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Code Issues Releases Wiki Activity

render the wheels of the ForkLiftDemo

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This commit is contained in:
erwincoumans 2015-03-28 12:36:57 -07:00
parent cba140431e
commit d605cc1cd7
4 changed files with 49 additions and 5 deletions
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40
Demos/ForkLiftDemo/ForkLiftPhysicsSetup.cpp
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@ -2,7 +2,7 @@
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#include "OpenGLWindow/CommonRenderInterface.h"
btScalar maxMotorImpulse = 1400.f;
btScalar loadMass = 350.f;//
@ -66,7 +66,9 @@ struct ForkLiftInternalData
class btConstraintSolver* m_constraintSolver;
class btDefaultCollisionConfiguration* m_collisionConfiguration;
class btDiscreteDynamicsWorld* m_dynamicsWorld;
int m_wheelInstances[4];
bool useMCLPSolver;
ForkLiftInternalData()
@ -191,6 +193,19 @@ tr.setOrigin(btVector3(0,-3,0));
//m_carChassis->setDamping(0.2,0.2);
m_data->m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
gfxBridge.createCollisionShapeGraphicsObject(m_data->m_wheelShape);
int wheelGraphicsIndex = m_data->m_wheelShape->getUserIndex();
const float position[4]={0,10,10,0};
const float quaternion[4]={0,0,0,1};
const float color[4]={0,1,0,1};
const float scaling[4] = {1,1,1,1};
for (int i=0;i<4;i++)
{
m_data->m_wheelInstances[i] = gfxBridge.registerGraphicsInstance(wheelGraphicsIndex, position, quaternion, color, scaling);
}
{
btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f));
@ -436,6 +451,7 @@ void ForkLiftPhysicsSetup::exitPhysics()
}
void ForkLiftPhysicsSetup::stepSimulation(float deltaTime)
{
m_data->m_dynamicsWorld->stepSimulation(deltaTime);
}
void ForkLiftPhysicsSetup::debugDraw(int debugDrawFlags)
{
@ -453,11 +469,29 @@ void ForkLiftPhysicsSetup::removePickingConstraint()
}
void ForkLiftPhysicsSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.syncPhysicsToGraphics(m_data->m_dynamicsWorld);
//sync wheels
for (int i=0;i<m_data->m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_data->m_vehicle->updateWheelTransform(i,true);
CommonRenderInterface* renderer = gfxBridge.getRenderInterface();
if (renderer)
{
btTransform tr = m_data->m_vehicle->getWheelInfo(i).m_worldTransform;
btVector3 pos=tr.getOrigin();
btQuaternion orn = tr.getRotation();
renderer->writeSingleInstanceTransformToCPU(pos,orn,m_data->m_wheelInstances[i]);
}
}
}
void ForkLiftPhysicsSetup::renderScene(GraphicsPhysicsBridge& gfxBridge)
{
gfxBridge.drawText3D("hi!",0,10,10,2);
}
void ForkLiftPhysicsSetup::lockLiftHinge()

6
btgui/Bullet3AppSupport/Bullet2RigidBodyDemo.cpp
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@ -30,6 +30,12 @@ struct MyGraphicsPhysicsBridge : public GraphicsPhysicsBridge
:m_glApp(glApp), m_debugDraw(0), m_curColor(0)
{
}
virtual struct CommonRenderInterface* getRenderInterface()
{
return m_glApp->m_renderer;
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
{
createCollisionObjectGraphicsObject(body,color);

4
btgui/Bullet3AppSupport/CommonPhysicsSetup.h
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@ -48,6 +48,10 @@ struct GraphicsPhysicsBridge
return 0;
}
virtual struct CommonRenderInterface* getRenderInterface()
{
return 0;
}
virtual void setUpAxis(int axis)
{
}

4
btgui/OpenGLWindow/SimpleOpenGL3App.cpp
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@ -255,7 +255,7 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
//float extraSpacing = 0.;
float startX = posX;
float startY = posY-g_DefaultLargeFont->m_CharHeight;
float startY = posY-g_DefaultLargeFont->m_CharHeight*size1;
while (txt[pos])
@ -263,7 +263,7 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
int c = txt[pos];
//r.h = g_DefaultNormalFont->m_CharHeight;
//r.w = g_DefaultNormalFont->m_CharWidth[c]+extraSpacing;
float endX = startX+g_DefaultLargeFont->m_CharWidth[c];
float endX = startX+g_DefaultLargeFont->m_CharWidth[c]*size1;
float endY = posY;