use size_t instead of int, for allocator
added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto improved friction in 'cachefriendly' solver moved 'refreshcontactpoints' into collision detection, instead of solver avoid linear search for contact manifolds, by storing an index ignore margin for sphere shape (its entire radius is already margin) avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures made 'bomb' box more heavy
This commit is contained in:
ejcoumans
377
Demos/StressTest/StressTestDemo.cpp
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377
Demos/StressTest/StressTestDemo.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btBulletDynamicsCommon.h"
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#include "StressTestDemo.h"
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#define SHOW_NUM_DEEP_PENETRATIONS
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#include "LinearMath/btDefaultMotionState.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btDefaultMotionState.h"
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#include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
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#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
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//#define REGISTER_BOX_BOX 1
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#ifdef REGISTER_BOX_BOX
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#include "../Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h"
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#endif //REGISTER_BOX_BOX
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//#define SHOW_MEMORY_DETAILS 1
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//#ifdef SHOW_MEMORY_DETAILS
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// #include "LinearMath/btGenericPoolAllocator.h"
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//#endif
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/// Including GIMPACT here
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#include "BMF_Api.h"
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#include "GLDebugDrawer.h"
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#include "GL_ShapeDrawer.h"
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#include "GlutStuff.h"
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#ifdef SHOW_NUM_DEEP_PENETRATIONS
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extern int gNumDeepPenetrationChecks;
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extern int gNumGjkChecks;
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#endif //
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GLDebugDrawer debugDrawer;
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//Real dts = 0.000001f;
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btScalar dts = 1.0 / 60.0;
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///**************************************************************************************
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/// GIMPACT Test Demo made by DevO
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///
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///**************************************************************************************
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//------------------------------------------------------------------------------
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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inline btScalar calculateCombinedFriction(float friction0,float friction1)
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{
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btScalar friction = friction0 * friction1;
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const btScalar MAX_FRICTION = 10.f;
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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//------------------------------------------------------------------------------
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inline btScalar calculateCombinedRestitution(float restitution0,float restitution1)
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{
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return restitution0 * restitution1;
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}
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//------------------------------------------------------------------------------
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bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
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{
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float friction0 = colObj0->getFriction();
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float friction1 = colObj1->getFriction();
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float restitution0 = colObj0->getRestitution();
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float restitution1 = colObj1->getRestitution();
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if (colObj0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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friction0 = 1.0;//partId0,index0
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restitution0 = 0.f;
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}
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if (colObj1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
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{
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if (index1&1)
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{
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friction1 = 1.0f;//partId1,index1
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} else
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{
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friction1 = 0.f;
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}
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restitution1 = 0.f;
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}
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cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
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cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
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//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
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return true;
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}
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extern ContactAddedCallback gContactAddedCallback;
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//################################## main #####################################
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int main(int argc,char** argv)
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{
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//gContactAddedCallback = CustomMaterialCombinerCallback;
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int sizeofbp = sizeof(btBroadphaseProxy);
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StressTestDemo* concaveDemo = new StressTestDemo(); /// This will not be Deleted!!!
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concaveDemo->initPhysics();
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concaveDemo->setCameraDistance(45.f);
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//cannot run stepFront yet, the OpenGL context is not opened (stepFront updates camera...)
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// concaveDemo->stepFront();
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// concaveDemo->stepFront();
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// concaveDemo->stepFront();
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// concaveDemo->stepFront();
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return glutmain(argc, argv,640,480,"DevO,s GIMPACT Test Demo",concaveDemo);
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}
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//--------------------------
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//------------------------------------------------------------------------------
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void StressTestDemo::initPhysics()
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{
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/// Init Bullet
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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#ifdef REGISTER_BOX_BOX
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m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
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#endif //REGISTER_BOX_BOX
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LONG maxProxies = 4096;
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btVector3 worldAabbMin(-1000,-1000,-1000);
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btVector3 worldAabbMax( 1000, 1000, 1000);
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m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
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//m_broadphase = new btMultiSapBroadphase();
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//m_broadphase = new btSimpleBroadphase();
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btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();;
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m_constraintSolver = solver;
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btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_constraintSolver);
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world->getSolverInfo().m_numIterations = 4;
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// solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_CACHE_FRIENDLY);//btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
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// solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
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m_dynamicsWorld = world;
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m_dynamicsWorld->setDebugDrawer(&debugDrawer);
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// register algorithm
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if(0)
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{
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m_spheresphere_collisionCreateFunc = new btSphereSphereCollisionAlgorithm::CreateFunc; /// NEW
