void BasicDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//simple dynamics world doesn't handle fixed-time-stepping
float ms = getDeltaTimeMicroseconds();
int key;
int x = 0, y = 0;
//step the simulation
if (m_dynamicsWorld)
{
specialKeyboard(key, x, y);
if (gStepSim == true)
{
printf("Simulation step is %d\n", i);
m_dynamicsWorld->stepSimulation(ms / 1000000.f);
i += 1;
}
gStepSim = false;
//optional but useful: debug drawing
m_dynamicsWorld->debugDrawWorld();
}
renderme();
glFlush();
swapBuffers();
}
void ForkLiftDemo::keyboardCallback(unsigned char key, int x, int y)
{
switch (key)
{
case ',':
if (_modifier == GLUT_ACTIVE_SHIFT)
_modifier = 0;
else
_modifier = GLUT_ACTIVE_SHIFT;
break;
case 'k':
{
int oldModifier = _modifier;
_modifier = 0;
specialKeyboard(GLUT_KEY_F5, 0, 0);
_modifier = oldModifier;
break;
}
default:
DemoApplication::keyboardCallback(key, x, y);
break;
}
}
void ForkLiftDemo::clientMoveAndDisplay()
{
#ifdef __QNX__
// Simulate arrow key input using the accelerometer.
static float threshold = 0.3;
static float pitch, roll, x, y, lx = 0, ly = 0;
getAccelerometerPitchAndRoll(&pitch, &roll);
x = -sinf(2.0f * MATH_DEG_TO_RAD(roll));
y = -sinf(2.0f * MATH_DEG_TO_RAD(pitch));
// Negate the pitch input when operating the fork.
if (_modifier)
y = -y;
if (x > threshold)
specialKeyboard(GLUT_KEY_RIGHT, 0, 0);
else if (x < -threshold)
specialKeyboard(GLUT_KEY_LEFT, 0, 0);
else
{
if (lx > threshold)
specialKeyboardUp(GLUT_KEY_RIGHT, 0, 0);
else if (lx < -threshold)
specialKeyboardUp(GLUT_KEY_LEFT, 0, 0);
}
if (y > threshold)
specialKeyboard(GLUT_KEY_UP, 0, 0);
else if (y < -threshold)
specialKeyboard(GLUT_KEY_DOWN, 0, 0);
else
{
if (ly > threshold)
specialKeyboardUp(GLUT_KEY_UP, 0, 0);
else if (ly < -threshold)
specialKeyboardUp(GLUT_KEY_DOWN, 0, 0);
}
lx = x;
ly = y;
#endif
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
{
int wheelIndex = 2;
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
m_vehicle->setBrake(gBreakingForce,wheelIndex);
wheelIndex = 3;
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
m_vehicle->setBrake(gBreakingForce,wheelIndex);
wheelIndex = 0;
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
wheelIndex = 1;
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
}
float dt = getDeltaTimeMicroseconds() * 0.000001f;
if (m_dynamicsWorld)
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 2;
if (m_idle)
dt = 1.0/420.f;
int numSimSteps;
numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
//#define VERBOSE_FEEDBACK
#ifdef VERBOSE_FEEDBACK
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
#endif //VERBOSE_FEEDBACK
}
#ifdef USE_QUICKPROF
btProfiler::beginBlock("render");
#endif //USE_QUICKPROF
renderme();
//optional but useful: debug drawing
if (m_dynamicsWorld)
m_dynamicsWorld->debugDrawWorld();
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
glFlush();
glutSwapBuffers();
}
