Example #1
0
//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
}