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use pre-tick callback to update motor targets in DynamicControlDemo: dynamicsWorld->setInternalTickCallback(callbackFunc,void* userPtr=MotorDemo,bool pretick=true

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This commit is contained in:
erwin.coumans 2009-09-09 23:23:22 +00:00
parent 659b215a69
commit cc5ba4608f
2 changed files with 31 additions and 6 deletions
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35
Demos/DynamicControlDemo/MotorDemo.cpp
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@ -243,7 +243,13 @@ public:
void motorPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
{
MotorDemo* motorDemo = (MotorDemo*)world->getWorldUserInfo();
motorDemo->setMotorTargets(timeStep);
}
@ -277,6 +283,8 @@ void MotorDemo::initPhysics()
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->setInternalTickCallback(motorPreTickCallback,this,true);
// Setup a big ground box
{
@ -304,12 +312,18 @@ void MotorDemo::spawnTestRig(const btVector3& startOffset, bool bFixed)
m_rigs.push_back(rig);
}
void MotorDemo::clientMoveAndDisplay()
void PreStep()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
}
void MotorDemo::setMotorTargets(btScalar deltaTime)
{
float ms = deltaTime*1000000.;
float minFPS = 1000000.f/60.f;
if (ms > minFPS)
ms = minFPS;
@ -336,10 +350,19 @@ void MotorDemo::clientMoveAndDisplay()
}
}
void MotorDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float deltaTime = getDeltaTimeMicroseconds()/1000000.f;
if (m_dynamicsWorld)
{
///run the simulation at 120 hertz internally (maximum of 10 substeps)
m_dynamicsWorld->stepSimulation(ms / 1000000.f,10,1./120.f);
m_dynamicsWorld->stepSimulation(deltaTime);
m_dynamicsWorld->debugDrawWorld();
}

2
Demos/DynamicControlDemo/MotorDemo.h
View File

@ -72,6 +72,8 @@ public:
return demo;
}
void setMotorTargets(btScalar deltaTime);
};