void renderScene(int iteration) {
RenderUtil::startRender(sCamera->getEye(), sCamera->getDir());
PxScene* scene;
PxGetPhysics().getScenes(&scene,1);
PxU32 nbActors = scene->getNbActors(PxActorTypeSelectionFlag::eRIGID_DYNAMIC);
if(nbActors) {
std::vector<PxRigidActor*> actors(nbActors);
scene->getActors(PxActorTypeSelectionFlag::eRIGID_DYNAMIC,
(PxActor**)&actors[0], nbActors);
for (PxU32 i = 0; i < nbActors; i++)
RenderUtil::renderActors(&actors[i], 1, false, PxVec3(0.3,0.3,0.3));
}
if (iteration == 0) {
char* result = "Initial Guess";
glRasterPos2i(20,-25);
for(int i = 0; i < strlen(result); i++)
glutBitmapCharacter(GLUT_BITMAP_TIMES_ROMAN_24, result[i]);
} else {
char* label = "Iteration #";
char buffer[10]; itoa(iteration, buffer, 10);
char* result = new char[strlen(label)+strlen(buffer)];
sprintf(result,"%s%s",label,buffer);
glRasterPos2i(20,-25);
for(int i = 0; i < strlen(result); i++)
glutBitmapCharacter(GLUT_BITMAP_TIMES_ROMAN_24, result[i]);
}
std::string buffer, result;
matrix<double> state = render_system->getState();
std::string theta1 = "theta1 = " + to_string((long double) state(0,0));
std::string theta2 = "theta2 = " + to_string((long double) state(1,0));
std::string thetaDot1 = "thetaDot1 = " + to_string((long double) state(2,0));
std::string thetaDot2 = "thetaDot1 = " + to_string((long double) state(3,0));
glRasterPos2i(-35,38);
for(int i = 0; i < theta1.length(); i++)
glutBitmapCharacter(GLUT_BITMAP_TIMES_ROMAN_24, theta1[i]);
glRasterPos2i(-37,33);
for(int i = 0; i < theta2.length(); i++)
glutBitmapCharacter(GLUT_BITMAP_TIMES_ROMAN_24, theta2[i]);
glRasterPos2i(-39,28);
for(int i = 0; i < thetaDot1.length(); i++)
glutBitmapCharacter(GLUT_BITMAP_TIMES_ROMAN_24, thetaDot1[i]);
glRasterPos2i(-41,23);
for(int i = 0; i < thetaDot2.length(); i++)
glutBitmapCharacter(GLUT_BITMAP_TIMES_ROMAN_24, thetaDot2[i]);
RenderUtil::finishRender();
}
void renderCallback()
{
simulatePhysics(true);
gGlutRenderer->startRender(sCamera->getEye(), sCamera->getDir());
PxScene* scene;
PxGetPhysics().getScenes(&scene, 1);
PxU32 nbActors = scene->getNbActors(PxActorTypeSelectionFlag::eRIGID_DYNAMIC | PxActorTypeSelectionFlag::eRIGID_STATIC);
if (nbActors)
{
std::vector<PxRigidActor*> actors(nbActors);
scene->getActors(PxActorTypeSelectionFlag::eRIGID_DYNAMIC | PxActorTypeSelectionFlag::eRIGID_STATIC, (PxActor**)&actors[0], nbActors);
gGlutRenderer->renderActors(&actors[0], (PxU32)actors.size(), true);
}
gGlutRenderer->finishRender();
}
void PxCollectForExportScene(const PxScene& scene, PxCollection& collection)
{
// Collect actors
{
const PxActorTypeSelectionFlags selectionFlags = PxActorTypeSelectionFlag::eRIGID_STATIC
|PxActorTypeSelectionFlag::eRIGID_DYNAMIC
#if PX_USE_PARTICLE_SYSTEM_API
|PxActorTypeSelectionFlag::ePARTICLE_SYSTEM
|PxActorTypeSelectionFlag::ePARTICLE_FLUID
#endif
#if PX_USE_CLOTH_API
|PxActorTypeSelectionFlag::eCLOTH
#endif
;
Ps::Array<PxActor*> objects(scene.getNbActors(selectionFlags));
const PxU32 nb = scene.getActors(selectionFlags, objects.begin(), objects.size());
PX_ASSERT(nb==objects.size());
PX_UNUSED(nb);
for(PxU32 i=0; i<objects.size(); i++)
objects[i]->collectForExport(collection);
}
// Collect constraints
{
Ps::Array<PxConstraint*> objects(scene.getNbConstraints());
const PxU32 nb = scene.getConstraints(objects.begin(), objects.size());
PX_ASSERT(nb==objects.size());
PX_UNUSED(nb);
for(PxU32 i=0; i<objects.size(); i++)
{
PxU32 typeId;
PxJoint* joint = reinterpret_cast<PxJoint*>(objects[i]->getExternalReference(typeId));
if(typeId == PxConstraintExtIDs::eJOINT)
joint->collectForExport(collection);
}
}
// Collect articulations
{
Ps::Array<PxArticulation*> objects(scene.getNbArticulations());
const PxU32 nb = scene.getArticulations(objects.begin(), objects.size());
PX_ASSERT(nb==objects.size());
PX_UNUSED(nb);
for(PxU32 i=0; i<objects.size(); i++)
objects[i]->collectForExport(collection);
}
// Collect aggregates
{
Ps::Array<PxAggregate*> objects(scene.getNbAggregates());
const PxU32 nb = scene.getAggregates(objects.begin(), objects.size());
PX_ASSERT(nb==objects.size());
PX_UNUSED(nb);
for(PxU32 i=0; i<objects.size(); i++)
objects[i]->collectForExport(collection);
}
}