void BasicRobot::Register (PhysicsBullet* p)
{
height = 0.02 * p->scalingFactor;
radius = 0.035 * p->scalingFactor;
//create a few dynamic rigidbodies
// Re-using the same collision is better for memory usage and performance
shape = new btCylinderShapeZ(btVector3(radius, radius, height / 2.0));
p->m_collisionShapes.push_back(shape);
btScalar mass(0.1);
btVector3 localInertia(0.0, 0.0, 0.0);
shape->calculateLocalInertia(mass,localInertia);
btTransform startTransform;
startTransform.setIdentity();
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
rbInfo.m_friction = 0.05;
rbInfo.m_linearDamping = 0.05;
rbInfo.m_angularDamping = 0.05;
body = new btRigidBody(rbInfo);
body->setGravity(btVector3 (0, 0, -9.81 * p->scalingFactor));
body->setUserPointer((void*)(this));
p->m_dynamicsWorld->addRigidBody(body, collisionType, collisionFilter);
AddDevices(p);
}
InputHandler_MacOSX_HID::InputHandler_MacOSX_HID() : m_Sem( "Input thread started" ), m_ChangeLock( "Input handler change lock" )
{
InputDevice id = DEVICE_KEYBOARD;
// Set up the notify ports.
m_NotifyPort = IONotificationPortCreate( kIOMasterPortDefault );
// Add devices.
LOG->Trace( "Finding keyboards" );
AddDevices( kHIDPage_GenericDesktop, kHIDUsage_GD_Keyboard, id );
LOG->Trace( "Finding mice" );
AddDevices( kHIDPage_GenericDesktop, kHIDUsage_GD_Mouse, id );
LOG->Trace( "Finding joysticks" );
id = DEVICE_JOY1;
AddDevices( kHIDPage_GenericDesktop, kHIDUsage_GD_Joystick, id );
AddDevices( kHIDPage_GenericDesktop, kHIDUsage_GD_GamePad, id );
LOG->Trace( "Finding pump" );
id = DEVICE_PUMP1;
AddDevices( kHIDPage_VendorDefinedStart, 0x0001, id ); // Pump pads use the first vendor specific usage page.
m_bChanged = false;
if( PREFSMAN->m_bThreadedInput )
{
m_InputThread.SetName( "Input thread" );
m_InputThread.Create( InputHandler_MacOSX_HID::Run, this );
// Wait for the run loop to start before returning.
m_Sem.Wait();
}
else
{
m_LoopRef = CFRunLoopRef( GetCFRunLoopFromEventLoop(GetMainEventLoop()) );
CFRetain( m_LoopRef );
StartDevices();
}
}
