mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-07 08:10:08 +00:00
prettify the SoftDemo a little bit, and use 1024x768 for ForkLiftDemo and SoftDemo.
This commit is contained in:
erwin.coumans
parent
7dfba03032
commit
d6cbc28b94
@ -13,6 +13,6 @@ int main(int argc,char** argv)
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pForkLiftDemo->initPhysics();
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pForkLiftDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
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return glutmain(argc, argv,640,480,"Bullet ForkLift Demo. http://www.continuousphysics.com/Bullet/phpBB2/", pForkLiftDemo);
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return glutmain(argc, argv,1024,768,"Bullet ForkLift Demo. http://www.continuousphysics.com/Bullet/phpBB2/", pForkLiftDemo);
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}
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@ -33,13 +33,15 @@ subject to the following restrictions:
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#include "SoftDemo.h"
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#include "GL_ShapeDrawer.h"
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#include "GLDebugFont.h"
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#include "GlutStuff.h"
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extern float eye[3];
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extern int glutScreenWidth;
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extern int glutScreenHeight;
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static bool sDemoMode = true;
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const int maxProxies = 32766;
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const int maxOverlap = 65535;
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@ -134,95 +136,6 @@ void pickingPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
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}
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void SoftDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
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float ms = getDeltaTimeMicroseconds();
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float dt = ms / 1000000.f;//1.0/60.;
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if (m_dynamicsWorld)
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{
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//#define FIXED_STEP
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#ifdef FIXED_STEP
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m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
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#else
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//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
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int maxSimSubSteps = m_idle ? 1 : 4;
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//if (m_idle)
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// dt = 1.0/420.f;
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int numSimSteps;
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numSimSteps = m_dynamicsWorld->stepSimulation(dt);
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//numSimSteps = m_dynamicsWorld->stepSimulation(dt,10,1./240.f);
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#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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if (!numSimSteps)
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printf("Interpolated transforms\n");
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else
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{
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if (numSimSteps > maxSimSubSteps)
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{
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//detect dropping frames
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printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
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} else
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{
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printf("Simulated (%i) steps\n",numSimSteps);
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}
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}
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#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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#endif
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if(m_drag)
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{
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m_node->m_v*=0;
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}
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m_softBodyWorldInfo.m_sparsesdf.GarbageCollect();
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//optional but useful: debug drawing
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}
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#ifdef USE_QUICKPROF
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btProfiler::beginBlock("render");
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#endif //USE_QUICKPROF
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renderme();
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//render the graphics objects, with center of mass shift
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updateCamera();
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#ifdef USE_QUICKPROF
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btProfiler::endBlock("render");
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#endif
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glFlush();
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//some additional debugging info
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#ifdef PRINT_CONTACT_STATISTICS
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printf("num manifolds: %i\n",gNumManifold);
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printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
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#endif //PRINT_CONTACT_STATISTICS
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swapBuffers();
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}
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void SoftDemo::displayCallback(void) {
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@ -643,6 +556,7 @@ static void Init_Aero(SoftDemo* pdemo)
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}
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pdemo->m_autocam=true;
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}
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//
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@ -681,6 +595,7 @@ static void Init_Pressure(SoftDemo* pdemo)
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Ctor_BigPlate(pdemo);
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Ctor_LinearStair(pdemo,btVector3(0,0,0),btVector3(2,1,5),0,10);
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pdemo->m_autocam=true;
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}
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//
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@ -701,6 +616,7 @@ static void Init_Volume(SoftDemo* pdemo)
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Ctor_BigPlate(pdemo);
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Ctor_LinearStair(pdemo,btVector3(0,0,0),btVector3(2,1,5),0,10);
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pdemo->m_autocam=true;
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}
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//
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@ -1206,6 +1122,7 @@ static void Init_ClusterCar(SoftDemo* pdemo)
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Ctor_LinearStair(pdemo,btVector3(0,-8,0),btVector3(3,2,40),0,20);
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Ctor_RbUpStack(pdemo,50);
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pdemo->m_autocam=true;
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}
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//
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@ -1242,6 +1159,7 @@ static void Init_ClusterRobot(SoftDemo* pdemo)
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btRigidBody* pgrn=pdemo->localCreateRigidBody(0,btTransform(btQuaternion(0,-SIMD_HALF_PI/2,0),btVector3(0,0,0)),pbox);
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pdemo->m_autocam=true;
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}
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//
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@ -1336,7 +1254,42 @@ static void Init_TetraCube(SoftDemo* pdemo)
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unsigned current_demo=28;//19;
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unsigned current_demo=19;
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/* Init */
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void (*demofncs[])(SoftDemo*)=
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{
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Init_Cloth,
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Init_Pressure,
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Init_Volume,
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Init_Ropes,
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Init_RopeAttach,
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Init_ClothAttach,
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Init_Sticks,
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Init_Collide,
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Init_Collide2,
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Init_Collide3,
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Init_Impact,
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Init_Aero,
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Init_Friction,
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Init_Torus,
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Init_TorusMatch,
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Init_Bunny,
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Init_BunnyMatch,
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Init_Cutting1,
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Init_ClusterDeform,
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Init_ClusterCollide1,
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Init_ClusterCollide2,
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Init_ClusterSocket,
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Init_ClusterHinge,
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Init_ClusterCombine,
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Init_ClusterCar,
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Init_ClusterRobot,
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Init_ClusterStackSoft,
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Init_ClusterStackMixed,
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Init_TetraCube,
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Init_TetraBunny,
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};
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void SoftDemo::clientResetScene()
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{
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@ -1376,40 +1329,7 @@ void SoftDemo::clientResetScene()
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}
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m_softBodyWorldInfo.m_sparsesdf.Reset();
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/* Init */
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void (*demofncs[])(SoftDemo*)=
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{
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Init_Cloth,
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Init_Pressure,
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Init_Volume,
