Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

- Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.

Browse Source 
This was harder using default arguments. Thanks Vangelis Kokkevis for pointing this out.
- Fixed memoryleak in the ConstraintDemo and Raytracer demo.
- fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
- Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
- Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this).
User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
This commit is contained in:
ejcoumans
2007-12-17 04:26:36 +00:00
parent b8c2cb6f53
commit 17a214a2b3
28 changed files with 318 additions and 886 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
Demos/AllBulletDemos/DemoEntries.cpp
View File

@@ -99,15 +99,17 @@ btDemoEntry g_demoEntries[] =
{
{"DynamicControlDemo",MotorDemo::Create},
{"RagdollDemo",RagdollDemo::Create},
{"BasicDemo", BasicDemo::Create},
{"CcdPhysicsDemo", CcdPhysicsDemo::Create},
{"ConcaveDemo",ConcaveDemo::Create},
{"ConcaveRaycastDemo",ConcaveRaycastDemo::Create},
{"ConcaveConvexcastDemo",ConcaveConvexcastDemo::Create},
{"ConvexDecomposition",ConvexDecompositionDemo::Create},
{"BasicDemo", BasicDemo::Create},
{"BspDemo", BspDemo::Create},
{"Gimpact Test", GimpactConcaveDemo::Create},
#ifndef BT_USE_DOUBLE_PRECISION
{"MultiThreaded", MultiThreadedDemo::Create},
#endif //BT_USE_DOUBLE_PRECISION
{"Raytracer Test",Raytracer::Create},
{"GjkConvexCast",LinearConvexCastDemo::Create},
{"VehicleDemo",VehicleDemo::Create},

6
Demos/BasicDemo/BasicDemo.cpp
View File

@@ -125,7 +125,8 @@ void BasicDemo::initPhysics()
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,groundShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
m_dynamicsWorld->addRigidBody(body);
@@ -171,7 +172,8 @@ void BasicDemo::initPhysics()
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,colShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
}

3
Demos/ColladaDemo/ColladaDemo.cpp
View File

@@ -62,7 +62,8 @@ class MyColladaConverter : public ColladaConverter
{
if (!bodyOther)
{
bodyOther = new btRigidBody(0,0,0);
btRigidBody::btRigidBodyConstructionInfo cinfo(0,0,0);
bodyOther = new btRigidBody(cinfo);
bodyOther->setWorldTransform(bodyRef->getWorldTransform());
localAttachmentOther = localAttachmentFrameRef;

16
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@@ -114,7 +114,6 @@ void ConstraintDemo::initPhysics()
}
//create a slider, using the generic D6 constraint
{
mass = 1.f;
@@ -130,6 +129,7 @@ void ConstraintDemo::initPhysics()
d6body0 = localCreateRigidBody( mass,trans,shape);
d6body0->setActivationState(DISABLE_DEACTIVATION);
btRigidBody* fixedBody1 = localCreateRigidBody(0,trans,0);
m_dynamicsWorld->addRigidBody(fixedBody1);
btTransform frameInA, frameInB;
frameInA = btTransform::getIdentity();
@@ -154,8 +154,17 @@ ConstraintDemo::~ConstraintDemo()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
//removed/delete constraints
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
{
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
m_dynamicsWorld->removeConstraint(constraint);
delete constraint;
}
//remove the rigidbodies from the dynamics world and delete them
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
@@ -168,6 +177,9 @@ ConstraintDemo::~ConstraintDemo()
delete obj;
}
//delete collision shapes
for (int j=0;j<m_collisionShapes.size();j++)
{

3
Demos/DynamicControlDemo/MotorDemo.cpp
View File

@@ -96,7 +96,8 @@ class TestRig
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);

4
Demos/GenericJointDemo/Ragdoll.cpp
View File

@@ -363,7 +363,9 @@ btRigidBody* RagDoll::localCreateRigidBody (btScalar mass, const btTransform& st
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
rbInfo.m_additionalDamping = true;
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);

6
Demos/HelloWorld/HelloWorld.cpp
View File

@@ -69,7 +69,8 @@ int main(int argc, char** argv)
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,groundShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
//add the body to the dynamics world
dynamicsWorld->addRigidBody(body);
@@ -100,7 +101,8 @@ int main(int argc, char** argv)
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,colShape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
dynamicsWorld->addRigidBody(body);
}

