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some work towards streaming Bullet data over shared memory for client/server

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This commit is contained in:
erwincoumans
2015-07-09 14:04:58 -07:00
parent 7f4beba7ee
commit 285ac286fa
10 changed files with 179 additions and 79 deletions
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47
examples/RollingFrictionDemo/RollingFrictionDemo.cpp
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@@ -75,7 +75,7 @@ public:
void RollingFrictionDemo::initPhysics()
{
m_guiHelper->setUpAxis(1);
m_guiHelper->setUpAxis(2);
///collision configuration contains default setup for memory, collision setup
@@ -93,23 +93,22 @@ void RollingFrictionDemo::initPhysics()
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
// m_dynamicsWorld->getSolverInfo().m_singleAxisRollingFrictionThreshold = 0.f;//faster but lower quality
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
{
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(20.),btScalar(50.),btScalar(10.)));
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.),btScalar(5.),btScalar(25.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-50,0));
groundTransform.setRotation(btQuaternion(btVector3(0,0,1),SIMD_PI*0.03));
groundTransform.setOrigin(btVector3(0,0,-28));
groundTransform.setRotation(btQuaternion(btVector3(0,1,0),SIMD_PI*0.03));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.);
@@ -133,13 +132,13 @@ void RollingFrictionDemo::initPhysics()
{
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.),btScalar(50.),btScalar(100.)));
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.),btScalar(100.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0,-54,0));
groundTransform.setOrigin(btVector3(0,0,-54));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.);
@@ -165,16 +164,16 @@ void RollingFrictionDemo::initPhysics()
// Re-using the same collision is better for memory usage and performance
#define NUM_SHAPES 10
btCollisionShape* colShapes[NUM_SHAPES] = {
new btSphereShape(btScalar(1.)),
new btCapsuleShape(0.5,1),
new btCapsuleShapeX(0.5,1),
new btCapsuleShapeZ(0.5,1),
new btConeShape(0.5,1),
new btConeShapeX(0.5,1),
new btConeShapeZ(0.5,1),
new btCylinderShape(btVector3(0.5,1,0.5)),
new btCylinderShapeX(btVector3(1,0.5,0.5)),
new btCylinderShapeZ(btVector3(0.5,0.5,1)),
new btSphereShape(btScalar(0.5)),
new btCapsuleShape(0.25,0.5),
new btCapsuleShapeX(0.25,0.5),
new btCapsuleShapeZ(0.25,0.5),
new btConeShape(0.25,0.5),
new btConeShapeX(0.25,0.5),
new btConeShapeZ(0.25,0.5),
new btCylinderShape(btVector3(0.25,0.5,0.25)),
new btCylinderShapeX(btVector3(0.5,0.25,0.25)),
new btCylinderShapeZ(btVector3(0.25,0.25,0.5)),
};
for (int i=0;i<NUM_SHAPES;i++)
m_collisionShapes.push_back(colShapes[i]);
@@ -200,9 +199,9 @@ void RollingFrictionDemo::initPhysics()
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
startTransform.setOrigin(SCALING*btVector3(
btScalar(2.0*i + start_x),
btScalar(20+2.0*k + start_y),
btScalar(2.0*j + start_z)));
btScalar(2.0*i + start_x)+25,
btScalar(2.0*j + start_z),
btScalar(20+2.0*k + start_y)));
shapeIndex++;
@@ -230,7 +229,11 @@ void RollingFrictionDemo::initPhysics()
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
btSerializer* s = new btDefaultSerializer;
m_dynamicsWorld->serialize(s);
FILE* f = fopen("slope.bullet","wb");
fwrite(s->getBufferPointer(),s->getCurrentBufferSize(),1,f);
fclose(f);
}