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bullet3/Demos/OpenGL/DemoApplication.cpp

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/*
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.
*/
#include "DemoApplication.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
#include "GL_ShapeDrawer.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btDefaultMotionState.h"
#include "BMF_Api.h"
extern bool gDisableDeactivation;
int numObjects = 0;
const int maxNumObjects = 16384;
btTransform startTransforms[maxNumObjects];
btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
#define SHOW_NUM_DEEP_PENETRATIONS 1
#ifdef SHOW_NUM_DEEP_PENETRATIONS
extern int gNumDeepPenetrationChecks;
extern int gNumGjkChecks;
extern int gNumAlignedAllocs;
extern int gNumAlignedFree;
extern int gTotalBytesAlignedAllocs;
#endif //
DemoApplication::DemoApplication()
//see btIDebugDraw.h for modes
:
m_dynamicsWorld(0),
m_pickConstraint(0),
m_shootBoxShape(0),
m_cameraDistance(15.0),
m_debugMode(0),
m_ele(20.f),
m_azi(0.f),
m_cameraPosition(0.f,0.f,0.f),
m_cameraTargetPosition(0.f,0.f,0.f),
m_scaleBottom(0.5f),
m_scaleFactor(2.f),
m_cameraUp(0,1,0),
m_forwardAxis(2),
m_glutScreenWidth(0),
m_glutScreenHeight(0),
m_ShootBoxInitialSpeed(40.f),
m_stepping(true),
m_singleStep(false),
m_idle(false)
{
#ifndef BT_NO_PROFILE
m_profileIterator = CProfileManager::Get_Iterator();
#endif //BT_NO_PROFILE
}
DemoApplication::~DemoApplication()
{
#ifndef BT_NO_PROFILE
CProfileManager::Release_Iterator(m_profileIterator);
#endif //BT_NO_PROFILE
if (m_shootBoxShape)
delete m_shootBoxShape;
}
void DemoApplication::myinit(void)
{
GLfloat light_ambient[] = { 0.2, 0.2, 0.2, 1.0 };
GLfloat light_diffuse[] = { 1.0, 1.0, 1.0, 1.0 };
GLfloat light_specular[] = { 1.0, 1.0, 1.0, 1.0 };
/* light_position is NOT default value */
GLfloat light_position0[] = { 1.0, 10.0, 1.0, 0.0 };
GLfloat light_position1[] = { -1.0, -10.0, -1.0, 0.0 };
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT1, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT1, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glShadeModel(GL_SMOOTH);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glClearColor(0.7,0.7,0.7,0);
// glEnable(GL_CULL_FACE);
// glCullFace(GL_BACK);
}
void DemoApplication::setCameraDistance(float dist)
{
m_cameraDistance = dist;
}
float DemoApplication::getCameraDistance()
{
return m_cameraDistance;
}
void DemoApplication::toggleIdle() {
if (m_idle) {
m_idle = false;
}
else {
m_idle = true;
}
}
void DemoApplication::updateCamera() {
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
float rele = m_ele * 0.01745329251994329547;// rads per deg
float razi = m_azi * 0.01745329251994329547;// rads per deg
btQuaternion rot(m_cameraUp,razi);
btVector3 eyePos(0,0,0);
eyePos[m_forwardAxis] = -m_cameraDistance;
btVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
if (forward.length2() < SIMD_EPSILON)
{
forward.setValue(1.f,0.f,0.f);
}
btVector3 right = m_cameraUp.cross(forward);
btQuaternion roll(right,-rele);
eyePos = btMatrix3x3(rot) * btMatrix3x3(roll) * eyePos;
m_cameraPosition[0] = eyePos.getX();
m_cameraPosition[1] = eyePos.getY();
m_cameraPosition[2] = eyePos.getZ();
glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 10000.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
}
const float STEPSIZE = 5;
void DemoApplication::stepLeft()
{
m_azi -= STEPSIZE; if (m_azi < 0) m_azi += 360; updateCamera();
}
void DemoApplication::stepRight()
{
m_azi += STEPSIZE; if (m_azi >= 360) m_azi -= 360; updateCamera();
}
void DemoApplication::stepFront()
{
m_ele += STEPSIZE; if (m_ele >= 360) m_ele -= 360; updateCamera();
}
void DemoApplication::stepBack()
{
m_ele -= STEPSIZE; if (m_ele < 0) m_ele += 360; updateCamera();
}
void DemoApplication::zoomIn()
{
m_cameraDistance -= 0.4; updateCamera();
if (m_cameraDistance < 0.1)
m_cameraDistance = 0.1;
}
void DemoApplication::zoomOut()
{
m_cameraDistance += 0.4; updateCamera();
}
void DemoApplication::reshape(int w, int h)
{
m_glutScreenWidth = w;
m_glutScreenHeight = h;
glViewport(0, 0, w, h);
updateCamera();
}
void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
{
(void)x;
(void)y;
m_lastKey = 0;
#ifndef BT_NO_PROFILE
if (key >= 0x31 && key < 0x37)
{
int child = key-0x31;
m_profileIterator->Enter_Child(child);
}
if (key==0x30)
{
m_profileIterator->Enter_Parent();
}
#endif //BT_NO_PROFILE
switch (key)
{
case 'q' :
#ifdef BT_USE_FREEGLUT
//return from glutMainLoop(), detect memory leaks etc.
