virtual void renderScene()
{
if (m_app && m_app->m_renderer)
{
m_app->m_renderer->renderScene();
m_app->m_renderer->clearZBuffer();
m_app->drawText3D("X",1,0,0,1);
m_app->drawText3D("Y",0,1,0,1);
m_app->drawText3D("Z",0,0,1,1);
for (int i=0;i<gTotalPoints;i++)
{
const lwContactPoint& contact = pointsOut[i];
btVector3 color(1,1,0);
btScalar lineWidth=3;
if (contact.m_distance<0)
{
color.setValue(1,0,0);
}
m_app->m_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
}
}
}
virtual void initPhysics()
{
///create some graphics proxy for the tracking target
///the endeffector tries to track it using Inverse Kinematics
{
int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
b3Quaternion orn(0, 0, 0, 1);
b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
}
m_app->m_renderer->writeTransforms();
int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
m_robotSim.setGuiHelper(m_guiHelper);
bool connected = m_robotSim.connect(mode);
// 0;//m_robotSim.connect(m_guiHelper);
b3Printf("robotSim connected = %d",connected);
{
m_kukaIndex = m_robotSim.loadURDF("kuka_iiwa/model.urdf");
if (m_kukaIndex >=0)
{
int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
b3Printf("numJoints = %d",numJoints);
for (int i=0;i<numJoints;i++)
{
b3JointInfo jointInfo;
m_robotSim.getJointInfo(m_kukaIndex,i,&jointInfo);
b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
}
/*
int wheelJointIndices[4]={2,3,6,7};
int wheelTargetVelocities[4]={-10,-10,-10,-10};
for (int i=0;i<4;i++)
{
b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
controlArgs.m_targetVelocity = wheelTargetVelocities[i];
controlArgs.m_maxTorqueValue = 1e30;
m_robotSim.setJointMotorControl(m_kukaIndex,wheelJointIndices[i],controlArgs);
}
*/
}
{
m_robotSim.loadURDF("plane.urdf");
m_robotSim.setGravity(b3MakeVector3(0,0,0));
}
}
}
GripperGraspExample(GUIHelperInterface* helper, int options)
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
m_options(options),
m_gripperIndex(-1)
{
m_app->setUpAxis(2);
}
virtual void renderScene()
{
m_app->m_renderer->renderScene();
m_app->drawText3D("X",1,0,0,1);
m_app->drawText3D("Y",0,1,0,1);
m_app->drawText3D("Z",0,0,1,1);
for (int i=0;i<m_contactPoints.size();i++)
{
const LWContactPoint& contact = m_contactPoints[i];
b3Vector3 color=b3MakeVector3(1,1,0);
float lineWidth=3;
if (contact.m_distance<0)
{
color.setValue(1,0,0);
}
m_app->m_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
}
}
MultiThreadingExample(GUIHelperInterface* guiHelper, int tutorialIndex)
:m_app(guiHelper->getAppInterface()),
m_threadSupport(0),
m_numThreads(8)
{
//int numBodies = 1;
m_app->setUpAxis(1);
}
RenderInstancingDemo(CommonGraphicsApp* app)
:m_app(app),
m_x(0),
m_y(0),
m_z(0)
{
m_app->setUpAxis(2);
{
b3Vector3 extents=b3MakeVector3(100,100,100);
extents[m_app->getUpAxis()]=1;
int xres = 20;
int yres = 20;
b3Vector4 color0=b3MakeVector4(0.1, 0.1, 0.1,1);
b3Vector4 color1=b3MakeVector4(0.6, 0.6, 0.6,1);
m_app->registerGrid(xres, yres, color0, color1);
}
{
int boxId = m_app->registerCubeShape(0.1,0.1,0.1);
for (int i=-numCubesX/2;i<numCubesX/2;i++)
{
for (int j = -numCubesY/2;j<numCubesY/2;j++)
{
b3Vector3 pos=b3MakeVector3(i,j,j);
pos[app->getUpAxis()] = 1;
b3Quaternion orn(0,0,0,1);