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m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,m_spheresphere_collisionCreateFunc);
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m_spherebox_collisionCreateFunc = new btSphereBoxCollisionAlgorithm::CreateFunc;
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m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_spherebox_collisionCreateFunc);
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m_dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,m_spherebox_collisionCreateFunc);
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}
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//create trimesh model and shape
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/// Create Scene
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float mass = 0.f;
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btTransform startTransform;
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startTransform.setIdentity();
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btCollisionShape* staticboxShape1 = new btBoxShape(btVector3(20,1,20));//floor
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btCollisionShape* staticboxShape2 = new btBoxShape(btVector3(1,50,200));//left wall
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btCollisionShape* staticboxShape3 = new btBoxShape(btVector3(1,50,200));//right wall
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btCollisionShape* staticboxShape4 = new btBoxShape(btVector3(200,50,1));//front wall
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btCollisionShape* staticboxShape5 = new btBoxShape(btVector3(200,50,1));//back wall
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#ifdef USE_COMPOUND
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btCompoundShape* staticScenario = new btCompoundShape();//static scenario
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startTransform.setOrigin(btVector3(0,-10,0));
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staticScenario->addChildShape(startTransform,staticboxShape1);
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startTransform.setOrigin(btVector3(-200,15,0));
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staticScenario->addChildShape(startTransform,staticboxShape2);
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startTransform.setOrigin(btVector3(200,15,0));
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staticScenario->addChildShape(startTransform,staticboxShape3);
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startTransform.setOrigin(btVector3(0,15,200));
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staticScenario->addChildShape(startTransform,staticboxShape4);
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startTransform.setOrigin(btVector3(0,15,-200));
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staticScenario->addChildShape(startTransform,staticboxShape5);
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startTransform.setOrigin(btVector3(0,0,0));
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btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,staticScenario);
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#else
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startTransform.setOrigin(btVector3(0,-7,0));//;//-10,0));
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btRigidBody* staticBody = localCreateRigidBody(mass, startTransform,staticboxShape1);
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/*startTransform.setOrigin(btVector3(-200,15,0));
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staticBody = localCreateRigidBody(mass, startTransform,staticboxShape2);
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startTransform.setOrigin(btVector3(200,15,0));
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staticBody = localCreateRigidBody(mass, startTransform,staticboxShape3);
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startTransform.setOrigin(btVector3(0,15,200));
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staticBody = localCreateRigidBody(mass, startTransform,staticboxShape4);
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startTransform.setOrigin(btVector3(0,15,-200));
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staticBody = localCreateRigidBody(mass, startTransform,staticboxShape5);
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*/
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#endif //USE_COMPOUND
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//enable custom material callback
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// staticBody->setCollisionFlags(staticBody->getCollisionFlags()|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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startTransform.setIdentity();
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btCollisionShape* sphShape = new btSphereShape(1);
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btScalar radii[1] = {btScalar(1)};
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btVector3 poss[1]={btVector3(0,0,0)};
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// btCollisionShape* sphShape = new btMultiSphereShape(btVector3(1,1,1),&poss[0],&radii[0],1);
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btScalar margin(0.04);
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btCollisionShape* boxShape = new btBoxShape(btVector3(1,1,1));//1.-margin,1.-margin,1.-margin));
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boxShape->setMargin(margin);
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/// Create Dynamic Boxes
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{
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float start_x = START_POS_X - ARRAY_SIZE_X/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(btVector3(
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2.0*i + start_x,
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2.0*k + start_y,
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2.0*j + start_z));
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#ifdef SPHERES
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localCreateRigidBody(1, startTransform,sphShape);
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#else
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localCreateRigidBody(1, startTransform,boxShape);
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#endif
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}
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}
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}
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}
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//m_debugMode |= btIDebugDraw::DBG_DrawWireframe;
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}
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//------------------------------------------------------------------------------
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void StressTestDemo::clientMoveAndDisplay()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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int start, end;
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start = glutGet(GLUT_ELAPSED_TIME);
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float dt = float(m_clock.getTimeMicroseconds()) * 0.000001f;
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m_clock.reset();
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m_dynamicsWorld->stepSimulation(dt,1);
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m_steps_done++;
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end = glutGet(GLUT_ELAPSED_TIME);
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printf("Time %d \n", end-start);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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//------------------------------------------------------------------------------
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void StressTestDemo::displayCallback(void) {
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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renderme();
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glFlush();
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glutSwapBuffers();
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}
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//------------------------------------------------------------------------------
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void StressTestDemo::clientResetScene()
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{
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m_steps_done = 0;
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DemoApplication::clientResetScene();
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}
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#define KEY_ESCAPE 0x1B
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//------------------------------------------------------------------------------
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void StressTestDemo::keyboardCallback(unsigned char key, int x, int y)
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{
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switch (key)
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{
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case '.':
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{
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break;
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}
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case '2':
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{
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dts += 0.000001f;
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break;
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}
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case '3':
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{
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dts -= 0.000001f; if(dts<0.000001f) dts = 0.000001f;
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break;
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}
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default:
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DemoApplication::keyboardCallback(key, x, y);
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}
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}
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Block a user