glutLeaveMainLoop();
#else
exit(0);
#endif
break;
case 'l' : stepLeft(); break;
case 'r' : stepRight(); break;
case 'f' : stepFront(); break;
case 'b' : stepBack(); break;
case 'z' : zoomIn(); break;
case 'x' : zoomOut(); break;
case 'i' : toggleIdle(); break;
case 'h':
if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
else
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
break;
case 'w':
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
else
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
break;
case 'p':
if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
else
m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
break;
case 'm':
if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
else
m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
break;
case 'n':
if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
else
m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
break;
case 't' :
if (m_debugMode & btIDebugDraw::DBG_DrawText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
else
m_debugMode |= btIDebugDraw::DBG_DrawText;
break;
case 'y':
if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
else
m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
break;
case 'a':
if (m_debugMode & btIDebugDraw::DBG_DrawAabb)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
else
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
break;
case 'c' :
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
else
m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
break;
case 'd' :
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
else
m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
{
gDisableDeactivation = true;
} else
{
gDisableDeactivation = false;
}
break;
case 'o' :
{
m_stepping = !m_stepping;
break;
}
case 's' : clientMoveAndDisplay(); break;
// case ' ' : newRandom(); break;
case ' ':
clientResetScene();
break;
case '1':
{
if (m_debugMode & btIDebugDraw::DBG_EnableCCD)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD);
else
m_debugMode |= btIDebugDraw::DBG_EnableCCD;
break;
}
case '.':
{
shootBox(getCameraTargetPosition());
break;
}
case '+':
{
m_ShootBoxInitialSpeed += 10.f;
break;
}
case '-':
{
m_ShootBoxInitialSpeed -= 10.f;
break;
}
default:
// std::cout << "unused key : " << key << std::endl;
break;
}
if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
glutPostRedisplay();
}
void DemoApplication::setDebugMode(int mode)
{
m_debugMode = mode;
if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
getDynamicsWorld()->getDebugDrawer()->setDebugMode(mode);
}
void DemoApplication::specialKeyboardUp(int key, int x, int y)
{
glutPostRedisplay();
}
void DemoApplication::specialKeyboard(int key, int x, int y)
{
(void)x;
(void)y;
switch (key)
{
case GLUT_KEY_F1:
{
break;
}
case GLUT_KEY_F2:
{
break;
}
case GLUT_KEY_END:
{
int numObj = getDynamicsWorld()->getNumCollisionObjects();
if (numObj)
{
btCollisionObject* obj = getDynamicsWorld()->getCollisionObjectArray()[numObj-1];
getDynamicsWorld()->removeCollisionObject(obj);
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
delete obj;
}
break;
}
