mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
63486a712c
tune gripper grasp example with tefal pan, 800Newton force. URDF importer: if using single transform 1 child shape, don't use compound shape. if renderGUI is false, don't intercept mouse clicks add manyspheres.py example (performance is pretty bad, will look into it) [pybullet] expose contactBreakingThreshold
95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
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#ifndef COMMON_EXAMPLE_INTERFACE_H
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#define COMMON_EXAMPLE_INTERFACE_H
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struct CommonExampleOptions
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{
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struct GUIHelperInterface* m_guiHelper;
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//Those are optional, some examples will use them others don't. Each example should work with them being 0.
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int m_option;
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const char* m_fileName;
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class SharedMemoryInterface* m_sharedMem;
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CommonExampleOptions(struct GUIHelperInterface* helper, int option=0)
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:m_guiHelper(helper),
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m_option(option),
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m_fileName(0),
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m_sharedMem(0)
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{
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}
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};
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class CommonExampleInterface
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{
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public:
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typedef class CommonExampleInterface* (CreateFunc)(CommonExampleOptions& options);
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virtual ~CommonExampleInterface()
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{
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}
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virtual void initPhysics()=0;
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virtual void exitPhysics()=0;
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virtual void updateGraphics(){}
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virtual void stepSimulation(float deltaTime)=0;
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virtual void renderScene()=0;
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virtual void physicsDebugDraw(int debugFlags)=0;//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h
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//reset camera is only called when switching demo. this way you can restart (initPhysics) and watch in a specific location easier
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virtual void resetCamera(){};
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virtual bool mouseMoveCallback(float x,float y)=0;
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virtual bool mouseButtonCallback(int button, int state, float x, float y)=0;
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virtual bool keyboardCallback(int key, int state)=0;
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virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis) {}
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virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
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virtual void processCommandLineArgs(int argc, char* argv[]){};
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};
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class ExampleEntries
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{
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public:
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virtual ~ExampleEntries() {}
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virtual void initExampleEntries()=0;
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virtual void initOpenCLExampleEntries()=0;
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virtual int getNumRegisteredExamples()=0;
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virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;
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virtual const char* getExampleName(int index)=0;
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virtual const char* getExampleDescription(int index)=0;
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virtual int getExampleOption(int index)=0;
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};
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CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options);
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#ifdef B3_USE_STANDALONE_EXAMPLE
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#define B3_STANDALONE_EXAMPLE(ExampleFunc) CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options)\
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{\
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return ExampleFunc(options);\
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}
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#else//B3_USE_STANDALONE_EXAMPLE
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#define B3_STANDALONE_EXAMPLE(ExampleFunc)
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#endif //B3_USE_STANDALONE_EXAMPLE
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#endif //COMMON_EXAMPLE_INTERFACE_H
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