void setAngularLowerLimitReversed(const btVector3& angularLower)
|
||||
{
|
||||
for(int i = 0; i < 3; i++)
|
||||
m_angularLimits[i].m_hiLimit = btNormalizeAngle(-angularLower[i]);
|
||||
}
|
||||
|
||||
void getAngularLowerLimit(btVector3& angularLower)
|
||||
{
|
||||
for(int i = 0; i < 3; i++)
|
||||
angularLower[i] = m_angularLimits[i].m_loLimit;
|
||||
}
|
||||
|
||||
void getAngularLowerLimitReversed(btVector3& angularLower)
|
||||
{
|
||||
for(int i = 0; i < 3; i++)
|
||||
angularLower[i] = -m_angularLimits[i].m_hiLimit;
|
||||
}
|
||||
|
||||
void setAngularUpperLimit(const btVector3& angularUpper)
|
||||
{
|
||||
for(int i = 0; i < 3; i++)
|
||||
m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
|
||||
}
|
||||
|
||||
void setAngularUpperLimitReversed(const btVector3& angularUpper)
|
||||
{
|
||||
for(int i = 0; i < 3; i++)
|
||||
m_angularLimits[i].m_loLimit = btNormalizeAngle(-angularUpper[i]);
|
||||
}
|
||||
|
||||
void getAngularUpperLimit(btVector3& angularUpper)
|
||||
{
|
||||
for(int i = 0; i < 3; i++)
|
||||
angularUpper[i] = m_angularLimits[i].m_hiLimit;
|
||||
}
|
||||
|
||||
void getAngularUpperLimitReversed(btVector3& angularUpper)
|
||||
{
|
||||
for(int i = 0; i < 3; i++)
|
||||
angularUpper[i] = -m_angularLimits[i].m_loLimit;
|
||||
}
|
||||
|
||||
//first 3 are linear, next 3 are angular
|
||||
|
||||
void setLimit(int axis, btScalar lo, btScalar hi)
|
||||
{
|
||||
if(axis<3)
|
||||
{
|
||||
m_linearLimits.m_lowerLimit[axis] = lo;
|
||||
m_linearLimits.m_upperLimit[axis] = hi;
|
||||
}
|
||||
else
|
||||
{
|
||||
lo = btNormalizeAngle(lo);
|
||||
hi = btNormalizeAngle(hi);
|
||||
m_angularLimits[axis-3].m_loLimit = lo;
|
||||
m_angularLimits[axis-3].m_hiLimit = hi;
|
||||
}
|
||||
}
|
||||
|
||||
void setLimitReversed(int axis, btScalar lo, btScalar hi)
|
||||
{
|
||||
if(axis<3)
|
||||
{
|
||||
m_linearLimits.m_lowerLimit[axis] = lo;
|
||||
m_linearLimits.m_upperLimit[axis] = hi;
|
||||
}
|
||||
else
|
||||
{
|
||||
lo = btNormalizeAngle(lo);
|
||||
hi = btNormalizeAngle(hi);
|
||||
m_angularLimits[axis-3].m_hiLimit = -lo;
|
||||
m_angularLimits[axis-3].m_loLimit = -hi;
|
||||
}
|
||||
}
|
||||
|
||||
bool isLimited(int limitIndex)
|
||||
{
|
||||
if(limitIndex<3)
|
||||
{
|
||||
return m_linearLimits.isLimited(limitIndex);
|
||||
}
|
||||
return m_angularLimits[limitIndex-3].isLimited();
|
||||
}
|
||||
|
||||
void setRotationOrder(RotateOrder order) { m_rotateOrder = order; }
|
||||
RotateOrder getRotationOrder() { return m_rotateOrder; }
|
||||
|
||||
void setAxis( const btVector3& axis1, const btVector3& axis2);
|
||||
|
||||
void setBounce(int index, btScalar bounce);
|
||||
|
||||
void enableMotor(int index, bool onOff);
|
||||
void setServo(int index, bool onOff); // set the type of the motor (servo or not) (the motor has to be turned on for servo also)
|
||||
void setTargetVelocity(int index, btScalar velocity);
|
||||
void setServoTarget(int index, btScalar target);
|
||||
void setMaxMotorForce(int index, btScalar force);
|
||||
|
||||
void enableSpring(int index, bool onOff);
|
||||
void setStiffness(int index, btScalar stiffness);
|
||||
void setDamping(int index, btScalar damping);
|
||||
void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
|
||||
void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
|
||||
void setEquilibriumPoint(int index, btScalar val);
|
||||
|
||||
//override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
|
||||
//If no axis is provided, it uses the default axis for this constraint.