b3Vector4 color=b3MakeVector4(0.3,0.3,0.3,1);
b3Vector3 scaling=b3MakeVector3(1,1,1);
int instanceId = m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
m_movingInstances.push_back(instanceId);
}
}
}
m_app->m_renderer->writeTransforms();
}
KukaGraspExample(GUIHelperInterface* helper, int /* options */)
:m_app(helper->getAppInterface()),
m_guiHelper(helper),
// m_options(options),
m_kukaIndex(-1),
m_time(0)
{
m_targetPos.setValue(0.5,0,1);
m_worldPos.setValue(0, 0, 0);
m_app->setUpAxis(2);
}
virtual void stepSimulation(float deltaTime)
{
m_x+=0.01f;
m_y+=0.01f;
m_z+=0.01f;
int index=0;
for (int i=-numCubesX/2;i<numCubesX/2;i++)
{
for (int j = -numCubesY/2;j<numCubesY/2;j++)
{
b3Vector3 pos=b3MakeVector3(i,j,j);
pos[m_app->getUpAxis()] = 1+1*b3Sin(m_x+i-j);
float orn[4]={0,0,0,1};
m_app->m_renderer->writeSingleInstanceTransformToCPU(pos,orn,m_movingInstances[index++]);
}
}
m_app->m_renderer->writeTransforms();
}
Tutorial(GUIHelperInterface* guiHelper, int tutorialIndex)
:m_app(guiHelper->getAppInterface()),
m_guiHelper(guiHelper),
m_tutorialIndex(tutorialIndex),
m_stage(0),
m_counter(0),
m_timeSeriesCanvas0(0),
m_timeSeriesCanvas1(0)
{
int numBodies = 1;
m_app->setUpAxis(1);
m_app->m_renderer->enableBlend(true);
switch (m_tutorialIndex)
{
case TUT_VELOCITY:
{
numBodies=10;
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
m_timeSeriesCanvas0 ->setupTimeSeries(2,60, 0);
m_timeSeriesCanvas0->addDataSource("X position (m)", 255,0,0);
m_timeSeriesCanvas0->addDataSource("X velocity (m/s)", 0,0,255);
m_timeSeriesCanvas0->addDataSource("dX/dt (m/s)", 0,0,0);
break;
}
case TUT_ACCELERATION:
{
numBodies=10;
m_timeSeriesCanvas1 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,256,512,"Constant Acceleration");
m_timeSeriesCanvas1 ->setupTimeSeries(50,60, 0);
m_timeSeriesCanvas1->addDataSource("Y position (m)", 255,0,0);
m_timeSeriesCanvas1->addDataSource("Y velocity (m/s)", 0,0,255);
m_timeSeriesCanvas1->addDataSource("dY/dt (m/s)", 0,0,0);
break;
}
case TUT_COLLISION:
{
numBodies=2;
m_timeSeriesCanvas1 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,200,"Distance");
m_timeSeriesCanvas1 ->setupTimeSeries(1.5,60, 0);
m_timeSeriesCanvas1->addDataSource("distance", 255,0,0);
break;
}
case TUT_SOLVE_CONTACT_CONSTRAINT:
{
numBodies=2;
m_timeSeriesCanvas1 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,200,"Collision Impulse");
m_timeSeriesCanvas1 ->setupTimeSeries(1.5,60, 0);
m_timeSeriesCanvas1->addDataSource("Distance", 0,0,255);
m_timeSeriesCanvas1->addDataSource("Impulse magnutide", 255,0,0);
{
SliderParams slider("Restitution",&gRestitution);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Mass A",&gMassA);
slider.m_minVal=0;
slider.m_maxVal=100;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Mass B",&gMassB);
slider.m_minVal=0;
slider.m_maxVal=100;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
break;
}
default:
{
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Unknown");
m_timeSeriesCanvas0 ->setupTimeSeries(1,60, 0);
}
};
if (m_tutorialIndex==TUT_VELOCITY)
{
int boxId = m_app->registerCubeShape(100,1,100);
b3Vector3 pos = b3MakeVector3(0,-3.5,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = b3MakeVector4(1,1,1,1);
b3Vector3 scaling = b3MakeVector3(1,1,1);
