diff options
Diffstat (limited to 'examples/SharedMemory/PhysicsServerExample.cpp')
| -rw-r--r-- | examples/SharedMemory/PhysicsServerExample.cpp | 118 |
1 files changed, 118 insertions, 0 deletions
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 6613de42b..3e11b30b4 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -134,6 +134,7 @@ enum MultiThreadedGUIHelperCommunicationEnums eGUIHelperResetCamera, eGUIHelperChangeGraphicsInstanceFlags, eGUIHelperSetRgbBackground, + eGUIUserDebugAddPoints, }; #include <stdio.h> @@ -491,6 +492,19 @@ struct UserDebugDrawLine int m_replaceItemUid; }; +struct UserDebugDrawPoint +{ + const double* m_debugPointPositions; + const double* m_debugPointColors; + int m_debugPointNum; + double m_pointSize; + + double m_lifeTime; + int m_itemUniqueId; + int m_trackingVisualShapeIndex; + int m_replaceItemUid; +}; + struct UserDebugParameter { char m_text[1024]; @@ -1425,6 +1439,55 @@ public: return m_resultDebugLineUid; } + btAlignedObjectArray<UserDebugDrawPoint> m_userDebugPoints; + UserDebugDrawPoint m_tmpPoint; + int m_resultDebugPointUid; + + virtual int addUserDebugPoints(const double* debugPointPositions, const double* debugPointColors, double pointSize, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid, int debugPointNum) + { + m_tmpPoint.m_lifeTime = lifeTime; + m_tmpPoint.m_pointSize = pointSize; + + m_tmpPoint.m_itemUniqueId = replaceItemUid < 0 ? m_uidGenerator++ : replaceItemUid; + m_tmpPoint.m_debugPointPositions = debugPointPositions; + m_tmpPoint.m_debugPointColors = debugPointColors; + m_tmpPoint.m_debugPointNum = debugPointNum; + + m_tmpPoint.m_trackingVisualShapeIndex = trackingVisualShapeIndex; + m_tmpPoint.m_replaceItemUid = replaceItemUid; + + //don't block when replacing an item + if (replaceItemUid>=0 && replaceItemUid<m_userDebugPoints.size()) + { + //find the right slot + + int slot=-1; + for (int i=0;i<m_userDebugPoints.size();i++) + { + if (replaceItemUid == m_userDebugPoints[i].m_itemUniqueId) + { + slot = i; + } + } + + if (slot>=0) + { + m_userDebugPoints[slot] = m_tmpPoint; + } + m_resultDebugPointUid = replaceItemUid; + } + else + { + + m_cs->lock(); + setSharedParam(1, eGUIUserDebugAddPoints); + m_resultDebugPointUid = -1; + workerThreadWait(); + } + return m_resultDebugPointUid; + } + + int m_removeDebugItemUid; virtual void removeUserDebugItem(int debugItemUniqueId) @@ -2601,6 +2664,29 @@ void PhysicsServerExample::updateGraphics() m_multiThreadedHelper->mainThreadRelease(); break; } + case eGUIUserDebugAddPoints: + { + B3_PROFILE("eGUIUserDebugAddPoints"); + + if (m_multiThreadedHelper->m_tmpPoint.m_replaceItemUid >= 0) + { + for (int i = 0; i < m_multiThreadedHelper->m_userDebugPoints.size(); i++) + { + if (m_multiThreadedHelper->m_userDebugPoints[i].m_itemUniqueId == m_multiThreadedHelper->m_tmpPoint.m_replaceItemUid) + { + m_multiThreadedHelper->m_userDebugPoints[i] = m_multiThreadedHelper->m_tmpPoint; + m_multiThreadedHelper->m_resultDebugPointUid = m_multiThreadedHelper->m_tmpPoint.m_replaceItemUid; + } + } + } + else + { + m_multiThreadedHelper->m_userDebugPoints.push_back(m_multiThreadedHelper->m_tmpPoint); + m_multiThreadedHelper->m_resultDebugPointUid = m_multiThreadedHelper->m_userDebugPoints[m_multiThreadedHelper->m_userDebugPoints.size() - 1].m_itemUniqueId; + } + m_multiThreadedHelper->mainThreadRelease(); + break; + } case eGUIUserDebugRemoveItem: { B3_PROFILE("eGUIUserDebugRemoveItem"); @@ -2615,6 +2701,16 @@ void PhysicsServerExample::updateGraphics() } } + for (int i = 0; i < m_multiThreadedHelper->m_userDebugPoints.size(); i++) + { + if (m_multiThreadedHelper->m_userDebugPoints[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid) + { + m_multiThreadedHelper->m_userDebugPoints.swap(i, m_multiThreadedHelper->m_userDebugPoints.size() - 1); + m_multiThreadedHelper->m_userDebugPoints.pop_back(); + break; + } + } + for (int i = 0; i < m_multiThreadedHelper->m_userDebugText.size(); i++) { if (m_multiThreadedHelper->m_userDebugText[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid) @@ -2932,6 +3028,28 @@ void PhysicsServerExample::drawUserDebugLines() m_multiThreadedHelper->m_userDebugText[i].textSize); */ } + + for (int i = 0; i < m_multiThreadedHelper->m_userDebugPoints.size(); i++) { + const double* positions = m_multiThreadedHelper->m_userDebugPoints[i].m_debugPointPositions; + const double* colors = m_multiThreadedHelper->m_userDebugPoints[i].m_debugPointColors; + const int pointNum = m_multiThreadedHelper->m_userDebugPoints[i].m_debugPointNum; + const double sz = m_multiThreadedHelper->m_userDebugPoints[i].m_pointSize; + + float* pos = (float*)malloc(pointNum * 3 * sizeof(float)); + float* clr = (float*)malloc(pointNum * 4 * sizeof(float)); + for (int i = 0; i < pointNum; i++) { + pos[i * 3 + 0] = (float)positions[i * 3 + 0]; + pos[i * 3 + 1] = (float)positions[i * 3 + 1]; + pos[i * 3 + 2] = (float)positions[i * 3 + 2]; + clr[i * 4 + 0] = (float)colors[i * 3 + 0]; + clr[i * 4 + 1] = (float)colors[i * 3 + 1]; + clr[i * 4 + 2] = (float)colors[i * 3 + 2]; + clr[i * 4 + 3] = 1.f; + } + m_guiHelper->getAppInterface()->m_renderer->drawPoints(pos, clr, pointNum, 3 * sizeof(float), sz); + free(pos); + free(clr); + } } } |