bullet3/Demos/OpenGL/DemoApplication.h
ejcoumans 86c27a7c9d Work on fixing some GJK issues reported by Pierre Terdiman (thanks Pierre for the testbed!)
Improved this penetration test with more verbose output
retrieve worldtransform from motionstate when rigidbody gets motionstate assigned
2006-11-11 23:59:51 +00:00

181 lines
3.8 KiB
C++

/*
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.
*/
#ifndef DEMO_APPLICATION_H
#define DEMO_APPLICATION_H
#ifdef WIN32//for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btQuickprof.h"
class btCollisionShape;
class btDynamicsWorld;
class btRigidBody;
class btTypedConstraint;
class DemoApplication
{
protected:
hidden::Clock m_clock;
///this is the most important class
btDynamicsWorld* m_dynamicsWorld;
///constraint for mouse picking
btTypedConstraint* m_pickConstraint;
float m_cameraDistance;
int m_debugMode;
float m_ele;
float m_azi;
btVector3 m_cameraPosition;
btVector3 m_cameraTargetPosition;//look at
float m_scaleBottom;
float m_scaleFactor;
btVector3 m_cameraUp;
int m_forwardAxis;
int m_glutScreenWidth;
int m_glutScreenHeight;
float m_ShootBoxInitialSpeed;
bool m_stepping;
bool m_singleStep;
bool m_idle;
int m_lastKey;
public:
DemoApplication();
virtual ~DemoApplication();
btDynamicsWorld* getDynamicsWorld()
{
return m_dynamicsWorld;
}
void setOrthographicProjection();
void resetPerspectiveProjection();
int getDebugMode()
{
return m_debugMode ;
}
void setDebugMode(int mode)
{
m_debugMode = mode;
}
void setCameraUp(const btVector3& camUp)
{
m_cameraUp = camUp;
}
void setCameraForwardAxis(int axis)
{
m_forwardAxis = axis;
}
void myinit();
void toggleIdle();
virtual void updateCamera();
btVector3 getCameraPosition()
{
return m_cameraPosition;
}
btVector3 getCameraTargetPosition()
{
return m_cameraTargetPosition;
}
///glut callbacks
float getCameraDistance();
void setCameraDistance(float dist);
void moveAndDisplay();
virtual void clientMoveAndDisplay() = 0;
virtual void clientResetScene();
///Demo functions
void shootBox(const btVector3& destination);
btVector3 getRayTo(int x,int y);
btRigidBody* localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
///callback methods by glut
virtual void keyboardCallback(unsigned char key, int x, int y);
virtual void specialKeyboard(int key, int x, int y);
virtual void reshape(int w, int h);
virtual void mouseFunc(int button, int state, int x, int y);
virtual void mouseMotionFunc(int x,int y);
virtual void displayCallback();
virtual void renderme();
void stepLeft();
void stepRight();
void stepFront();
void stepBack();
void zoomIn();
void zoomOut();
};
#endif //DEMO_APPLICATION_H