case GLUT_KEY_LEFT : stepLeft(); break;
case GLUT_KEY_RIGHT : stepRight(); break;
case GLUT_KEY_UP : stepFront(); break;
case GLUT_KEY_DOWN : stepBack(); break;
case GLUT_KEY_PAGE_UP : zoomIn(); break;
case GLUT_KEY_PAGE_DOWN : zoomOut(); break;
case GLUT_KEY_HOME : toggleIdle(); break;
default:
// std::cout << "unused (special) key : " << key << std::endl;
break;
}
glutPostRedisplay();
}
void DemoApplication::moveAndDisplay()
{
if (!m_idle)
clientMoveAndDisplay();
}
void DemoApplication::displayCallback()
{
}
void DemoApplication::shootBox(const btVector3& destination)
{
if (m_dynamicsWorld)
{
float mass = 10.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
startTransform.setOrigin(camPos);
if (!m_shootBoxShape)
{
//#define TEST_UNIFORM_SCALING_SHAPE 1
#ifdef TEST_UNIFORM_SCALING_SHAPE
btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
m_shootBoxShape = new btUniformScalingShape(childShape,0.5f);
#else
m_shootBoxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
#endif//
}
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
}
}
int gPickingConstraintId = 0;
btVector3 gOldPickingPos;
float gOldPickingDist = 0.f;
btRigidBody* pickedBody = 0;//for deactivation state
btVector3 DemoApplication::getRayTo(int x,int y)
{
float top = 1.f;
float bottom = -1.f;
float nearPlane = 1.f;
float tanFov = (top-bottom)*0.5f / nearPlane;
float fov = 2.0 * atanf (tanFov);
btVector3 rayFrom = getCameraPosition();
btVector3 rayForward = (getCameraTargetPosition()-getCameraPosition());
rayForward.normalize();
float farPlane = 600.f;
rayForward*= farPlane;
btVector3 rightOffset;
btVector3 vertical = m_cameraUp;
btVector3 hor;
hor = rayForward.cross(vertical);
hor.normalize();
vertical = hor.cross(rayForward);
vertical.normalize();
float tanfov = tanf(0.5f*fov);
hor *= 2.f * farPlane * tanfov;
vertical *= 2.f * farPlane * tanfov;
btVector3 rayToCenter = rayFrom + rayForward;
btVector3 dHor = hor * 1.f/float(m_glutScreenWidth);
btVector3 dVert = vertical * 1.f/float(m_glutScreenHeight);
btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
rayTo += x * dHor;
rayTo -= y * dVert;
return rayTo;
}
void DemoApplication::mouseFunc(int button, int state, int x, int y)
{
//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
//button 0, state 0 means left mouse down
btVector3 rayTo = getRayTo(x,y);
switch (button)
{
case 2:
{
if (state==0)
{
shootBox(rayTo);
}
break;
};
case 1:
{
if (state==0)
{
//apply an impulse
if (m_dynamicsWorld)
{
btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo);
m_dynamicsWorld->rayTest(m_cameraPosition,rayTo,rayCallback);
if (rayCallback.HasHit())
{
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
body->setActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
body->applyImpulse(impulse,relPos);
}
}
}
} else
{
}
break;
}
case 0:
{
if (state==0)
{
//add a point to point constraint for picking
if (m_dynamicsWorld)
{
btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo);
m_dynamicsWorld->rayTest(m_cameraPosition,rayTo,rayCallback);
if (rayCallback.HasHit())
{
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
//other exclusions?
