mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
455 lines
11 KiB
C++
455 lines
11 KiB
C++
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#ifndef COMMON_RIGID_BODY_MT_BASE_H
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#define COMMON_RIGID_BODY_MT_BASE_H
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#include "btBulletDynamicsCommon.h"
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#include "../CommonInterfaces/CommonExampleInterface.h"
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "../CommonInterfaces/CommonRenderInterface.h"
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#include "../CommonInterfaces/CommonCameraInterface.h"
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#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
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#include "../CommonInterfaces/CommonWindowInterface.h"
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enum SolverType
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{
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SOLVER_TYPE_SEQUENTIAL_IMPULSE,
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SOLVER_TYPE_NNCG,
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SOLVER_TYPE_MLCP_PGS,
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SOLVER_TYPE_MLCP_DANTZIG,
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SOLVER_TYPE_MLCP_LEMKE,
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SOLVER_TYPE_COUNT
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};
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inline const char* getSolverTypeName( SolverType t )
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{
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switch (t)
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{
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case SOLVER_TYPE_SEQUENTIAL_IMPULSE: return "SequentialImpulse";
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case SOLVER_TYPE_NNCG: return "NNCG";
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case SOLVER_TYPE_MLCP_PGS: return "MLCP ProjectedGaussSeidel";
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case SOLVER_TYPE_MLCP_DANTZIG: return "MLCP Dantzig";
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case SOLVER_TYPE_MLCP_LEMKE: return "MLCP Lemke";
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}
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btAssert( !"unhandled solver type in switch" );
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return "???";
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}
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struct CommonRigidBodyMTBase : public CommonExampleInterface
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{
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//keep the collision shapes, for deletion/cleanup
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btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
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btBroadphaseInterface* m_broadphase;
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btCollisionDispatcher* m_dispatcher;
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btConstraintSolver* m_solver;
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btDefaultCollisionConfiguration* m_collisionConfiguration;
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btDiscreteDynamicsWorld* m_dynamicsWorld;
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SolverType m_solverType;
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bool m_multithreadedWorld;
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bool m_multithreadCapable;
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//data for picking objects
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class btRigidBody* m_pickedBody;
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class btTypedConstraint* m_pickedConstraint;
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int m_savedState;
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btVector3 m_oldPickingPos;
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btVector3 m_hitPos;
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btScalar m_oldPickingDist;
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struct GUIHelperInterface* m_guiHelper;
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CommonRigidBodyMTBase(struct GUIHelperInterface* helper);
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virtual ~CommonRigidBodyMTBase();
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btDiscreteDynamicsWorld* getDynamicsWorld()
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{
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return m_dynamicsWorld;
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}
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virtual void createDefaultParameters();
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virtual void createEmptyDynamicsWorld();
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virtual void stepSimulation(float deltaTime)
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{
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if (m_dynamicsWorld)
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{
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m_dynamicsWorld->stepSimulation(deltaTime);
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}
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}
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virtual void drawScreenText();
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virtual void renderScene();
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virtual void physicsDebugDraw(int debugFlags);
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virtual void exitPhysics()
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{
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removePickingConstraint();
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//cleanup in the reverse order of creation/initialization
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//remove the rigidbodies from the dynamics world and delete them
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if (m_dynamicsWorld)
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{
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int i;
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for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--)
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{
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m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i));
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}
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for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
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{
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btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
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btRigidBody* body = btRigidBody::upcast(obj);
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if (body && body->getMotionState())
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{
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delete body->getMotionState();
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}
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m_dynamicsWorld->removeCollisionObject(obj);
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delete obj;
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}
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}
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//delete collision shapes
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for (int j = 0; j<m_collisionShapes.size(); j++)
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{
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btCollisionShape* shape = m_collisionShapes[j];
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delete shape;
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}
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m_collisionShapes.clear();
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delete m_dynamicsWorld;
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m_dynamicsWorld=0;
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delete m_solver;
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m_solver=0;
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delete m_broadphase;
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m_broadphase=0;
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delete m_dispatcher;
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m_dispatcher=0;
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delete m_collisionConfiguration;
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m_collisionConfiguration=0;
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}
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virtual void debugDraw(int debugDrawFlags)
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{
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if (m_dynamicsWorld)
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{
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if (m_dynamicsWorld->getDebugDrawer())
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{
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags);
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}
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m_dynamicsWorld->debugDrawWorld();
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}
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}
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virtual bool keyboardCallback(int key, int state)
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{
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if ((key==B3G_F3) && state && m_dynamicsWorld)
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{
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btDefaultSerializer* serializer = new btDefaultSerializer();
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m_dynamicsWorld->serialize(serializer);
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FILE* file = fopen("testFile.bullet","wb");
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
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fclose(file);
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//b3Printf("btDefaultSerializer wrote testFile.bullet");
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delete serializer;
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return true;
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}
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return false;//don't handle this key
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}
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btVector3 getRayTo(int x,int y)
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{
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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btAssert(0);
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return btVector3(0,0,0);
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}
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float top = 1.f;
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float bottom = -1.f;
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float nearPlane = 1.f;
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float tanFov = (top-bottom)*0.5f / nearPlane;
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float fov = btScalar(2.0) * btAtan(tanFov);
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btVector3 camPos,camTarget;
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renderer->getActiveCamera()->getCameraPosition(camPos);
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renderer->getActiveCamera()->getCameraTargetPosition(camTarget);
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btVector3 rayFrom = camPos;
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btVector3 rayForward = (camTarget-camPos);
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rayForward.normalize();
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float farPlane = 10000.f;
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rayForward*= farPlane;
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btVector3 rightOffset;
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btVector3 cameraUp=btVector3(0,0,0);
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cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1;
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btVector3 vertical = cameraUp;
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btVector3 hor;
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hor = rayForward.cross(vertical);
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hor.safeNormalize();
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vertical = hor.cross(rayForward);
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vertical.safeNormalize();
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float tanfov = tanf(0.5f*fov);
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hor *= 2.f * farPlane * tanfov;
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vertical *= 2.f * farPlane * tanfov;
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btScalar aspect;
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float width = float(renderer->getScreenWidth());
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float height = float (renderer->getScreenHeight());
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aspect = width / height;
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hor*=aspect;