|
||||
virtual void setParam(int num, btScalar value, int axis = -1);
|
||||
virtual btScalar getParam(int num, int axis = -1) const;
|
||||
};
|
||||
|
||||
|
||||
struct btGeneric6DofSpring2ConstraintData
|
||||
{
|
||||
btTypedConstraintData m_typeConstraintData;
|
||||
btTransformFloatData m_rbAFrame;
|
||||
btTransformFloatData m_rbBFrame;
|
||||
|
||||
btVector3FloatData m_linearUpperLimit;
|
||||
btVector3FloatData m_linearLowerLimit;
|
||||
btVector3FloatData m_linearBounce;
|
||||
btVector3FloatData m_linearStopERP;
|
||||
btVector3FloatData m_linearStopCFM;
|
||||
btVector3FloatData m_linearMotorERP;
|
||||
btVector3FloatData m_linearMotorCFM;
|
||||
btVector3FloatData m_linearTargetVelocity;
|
||||
btVector3FloatData m_linearMaxMotorForce;
|
||||
btVector3FloatData m_linearServoTarget;
|
||||
btVector3FloatData m_linearSpringStiffness;
|
||||
btVector3FloatData m_linearSpringDamping;
|
||||
btVector3FloatData m_linearEquilibriumPoint;
|
||||
char m_linearEnableMotor[4];
|
||||
char m_linearServoMotor[4];
|
||||
char m_linearEnableSpring[4];
|
||||
char m_padding1[4];
|
||||
|
||||
btVector3FloatData m_angularUpperLimit;
|
||||
btVector3FloatData m_angularLowerLimit;
|
||||
btVector3FloatData m_angularBounce;
|
||||
btVector3FloatData m_angularStopERP;
|
||||
btVector3FloatData m_angularStopCFM;
|
||||
btVector3FloatData m_angularMotorERP;
|
||||
btVector3FloatData m_angularMotorCFM;
|
||||
btVector3FloatData m_angularTargetVelocity;
|
||||
btVector3FloatData m_angularMaxMotorForce;
|
||||
btVector3FloatData m_angularServoTarget;
|
||||
btVector3FloatData m_angularSpringStiffness;
|
||||
btVector3FloatData m_angularSpringDamping;
|
||||
btVector3FloatData m_angularEquilibriumPoint;
|
||||
char m_angularEnableMotor[4];
|
||||
char m_angularServoMotor[4];
|
||||
char m_angularEnableSpring[4];
|
||||
char m_padding2[4];
|
||||
|
||||
int m_rotateOrder;
|
||||
char m_padding3[4];
|
||||
};
|
||||
|
||||
struct btGeneric6DofSpring2ConstraintDoubleData2
|
||||
{
|
||||
btTypedConstraintDoubleData m_typeConstraintData;
|
||||
btTransformDoubleData m_rbAFrame;
|
||||
btTransformDoubleData m_rbBFrame;
|
||||
|
||||
btVector3DoubleData m_linearUpperLimit;
|
||||
btVector3DoubleData m_linearLowerLimit;
|
||||
btVector3DoubleData m_linearBounce;
|
||||
btVector3DoubleData m_linearStopERP;
|
||||
btVector3DoubleData m_linearStopCFM;
|
||||
btVector3DoubleData m_linearMotorERP;
|
||||
btVector3DoubleData m_linearMotorCFM;
|
||||
btVector3DoubleData m_linearTargetVelocity;
|
||||
btVector3DoubleData m_linearMaxMotorForce;
|
||||
btVector3DoubleData m_linearServoTarget;
|
||||
btVector3DoubleData m_linearSpringStiffness;
|
||||
btVector3DoubleData m_linearSpringDamping;
|
||||
btVector3DoubleData m_linearEquilibriumPoint;
|
||||
char m_linearEnableMotor[4];
|
||||
char m_linearServoMotor[4];
|
||||
char m_linearEnableSpring[4];
|
||||
char m_padding1[4];