if (!(body->isStaticObject() || body->isKinematicObject()))
{
pickedBody = body;
pickedBody->setActivationState(DISABLE_DEACTIVATION);
btVector3 pickPos = rayCallback.m_hitPointWorld;
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p);
m_pickConstraint = p2p;
//save mouse position for dragging
gOldPickingPos = rayTo;
btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
gOldPickingDist = (pickPos-eyePos).length();
//very weak constraint for picking
p2p->m_setting.m_tau = 0.1f;
}
}
}
}
} else
{
if (m_pickConstraint && m_dynamicsWorld)
{
m_dynamicsWorld->removeConstraint(m_pickConstraint);
delete m_pickConstraint;
//printf("removed constraint %i",gPickingConstraintId);
m_pickConstraint = 0;
pickedBody->forceActivationState(ACTIVE_TAG);
pickedBody->setDeactivationTime( 0.f );
pickedBody = 0;
}
}
break;
}
default:
{
}
}
}
void DemoApplication::mouseMotionFunc(int x,int y)
{
if (m_pickConstraint)
{
//move the constraint pivot
btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_pickConstraint);
if (p2p)
{
//keep it at the same picking distance
btVector3 newRayTo = getRayTo(x,y);
btVector3 eyePos(m_cameraPosition[0],m_cameraPosition[1],m_cameraPosition[2]);
btVector3 dir = newRayTo-eyePos;
dir.normalize();
dir *= gOldPickingDist;
btVector3 newPos = eyePos + dir;
p2p->setPivotB(newPos);
}
}
}
btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape)
{
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
#define USE_MOTIONSTATE 1
#ifdef USE_MOTIONSTATE
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo cInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(cInfo);
#else
btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
body->setWorldTransform(startTransform);
#endif//
m_dynamicsWorld->addRigidBody(body);
return body;
}
//See http://www.lighthouse3d.com/opengl/glut/index.php?bmpfontortho
void DemoApplication::setOrthographicProjection()
{
// switch to projection mode
glMatrixMode(GL_PROJECTION);
// save previous matrix which contains the
//settings for the perspective projection
glPushMatrix();
// reset matrix
glLoadIdentity();
// set a 2D orthographic projection
gluOrtho2D(0, m_glutScreenWidth, 0, m_glutScreenHeight);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// invert the y axis, down is positive
glScalef(1, -1, 1);
// mover the origin from the bottom left corner
// to the upper left corner
glTranslatef(0, -m_glutScreenHeight, 0);
}
void DemoApplication::resetPerspectiveProjection()
{
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
updateCamera();
}
extern CProfileIterator * m_profileIterator;
void DemoApplication::displayProfileString(int xOffset,int yStart,char* message)
{
glRasterPos3f(xOffset,yStart,0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),message);
}
void DemoApplication::showProfileInfo(float& xOffset,float& yStart, float yIncr)
{
#ifndef BT_NO_PROFILE
static double time_since_reset = 0.f;
if (!m_idle)
{
time_since_reset = CProfileManager::Get_Time_Since_Reset();
}
{
//recompute profiling data, and store profile strings
char blockTime[128];
double totalTime = 0;
int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
m_profileIterator->First();
double parent_time = m_profileIterator->Is_Root() ? time_since_reset : m_profileIterator->Get_Current_Parent_Total_Time();
{
sprintf(blockTime,"--- Profiling: %s (total running time: %.3f ms) ---", m_profileIterator->Get_Current_Parent_Name(), parent_time );
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
sprintf(blockTime,"press number (1,2...) to display child timings, or 0 to go up to parent" );
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
}
double accumulated_time = 0.f;
for (int i = 0; !m_profileIterator->Is_Done(); m_profileIterator->Next())
{
double current_total_time = m_profileIterator->Get_Current_Total_Time();
accumulated_time += current_total_time;
double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
sprintf(blockTime,"%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)",
++i, m_profileIterator->Get_Current_Name(), fraction,
(current_total_time / (double)frames_since_reset),m_profileIterator->Get_Current_Total_Calls());
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
totalTime += current_total_time;
}
sprintf(blockTime,"%s (%.3f %%) :: %.3f ms", "Unaccounted",
// (min(0, time_since_reset - totalTime) / time_since_reset) * 100);
parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
sprintf(blockTime,"-------------------------------------------------");
displayProfileString(xOffset,yStart,blockTime);
yStart += yIncr;
}
#endif//BT_NO_PROFILE
}
void DemoApplication::renderme()
{
updateCamera();
btScalar m[16];
if (m_dynamicsWorld)
{
int numObjects = m_dynamicsWorld->getNumCollisionObjects();
btVector3 wireColor(1,0,0);
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans.getOpenGLMatrix(m);
} else
{
colObj->getWorldTransform().getOpenGLMatrix(m);
}
btVector3 wireColor(1.f,1.0f,0.5f); //wants deactivation
if (i & 1)
{
wireColor = btVector3(0.f,0.0f,1.f);
}
///color differently for active, sleeping, wantsdeactivation states
