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

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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
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85
Demos/MultiThreadedDemo/MultiThreadedDemo.cpp
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@@ -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();