|
||||
|
||||
btVector3DoubleData m_angularUpperLimit;
|
||||
btVector3DoubleData m_angularLowerLimit;
|
||||
btVector3DoubleData m_angularBounce;
|
||||
btVector3DoubleData m_angularStopERP;
|
||||
btVector3DoubleData m_angularStopCFM;
|
||||
btVector3DoubleData m_angularMotorERP;
|
||||
btVector3DoubleData m_angularMotorCFM;
|
||||
btVector3DoubleData m_angularTargetVelocity;
|
||||
btVector3DoubleData m_angularMaxMotorForce;
|
||||
btVector3DoubleData m_angularServoTarget;
|
||||
btVector3DoubleData m_angularSpringStiffness;
|
||||
btVector3DoubleData m_angularSpringDamping;
|
||||
btVector3DoubleData m_angularEquilibriumPoint;
|
||||
char m_angularEnableMotor[4];
|
||||
char m_angularServoMotor[4];
|
||||
char m_angularEnableSpring[4];
|
||||
char m_padding2[4];
|
||||
|
||||
int m_rotateOrder;
|
||||
char m_padding3[4];
|
||||
};
|
||||
|
||||
SIMD_FORCE_INLINE int btGeneric6DofSpring2Constraint::calculateSerializeBufferSize() const
|
||||
{
|
||||
return sizeof(btGeneric6DofSpring2ConstraintData2);
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE const char* btGeneric6DofSpring2Constraint::serialize(void* dataBuffer, btSerializer* serializer) const
|
||||
{
|
||||
btGeneric6DofSpring2ConstraintData2* dof = (btGeneric6DofSpring2ConstraintData2*)dataBuffer;
|
||||
btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
|
||||
|
||||
m_frameInA.serialize(dof->m_rbAFrame);
|
||||
m_frameInB.serialize(dof->m_rbBFrame);
|
||||
|
||||
int i;
|
||||
for (i=0;i<3;i++)
|
||||
{
|
||||
dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
|
||||
dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
|
||||
dof->m_angularBounce.m_floats[i] = m_angularLimits[i].m_bounce;
|
||||
dof->m_angularStopERP.m_floats[i] = m_angularLimits[i].m_stopERP;
|
||||
dof->m_angularStopCFM.m_floats[i] = m_angularLimits[i].m_stopCFM;
|
||||
dof->m_angularMotorERP.m_floats[i] = m_angularLimits[i].m_motorERP;
|
||||
dof->m_angularMotorCFM.m_floats[i] = m_angularLimits[i].m_motorCFM;
|
||||
dof->m_angularTargetVelocity.m_floats[i] = m_angularLimits[i].m_targetVelocity;
|
||||
dof->m_angularMaxMotorForce.m_floats[i] = m_angularLimits[i].m_maxMotorForce;
|
||||
dof->m_angularServoTarget.m_floats[i] = m_angularLimits[i].m_servoTarget;
|
||||
dof->m_angularSpringStiffness.m_floats[i] = m_angularLimits[i].m_springStiffness;
|
||||
dof->m_angularSpringDamping.m_floats[i] = m_angularLimits[i].m_springDamping;
|
||||
dof->m_angularEquilibriumPoint.m_floats[i] = m_angularLimits[i].m_equilibriumPoint;
|
||||
}
|
||||
dof->m_angularLowerLimit.m_floats[3] = 0;
|
||||
dof->m_angularUpperLimit.m_floats[3] = 0;
|
||||
dof->m_angularBounce.m_floats[3] = 0;
|
||||
dof->m_angularStopERP.m_floats[3] = 0;
|
||||
dof->m_angularStopCFM.m_floats[3] = 0;
|
||||
dof->m_angularMotorERP.m_floats[3] = 0;
|
||||
dof->m_angularMotorCFM.m_floats[3] = 0;
|
||||
dof->m_angularTargetVelocity.m_floats[3] = 0;