m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
}
for (int i=0;i<numBodies;i++)
{
m_bodies.push_back(new LWRigidBody());
}
for (int i=0;i<m_bodies.size();i++)
{
m_bodies[i]->m_worldPose.m_position.setValue((i/4)*5,3,(i&3)*5);
}
{
int textureIndex = -1;
if (1)
{
int width,height,n;
const char* filename = "data/cube.png";
const unsigned char* image=0;
const char* prefix[]={"./","../","../../","../../../","../../../../"};
int numprefix = sizeof(prefix)/sizeof(const char*);
for (int i=0;!image && i<numprefix;i++)
{
char relativeFileName[1024];
sprintf(relativeFileName,"%s%s",prefix[i],filename);
image = stbi_load(relativeFileName, &width, &height, &n, 0);
}
b3Assert(image);
if (image)
{
textureIndex = m_app->m_renderer->registerTexture(image,width,height);
}
}
// int boxId = m_app->registerCubeShape(1,1,1,textureIndex);
int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
b3Vector4 color = b3MakeVector4(1,1,1,0.8);
b3Vector3 scaling = b3MakeVector3(SPHERE_RADIUS,SPHERE_RADIUS,SPHERE_RADIUS);
for (int i=0;i<m_bodies.size();i++)
{
m_bodies[i]->m_collisionShape.m_sphere.m_radius = SPHERE_RADIUS;
m_bodies[i]->m_collisionShape.m_type = LW_SPHERE_TYPE;
m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(boxId,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling);
m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
}
}
if (m_tutorialIndex == TUT_SOLVE_CONTACT_CONSTRAINT)
{
m_bodies[0]->m_invMass = gMassA? 1./gMassA : 0;
m_bodies[0]->m_collisionShape.m_sphere.computeLocalInertia(gMassA,m_bodies[0]->m_localInertia);
m_bodies[1]->m_invMass =gMassB? 1./gMassB : 0;
m_bodies[1]->m_collisionShape.m_sphere.computeLocalInertia(gMassB,m_bodies[1]->m_localInertia);
if (gMassA)
m_bodies[0]->m_linearVelocity.setValue(0,0,1);
if (gMassB)
m_bodies[1]->m_linearVelocity.setValue(0,0,-1);
}
m_app->m_renderer->writeTransforms();
}
CollisionTutorialBullet2(GUIHelperInterface* guiHelper, int tutorialIndex)
:m_app(guiHelper->getAppInterface()),
m_guiHelper(guiHelper),
m_tutorialIndex(tutorialIndex),
m_collisionSdkHandle(0),
m_collisionWorldHandle(0),
m_stage(0),
m_counter(0),
m_timeSeriesCanvas0(0)
{
gTotalPoints = 0;
m_app->setUpAxis(1);
m_app->m_renderer->enableBlend(true);
switch (m_tutorialIndex)
{
case TUT_SPHERE_PLANE_RTB3:
case TUT_SPHERE_PLANE_BULLET2:
{
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
{
m_collisionSdkHandle = plCreateBullet2CollisionSdk();
} else
{
#ifndef DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
m_collisionSdkHandle = plCreateRealTimeBullet3CollisionSdk();
#endif //DISABLE_REAL_TIME_BULLET3_COLLISION_SDK
}
if (m_collisionSdkHandle)
{
int maxNumObjsCapacity=1024;
int maxNumShapesCapacity=1024;
int maxNumPairsCapacity=16384;
btAlignedObjectArray<plCollisionObjectHandle> colliders;
m_collisionWorldHandle = plCreateCollisionWorld(m_collisionSdkHandle,maxNumObjsCapacity,maxNumShapesCapacity,maxNumPairsCapacity);
//create objects, do query etc
{
float radius = 1.f;
void* userPointer = 0;
{
for (int j=0;j<sNumCompounds;j++)
{
plCollisionShapeHandle compoundShape = plCreateCompoundShape(m_collisionSdkHandle,m_collisionWorldHandle);
for (int i=0;i<sNumSpheres;i++)
{
btVector3 childPos(i*1.5,0,0);
btQuaternion childOrn(0,0,0,1);
