void RagdollDemo:: renderme()
{
extern GLDebugDrawer gDebugDrawer;
// Call the parent method.
GlutDemoApplication::renderme();
for(int i = 5; i<11; i++)
{
if(touches[i] == 1)
{
gDebugDrawer.drawSphere(touchPoints[i], 0.2, btVector3(1., 0., 0.));
}
}
}
void RaytestDemo::castRays()
{
static float up = 0.f;
static float dir = 1.f;
//add some simple animation
if (!m_idle)
{
up+=0.01*dir;
if (btFabs(up)>2)
{
dir*=-1.f;
}
btTransform tr = m_dynamicsWorld->getCollisionObjectArray()[1]->getWorldTransform();
static float angle = 0.f;
angle+=0.01f;
tr.setRotation(btQuaternion(btVector3(0,1,0),angle));
m_dynamicsWorld->getCollisionObjectArray()[1]->setWorldTransform(tr);
}
///step the simulation
if (m_dynamicsWorld)
{
m_dynamicsWorld->updateAabbs();
m_dynamicsWorld->computeOverlappingPairs();
btVector3 red(1,0,0);
btVector3 blue(0,0,1);
///all hits
{
btVector3 from(-30,1+up,0);
btVector3 to(30,1,0);
sDebugDraw.drawLine(from,to,btVector4(0,0,0,1));
btCollisionWorld::AllHitsRayResultCallback allResults(from,to);
allResults.m_flags |= btTriangleRaycastCallback::kF_KeepUnflippedNormal;
//kF_UseGjkConvexRaytest flag is now enabled by default, use the faster but more approximate algorithm
allResults.m_flags |= btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest;
m_dynamicsWorld->rayTest(from,to,allResults);
for (int i=0;i<allResults.m_hitFractions.size();i++)
{
btVector3 p = from.lerp(to,allResults.m_hitFractions[i]);
sDebugDraw.drawSphere(p,0.1,red);
}
}
///first hit
{
btVector3 from(-30,1.2,0);
btVector3 to(30,1.2,0);
sDebugDraw.drawLine(from,to,btVector4(0,0,1,1));
btCollisionWorld::ClosestRayResultCallback closestResults(from,to);
closestResults.m_flags |= btTriangleRaycastCallback::kF_FilterBackfaces;
m_dynamicsWorld->rayTest(from,to,closestResults);
if (closestResults.hasHit())
{
btVector3 p = from.lerp(to,closestResults.m_closestHitFraction);
sDebugDraw.drawSphere(p,0.1,blue);
sDebugDraw.drawLine(p,p+closestResults.m_hitNormalWorld,blue);
}
}
}
}
