//to be implemented by the demo void Hinge2Vehicle::renderScene() { m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld); #if 0 for (int i=0;i<m_vehicle->getNumWheels();i++) { //synchronize the wheels with the (interpolated) chassis worldtransform m_vehicle->updateWheelTransform(i,true); CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); if (renderer) { btTransform tr = m_vehicle->getWheelInfo(i).m_worldTransform; btVector3 pos=tr.getOrigin(); btQuaternion orn = tr.getRotation(); renderer->writeSingleInstanceTransformToCPU(pos,orn,m_wheelInstances[i]); } } #endif m_guiHelper->render(m_dynamicsWorld); btVector3 wheelColor(1,0,0); btVector3 worldBoundsMin,worldBoundsMax; getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax); #if 0 int lineWidth=400; int xStart = m_glutScreenWidth - lineWidth; int yStart = 20; if((getDebugMode() & btIDebugDraw::DBG_NoHelpText)==0) { setOrthographicProjection(); glDisable(GL_LIGHTING); glColor3f(0, 0, 0); char buf[124]; sprintf(buf,"SHIFT+Cursor Left/Right - rotate lift"); GLDebugDrawString(xStart,20,buf); yStart+=20; sprintf(buf,"SHIFT+Cursor UP/Down - fork up/down"); yStart+=20; GLDebugDrawString(xStart,yStart,buf); if (m_useDefaultCamera) { sprintf(buf,"F5 - camera mode (free)"); } else { sprintf(buf,"F5 - camera mode (follow)"); } yStart+=20; GLDebugDrawString(xStart,yStart,buf); yStart+=20; if (m_dynamicsWorld->getConstraintSolver()->getSolverType()==BT_MLCP_SOLVER) { sprintf(buf,"F6 - solver (direct MLCP)"); } else { sprintf(buf,"F6 - solver (sequential impulse)"); } GLDebugDrawString(xStart,yStart,buf); btDiscreteDynamicsWorld* world = (btDiscreteDynamicsWorld*) m_dynamicsWorld; if (world->getLatencyMotionStateInterpolation()) { sprintf(buf,"F7 - motionstate interpolation (on)"); } else { sprintf(buf,"F7 - motionstate interpolation (off)"); } yStart+=20; GLDebugDrawString(xStart,yStart,buf); sprintf(buf,"Click window for keyboard focus"); yStart+=20; GLDebugDrawString(xStart,yStart,buf); resetPerspectiveProjection(); glEnable(GL_LIGHTING); } #endif }