mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-17 15:01:06 +00:00
86c27a7c9d
Improved this penetration test with more verbose output retrieve worldtransform from motionstate when rigidbody gets motionstate assigned
181 lines
3.8 KiB
C++
181 lines
3.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef DEMO_APPLICATION_H
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#define DEMO_APPLICATION_H
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#ifdef WIN32//for glut.h
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#include <windows.h>
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#endif
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//think different
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#if defined(__APPLE__) && !defined (VMDMESA)
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#include <OpenGL/gl.h>
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#include <OpenGL/glu.h>
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#include <GLUT/glut.h>
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#else
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#include <GL/glut.h>
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#endif
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#include <stdlib.h>
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#include <stdio.h>
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#include <math.h>
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btMatrix3x3.h"
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btQuickprof.h"
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class btCollisionShape;
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class btDynamicsWorld;
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class btRigidBody;
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class btTypedConstraint;
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class DemoApplication
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{
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protected:
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hidden::Clock m_clock;
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///this is the most important class
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btDynamicsWorld* m_dynamicsWorld;
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///constraint for mouse picking
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btTypedConstraint* m_pickConstraint;
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float m_cameraDistance;
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int m_debugMode;
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float m_ele;
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float m_azi;
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btVector3 m_cameraPosition;
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btVector3 m_cameraTargetPosition;//look at
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float m_scaleBottom;
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float m_scaleFactor;
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btVector3 m_cameraUp;
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int m_forwardAxis;
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int m_glutScreenWidth;
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int m_glutScreenHeight;
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float m_ShootBoxInitialSpeed;
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bool m_stepping;
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bool m_singleStep;
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bool m_idle;
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int m_lastKey;
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public:
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DemoApplication();
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virtual ~DemoApplication();
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btDynamicsWorld* getDynamicsWorld()
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{
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return m_dynamicsWorld;
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}
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void setOrthographicProjection();
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void resetPerspectiveProjection();
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int getDebugMode()
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{
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return m_debugMode ;
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}
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void setDebugMode(int mode)
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{
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m_debugMode = mode;
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}
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void setCameraUp(const btVector3& camUp)
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{
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m_cameraUp = camUp;
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}
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void setCameraForwardAxis(int axis)
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{
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m_forwardAxis = axis;
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}
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void myinit();
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void toggleIdle();
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virtual void updateCamera();
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btVector3 getCameraPosition()
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{
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return m_cameraPosition;
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}
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btVector3 getCameraTargetPosition()
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{
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return m_cameraTargetPosition;
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}
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///glut callbacks
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float getCameraDistance();
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void setCameraDistance(float dist);
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void moveAndDisplay();
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virtual void clientMoveAndDisplay() = 0;
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virtual void clientResetScene();
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///Demo functions
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void shootBox(const btVector3& destination);
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btVector3 getRayTo(int x,int y);
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btRigidBody* localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
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///callback methods by glut
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virtual void keyboardCallback(unsigned char key, int x, int y);
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virtual void specialKeyboard(int key, int x, int y);
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virtual void reshape(int w, int h);
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virtual void mouseFunc(int button, int state, int x, int y);
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virtual void mouseMotionFunc(int x,int y);
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virtual void displayCallback();
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virtual void renderme();
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void stepLeft();
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void stepRight();
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void stepFront();
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void stepBack();
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void zoomIn();
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void zoomOut();
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};
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#endif //DEMO_APPLICATION_H
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