JNIEXPORT void JNICALL Java_com_bullet_DemoLib_add(JNIEnv * env, jobject obj, jfloat normalizedX, jfloat normalizedY, int heightPixels, int widthPixels)
{
// LOGI("%f%f",normalizedX,normalizedY);
//sphere[x++]=new Sphere(m_dynamicsWorld, 0, 30, 0);
//LOGI("%d",x);
//getRayTo(normalizedX,normalizedY);
shootBox(getRayTo(normalizedX,normalizedY,heightPixels,widthPixels));
}
void Physics3DTestDemo::onTouchesEnded(const std::vector<Touch*>& touches, cocos2d::Event *event)
{
if (!_needShootBox) return;
if (!touches.empty())
{
auto location = touches[0]->getLocationInView();
Vec3 nearP(location.x, location.y, -1.0f), farP(location.x, location.y, 1.0f);
nearP = _camera->unproject(nearP);
farP = _camera->unproject(farP);
Vec3 dir(farP - nearP);
shootBox(_camera->getPosition3D() + dir * 10.0f);
}
}
void clientKeyboard(unsigned char key, int x, int y)
{
if (key == '.')
{
shootBox(SimdVector3(0,0,0));
}
if (key == '+')
{
bulletSpeed += 10.f;
}
if (key == '-')
{
bulletSpeed -= 10.f;
}
defaultKeyboard(key, x, y);
}
void DemoApplication::mouseFunc(int button, int state, int x, int y)
{
if (state == 0)
{
m_mouseButtons |= 1<<button;
} else
{
m_mouseButtons = 0;
}
m_mouseOldX = x;
m_mouseOldY = y;
updateModifierKeys();
if ((m_modifierKeys& BT_ACTIVE_ALT) && (state==0))
{
return;
}
//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
//button 0, state 0 means left mouse down
btVector3 rayTo = getRayTo(x,y);
switch (button)
{
case 2:
{
if (state==0)
{
shootBox(rayTo);
}
break;
};
case 1:
{
if (state==0)
{
#if 0
//apply an impulse
if (m_dynamicsWorld)
{
btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo);
m_dynamicsWorld->rayTest(m_cameraPosition,rayTo,rayCallback);
if (rayCallback.hasHit())
{
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
body->setActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
body->applyImpulse(impulse,relPos);
}
}
}
#endif
} else
{
}
break;
}
case 0:
{
if (state==0)
{
//add a point to point constraint for picking
if (m_dynamicsWorld)
{
btVector3 rayFrom;
if (m_ortho)
{
rayFrom = rayTo;
rayFrom.setZ(-100.f);
} else
{
rayFrom = m_cameraPosition;
}
btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
if (rayCallback.hasHit())
{
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
//other exclusions?
if (!(body->isStaticObject() || body->isKinematicObject()))
{
pickedBody = body;
pickedBody->setActivationState(DISABLE_DEACTIVATION);
btVector3 pickPos = rayCallback.m_hitPointWorld;
printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
if (use6Dof)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(localPivot);
btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*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));
m_dynamicsWorld->addConstraint(dof6);
m_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);
} else
{
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
m_dynamicsWorld->addConstraint(p2p);
m_pickConstraint = p2p;
p2p->m_setting.m_impulseClamp = mousePickClamping;
//very weak constraint for picking
p2p->m_setting.m_tau = 0.001f;
/*
p2p->setParam(BT_CONSTRAINT_CFM,0.8,0);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,1);
p2p->setParam(BT_CONSTRAINT_CFM,0.8,2);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,0);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,1);
p2p->setParam(BT_CONSTRAINT_ERP,0.1,2);
*/
}
use6Dof = !use6Dof;
//save mouse position for dragging
gOldPickingPos = rayTo;
gHitPos = pickPos;
gOldPickingDist = (pickPos-rayFrom).length();
}
}
}
}
} else
{
if (m_pickConstraint && m_dynamicsWorld)
{
m_dynamicsWorld->removeConstraint(m_pickConstraint);
delete m_pickConstraint;
//printf("removed constraint %i",gPickingConstraintId);
m_pickConstraint = 0;
pickedBody->forceActivationState(ACTIVE_TAG);
pickedBody->setDeactivationTime( 0.f );
pickedBody = 0;
}
}
break;
}
default:
{
}
}
}
void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
{
(void)x;
(void)y;
m_lastKey = 0;
#ifndef BT_NO_PROFILE
if (key >= 0x31 && key <= 0x39)
{
int child = key-0x31;
m_profileIterator->Enter_Child(child);
}
if (key==0x30)
{
m_profileIterator->Enter_Parent();
}
#endif //BT_NO_PROFILE
switch (key)
{
case 'q' :
#ifdef BT_USE_FREEGLUT
//return from glutMainLoop(), detect memory leaks etc.
