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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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25
examples/DeformableDemo/SplitImpulse.cpp
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@@ -21,16 +21,15 @@
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include <stdio.h> //printf debugging
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The SplitImpulse shows the effect of split impulse in deformable rigid contact.
class SplitImpulse : public CommonRigidBodyBase
class SplitImpulse : public CommonDeformableBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
public:
SplitImpulse(struct GUIHelperInterface* helper)
: CommonRigidBodyBase(helper)
: CommonDeformableBodyBase(helper)
{
}
virtual ~SplitImpulse()
@@ -69,23 +68,9 @@ public:
createRigidBody(mass, startTransform, shape[0]);
}
virtual const btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld() const
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual btDeformableMultiBodyDynamicsWorld* getDeformableDynamicsWorld()
{
///just make it a btSoftRigidDynamicsWorld please
///or we will add type checking
return (btDeformableMultiBodyDynamicsWorld*)m_dynamicsWorld;
}
virtual void renderScene()
{
CommonRigidBodyBase::renderScene();
CommonDeformableBodyBase::renderScene();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
@@ -202,7 +187,7 @@ void SplitImpulse::initPhysics()
void SplitImpulse::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--)