|
||||
dof->m_angularMaxMotorForce.m_floats[3] = 0;
|
||||
dof->m_angularServoTarget.m_floats[3] = 0;
|
||||
dof->m_angularSpringStiffness.m_floats[3] = 0;
|
||||
dof->m_angularSpringDamping.m_floats[3] = 0;
|
||||
dof->m_angularEquilibriumPoint.m_floats[3] = 0;
|
||||
for (i=0;i<4;i++)
|
||||
{
|
||||
dof->m_angularEnableMotor[i] = i < 3 ? ( m_angularLimits[i].m_enableMotor ? 1 : 0 ) : 0;
|
||||
dof->m_angularServoMotor[i] = i < 3 ? ( m_angularLimits[i].m_servoMotor ? 1 : 0 ) : 0;
|
||||
dof->m_angularEnableSpring[i] = i < 3 ? ( m_angularLimits[i].m_enableSpring ? 1 : 0 ) : 0;
|
||||
}
|
||||
|
||||
m_linearLimits.m_lowerLimit.serialize( dof->m_linearLowerLimit );
|
||||
m_linearLimits.m_upperLimit.serialize( dof->m_linearUpperLimit );
|
||||
m_linearLimits.m_bounce.serialize( dof->m_linearBounce );
|
||||
m_linearLimits.m_stopERP.serialize( dof->m_linearStopERP );
|
||||
m_linearLimits.m_stopCFM.serialize( dof->m_linearStopCFM );
|
||||
m_linearLimits.m_motorERP.serialize( dof->m_linearMotorERP );
|
||||
m_linearLimits.m_motorCFM.serialize( dof->m_linearMotorCFM );
|
||||
m_linearLimits.m_targetVelocity.serialize( dof->m_linearTargetVelocity );
|
||||
m_linearLimits.m_maxMotorForce.serialize( dof->m_linearMaxMotorForce );
|
||||
m_linearLimits.m_servoTarget.serialize( dof->m_linearServoTarget );
|
||||
m_linearLimits.m_springStiffness.serialize( dof->m_linearSpringStiffness );
|
||||
m_linearLimits.m_springDamping.serialize( dof->m_linearSpringDamping );
|
||||
m_linearLimits.m_equilibriumPoint.serialize( dof->m_linearEquilibriumPoint );
|
||||
for (i=0;i<4;i++)
|
||||
{
|
||||
dof->m_linearEnableMotor[i] = i < 3 ? ( m_linearLimits.m_enableMotor[i] ? 1 : 0 ) : 0;
|
||||
dof->m_linearServoMotor[i] = i < 3 ? ( m_linearLimits.m_servoMotor[i] ? 1 : 0 ) : 0;
|
||||
dof->m_linearEnableSpring[i] = i < 3 ? ( m_linearLimits.m_enableSpring[i] ? 1 : 0 ) : 0;
|
||||
}
|
||||
|
||||
dof->m_rotateOrder = m_rotateOrder;
|
||||
|
||||
return btGeneric6DofSpring2ConstraintDataName;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_GENERIC_6DOF_CONSTRAINT_H
|
||||
@ -317,6 +317,9 @@ void btDiscreteDynamicsWorld::debugDrawWorld()
|
||||
}
|
||||
}
|
||||
}
|
||||
if (getDebugDrawer())
|
||||
getDebugDrawer()->flushLines();
|
||||
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::clearForces()
|
||||
|
||||
@ -41,6 +41,10 @@ public:
|
||||
btMultiBodyJacobianData& data,
|
||||
const btContactSolverInfo& infoGlobal);
|
||||
|
||||
virtual void setVelocityTarget(btScalar velTarget)
|
||||
{
|
||||
m_desiredVelocity = velTarget;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
@ -438,6 +438,11 @@ class btIDebugDraw
|
||||
drawLine(transform*pt0,transform*pt1,color);
|
||||
drawLine(transform*pt2,transform*pt3,color);
|
||||
}
|
||||
|
||||
virtual void flushLines()
|
||||
{
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user