85
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
View File

@@ -13,32 +13,11 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//enable just one, DO_BENCHMARK_PYRAMIDS or DO_WALL
#define DO_BENCHMARK_PYRAMIDS 1
//#define DO_WALL 1
//Note: some of those settings need 'DO_WALL' demo
//#define USE_KINEMATIC_GROUND 1
//#define PRINT_CONTACT_STATISTICS 1
//#define REGISTER_BOX_BOX 1 //needs to be used in combination with REGISTER_CUSTOM_COLLISION_ALGORITHM
//#define USER_DEFINED_FRICTION_MODEL 1
//#define USE_CUSTOM_NEAR_CALLBACK 1
//#define CENTER_OF_MASS_SHIFT 1
//#define VERBOSE_TIMESTEPPING_CONSOLEOUTPUT 1
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
#define USE_PARALLEL_DISPATCHER 1
//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files from Extras/quickstep
//#define COMPARE_WITH_QUICKSTEP 1
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#ifdef REGISTER_BOX_BOX
#include "../Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h"
#endif //REGISTER_BOX_BOX
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#ifdef USE_PARALLEL_DISPATCHER
@@ -65,9 +44,6 @@ subject to the following restrictions:
#endif//USE_PARALLEL_DISPATCHER
#ifdef COMPARE_WITH_QUICKSTEP
#include "../Extras/quickstep/OdeConstraintSolver.h"
#endif //COMPARE_WITH_QUICKSTEP
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
@@ -133,10 +109,6 @@ void MultiThreadedDemo::createStack( btCollisionShape* boxShape, float halfCubeS
btRigidBody* body = 0;
body = localCreateRigidBody(mass,trans,boxShape);
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
body->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
}
}
@@ -164,25 +136,6 @@ void MultiThreadedDemo::clientMoveAndDisplay()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
#ifdef USE_KINEMATIC_GROUND
//btQuaternion kinRotation(btVector3(0,0,1),0.);
btVector3 kinTranslation(-0.01,0,0);
//kinematic object
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[0];
//is this a rigidbody with a motionstate? then use the motionstate to update positions!
if (btRigidBody::upcast(colObj) && btRigidBody::upcast(colObj)->getMotionState())
{
btTransform newTrans;
btRigidBody::upcast(colObj)->getMotionState()->getWorldTransform(newTrans);
newTrans.getOrigin()+=kinTranslation;
btRigidBody::upcast(colObj)->getMotionState()->setWorldTransform(newTrans);
} else
{
m_dynamicsWorld->getCollisionObjectArray()[0]->getWorldTransform().getOrigin() += kinTranslation;
}
#endif //USE_KINEMATIC_GROUND
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
@@ -243,12 +196,6 @@ void MultiThreadedDemo::clientMoveAndDisplay()
btProfiler::endBlock("render");
#endif
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num manifolds: %i\n",gNumManifold);
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
#endif //PRINT_CONTACT_STATISTICS
gTotalContactPoints = 0;
glutSwapBuffers();
@@ -291,21 +238,13 @@ void MultiThreadedDemo::initPhysics()
m_collisionShapes.push_back(new btBoxShape (btVector3(200,CUBE_HALF_EXTENTS,200)));
#endif
#ifdef DO_BENCHMARK_PYRAMIDS
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
#else
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
#endif
#ifdef DO_BENCHMARK_PYRAMIDS
setCameraDistance(32.5f);
#endif
#ifdef DO_BENCHMARK_PYRAMIDS
m_azi = 90.f;
#endif //DO_BENCHMARK_PYRAMIDS
m_dispatcher=0;
m_collisionConfiguration = new btDefaultCollisionConfiguration();
@@ -360,28 +299,12 @@ int maxNumOutstandingTasks = 4;
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
#endif //USE_PARALLEL_DISPATCHER
#ifdef USE_CUSTOM_NEAR_CALLBACK
//this is optional
m_dispatcher->setNearCallback(customNearCallback);
#endif
btVector3 worldAabbMin(-1000,-1000,-1000);
btVector3 worldAabbMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
/// For large worlds or over 16384 objects, use the bt32BitAxisSweep3 broadphase
// m_broadphase = new bt32BitAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
/// When trying to debug broadphase issues, try to use the btSimpleBroadphase
// m_broadphase = new btSimpleBroadphase;
//box-box is in Extras/AlternativeCollisionAlgorithms:it requires inclusion of those files
#ifdef REGISTER_BOX_BOX
m_dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
#endif //REGISTER_BOX_BOX
#ifdef COMPARE_WITH_QUICKSTEP
m_solver = new OdeConstraintSolver();
#else
#ifdef USE_PARALLEL_SOLVER
@@ -411,9 +334,6 @@ int maxNumOutstandingTasks = 4;
#endif //USE_PARALLEL_SOLVER
#endif
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = world;
@@ -441,7 +361,6 @@ int maxNumOutstandingTasks = 4;
}
#ifdef DO_BENCHMARK_PYRAMIDS
btTransform trans;
trans.setIdentity();
@@ -463,9 +382,6 @@ int maxNumOutstandingTasks = 4;
float zPos = (i-numWalls/2) * wallDistance;
createStack(m_collisionShapes[shapeIndex[1]],halfExtents,wallHeight,zPos);
}
// createStack(m_collisionShapes[shapeIndex[1]],halfExtends,20,10);
// createStack(m_collisionShapes[shapeIndex[1]],halfExtends,20,20);
#define DESTROYER_BALL 1
#ifdef DESTROYER_BALL
btTransform sphereTrans;
@@ -476,7 +392,6 @@ int maxNumOutstandingTasks = 4;
btRigidBody* ballBody = localCreateRigidBody(10000.f,sphereTrans,ball);
ballBody->setLinearVelocity(btVector3(0,0,-10));
#endif
#endif //DO_BENCHMARK_PYRAMIDS
// clientResetScene();