if (colObj->getActivationState() == 1) //active
{
if (i & 1)
{
wireColor += btVector3 (1.f,0.f,0.f);
} else
{
wireColor += btVector3 (.5f,0.f,0.f);
}
}
if (colObj->getActivationState() == 2) //ISLAND_SLEEPING
{
if (i & 1)
{
wireColor += btVector3 (0.f,1.f, 0.f);
} else
{
wireColor += btVector3 (0.f,0.5f,0.f);
}
}
GL_ShapeDrawer::drawOpenGL(m,colObj->getCollisionShape(),wireColor,getDebugMode());
}
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
glDisable(GL_LIGHTING);
glColor3f(0, 0, 0);
if ((m_debugMode & btIDebugDraw::DBG_NoHelpText)==0)
{
setOrthographicProjection();
showProfileInfo(xOffset,yStart,yIncr);
#ifdef USE_QUICKPROF
if ( getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
{
static int counter = 0;
counter++;
std::map<std::string, hidden::ProfileBlock*>::iterator iter;
for (iter = btProfiler::mProfileBlocks.begin(); iter != btProfiler::mProfileBlocks.end(); ++iter)
{
char blockTime[128];
sprintf(blockTime, "%s: %lf",&((*iter).first[0]),btProfiler::getBlockTime((*iter).first, btProfiler::BLOCK_CYCLE_SECONDS));//BLOCK_TOTAL_PERCENT));
glRasterPos3f(xOffset,yStart,0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),blockTime);
yStart += yIncr;
}
}
#endif //USE_QUICKPROF
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"mouse to interact");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"space to reset");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"cursor keys and z,x to navigate");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"i to toggle simulation, s single step");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"q to quit");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,". to shoot box");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
// not yet hooked up again after refactoring...
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"d to toggle deactivation");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"g to toggle mesh animation (ConcaveDemo)");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"h to toggle help text");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"p to toggle profiling (+results to file)");
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
//bool useBulletLCP = !(getDebugMode() & btIDebugDraw::DBG_DisableBulletLCP);
//bool useCCD = (getDebugMode() & btIDebugDraw::DBG_EnableCCD);
//glRasterPos3f(xOffset,yStart,0);
//sprintf(buf,"1 CCD mode (adhoc) = %i",useCCD);
//BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
//yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"+- shooting speed = %10.2f",m_ShootBoxInitialSpeed);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
#ifdef SHOW_NUM_DEEP_PENETRATIONS
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedAllocs = %d",gNumAlignedAllocs);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gNumAlignedFree= %d",gNumAlignedFree);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# alloc-free = %d",gNumAlignedAllocs-gNumAlignedFree);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
//enable BT_DEBUG_MEMORY_ALLOCATIONS define in Bullet/src/LinearMath/btAlignedAllocator.h for memory leak detection
#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gTotalBytesAlignedAllocs = %d",gTotalBytesAlignedAllocs);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
#endif //BT_DEBUG_MEMORY_ALLOCATIONS
if (getDynamicsWorld())
{
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# objects = %d",getDynamicsWorld()->getNumCollisionObjects());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"# pairs = %d",getDynamicsWorld()->getBroadphase()->getOverlappingPairCache()->getNumOverlappingPairs());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
}
#endif //SHOW_NUM_DEEP_PENETRATIONS
resetPerspectiveProjection();
}
glEnable(GL_LIGHTING);
}
updateCamera();
}
void DemoApplication::clientResetScene()
{
#ifdef SHOW_NUM_DEEP_PENETRATIONS
gNumDeepPenetrationChecks = 0;
gNumGjkChecks = 0;
#endif //SHOW_NUM_DEEP_PENETRATIONS
int numObjects = 0;
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(1.f/60.f,0);
numObjects = m_dynamicsWorld->getNumCollisionObjects();
}
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj);
if (body)
{
if (body->getMotionState())
{
btDefaultMotionState* myMotionState = (btDefaultMotionState*)body->getMotionState();
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
colObj->setWorldTransform( myMotionState->m_graphicsWorldTrans );
colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
colObj->activate();
}
//removed cached contact points
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
btRigidBody* body = btRigidBody::upcast(colObj);
if (body && !body->isStaticObject())
{
btRigidBody::upcast(colObj)->setLinearVelocity(btVector3(0,0,0));
btRigidBody::upcast(colObj)->setAngularVelocity(btVector3(0,0,0));
}
}
/*
//quickly search some issue at a certain simulation frame, pressing space to reset
int fixed=18;
for (int i=0;i<fixed;i++)
{
getDynamicsWorld()->stepSimulation(1./60.f,1);
}
*/
}
}
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