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Some work-in-progress on making btDbvtBroadphase deterministic. When using the btSortedOverlappingPairCache, it seems deterministic now. todo: when using btHashedOverlappingPairCache.

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erwin.coumans
2009-02-10 03:50:58 +00:00
parent bd5a7f623d
commit 2a10a61f50
11 changed files with 207 additions and 160 deletions
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38
Demos/OpenGL/DemoApplication.cpp
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@@ -1261,10 +1261,28 @@ void DemoApplication::clientResetScene()
int numObjects = 0;
if (m_dynamicsWorld)
{
m_dynamicsWorld->stepSimulation(1.f/60.f,0);
numObjects = m_dynamicsWorld->getNumCollisionObjects();
}
#ifdef TEST_DETERMINISM
btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray();
for (int i=0;i<copyArray.size();i++)
{
btRigidBody* body = btRigidBody::upcast(copyArray[i]);
if (body)
m_dynamicsWorld->removeRigidBody(body);
}
for (int i=0;i<copyArray.size();i++)
{
btRigidBody* body = btRigidBody::upcast(copyArray[i]);
if (body)
m_dynamicsWorld->addRigidBody(btRigidBody::upcast(copyArray[i]));
}
#endif //TEST_DETERMINISM
for (int i=0;i<numObjects;i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
@@ -1277,7 +1295,9 @@ void DemoApplication::clientResetScene()
myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
body->setCenterOfMassTransform( myMotionState->m_graphicsWorldTrans );
colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
colObj->forceActivationState(ACTIVE_TAG);
colObj->activate();
colObj->setDeactivationTime(0);
//colObj->setActivationState(WANTS_DEACTIVATION);
}
//removed cached contact points
@@ -1291,15 +1311,11 @@ void DemoApplication::clientResetScene()
}
}
btAxisSweep3* sap = (btAxisSweep3*)m_dynamicsWorld->getBroadphase();
sap->resetPool();
/*
//quickly search some issue at a certain simulation frame, pressing space to reset
int fixed=18;
for (int i=0;i<fixed;i++)
{
getDynamicsWorld()->stepSimulation(1./60.f,1);
}
*/
}
m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher());
m_dynamicsWorld->getPairCache()->sortOverlappingPairs(getDynamicsWorld()->getDispatcher());
}