void BasicDemo::renderme() {
PhysicalCalculator* pc= &(cdn->getPhysicalCalculatorInstance());
if(!pc)
return;
btScalar m[16];
int i;
btVector3 min,max,wheelColor(1,0,0);
m_dynamicsWorld->getBroadphase()->getBroadphaseAabb(min,max);
//This is very dirty but I don't know how to
//do otherwise.
Robot *_robot=Robot::getRobot();
if(_robot != NULL) {
//fprintf(stderr, "il y a %d roue\n",_robot->getNumWheels());
for(i=0; i<_robot->getNumWheels();i++) {
// this step makes the wheel visible.
// We don't want to use the pc in test3dCoordinator.
// The work need to be done in the class PhysicalCalculator.
_robot->updateWheelTransform(i, true);
_robot->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m, m_wheelShape, wheelColor,false,min,max);
}
}
DemoApplication::renderme();
}
void btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
{
for (int v=0; v<this->getNumWheels(); v++)
{
btVector3 wheelColor(0,1,1);
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,1);
} else
{
wheelColor.setValue(1,0,1);
}
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
//debug wheels (cylinders)
debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
//to be implemented by the demo
void VehicleDemo::renderme()
{
updateCamera();
btScalar m[16];
int i;
btVector3 wheelColor(1,0,0);
btVector3 worldBoundsMin,worldBoundsMax;
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
for (i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i,true);
//draw wheels (cylinders)
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,m_wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
}
DemoApplication::renderme();
}
void Vehicle::renderme(){
btScalar m[16];
int i;
btVector3 wheelColor(1,0,0);
btVector3 worldBoundsMin,worldBoundsMax;
//cPhysics::Get().GetBulletWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
for (i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i,true);
//draw wheels (cylinders)
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
glPushMatrix();
cVec3 lTranslation = cPhysics::Get().Bullet2Local(m_vehicle->getWheelInfo(i).m_worldTransform.getOrigin());
cMatrix lTransMatrix, lRotMatrix;
lTransMatrix.LoadTranslation(lTranslation);
btQuaternion btq = m_vehicle->getWheelInfo(i).m_worldTransform.getRotation();
cVec3 lqAxis = cPhysics::Get().Bullet2Local(btq.getAxis());
lRotMatrix.LoadRotation(lqAxis, btq.getAngle());
cGraphicManager::Get().SetWorldMatrix(lRotMatrix * lTransMatrix);
debugWheels(m,m_wheelShape,wheelColor,1, btVector3(1.0,1.0,1.0) /*worldBoundsMin*/, btVector3(1.0,1.0,1.0) /*worldBoundsMax*/);
lTransMatrix.LoadIdentity();
cGraphicManager::Get().SetWorldMatrix(lTransMatrix);
glPopMatrix();
}
}
void BasicDemo::renderme() {
PhysicalCalculator* pc= &(cdn->getPhysicalCalculatorInstance());
if(!pc)
return;
btScalar m[16];
int i;
btVector3 min,max,wheelColor(1,0,0);
pc->getScene()->getBroadphase()->getBroadphaseAabb(min,max);
/*
This is very dirty but I don't know how to
do otherwise.
*/
Robot *_robot=cdn->getRobot(Coordinator::MAIN_ROBOT1);
for(i=0; i<_robot->getNumWheels();i++) {
/*
this step makes the wheel visible.
We don't want to use the pc in test3dCoordinator.
The work need to be done in the class PhysicalCalculator.
*/
_robot->updateWheelTransform(i, true);
_robot->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m, m_wheelShape, wheelColor,false,min,max);
}
DemoApplication::renderme();
}
//to be implemented by the demo
void ForkLiftDemo::renderme()
{
updateCamera();
btScalar m[16];
int i;
btVector3 wheelColor(1,0,0);
btVector3 worldBoundsMin,worldBoundsMax;
getDynamicsWorld()->getBroadphase()->getBroadphaseAabb(worldBoundsMin,worldBoundsMax);
for (i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i,true);
//draw wheels (cylinders)
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,m_wheelShape,wheelColor,getDebugMode(),worldBoundsMin,worldBoundsMax);
}
int lineWidth=250;
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];
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"SHIFT+Cursor Left/Right - rotate lift");
GLDebugDrawString(xStart,20,buf);
yStart+=20;
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"SHIFT+Cursor UP/Down - move fork up/down");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"F5 - toggle camera mode");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
glRasterPos3f(xStart, yStart, 0);
sprintf(buf,"Click inside this window for keyboard focus");
yStart+=20;
GLDebugDrawString(xStart,yStart,buf);
resetPerspectiveProjection();
glEnable(GL_LIGHTING);
}
DemoApplication::renderme();
}
void RaycastCar::debugDraw(btIDebugDraw * debugDrawer)
{
for (int v = 0; v < getNumWheels(); v++)
{
btVector3 wheelColor(0.0f,1.0f,1.0f);
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0.0f,0.0f,1.0f);
}
else
{
wheelColor.setValue(1.0f,0.0f,1.0f);
}
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
//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
}
void btDiscreteDynamicsWorld::debugDrawWorld()
{
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
{
int i;
//todo: iterate over awake simulation islands!
for ( i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
{
btVector3 color(btScalar(255.),btScalar(255.),btScalar(255.));
switch(colObj->getActivationState())
{
case ACTIVE_TAG:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(255.)); break;
case ISLAND_SLEEPING:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(0.));break;
case WANTS_DEACTIVATION:
color = btVector3(btScalar(0.),btScalar(255.),btScalar(255.));break;
case DISABLE_DEACTIVATION:
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));break;
case DISABLE_SIMULATION:
color = btVector3(btScalar(255.),btScalar(255.),btScalar(0.));break;
default:
{
color = btVector3(btScalar(255.),btScalar(0.),btScalar(0.));
}
};
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btPoint3 minAabb,maxAabb;
btVector3 colorvec(1,0,0);
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
}
for ( i=0;i<this->m_vehicles.size();i++)
{
for (int v=0;v<m_vehicles[i]->getNumWheels();v++)
{
btVector3 wheelColor(0,255,255);
if (m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_isInContact)
{
wheelColor.setValue(0,0,255);
} else
{
wheelColor.setValue(255,0,255);
}
btVector3 wheelPosWS = m_vehicles[i]->getWheelInfo(v).m_worldTransform.getOrigin();
btVector3 axle = btVector3(
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[0][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[1][m_vehicles[i]->getRightAxis()],
m_vehicles[i]->getWheelInfo(v).m_worldTransform.getBasis()[2][m_vehicles[i]->getRightAxis()]);
//m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_wheelAxleWS
//debug wheels (cylinders)
m_debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
m_debugDrawer->drawLine(wheelPosWS,m_vehicles[i]->getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
}
}
}
}