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btVector3 rayToCenter = rayFrom + rayForward;
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btVector3 dHor = hor * 1.f/width;
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btVector3 dVert = vertical * 1.f/height;
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btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical;
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rayTo += btScalar(x) * dHor;
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rayTo -= btScalar(y) * dVert;
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return rayTo;
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}
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virtual bool mouseMoveCallback(float x,float y)
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{
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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btAssert(0);
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return false;
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}
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btVector3 rayTo = getRayTo(int(x), int(y));
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btVector3 rayFrom;
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renderer->getActiveCamera()->getCameraPosition(rayFrom);
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movePickedBody(rayFrom,rayTo);
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return false;
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}
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virtual bool mouseButtonCallback(int button, int state, float x, float y)
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{
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CommonRenderInterface* renderer = m_guiHelper->getRenderInterface();
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if (!renderer)
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{
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btAssert(0);
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return false;
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}
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CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window;
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#if 0
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if (window->isModifierKeyPressed(B3G_ALT))
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{
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printf("ALT pressed\n");
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} else
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{
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printf("NO ALT pressed\n");
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}
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if (window->isModifierKeyPressed(B3G_SHIFT))
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{
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printf("SHIFT pressed\n");
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} else
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{
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printf("NO SHIFT pressed\n");
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}
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if (window->isModifierKeyPressed(B3G_CONTROL))
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{
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printf("CONTROL pressed\n");
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} else
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{
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printf("NO CONTROL pressed\n");
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}
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#endif
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if (state==1)
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{
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if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) ))
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{
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btVector3 camPos;
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renderer->getActiveCamera()->getCameraPosition(camPos);
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btVector3 rayFrom = camPos;
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btVector3 rayTo = getRayTo(int(x),int(y));
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pickBody(rayFrom, rayTo);
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}
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} else
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{
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if (button==0)
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{
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removePickingConstraint();
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//remove p2p
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}
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}
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//printf("button=%d, state=%d\n",button,state);
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return false;
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}
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virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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if (m_dynamicsWorld==0)
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return false;
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btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
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m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
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if (rayCallback.hasHit())
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{
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btVector3 pickPos = rayCallback.m_hitPointWorld;
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btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);
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if (body)
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{
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//other exclusions?
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if (!(body->isStaticObject() || body->isKinematicObject()))
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{
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m_pickedBody = body;
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m_savedState = m_pickedBody->getActivationState();
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m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
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//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
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btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
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btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);
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m_dynamicsWorld->addConstraint(p2p, true);
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m_pickedConstraint = p2p;
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btScalar mousePickClamping = 30.f;
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p2p->m_setting.m_impulseClamp = mousePickClamping;
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//very weak constraint for picking
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p2p->m_setting.m_tau = 0.001f;
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}
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}
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// pickObject(pickPos, rayCallback.m_collisionObject);
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m_oldPickingPos = rayToWorld;
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m_hitPos = pickPos;
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m_oldPickingDist = (pickPos - rayFromWorld).length();
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// printf("hit !\n");
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//add p2p
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}
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return false;
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}
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virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld)
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{
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if (m_pickedBody && m_pickedConstraint)
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{
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btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickedConstraint);
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if (pickCon)
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{
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//keep it at the same picking distance
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btVector3 newPivotB;
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btVector3 dir = rayToWorld - rayFromWorld;
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dir.normalize();
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dir *= m_oldPickingDist;
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newPivotB = rayFromWorld + dir;
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pickCon->setPivotB(newPivotB);
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return true;
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}
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}
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return false;
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}
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virtual void removePickingConstraint()
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{
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if (m_pickedConstraint)
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{
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m_pickedBody->forceActivationState(m_savedState);
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m_pickedBody->activate();
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m_dynamicsWorld->removeConstraint(m_pickedConstraint);
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delete m_pickedConstraint;
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m_pickedConstraint = 0;
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m_pickedBody = 0;
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}
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}
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btBoxShape* createBoxShape(const btVector3& halfExtents)
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{
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btBoxShape* box = new btBoxShape(halfExtents);
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return box;
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}
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btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1))
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{
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btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE));
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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shape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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#define USE_MOTIONSTATE 1
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#ifdef USE_MOTIONSTATE
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo cInfo(mass, myMotionState, shape, localInertia);
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btRigidBody* body = new btRigidBody(cInfo);
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//body->setContactProcessingThreshold(m_defaultContactProcessingThreshold);
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#else
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btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia);
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body->setWorldTransform(startTransform);
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#endif//
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body->setUserIndex(-1);
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m_dynamicsWorld->addRigidBody(body);
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return body;
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}
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btRigidBody* createKinematicBody(const btTransform& startTransform, btCollisionShape* shape)
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{
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btAssert( ( !shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE ) );
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btRigidBody* body = new btRigidBody( 0.0f, NULL, shape );
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body->setWorldTransform( startTransform );
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body->setCollisionFlags( body->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT );
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body->setUserIndex( -1 );
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m_dynamicsWorld->addRigidBody( body );
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return body;
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}
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};
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#endif //#define COMMON_RIGID_BODY_MT_BASE_H
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