//--------------------------------------------------------------
void ofxBulletWorldSoft::mouseDragged( ofMouseEventArgs &a ) {
if (_pickConstraint != NULL) {
//move the constraint pivot
btGeneric6DofConstraint* pickCon = static_cast<btGeneric6DofConstraint*>(_pickConstraint);
if (pickCon) {
//cout << "ofxBulletWorldSoft :: mouseMoved : moving the mouse! with constraint" << endl;
//keep it at the same picking distance
ofVec3f mouseRay = _camera->screenToWorld( ofVec3f((float)a.x, (float)a.y, 0) );
mouseRay = mouseRay - _camera->getPosition();
mouseRay.normalize();
mouseRay *= 300.f;
btVector3 newRayTo(mouseRay.x, mouseRay.y, mouseRay.z);
btVector3 oldPivotInB = pickCon->getFrameOffsetA().getOrigin();
btVector3 m_cameraPosition( _camera->getPosition().x, _camera->getPosition().y, _camera->getPosition().z );
btVector3 rayFrom = m_cameraPosition;
btVector3 dir = newRayTo-rayFrom;
dir.normalize();
dir *= gOldPickingDist;
btVector3 newPivotB = rayFrom + dir;
pickCon->getFrameOffsetA().setOrigin(newPivotB);
}
}
}
//--------------------------------------------------------------
// pulled from DemoApplication in the AllBulletDemos project included in the Bullet physics download //
void ofxBulletWorldSoft::checkMousePicking(float a_mousex, float a_mousey) {
ofxBulletRaycastData data = raycastTest(a_mousex, a_mousey, _mouseFilterMask);
if(data.bHasHit) {
ofxBulletMousePickEvent cdata;
cdata.setRaycastData(data);
if (cdata.body != NULL) {
btVector3 m_cameraPosition( _camera->getPosition().x, _camera->getPosition().y, _camera->getPosition().z );
//other exclusions?
if (!(cdata.body->isStaticObject() || cdata.body->isKinematicObject()) && bRegisterGrabbing) {
_pickedBody = cdata.body; //btRigidBody //
_pickedBody->setActivationState( DISABLE_DEACTIVATION );
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(cdata.localPivotPos.x, cdata.localPivotPos.y, cdata.localPivotPos.z));
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*cdata.body, tr, false);
dof6->setLinearLowerLimit(btVector3(0,0,0));
dof6->setLinearUpperLimit(btVector3(0,0,0));
dof6->setAngularLowerLimit(btVector3(0,0,0));
dof6->setAngularUpperLimit(btVector3(0,0,0));
world->addConstraint(dof6);
_pickConstraint = dof6;
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,0);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,1);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,2);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,3);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,4);
dof6->setParam(BT_CONSTRAINT_STOP_CFM,0.8,5);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,0);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,1);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,2);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,3);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,4);
dof6->setParam(BT_CONSTRAINT_STOP_ERP,0.1,5);
gOldPickingDist = ( btVector3(cdata.pickPosWorld.x, cdata.pickPosWorld.y, cdata.pickPosWorld.z) - m_cameraPosition).length();
//cout << "ofxBulletWorldSoft :: checkMousePicking : adding a mouse constraint" << endl;
}
//cout << "ofxBulletWorldSoft :: checkMousePicking : selected a body!!!" << endl;
ofNotifyEvent( MOUSE_PICK_EVENT, cdata, this );
}
}
}
void updateCamera() {
float m_ele = 0;
float m_azi=0;
btVector3 m_cameraPosition(12,20,12);
btVector3 m_cameraTargetPosition(0,10,0);
btVector3 m_cameraUp(0,1,0);
int m_forwardAxis=2;
btScalar m_cameraDistance = 130;
