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move OpenCL initialization for the unit tests in a shared header file, and support some basic command-line arguments

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--cl_device=1 --cl_platform=1 --allow_opencl_cpu
add chaindemo, test for mass ratios
restore sleeping/activation mode in featherstone demo
Use _VARIADIC_MAX=10 to avoid Google Test issues with Visual Studio 2012, thanks to Mobeen for the report
Enable verbose printf for unit tests
This commit is contained in:
erwincoumans
2014-02-11 10:33:00 -08:00
parent bd5c2ff5ec
commit 122ceacb6d
26 changed files with 389 additions and 1388 deletions
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3
Demos3/AllBullet2Demos/BulletDemoEntries.h
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@@ -10,7 +10,7 @@
#include "../bullet2/RagdollDemo/RagdollDemo.h"
#include "../bullet2/LuaDemo/LuaDemo.h"
#include "../bullet2/ChainDemo/ChainDemo.h"
struct BulletDemoEntry
{
@@ -24,6 +24,7 @@ static BulletDemoEntry allDemos[]=
//{"emptydemo",EmptyBulletDemo::MyCreateFunc},
{"BasicDemo",BasicDemo::MyCreateFunc},
//{"ChainDemo",ChainDemo::MyCreateFunc},
{"HingeDemo",HingeDemo::MyCreateFunc},
{"Ragdoll",RagDollDemo::MyCreateFunc},
{"MultiBody1",FeatherstoneDemo1::MyCreateFunc},

9
Demos3/AllBullet2Demos/main.cpp
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@@ -14,6 +14,8 @@ static int sCurrentDemoIndex = 0;
static BulletDemoInterface* sCurrentDemo = 0;
static b3AlignedObjectArray<const char*> allNames;
bool drawGUI=true;
extern bool useShadowMap;
static bool wireframe=false;
static bool pauseSimulation=false;
@@ -128,8 +130,10 @@ void MyComboBoxCallback(int comboId, const char* item)
}
extern bool sOpenGLVerbose;
int main(int argc, char* argv[])
{
sOpenGLVerbose = false;
float dt = 1./120.f;
int width = 1024;
@@ -175,12 +179,17 @@ int main(int argc, char* argv[])
app->m_instancingRenderer->updateCamera();
app->drawGrid();
if (0)
{
char bla[1024];
static int frameCount = 0;
frameCount++;
sprintf(bla,"Simple test frame %d", frameCount);
app->drawText(bla,10,10);
}
if (sCurrentDemo)
{
if (!pauseSimulation)

3
Demos3/AllBullet2Demos/premake4.lua
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@@ -31,6 +31,9 @@
"../bullet2/BasicDemo/BasicDemo.h",
"../bullet2/BasicDemo/HingeDemo.cpp",
"../bullet2/BasicDemo/HingeDemo.h",
"../bullet2/BasicDemo/ChainDemo.cpp",
"../bullet2/BasicDemo/ChainDemo.h",
"../bullet2/RagdollDemo/RagdollDemo.cpp",
"../bullet2/RagdollDemo/RagdollDemo.h",
"../bullet2/LuaDemo/LuaDemo.cpp",

3
Demos3/GpuDemos/broadphase/PairBench.cpp
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@@ -112,8 +112,7 @@ static BroadphaseEntry allBroadphases[]=
{"GPU Brute Force",b3GpuSapBroadphase::CreateFuncBruteForceGpu},
{"GPU 1-SAP Original",b3GpuSapBroadphase::CreateFuncOriginal},
{"GPU 1-SAP Barrier",b3GpuSapBroadphase::CreateFuncBarrier},
{"GPU 1-SAP LDS",b3GpuSapBroadphase::CreateFuncLocalMemory},
{"GPU 1-SAP LDS Batch",b3GpuSapBroadphase::CreateFuncLocalMemoryBatchWrite},
{"GPU 1-SAP LDS",b3GpuSapBroadphase::CreateFuncLocalMemory}
};

