Improved URDF support for btMultiBody and separate graphics/collision…

…/inertial frames and shapes Fix WinXP GetTickCount64 with a typedef Expose debug drawing mode/flags in UI (hot keys A,D,L,W for now, buttons later) GLInstancingRenderer: tweak near/far planes to allow closer approach of camera btDiscreteDynamicsWorld: enable debug drawing for btGeneric6DofSpring2Constraint btMultiBodyDynamicsWorld: enable basic debug drawing for btMultiBody btMultibody: allow center-of-mass shift for prismatic and fixed constraint
bulletphysics · Jan 23, 2015 · a159fba · a159fba
1 parent 6e70f28
commit a159fba
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Showing 28 changed files with 1,018 additions and 670 deletions.
diff --git a/Demos3/AllBullet2Demos/main.cpp b/Demos3/AllBullet2Demos/main.cpp
@@ -234,9 +234,10 @@ extern bool useShadowMap;
 static bool visualWireframe=false;
 static bool renderVisualGeometry=true;
 static bool renderGrid = true;
-
-static bool pauseSimulation=false;//true;
+int gDebugDrawFlags = 0;
+static bool pauseSimulation=true;
 int midiBaseIndex = 176;
+extern bool gDisableDeactivation;
 
 //#include <float.h>
 //unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM);
@@ -268,9 +269,28 @@ void MyKeyboardCallback(int key, int state)
 	//if (handled)
 	//	return;
 
+	if (key=='a' && state)
+	{
+		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawAabb;
+	}
+	if (key=='c' && state)
+	{
+		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraints;
+		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawContactPoints;
+	}
+	if (key == 'd' && state)
+	{
+		gDebugDrawFlags ^= btIDebugDraw::DBG_NoDeactivation;
+		gDisableDeactivation = ((gDebugDrawFlags & btIDebugDraw::DBG_NoDeactivation) != 0);
+	}
+	if (key=='l' && state)
+	{
+		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawConstraintLimits;
+	}
 	if (key=='w' && state)
 	{
 		visualWireframe=!visualWireframe;
+		gDebugDrawFlags ^= btIDebugDraw::DBG_DrawWireframe;
 	}
 	if (key=='v' && state)
 	{
@@ -792,7 +812,7 @@ int main(int argc, char* argv[])
             }
             {
 				glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
-                sCurrentDemo->physicsDebugDraw();
+                sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
             }
 		}
 

diff --git a/Demos3/FiniteElementMethod/FiniteElementDemo.cpp b/Demos3/FiniteElementMethod/FiniteElementDemo.cpp
@@ -317,7 +317,7 @@ void	FiniteElementDemo::renderScene()
 	m_app->m_renderer->renderScene();
 }
 
-void	FiniteElementDemo::physicsDebugDraw()
+void	FiniteElementDemo::physicsDebugDraw(int debugDrawFlags)
 {
     {
 		btAlignedObjectArray<btVector3FloatData> m_linePoints;

diff --git a/Demos3/FiniteElementMethod/FiniteElementDemo.h b/Demos3/FiniteElementMethod/FiniteElementDemo.h
@@ -50,7 +50,7 @@ class FiniteElementDemo : public BulletDemoInterface
     virtual void	renderScene();
 
 
-    virtual void	physicsDebugDraw();
+    virtual void	physicsDebugDraw(int debugDrawFlags);
     virtual bool	mouseMoveCallback(float x,float y);
     virtual bool	mouseButtonCallback(int button, int state, float x, float y);
     virtual bool	keyboardCallback(int key, int state);

diff --git a/Demos3/Geometry/DistributePoints.h b/Demos3/Geometry/DistributePoints.h
@@ -181,7 +181,7 @@ class DistributePoints : public BulletDemoInterface
 
 
     }
-    virtual void	physicsDebugDraw()
+    virtual void	physicsDebugDraw(int debugDrawFlags)
     {
 
 		int lineWidth = 1;

diff --git a/Demos3/Geometry/SphereCreation.h b/Demos3/Geometry/SphereCreation.h
@@ -168,7 +168,7 @@ class SphereCreation : public BulletDemoInterface
         m_app->m_renderer->renderScene();
 
     }
-    virtual void	physicsDebugDraw()
+    virtual void	physicsDebugDraw(int debugDrawFlags)
     {
    		int lineWidth = 1;
 		int pointSize = 2;