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Add support for picking deformable with mouse

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This commit is contained in:
Xuchen Han
2020-03-09 11:19:08 -07:00
parent 41ca8b9e59
commit 7dfef92267
21 changed files with 494 additions and 273 deletions
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22
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -28,17 +28,16 @@
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointFeedback.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The DeformableMultibody demo deformable bodies self-collision
static bool g_floatingBase = true;
static float friction = 1.;
class DeformableMultibody : public CommonMultiBodyBase
class DeformableMultibody : public CommonDeformableBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
public:
DeformableMultibody(struct GUIHelperInterface* helper)
: CommonMultiBodyBase(helper)
:CommonDeformableBodyBase(helper)
{
}
@@ -65,20 +64,9 @@ public:
void addColliders_testMultiDof(btMultiBody* pMultiBody, btMultiBodyDynamicsWorld* pWorld, const btVector3& baseHalfExtents, const btVector3& linkHalfExtents);
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
{
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
{
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual void renderScene()
{
CommonMultiBodyBase::renderScene();
CommonDeformableBodyBase::renderScene();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
@@ -229,7 +217,7 @@ void DeformableMultibody::initPhysics()
void DeformableMultibody::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
removePickingConstraint();
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)