redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

examples/CommonInterfaces/CommonExampleInterface.h

89 строк2 KB

Erwin Coumans

separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction

16 сен 2016, 02:57

16 сен 2016, 02:57567b003



#ifndef COMMON_EXAMPLE_INTERFACE_H
#define COMMON_EXAMPLE_INTERFACE_H

struct CommonExampleOptions
{
	struct GUIHelperInterface*	m_guiHelper;

	//Those are optional, some examples will use them others don't. Each example should work with them being 0.
	int			m_option;
	const char* m_fileName;
	class SharedMemoryInterface* m_sharedMem;

	
	CommonExampleOptions(struct GUIHelperInterface*	helper, int option=0)
		:m_guiHelper(helper),
		m_option(option),
		m_fileName(0),
		m_sharedMem(0)
	{
	}

};

class CommonExampleInterface
{
public:

	typedef class CommonExampleInterface* (CreateFunc)(CommonExampleOptions& options);

	virtual ~CommonExampleInterface()
	{
	}

	
	
	virtual void    initPhysics()=0;
	virtual void    exitPhysics()=0;
	virtual void	stepSimulation(float deltaTime)=0;
	virtual void	renderScene()=0;
	virtual void	physicsDebugDraw(int debugFlags)=0;//for now we reuse the flags in Bullet/src/LinearMath/btIDebugDraw.h
	//reset camera is only called when switching demo. this way you can restart (initPhysics) and watch in a specific location easier
	virtual void	resetCamera(){};
	virtual bool	mouseMoveCallback(float x,float y)=0;
	virtual bool	mouseButtonCallback(int button, int state, float x, float y)=0;
	virtual bool	keyboardCallback(int key, int state)=0;

	virtual void	vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis) {}
	virtual void	vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
};

class ExampleEntries
{

public:

        virtual ~ExampleEntries() {}


        virtual void initExampleEntries()=0;

        virtual void initOpenCLExampleEntries()=0;

        virtual int getNumRegisteredExamples()=0;

        virtual CommonExampleInterface::CreateFunc* getExampleCreateFunc(int index)=0;

        virtual const char* getExampleName(int index)=0;

        virtual const char* getExampleDescription(int index)=0;

        virtual int     getExampleOption(int index)=0;

};


CommonExampleInterface* StandaloneExampleCreateFunc(CommonExampleOptions& options);

#ifdef B3_USE_STANDALONE_EXAMPLE
	#define B3_STANDALONE_EXAMPLE(ExampleFunc) CommonExampleInterface*    StandaloneExampleCreateFunc(CommonExampleOptions& options)\
	{\
		return ExampleFunc(options);\
	}
#else//B3_USE_STANDALONE_EXAMPLE
	#define B3_STANDALONE_EXAMPLE(ExampleFunc)
#endif //B3_USE_STANDALONE_EXAMPLE



#endif //COMMON_EXAMPLE_INTERFACE_H