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Init_Ropes,
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Init_RopeAttach,
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Init_ClothAttach,
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Init_Sticks,
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Init_Collide,
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Init_Collide2,
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Init_Collide3,
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Init_Impact,
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Init_Aero,
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Init_Friction,
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Init_Torus,
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Init_TorusMatch,
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Init_Bunny,
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Init_BunnyMatch,
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Init_Cutting1,
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Init_ClusterDeform,
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Init_ClusterCollide1,
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Init_ClusterCollide2,
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Init_ClusterSocket,
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Init_ClusterHinge,
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Init_ClusterCombine,
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Init_ClusterCar,
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Init_ClusterRobot,
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Init_ClusterStackSoft,
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Init_ClusterStackMixed,
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Init_TetraCube,
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Init_TetraBunny,
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};
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current_demo=current_demo%(sizeof(demofncs)/sizeof(demofncs[0]));
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@ -1450,6 +1370,110 @@ void SoftDemo::clientResetScene()
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demofncs[current_demo](this);
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}
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void SoftDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
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float ms = getDeltaTimeMicroseconds();
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float dt = ms / 1000000.f;//1.0/60.;
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if (m_dynamicsWorld)
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{
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if (sDemoMode)
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{
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static int demoCounter = 500;
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demoCounter--;
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if (demoCounter<0)
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{
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demoCounter=500;
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current_demo++;
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current_demo=current_demo%(sizeof(demofncs)/sizeof(demofncs[0]));
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clientResetScene();
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}
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}
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//#define FIXED_STEP
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#ifdef FIXED_STEP
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m_dynamicsWorld->stepSimulation(dt=1.0f/60.f,0);
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#else
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//during idle mode, just run 1 simulation step maximum, otherwise 4 at max
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int maxSimSubSteps = m_idle ? 1 : 4;
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//if (m_idle)
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// dt = 1.0/420.f;
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int numSimSteps;
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numSimSteps = m_dynamicsWorld->stepSimulation(dt);
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//numSimSteps = m_dynamicsWorld->stepSimulation(dt,10,1./240.f);
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#ifdef VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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if (!numSimSteps)
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printf("Interpolated transforms\n");
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else
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{
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if (numSimSteps > maxSimSubSteps)
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{
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//detect dropping frames
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printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
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} else
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{
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printf("Simulated (%i) steps\n",numSimSteps);
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}
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}
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#endif //VERBOSE_TIMESTEPPING_CONSOLEOUTPUT
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#endif
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if(m_drag)
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{
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m_node->m_v*=0;
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}
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m_softBodyWorldInfo.m_sparsesdf.GarbageCollect();
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//optional but useful: debug drawing
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}
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#ifdef USE_QUICKPROF
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btProfiler::beginBlock("render");
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#endif //USE_QUICKPROF
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renderme();
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//render the graphics objects, with center of mass shift
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updateCamera();
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#ifdef USE_QUICKPROF
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btProfiler::endBlock("render");
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#endif
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glFlush();
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//some additional debugging info
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#ifdef PRINT_CONTACT_STATISTICS
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printf("num manifolds: %i\n",gNumManifold);
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printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
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#endif //PRINT_CONTACT_STATISTICS
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swapBuffers();
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}
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void SoftDemo::renderme()
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{
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btIDebugDraw* idraw=m_dynamicsWorld->getDebugDrawer();
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@ -1570,6 +1594,49 @@ void SoftDemo::renderme()
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idraw->drawTriangle(o-x*s-y*s,o+x*s+y*s,o-x*s+y*s,c,a);
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}
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//
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int lineWidth=280;
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int xStart = m_glutScreenWidth - lineWidth;
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int yStart = 20;
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if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0)
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{
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setOrthographicProjection();
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glDisable(GL_LIGHTING);
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glColor3f(0, 0, 0);
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char buf[124];
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glRasterPos3f(xStart, yStart, 0);
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if (sDemoMode)
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{
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sprintf(buf,"d to toggle demo mode (on)");
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} else
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{
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sprintf(buf,"d to toggle demo mode (off)");
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}
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GLDebugDrawString(xStart,20,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"] for next demo (%d)",current_demo);
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"c to visualize clusters");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"; to toggle camera mode");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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glRasterPos3f(xStart, yStart, 0);
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sprintf(buf,"n,m,l,k for power and steering");
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yStart+=20;
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GLDebugDrawString(xStart,yStart,buf);
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resetPerspectiveProjection();
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glEnable(GL_LIGHTING);
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}
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DemoApplication::renderme();
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}
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@ -1591,6 +1658,7 @@ void SoftDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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switch(key)
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{
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case 'd': sDemoMode = !sDemoMode; break;
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case 'n': motorcontrol.maxtorque=10;motorcontrol.goal+=1;break;
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case 'm': motorcontrol.maxtorque=10;motorcontrol.goal-=1;break;
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case 'l': steercontrol_f.angle+=0.1;steercontrol_r.angle+=0.1;break;
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@ -58,6 +58,7 @@ public:
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btSoftBodyWorldInfo m_softBodyWorldInfo;
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bool m_autocam;
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bool m_cutting;
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bool m_raycast;
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@ -29,7 +29,7 @@ int main(int argc,char** argv)
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softDemo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
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glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.com",softDemo);
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glutmain(argc, argv,1024,768,"Bullet Physics Demo. http://bulletphysics.com",softDemo);
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delete softDemo;
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return 0;
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