201
Demos3/bullet2/ChainDemo/ChainDemo.cpp Normal file
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@@ -0,0 +1,201 @@
#include "ChainDemo.h"
#include "OpenGLWindow/SimpleOpenGL3App.h"
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btVector3.h"
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#define NUM_SPHERES 10
static const float scaling=0.35f;
ChainDemo::ChainDemo(SimpleOpenGL3App* app)
:Bullet2RigidBodyDemo(app)
{
}
ChainDemo::~ChainDemo()
{
}
void ChainDemo::createGround(int cubeShapeId)
{
{
float color[]={0.3,0.3,1,1};
float halfExtents[]={50,1,50,1};
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-5,0));
m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
{
btScalar mass(0.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0,0,0);
if (isDynamic)
groundShape->calculateLocalInertia(mass,localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
body->setActivationState(DISABLE_DEACTIVATION);
}
}
}
void ChainDemo::initPhysics()
{
// Bullet2RigidBodyDemo::initPhysics();
m_config = new btDefaultCollisionConfiguration;
m_dispatcher = new btCollisionDispatcher(m_config);
m_bp = new btDbvtBroadphase();
//m_solver = new btNNCGConstraintSolver();
m_solver = new btSequentialImpulseConstraintSolver();
// btDantzigSolver* mlcp = new btDantzigSolver();
//btLemkeSolver* mlcp = new btLemkeSolver();
//m_solver = new btMLCPSolver(mlcp);
// m_solver = new btSequentialImpulseConstraintSolver();
//btMultiBodyConstraintSolver* solver = new btMultiBodyConstraintSolver();
//m_solver = solver;
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
m_dynamicsWorld->getSolverInfo().m_numIterations = 1000;
m_dynamicsWorld->getSolverInfo().m_splitImpulse = false;
int curColor=0;
//create ground
btScalar radius=scaling;
int unitCubeShapeId = m_glApp->registerCubeShape();
float pos[]={0,0,0};
float orn[]={0,0,0,1};
//eateGround(unitCubeShapeId);
int sphereShapeId = m_glApp->registerGraphicsSphereShape(radius,false);
{
float halfExtents[]={scaling,scaling,scaling,1};
btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
btTransform startTransform;
startTransform.setIdentity();
btCollisionShape* colShape = new btSphereShape(scaling);
btScalar largeMass[]={1000,10,100,1000};
for (int i=0;i<1;i++)
{
btAlignedObjectArray<btRigidBody*> bodies;
for (int k=0;k<NUM_SPHERES;k++)
{
btVector3 localInertia(0,0,0);
btScalar mass = 0.f;
curColor = 1;
switch (k)
{
case 0:
{
mass = largeMass[i];
curColor = 0;
break;
}
case NUM_SPHERES-1:
{
mass = 0.f;
curColor = 2;
break;
}
default:
{
curColor = 1;
mass = 1.f;
}
};
if (mass)
colShape ->calculateLocalInertia(mass,localInertia);
btVector4 color = colors[curColor];
startTransform.setOrigin(btVector3(
btScalar(7.5+-i*5),
btScalar(6.*scaling+2.0*scaling*k),
btScalar(0)));
m_glApp->m_instancingRenderer->registerGraphicsInstance(sphereShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
bodies.push_back(body);
body->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(body);
}
//add constraints
btVector3 pivotInA(0,radius,0);
btVector3 pivotInB(0,-radius,0);
for (int k=0;k<NUM_SPHERES-1;k++)
{
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*bodies[k],*bodies[k+1],pivotInA,pivotInB);
m_dynamicsWorld->addConstraint(p2p,true);
}
}
}
m_glApp->m_instancingRenderer->writeTransforms();
}
void ChainDemo::exitPhysics()
{
Bullet2RigidBodyDemo::exitPhysics();
}
void ChainDemo::renderScene()
{
//sync graphics -> physics world transforms
{
for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
{
btVector3 pos = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getOrigin();
btQuaternion orn = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getRotation();
m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,i);
}
m_glApp->m_instancingRenderer->writeTransforms();
}
m_glApp->m_instancingRenderer->renderScene();
}
void ChainDemo::stepSimulation(float dt)
{
m_dynamicsWorld->stepSimulation(dt,10,1./240.);
//m_dynamicsWorld->stepSimulation(dt,10,1./60.);
}

31
Demos3/bullet2/ChainDemo/ChainDemo.h Normal file
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@@ -0,0 +1,31 @@
#ifndef CHAIN_DEMO_H
#define CHAIN_DEMO_H
#include "LinearMath/btVector3.h"
#include "../BasicDemo/Bullet2RigidBodyDemo.h"
class ChainDemo : public Bullet2RigidBodyDemo
{
public:
static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
{
return new ChainDemo(app);
}
ChainDemo(SimpleOpenGL3App* app);
virtual ~ChainDemo();
void createGround(int cubeShapeId);
virtual void initPhysics();
virtual void exitPhysics();
virtual void renderScene();
virtual void stepSimulation(float dt);
};
#endif //CHAIN_DEMO_H

5
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.cpp
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@@ -29,6 +29,7 @@ static float friction = 1.;
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#define CONSTRAINT_DEBUG_SIZE 0.2f
static bool prevCanSleep = false;
struct GraphicsVertex
{
@@ -243,6 +244,8 @@ bool Bullet2MultiBodyDemo::mouseButtonCallback(int button, int state, float x, f
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
if (multiCol && multiCol->m_multiBody)
{
prevCanSleep = multiCol->m_multiBody->getCanSleep();
multiCol->m_multiBody->setCanSleep(false);
btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);
@@ -285,7 +288,7 @@ bool Bullet2MultiBodyDemo::mouseButtonCallback(int button, int state, float x, f
if (m_pickingMultiBodyPoint2Point)
{
m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(true);
m_pickingMultiBodyPoint2Point->getMultiBodyA()->setCanSleep(prevCanSleep);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_dynamicsWorld;
world->removeMultiBodyConstraint(m_pickingMultiBodyPoint2Point);
delete m_pickingMultiBodyPoint2Point;