glutLeaveMainLoop();
#else
exit(0);
#endif
break;
case 'l' : stepLeft(); break;
case 'r' : stepRight(); break;
case 'f' : stepFront(); break;
case 'b' : stepBack(); break;
case 'z' : zoomIn(); break;
case 'x' : zoomOut(); break;
case 'i' : toggleIdle(); break;
case 'g' : m_enableshadows=!m_enableshadows;break;
case 'u' : m_shapeDrawer->enableTexture(!m_shapeDrawer->enableTexture(false));break;
case 'h':
if (m_debugMode & btIDebugDraw::DBG_NoHelpText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoHelpText);
else
m_debugMode |= btIDebugDraw::DBG_NoHelpText;
break;
case 'w':
if (m_debugMode & btIDebugDraw::DBG_DrawWireframe)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawWireframe);
else
m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
break;
case 'p':
if (m_debugMode & btIDebugDraw::DBG_ProfileTimings)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_ProfileTimings);
else
m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
break;
case '=':
{
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
//serializer->setSerializationFlags(BT_SERIALIZE_NO_DUPLICATE_ASSERT);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
delete serializer;
break;
}
case 'm':
if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);
else
m_debugMode |= btIDebugDraw::DBG_EnableSatComparison;
break;
case 'n':
if (m_debugMode & btIDebugDraw::DBG_DisableBulletLCP)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DisableBulletLCP);
else
m_debugMode |= btIDebugDraw::DBG_DisableBulletLCP;
break;
case 't' :
if (m_debugMode & btIDebugDraw::DBG_DrawText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawText);
else
m_debugMode |= btIDebugDraw::DBG_DrawText;
break;
case 'y':
if (m_debugMode & btIDebugDraw::DBG_DrawFeaturesText)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawFeaturesText);
else
m_debugMode |= btIDebugDraw::DBG_DrawFeaturesText;
break;
case 'a':
if (m_debugMode & btIDebugDraw::DBG_DrawAabb)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawAabb);
else
m_debugMode |= btIDebugDraw::DBG_DrawAabb;
break;
case 'c' :
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawContactPoints);
else
m_debugMode |= btIDebugDraw::DBG_DrawContactPoints;
break;
case 'C' :
if (m_debugMode & btIDebugDraw::DBG_DrawConstraints)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraints);
else
m_debugMode |= btIDebugDraw::DBG_DrawConstraints;
break;
case 'L' :
if (m_debugMode & btIDebugDraw::DBG_DrawConstraintLimits)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_DrawConstraintLimits);
else
m_debugMode |= btIDebugDraw::DBG_DrawConstraintLimits;
break;
case 'd' :
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_NoDeactivation);
else
m_debugMode |= btIDebugDraw::DBG_NoDeactivation;
if (m_debugMode & btIDebugDraw::DBG_NoDeactivation)
{
gDisableDeactivation = true;
} else
{
gDisableDeactivation = false;
}
break;
case 'o' :
{
m_ortho = !m_ortho;//m_stepping = !m_stepping;
break;
}
case 's' : clientMoveAndDisplay(); break;
// case ' ' : newRandom(); break;
case ' ':
clientResetScene();
break;
case '1':
{
if (m_debugMode & btIDebugDraw::DBG_EnableCCD)
m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableCCD);
else
m_debugMode |= btIDebugDraw::DBG_EnableCCD;
break;
}
case '.':
{
shootBox(getRayTo(x,y));//getCameraTargetPosition());
break;
}
case '+':
{
m_ShootBoxInitialSpeed += 10.f;
break;
}
case '-':
{
m_ShootBoxInitialSpeed -= 10.f;
break;
}
default:
// std::cout << "unused key : " << key << std::endl;
break;
}
if (getDynamicsWorld() && getDynamicsWorld()->getDebugDrawer())
getDynamicsWorld()->getDebugDrawer()->setDebugMode(m_debugMode);
}
void clientMouseFunc(int button, int state, int x, int y)
{
//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
//button 0, state 0 means left mouse down
SimdVector3 rayTo = GetRayTo(x,y);
switch (button)
{
case 2:
{
if (state==0)
{
shootBox(rayTo);
}
break;
};
case 1:
{
if (state==0)
{
//apply an impulse
if (physicsEnvironmentPtr)
{
float hit[3];
float normal[3];
PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
if (hitObj)
{
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
RigidBody* body = physCtrl->GetRigidBody();
if (body)
{
body->SetActivationState(ACTIVE_TAG);
SimdVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
SimdVector3 relPos(
hit[0] - body->getCenterOfMassPosition().getX(),
hit[1] - body->getCenterOfMassPosition().getY(),
hit[2] - body->getCenterOfMassPosition().getZ());
body->applyImpulse(impulse,relPos);
}
}
}
} else
{
}
break;
}
case 0:
{
if (state==0)
{
