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#include "CoordinateSystemDemo.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "LinearMath/btTransform.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
///quick demo showing the right-handed coordinate system and positive rotations around each axis
class CoordinateSystemDemo : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
float m_x;
float m_y;
float m_z;
public:
CoordinateSystemDemo(CommonGraphicsApp* app)
:m_app(app),
m_x(0),
m_y(0),
m_z(0)
{
m_app->setUpAxis(2);
{
int boxId = m_app->registerCubeShape(0.1,0.1,0.1);
btVector3 pos(0,0,0);
btQuaternion orn(0,0,0,1);
btVector4 color(0.3,0.3,0.3,1);
btVector3 scaling(1,1,1);
m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
}
m_app->m_renderer->writeTransforms();
}
virtual ~CoordinateSystemDemo()
{
m_app->m_renderer->enableBlend(false);
}
virtual void initPhysics()
{
}
virtual void exitPhysics()
{
}
virtual void stepSimulation(float deltaTime)
{
m_x+=0.01f;
m_y+=0.01f;
m_z+=0.01f;
}
virtual void renderScene()
{
m_app->m_renderer->renderScene();
m_app->drawText3D("X",1,0,0,1);
m_app->drawText3D("Y",0,1,0,1);
m_app->drawText3D("Z",0,0,1,1);
}
virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
{
btScalar lineWidth = 3;
const btVector3& vx = axis;
btVector3 vy = normal.cross(axis);
btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
int nSteps = (int)btFabs((maxAngle - minAngle) / step);
if(!nSteps) nSteps = 1;
btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
if(drawSect)
{
m_app->m_renderer->drawLine(center, prev, color,lineWidth);
}
for(int i = 1; i <= nSteps; i++)
{
btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
m_app->m_renderer->drawLine(prev, next, color,lineWidth);
prev = next;
}
if(drawSect)
{
m_app->m_renderer->drawLine(center, prev, color,lineWidth);
}
}
virtual void physicsDebugDraw(int debugDrawFlags)
{
btVector3 xUnit(1,0,0);
btVector3 yUnit(0,1,0);
btVector3 zUnit(0,0,1);
btScalar lineWidth=3;
btQuaternion rotAroundX(xUnit,m_x);
btQuaternion rotAroundY(yUnit,m_y);
btQuaternion rotAroundZ(zUnit,m_z);
btScalar radius=0.5;
btVector3 toX=radius*quatRotate(rotAroundX,yUnit);
btVector3 toY=radius*quatRotate(rotAroundY,xUnit);
btVector3 toZ=radius*quatRotate(rotAroundZ,xUnit);
m_app->m_renderer->drawLine(xUnit+toX+quatRotate(rotAroundX,btVector3(0,0.1,-0.2)),xUnit+toX,xUnit,lineWidth);
m_app->m_renderer->drawLine(xUnit+toX+quatRotate(rotAroundX,btVector3(0,-0.2,-0.2)),xUnit+toX,xUnit,lineWidth);
//draw the letter 'x' on the x-axis
//m_app->m_renderer->drawLine(xUnit-0.1*zUnit+0.1*yUnit,xUnit+0.1*zUnit-0.1*yUnit,xUnit,lineWidth);
//m_app->m_renderer->drawLine(xUnit+0.1*zUnit+0.1*yUnit,xUnit-0.1*zUnit-0.1*yUnit,xUnit,lineWidth);
m_app->m_renderer->drawLine(xUnit+toX+quatRotate(rotAroundX,btVector3(0,-0.2,-0.2)),xUnit+toX,xUnit,lineWidth);
m_app->m_renderer->drawLine(yUnit+toY+quatRotate(rotAroundY,btVector3(-0.2,0,0.2)),yUnit+toY,yUnit,lineWidth);
m_app->m_renderer->drawLine(yUnit+toY+quatRotate(rotAroundY,btVector3(0.1,0,0.2)),yUnit+toY,yUnit,lineWidth);
m_app->m_renderer->drawLine(zUnit+toZ+quatRotate(rotAroundZ,btVector3(0.1,-0.2,0)),zUnit+toZ,zUnit,lineWidth);
m_app->m_renderer->drawLine(zUnit+toZ+quatRotate(rotAroundZ,btVector3(-0.2,-0.2,0)),zUnit+toZ,zUnit,lineWidth);
drawArc(xUnit,xUnit,toX.normalized(),radius,radius,0.4,SIMD_2_PI,xUnit,false);
drawArc(yUnit,yUnit,toY.normalized(),radius,radius,0.4,SIMD_2_PI,yUnit,false);
drawArc(zUnit,zUnit,toZ.normalized(),radius,radius,0.4,SIMD_2_PI,zUnit,false);
}
virtual bool mouseMoveCallback(float x,float y)
{
return false;
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
return false;
}
virtual bool keyboardCallback(int key, int state)
{
return false;
}
virtual void resetCamera()
{
float dist = 3.5;
float pitch = 136;
float yaw = 32;
float targetPos[3]={0,0,0};
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
{
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
}
}
};
struct CommonExampleInterface* CoordinateSystemCreateFunc(struct CommonExampleOptions& options)
{
return new CoordinateSystemDemo(options.m_guiHelper->getAppInterface());
}
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