move OpenCL initialization for the unit tests in a shared header file, and support some basic command-line arguments
--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
201
Demos3/bullet2/ChainDemo/ChainDemo.cpp
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201
Demos3/bullet2/ChainDemo/ChainDemo.cpp
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#include "ChainDemo.h"
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#include "OpenGLWindow/SimpleOpenGL3App.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btVector3.h"
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#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
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#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
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#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
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#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
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#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
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#define NUM_SPHERES 10
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static const float scaling=0.35f;
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ChainDemo::ChainDemo(SimpleOpenGL3App* app)
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:Bullet2RigidBodyDemo(app)
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{
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}
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ChainDemo::~ChainDemo()
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{
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}
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void ChainDemo::createGround(int cubeShapeId)
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{
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{
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float color[]={0.3,0.3,1,1};
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float halfExtents[]={50,1,50,1};
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-5,0));
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m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,groundTransform.getOrigin(),groundTransform.getRotation(),color,halfExtents);
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btBoxShape* groundShape = new btBoxShape(btVector3(btScalar(halfExtents[0]),btScalar(halfExtents[1]),btScalar(halfExtents[2])));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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body->setActivationState(DISABLE_DEACTIVATION);
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}
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}
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}
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void ChainDemo::initPhysics()
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{
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// Bullet2RigidBodyDemo::initPhysics();
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m_config = new btDefaultCollisionConfiguration;
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m_dispatcher = new btCollisionDispatcher(m_config);
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m_bp = new btDbvtBroadphase();
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//m_solver = new btNNCGConstraintSolver();
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m_solver = new btSequentialImpulseConstraintSolver();
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// btDantzigSolver* mlcp = new btDantzigSolver();
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//btLemkeSolver* mlcp = new btLemkeSolver();
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//m_solver = new btMLCPSolver(mlcp);
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// m_solver = new btSequentialImpulseConstraintSolver();
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//btMultiBodyConstraintSolver* solver = new btMultiBodyConstraintSolver();
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//m_solver = solver;
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
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m_dynamicsWorld->getSolverInfo().m_numIterations = 1000;
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m_dynamicsWorld->getSolverInfo().m_splitImpulse = false;
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int curColor=0;
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//create ground
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btScalar radius=scaling;
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int unitCubeShapeId = m_glApp->registerCubeShape();
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float pos[]={0,0,0};
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float orn[]={0,0,0,1};
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//eateGround(unitCubeShapeId);
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int sphereShapeId = m_glApp->registerGraphicsSphereShape(radius,false);
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{
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float halfExtents[]={scaling,scaling,scaling,1};
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btVector4 colors[4] =
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{
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btVector4(1,0,0,1),
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btVector4(0,1,0,1),
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btVector4(0,1,1,1),
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btVector4(1,1,0,1),
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};
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btTransform startTransform;
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startTransform.setIdentity();
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btCollisionShape* colShape = new btSphereShape(scaling);
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btScalar largeMass[]={1000,10,100,1000};
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for (int i=0;i<1;i++)
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{
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btAlignedObjectArray<btRigidBody*> bodies;
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for (int k=0;k<NUM_SPHERES;k++)
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{
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btVector3 localInertia(0,0,0);
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btScalar mass = 0.f;
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curColor = 1;
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switch (k)
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{
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case 0:
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{
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mass = largeMass[i];
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curColor = 0;
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break;
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}
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case NUM_SPHERES-1:
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{
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mass = 0.f;
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curColor = 2;
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break;
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}
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default:
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{
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curColor = 1;
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mass = 1.f;
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}
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};
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if (mass)
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colShape ->calculateLocalInertia(mass,localInertia);
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btVector4 color = colors[curColor];
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startTransform.setOrigin(btVector3(
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btScalar(7.5+-i*5),
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btScalar(6.*scaling+2.0*scaling*k),
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btScalar(0)));
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m_glApp->m_instancingRenderer->registerGraphicsInstance(sphereShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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bodies.push_back(body);
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body->setActivationState(DISABLE_DEACTIVATION);
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m_dynamicsWorld->addRigidBody(body);
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}
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//add constraints
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btVector3 pivotInA(0,radius,0);
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btVector3 pivotInB(0,-radius,0);
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for (int k=0;k<NUM_SPHERES-1;k++)
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{
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btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*bodies[k],*bodies[k+1],pivotInA,pivotInB);
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m_dynamicsWorld->addConstraint(p2p,true);
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}
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}
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}
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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void ChainDemo::exitPhysics()
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{
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Bullet2RigidBodyDemo::exitPhysics();
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}
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void ChainDemo::renderScene()
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{
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//sync graphics -> physics world transforms
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{
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for (int i=0;i<m_dynamicsWorld->getNumCollisionObjects();i++)
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{
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btVector3 pos = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getOrigin();
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btQuaternion orn = m_dynamicsWorld->getCollisionObjectArray()[i]->getWorldTransform().getRotation();
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m_glApp->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos,orn,i);
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}
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m_glApp->m_instancingRenderer->writeTransforms();
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}
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m_glApp->m_instancingRenderer->renderScene();
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}
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void ChainDemo::stepSimulation(float dt)
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{
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m_dynamicsWorld->stepSimulation(dt,10,1./240.);
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//m_dynamicsWorld->stepSimulation(dt,10,1./60.);
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}
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31
Demos3/bullet2/ChainDemo/ChainDemo.h
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31
Demos3/bullet2/ChainDemo/ChainDemo.h
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@@ -0,0 +1,31 @@
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#ifndef CHAIN_DEMO_H
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#define CHAIN_DEMO_H
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#include "LinearMath/btVector3.h"
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#include "../BasicDemo/Bullet2RigidBodyDemo.h"
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class ChainDemo : public Bullet2RigidBodyDemo
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{
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public:
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static BulletDemoInterface* MyCreateFunc(SimpleOpenGL3App* app)
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{
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return new ChainDemo(app);
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}
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ChainDemo(SimpleOpenGL3App* app);
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virtual ~ChainDemo();
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void createGround(int cubeShapeId);
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virtual void initPhysics();
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virtual void exitPhysics();
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virtual void renderScene();
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virtual void stepSimulation(float dt);
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};
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#endif //CHAIN_DEMO_H
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