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
float m_frustumZNear=1;
float m_frustumZFar=1000;
if (m_glutScreenWidth == 0 && m_glutScreenHeight == 0)
return;
float aspect;
btVector3 extents;
if (m_glutScreenWidth > m_glutScreenHeight)
{
aspect = m_glutScreenWidth / (float)m_glutScreenHeight;
extents.setValue(aspect * 1.0f, 1.0f,0);
} else
{
aspect = m_glutScreenHeight / (float)m_glutScreenWidth;
extents.setValue(1.0f, aspect*1.f,0);
}
if (m_ortho)
{
// reset matrix
glLoadIdentity();
extents *= m_cameraDistance;
btVector3 lower = m_cameraTargetPosition - extents;
btVector3 upper = m_cameraTargetPosition + extents;
glOrtho(lower.getX(), upper.getX(), lower.getY(), upper.getY(),-1000,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
} else
{
if (m_glutScreenWidth > m_glutScreenHeight)
{
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
} else
{
glFrustum (-aspect * m_frustumZNear, aspect * m_frustumZNear, -m_frustumZNear, m_frustumZNear, m_frustumZNear, m_frustumZFar);
}
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(m_cameraPosition[0], m_cameraPosition[1], m_cameraPosition[2],
m_cameraTargetPosition[0], m_cameraTargetPosition[1], m_cameraTargetPosition[2],
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
}
}
///
// Draw a triangle using the shader pair created in Init()
//
void renderFrame()
{
GLfloat vVertices[] = { -0.5f, 0.5f, 0.0f, // Position 0
0.0f, 0.0f, // TexCoord 0
-0.5f, -0.5f, 0.0f, // Position 1
0.0f, 1.0f, // TexCoord 1
0.5f, -0.5f, 0.0f, // Position 2
1.0f, 1.0f, // TexCoord 2
0.5f, 0.5f, 0.0f, // Position 3
1.0f, 0.0f // TexCoord 3
};
GLushort indices[] = { 0, 1, 2, 2,1,0};//0, 2, 3 };
// Clear the color and depth buffer
glClear ( GL_COLOR_BUFFER_BIT |GL_DEPTH_BUFFER_BIT);
// Use the program object
glUseProgram ( programObject );
// Load the vertex position
glVertexAttribPointer ( positionLoc, 3, GL_FLOAT,
GL_FALSE, 5 * sizeof(GLfloat), vVertices );
// Load the texture coordinate
glVertexAttribPointer ( texCoordLoc, 2, GL_FLOAT,
GL_FALSE, 5 * sizeof(GLfloat), &vVertices[3] );
glEnableVertexAttribArray ( positionLoc );
glEnableVertexAttribArray ( texCoordLoc );
// // Bind the texture
glActiveTexture ( GL_TEXTURE0 );
glBindTexture ( GL_TEXTURE_2D, textureId );
// Set the sampler texture unit to 0
glUniform1i ( samplerLoc, 0 );
btVector3 m_cameraPosition(0,0,-2);
btVector3 m_cameraTargetPosition(0,0,0);
btVector3 m_cameraUp(0,1,0);//1,0);
static float mat2[16];
#define USE_CAM_FROM_FILE 1
#ifdef USE_CAM_FROM_FILE
if (fileLoaded && reader)
{
reader->m_cameraTrans.inverse().getOpenGLMatrix(mat2);
} else
#endif
{
btCreateLookAt(m_cameraPosition,m_cameraTargetPosition,m_cameraUp,mat2);
}
glUniformMatrix4fv(viewMatrix,1,GL_FALSE,mat2);
glUniformMatrix4fv(projectionMatrix,1,GL_FALSE,projMat);
{
btTransform tr;
tr.setIdentity();
static float mat1[16];
tr.getOpenGLMatrix(mat1);
glUniformMatrix4fv(modelMatrix,1,GL_FALSE,mat1);
glDrawElements ( GL_TRIANGLES, 6, GL_UNSIGNED_SHORT, indices );
if (fileLoaded)
{
tr.setOrigin(btVector3(0,1,0));
tr.getOpenGLMatrix(mat1);
glUniformMatrix4fv(modelMatrix,1,GL_FALSE,mat1);
glDrawElements ( GL_TRIANGLES, 6, GL_UNSIGNED_SHORT, indices );
}
}
if (fileLoaded && reader)
{
for (int i=0;i<reader->m_graphicsObjects.size();i++)
{
reader->m_graphicsObjects[i].render(positionLoc,texCoordLoc,samplerLoc,modelMatrix);
}
dynWorld->setGravity(btVector3(0,0,-1));//-1,0));
dynWorld->stepSimulation(0.016f);
}
}