//add a point to point constraint for picking
if (physicsEnvironmentPtr)
{
float hit[3];
float normal[3];
PHY_IPhysicsController* hitObj = physicsEnvironmentPtr->rayTest(0,eye[0],eye[1],eye[2],rayTo.getX(),rayTo.getY(),rayTo.getZ(),hit[0],hit[1],hit[2],normal[0],normal[1],normal[2]);
if (hitObj)
{
CcdPhysicsController* physCtrl = static_cast<CcdPhysicsController*>(hitObj);
RigidBody* body = physCtrl->GetRigidBody();
if (body)
{
pickedBody = body;
pickedBody->SetActivationState(DISABLE_DEACTIVATION);
SimdVector3 pickPos(hit[0],hit[1],hit[2]);
SimdVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
gPickingConstraintId = physicsEnvironmentPtr->createConstraint(physCtrl,0,PHY_POINT2POINT_CONSTRAINT,
localPivot.getX(),
localPivot.getY(),
localPivot.getZ(),
0,0,0);
//printf("created constraint %i",gPickingConstraintId);
//save mouse position for dragging
gOldPickingPos = rayTo;
SimdVector3 eyePos(eye[0],eye[1],eye[2]);
gOldPickingDist = (pickPos-eyePos).length();
Point2PointConstraint* p2p = static_cast<Point2PointConstraint*>(physicsEnvironmentPtr->getConstraintById(gPickingConstraintId));
if (p2p)
{
//very weak constraint for picking
p2p->m_setting.m_tau = 0.1f;
}
}
}
}
} else
{
if (gPickingConstraintId && physicsEnvironmentPtr)
{
physicsEnvironmentPtr->removeConstraint(gPickingConstraintId);
//printf("removed constraint %i",gPickingConstraintId);
gPickingConstraintId = 0;
pickedBody->ForceActivationState(ACTIVE_TAG);
pickedBody->m_deactivationTime = 0.f;
pickedBody = 0;
}
}
break;
}
default:
{
}
}
}
void Fenettre::RenderMe()
{
#if FRAME_TIME <= 0
sf::Clock clock;
#endif
bool run = false;
PositionCamera();
while(isOpen())
{
sf::Event event;
while(pollEvent(event))
{
if (event.type == sf::Event::Closed)
{
close();
}
else if ((event.type == sf::Event::KeyPressed) && (event.key.code == sf::Keyboard::Escape))
{
close();
}
else if ((event.type == sf::Event::KeyPressed) && (event.key.code == sf::Keyboard::Space))
{
run = !run;
}
else if ((event.type == sf::Event::KeyPressed) && (event.key.code == sf::Keyboard::R))
{
camera->setPosition(btVector3(-100,50,0));
}
// Adjust the viewport when the window is resized
else if (event.type == sf::Event::Resized)
{
glViewport(0, 0, event.size.width, event.size.height);
}
else if (run && event.type == sf::Event::MouseMoved)
{
camera->MouseMoved();
}
else if (run && event.type == sf::Event::MouseWheelMoved)
{
camera->MouseWheelMoved(event);
}
else if (run && event.type == sf::Event::MouseButtonPressed)
{
shootBox(camera->GetCible());
}
}
// Clear color and depth buffer
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Update dynamics
if (run)
{
#if FRAME_TIME <= 0
World->stepSimulation(clock.GetElapsedTime());
camera->animate(clock.GetElapsedTime());
#else
World->stepSimulation(1.0f/FRAME_TIME);
camera->animate(1.0f/FRAME_TIME);
#endif
PositionCamera();
}
RenderScene();
glFlush();
display();
}
};
void BtApplication::mouseFunc(int button, int state, int x, int y)
{
if (state == 0)
{
m_mouseButtons |= 1<<button;
} else
{
m_mouseButtons = 0;
}
m_mouseOldX = x;
m_mouseOldY = y;
updateModifierKeys();
if ((m_modifierKeys& BT_ACTIVE_ALT) && (state==0))
{
return;
}
//printf("button %i, state %i, x=%i,y=%i\n",button,state,x,y);
//button 0, state 0 means left mouse down
btVector3 rayTo = getRayTo(x,y);
switch (button)
{
case 2:
{
if (state==0)
{
shootBox(rayTo);
}
break;
};
case 1:
{
if (state==0)
{
#if 0
//apply an impulse
if (m_dynamicsWorld)
{
btCollisionWorld::ClosestRayResultCallback rayCallback(m_cameraPosition,rayTo);
m_dynamicsWorld->rayTest(m_cameraPosition,rayTo,rayCallback);
if (rayCallback.hasHit())
{
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
body->setActivationState(ACTIVE_TAG);
btVector3 impulse = rayTo;
impulse.normalize();
float impulseStrength = 10.f;
impulse *= impulseStrength;
btVector3 relPos = rayCallback.m_hitPointWorld - body->getCenterOfMassPosition();
body->applyImpulse(impulse,relPos);
}
}
}
#endif
} else
{
}
break;
}
case 0:
{
if (state==0)
{
//add a point to point constraint for picking
if (m_dynamicsWorld)
{
btVector3 rayFrom;
if (m_ortho)
{
rayFrom = rayTo;
rayFrom.setZ(-100.f);
} else
{
rayFrom = m_cameraPosition;
}
btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom,rayTo);
m_dynamicsWorld->rayTest(rayFrom,rayTo,rayCallback);
if (rayCallback.hasHit())
{
btVector3 pickPos = rayCallback.m_hitPointWorld;
pickObject(pickPos, rayCallback.m_collisionObject);
gOldPickingPos = rayTo;
gHitPos = pickPos;
gOldPickingDist = (pickPos-rayFrom).length();
}
}
} else
{
removePickingConstraint();
}
break;
}
default:
{
}
}
}