6
Demos/OpenGL/DemoApplication.cpp
View File

@@ -489,7 +489,7 @@ void DemoApplication::shootBox(const btVector3& destination)
if (m_dynamicsWorld)
{
float mass = 100.f;
float mass = 10.f;
btTransform startTransform;
startTransform.setIdentity();
btVector3 camPos = getCameraPosition();
@@ -502,7 +502,7 @@ void DemoApplication::shootBox(const btVector3& destination)
btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
m_shootBoxShape = new btUniformScalingShape(childShape,0.5f);
#else
m_shootBoxShape = new btBoxShape(btVector3(0.5f,0.5f,0.5f));
m_shootBoxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
#endif//
}
@@ -736,7 +736,7 @@ btRigidBody* DemoApplication::localCreateRigidBody(float mass, const btTransform
#define USE_MOTIONSTATE 1
#ifdef USE_MOTIONSTATE
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,shape,localInertia));
#else
btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);

4
Demos/RagdollDemo/RagdollDemo.cpp
View File

@@ -98,7 +98,9 @@ class RagDoll
shape->calculateLocalInertia(mass,localInertia);
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody* body = new btRigidBody(mass,myMotionState,shape,localInertia);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,shape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_ownerWorld->addRigidBody(body);

22
Demos/Raytracer/Raytracer.cpp
View File

@@ -133,6 +133,28 @@ void Raytracer::initPhysics()
Raytracer::~Raytracer()
{
//cleanup in the reverse order of creation/initialization
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i=m_collisionWorld->getNumCollisionObjects()-1; i>=0 ;i--)
{
btCollisionObject* obj = m_collisionWorld->getCollisionObjectArray()[i];
m_collisionWorld->removeCollisionObject( obj );
delete obj;
}
//delete collision world
delete m_collisionWorld;
//delete broadphase
delete m_overlappingPairCache;
//delete dispatcher
delete m_dispatcher;
delete m_collisionConfiguration;
delete raytracePicture;
raytracePicture=0;
}

3
Demos/VehicleDemo/VehicleDemo.cpp
View File

@@ -147,9 +147,6 @@ VehicleDemo::~VehicleDemo()
void VehicleDemo::initPhysics()
{
extern btScalar gJitterVelocityDampingFactor;
gJitterVelocityDampingFactor = 1.f;
#ifdef FORCE_ZAXIS_UP
m_cameraUp = btVector3(0,0,1);