btVector3 scaling(radius,radius,radius);
plCollisionShapeHandle childShape = plCreateSphereShape(m_collisionSdkHandle, m_collisionWorldHandle,radius);
plAddChildShape(m_collisionSdkHandle,m_collisionWorldHandle,compoundShape, childShape,childPos,childOrn);
//m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
}
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
{
btCollisionShape* colShape = (btCollisionShape*) compoundShape;
m_guiHelper->createCollisionShapeGraphicsObject(colShape);
} else
{
}
{
btVector3 pos(j*sNumSpheres*1.5,-2.4,0);
btQuaternion orn(0,0,0,1);
plCollisionObjectHandle colObjHandle = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, -1,compoundShape,pos,orn);
if (m_tutorialIndex==TUT_SPHERE_PLANE_BULLET2)
{
btCollisionObject* colObj = (btCollisionObject*) colObjHandle;
btVector4 color=sColors[j&3];
m_guiHelper->createCollisionObjectGraphicsObject(colObj,color);
colliders.push_back(colObjHandle);
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObjHandle);
}
}
}
}
}
{
plCollisionShapeHandle colShape = plCreatePlaneShape(m_collisionSdkHandle, m_collisionWorldHandle,0,1,0,-3.5);
btVector3 pos(0,0,0);
btQuaternion orn(0,0,0,1);
void* userPointer = 0;
plCollisionObjectHandle colObj = plCreateCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,userPointer, 0,colShape,pos,orn);
colliders.push_back(colObj);
plAddCollisionObject(m_collisionSdkHandle, m_collisionWorldHandle,colObj);
}
int numContacts = plCollide(m_collisionSdkHandle,m_collisionWorldHandle,colliders[0],colliders[1],pointsOut,sPointCapacity);
printf("numContacts = %d\n", numContacts);
void* myUserPtr = 0;
plWorldCollide(m_collisionSdkHandle,m_collisionWorldHandle,myNearCallback, myUserPtr);
printf("total points=%d\n",gTotalPoints);
//plRemoveCollisionObject(m_collisionSdkHandle,m_collisionWorldHandle,colObj);
//plDeleteCollisionObject(m_collisionSdkHandle,colObj);
//plDeleteShape(m_collisionSdkHandle,colShape);
}
/*
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
m_timeSeriesCanvas0 ->setupTimeSeries(2,60, 0);
m_timeSeriesCanvas0->addDataSource("X position (m)", 255,0,0);
m_timeSeriesCanvas0->addDataSource("X velocity (m/s)", 0,0,255);
m_timeSeriesCanvas0->addDataSource("dX/dt (m/s)", 0,0,0);
*/
break;
}
default:
{
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Unknown");
m_timeSeriesCanvas0 ->setupTimeSeries(1,60, 0);
}
};
{
int boxId = m_app->registerCubeShape(100,0.01,100);
b3Vector3 pos = b3MakeVector3(0,-3.5,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = b3MakeVector4(1,1,1,1);
b3Vector3 scaling = b3MakeVector3(1,1,1);
m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
}
{
int textureIndex = -1;
if (1)
{
int width,height,n;
const char* filename = "data/cube.png";
const unsigned char* image=0;
const char* prefix[]={"./","../","../../","../../../","../../../../"};
int numprefix = sizeof(prefix)/sizeof(const char*);
for (int i=0;!image && i<numprefix;i++)
{
char relativeFileName[1024];
sprintf(relativeFileName,"%s%s",prefix[i],filename);
image = stbi_load(relativeFileName, &width, &height, &n, 3);
}
b3Assert(image);
if (image)
{
textureIndex = m_app->m_renderer->registerTexture(image,width,height);
}
}
}
m_app->m_renderer->writeTransforms();
}
